+ python -m lidar_slam --result /working/result.json --no-model /working/9cd08aa0-f5f1-4699-962d-ab2e4cc16792 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/9cd08aa0-f5f1-4699-962d-ab2e4cc16792 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 0.005099893 Adjusted end_distance from 9.223372036854776e+18 to 590.465099893 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.005099893 meters Centerline goodness : 0.295069 with order 1 Centerline is valid? [0, False] SLAMing on 0.06509989299999999 meters Centerline goodness : 0.141764 with order 1 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.00 [[ 9.99909211e-01 1.30891379e-02 -3.20061112e-03 5.82804370e-02] [-1.30886400e-02 9.99914325e-01 1.76484127e-04 -1.01675950e-02] [ 3.20264693e-03 -1.34576458e-04 9.99994862e-01 -3.26280202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.125099893 meters Centerline goodness : 0.142296 with order 1 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.01 [[ 0.99987433 0.01189589 -0.01047914 0.07410441] [-0.01187279 0.99992695 0.00226398 -0.01707988] [ 0.01050531 -0.00213928 0.99994253 -0.01388841] [ 0. 0. 0. 1. ]] SLAMing on 0.18509989299999996 meters Centerline goodness : 0.136821 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.01 [[ 0.9998459 -0.01386457 -0.01076812 0.14807363] [ 0.01381753 0.99989472 -0.0044308 -0.02738316] [ 0.01082842 0.00428133 0.99993221 -0.00786452] [ 0. 0. 0. 1. ]] SLAMing on 0.24509989299999996 meters Centerline goodness : 0.137685 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.01 [[ 0.99987937 0.01394716 -0.00683585 0.20716744] [-0.01402567 0.99983463 -0.01157562 -0.01498971] [ 0.00667327 0.0116701 0.99990963 -0.01225818] [ 0. 0. 0. 1. ]] SLAMing on 0.30509989299999996 meters Centerline goodness : 0.138961 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:-0.02 [[ 0.99997417 -0.00605216 -0.00387706 0.23622236] [ 0.00604192 0.99997824 -0.00264725 -0.01863721] [ 0.00389299 0.00262375 0.99998898 -0.02059352] [ 0. 0. 0. 1. ]] SLAMing on 0.36509989299999995 meters Centerline goodness : 0.123254 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.02, Z:-0.02 [[ 9.99999079e-01 1.29694342e-03 -4.00639910e-04 2.83842286e-01] [-1.30417206e-03 9.99826105e-01 -1.86026600e-02 -1.77378488e-02] [ 3.76443643e-04 1.86031654e-02 9.99826875e-01 -2.44283499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42509989299999995 meters Centerline goodness : 0.111543 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.02, Z:-0.02 [[ 0.99995496 0.00888512 -0.00333609 0.33243056] [-0.00895428 0.99973255 -0.0213224 -0.02349742] [ 0.00314575 0.02135132 0.99976709 -0.02426365] [ 0. 0. 0. 1. ]] SLAMing on 0.48509989299999995 meters Centerline goodness : 0.107198 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.05, Z:-0.03 [[ 0.99998724 0.00363709 -0.00350542 0.38834493] [-0.00369306 0.99986365 -0.01609482 -0.04534089] [ 0.0034464 0.01610756 0.99986433 -0.03062193] [ 0. 0. 0. 1. ]] SLAMing on 0.545099893 meters Centerline goodness : 0.129206 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:-0.01 [[ 0.99989524 -0.01123574 -0.00912542 0.49220669] [ 0.01099225 0.99959343 -0.02630868 -0.05433228] [ 0.0094173 0.02620562 0.99961221 -0.00557991] [ 0. 0. 0. 1. ]] SLAMing on 0.6050998929999999 meters Centerline goodness : 0.135897 with order 1 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.05, Z:0.02 [[ 0.99978947 -0.01939428 -0.00669971 0.56829575] [ 0.01907508 0.99881349 -0.04480787 -0.05062891] [ 0.00756078 0.04467064 0.99897316 0.01881781] [ 0. 0. 0. 1. ]] SLAMing on 0.6650998929999999 meters Centerline goodness : 0.141872 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:0.07 [[ 0.99955745 -0.01323942 -0.02663881 0.70326548] [ 0.01120763 0.9971186 -0.07502589 -0.03057092] [ 0.02755535 0.07469413 0.99682571 0.07279268] [ 0. 0. 0. 1. ]] SLAMing on 0.7250998929999999 meters Centerline goodness : 0.153384 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:0.07 [[ 0.9995027 -0.01317786 -0.02864767 0.75479147] [ 0.01086926 0.99679163 -0.07929882 -0.02921876] [ 0.02960075 0.07894801 0.99643916 0.07382459] [ 0. 0. 0. 1. ]] SLAMing on 0.7850998929999999 meters Centerline goodness : 0.415012 with order 2 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.04, Z:0.07 [[ 0.9995721 -0.01709134 -0.02373803 0.79733003] [ 0.01499873 0.99620854 -0.08569474 -0.04132269] [ 0.02511266 0.08530204 0.99603861 0.07130174] [ 0. 0. 0. 1. ]] SLAMing on 0.8450998929999999 meters Centerline goodness : 0.540279 with order 3 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.06 [[ 0.99969725 -0.01662379 -0.01813996 0.83876106] [ 0.01497961 0.99607052 -0.08728766 -0.06321399] [ 0.01951973 0.0869895 0.99601798 0.06341279] [ 0. 0. 0. 1. ]] SLAMing on 0.9050998929999999 meters Centerline goodness : 0.437776 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.08, Z:0.05 [[ 0.99955593 -0.02061952 -0.0215125 0.87416035] [ 0.01884551 0.9966457 -0.07963796 -0.08019791] [ 0.02308244 0.07919718 0.9965917 0.05257234] [ 0. 0. 0. 1. ]] SLAMing on 0.9650998929999999 meters Centerline goodness : 0.221286 with order 3 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.09, Z:0.05 [[ 0.99931137 -0.02980696 -0.02209799 0.89868877] [ 0.02789944 0.99623275 -0.0821092 -0.08603361] [ 0.02446216 0.08143614 0.99637832 0.04839282] [ 0. 0. 0. 1. ]] SLAMing on 1.0250998929999997 meters Centerline goodness : 0.335836 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.09, Z:0.05 [[ 0.99945429 -0.02866774 -0.01640965 0.96317468] [ 0.02706147 0.99549145 -0.09090906 -0.08652387] [ 0.01894182 0.09041538 0.99572399 0.05034656] [ 0. 0. 0. 1. ]] SLAMing on 1.0850998929999998 meters Centerline goodness : 0.404034 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.10, Z:0.04 [[ 0.99914574 -0.03611476 -0.02008756 1.01241505] [ 0.03435542 0.99604539 -0.08193466 -0.09722244] [ 0.02296717 0.08117455 0.99643525 0.04148852] [ 0. 0. 0. 1. ]] SLAMing on 1.1450998929999998 meters Centerline goodness : 0.115812 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.10, Z:0.03 [[ 0.99921441 -0.0321072 -0.02323111 1.04108453] [ 0.03024405 0.99660805 -0.07653557 -0.09639947] [ 0.02560966 0.07577284 0.99679618 0.0347441 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2050998929999996 meters Centerline goodness : 0.372110 with order 2 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.10, Z:0.03 [[ 0.9986894 -0.04262203 -0.02833463 1.06849034] [ 0.04038721 0.99634684 -0.07524526 -0.09593249] [ 0.03143822 0.07400229 0.99676241 0.02565072] [ 0. 0. 0. 1. ]] SLAMing on 1.2650998929999997 meters Centerline goodness : 0.260891 with order 2 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.11, Z:0.02 [[ 0.99758707 -0.06126782 -0.03265401 1.11803292] [ 0.05849219 0.99507113 -0.0800756 -0.1101026 ] [ 0.03739912 0.07797238 0.99625379 0.02378428] [ 0. 0. 0. 1. ]] SLAMing on 1.3250998929999998 meters Centerline goodness : 0.535049 with order 2 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.13, Z:0.02 [[ 0.99812739 -0.05435757 -0.02805287 1.1788212 ] [ 0.05218531 0.99595924 -0.07308822 -0.13203769] [ 0.03191242 0.07148741 0.99693086 0.02077364] [ 0. 0. 0. 1. ]] SLAMing on 1.3850998929999998 meters Centerline goodness : 0.496976 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.14, Z:0.02 [[ 0.99877329 -0.03867919 -0.0309166 1.23156274] [ 0.03645197 0.99690758 -0.06961703 -0.14280645] [ 0.03351373 0.06840466 0.9970946 0.01801858] [ 0. 0. 0. 1. ]] SLAMing on 1.4450998929999996 meters Centerline goodness : 0.163517 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.14, Z:0.01 [[ 0.99919377 -0.02450382 -0.03180223 1.27671094] [ 0.0218627 0.99648302 -0.08089266 -0.14357833] [ 0.03367256 0.08013216 0.99621534 0.01367098] [ 0. 0. 0. 1. ]] SLAMing on 1.5050998929999997 meters Centerline goodness : 0.128146 with order 3 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.13, Z:0.01 [[ 0.99955118 -0.01014778 -0.02818624 1.31847378] [ 0.00786381 0.9967645 -0.07999186 -0.13489638] [ 0.02890678 0.0797343 0.99639693 0.01387634] [ 0. 0. 0. 1. ]] SLAMing on 1.5650998929999997 meters Centerline goodness : 0.672963 with order 3 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.13, Z:0.01 [[ 0.99962778 0.00241203 -0.02717518 1.38427281] [-0.00460897 0.99669748 -0.08107338 -0.12556497] [ 0.02688989 0.08116845 0.9963376 0.01323835] [ 0. 0. 0. 1. ]] SLAMing on 1.6250998929999996 meters Centerline goodness : 0.167513 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.12, Z:0.01 [[ 0.99949931 0.00160209 -0.03160014 1.42002962] [-0.00379976 0.99756707 -0.06960962 -0.12263537] [ 0.03141174 0.06969484 0.99707368 0.01042758] [ 0. 0. 0. 1. ]] SLAMing on 1.6850998929999996 meters Centerline goodness : 0.652426 with order 3 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.12, Z:0.01 [[ 0.99948868 -0.00949305 -0.03053287 1.42205992] [ 0.0075634 0.99800344 -0.0627051 -0.11618091] [ 0.03106717 0.06244211 0.99756494 0.00814299] [ 0. 0. 0. 1. ]] SLAMing on 1.7450998929999997 meters Centerline goodness : 0.146192 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.12, Z:-0.00 [[ 0.99835161 -0.04036832 -0.04079786 1.43718884] [ 0.03783097 0.99741079 -0.0611599 -0.11579167] [ 0.04316115 0.05951567 0.99729384 -0.00212718] [ 0. 0. 0. 1. ]] SLAMing on 1.8050998929999997 meters Centerline goodness : 0.878498 with order 2 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.12, Z:-0.01 [[ 0.9975327 -0.05597578 -0.0423701 1.4652005 ] [ 0.05371236 0.99715976 -0.05279585 -0.11991716] [ 0.04520505 0.05038979 0.99770606 -0.00621795] [ 0. 0. 0. 1. ]] SLAMing on 1.8650998929999996 meters Centerline goodness : 0.131252 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.11, Z:-0.01 [[ 0.99763641 -0.05010857 -0.04701828 1.49360609] [ 0.04788268 0.99773099 -0.04732983 -0.11449893] [ 0.04928323 0.0449666 0.9977721 -0.00678433] [ 0. 0. 0. 1. ]] SLAMing on 1.9250998929999996 meters Centerline goodness : 0.870391 with order 3 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.12, Z:-0.01 [[ 0.99776434 -0.04768153 -0.04682732 1.51851869] [ 0.04573926 0.99808232 -0.0417085 -0.11574663] [ 0.04872624 0.03947341 0.99803186 -0.00917737] [ 0. 0. 0. 1. ]] SLAMing on 1.9850998929999997 meters Centerline goodness : 0.171367 with order 1 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.12, Z:-0.01 [[ 0.99754868 -0.04798238 -0.05093445 1.54781291] [ 0.0461105 0.99823929 -0.03731133 -0.11641648] [ 0.05263506 0.03487125 0.99800478 -0.01294198] [ 0. 0. 0. 1. ]] SLAMing on 2.0450998929999997 meters Centerline goodness : 0.832430 with order 3 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.11, Z:-0.01 [[ 0.99812236 -0.03289334 -0.05167001 1.56290495] [ 0.03116035 0.99893613 -0.03399463 -0.11333667] [ 0.05273324 0.03232075 0.99808545 -0.01063287] [ 0. 0. 0. 1. ]] SLAMing on 2.1050998929999998 meters Centerline goodness : 0.629685 with order 2 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.11, Z:-0.01 [[ 0.99891965 -0.00750511 -0.04586068 1.5754706 ] [ 0.00664434 0.99979944 -0.01889292 -0.10576772] [ 0.04599328 0.01856779 0.99876917 -0.01271668] [ 0. 0. 0. 1. ]] SLAMing on 2.165099893 meters Centerline goodness : 0.907404 with order 1 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.11, Z:-0.02 [[ 0.99884312 -0.00786595 -0.04743995 1.60155961] [ 0.00726587 0.99989157 -0.01280852 -0.11046954] [ 0.04753556 0.01244901 0.99879197 -0.01675415] [ 0. 0. 0. 1. ]] SLAMing on 2.225099893 meters Centerline goodness : 0.919212 with order 3 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.12, Z:-0.02 [[ 0.99887919 -0.01141635 -0.045935 1.62235459] [ 0.0110848 0.99991069 -0.00746606 -0.12473592] [ 0.04601613 0.00694851 0.99891653 -0.01888893] [ 0. 0. 0. 1. ]] SLAMing on 2.285099893 meters Centerline goodness : 0.950248 with order 1 Centerline is valid? [False, True] Translation: X:1.64, Y:-0.14, Z:-0.02 [[ 0.99868257 0.00207381 -0.05127202 1.6446449 ] [-0.00219527 0.99999492 -0.00231285 -0.13757319] [ 0.05126697 0.00242235 0.99868205 -0.02020279] [ 0. 0. 0. 1. ]] SLAMing on 2.345099893 meters Centerline goodness : 0.850213 with order 3 Centerline is valid? [True, False] Translation: X:1.66, Y:-0.14, Z:-0.01 [[ 0.99854409 0.01284843 -0.0523891 1.65710473] [-0.01303606 0.99990977 -0.00324116 -0.14415367] [ 0.05234273 0.00391939 0.99862149 -0.01423691] [ 0. 0. 0. 1. ]] SLAMing on 2.4050998929999996 meters Centerline goodness : 0.976055 with order 2 Centerline is valid? [False, True] Translation: X:1.68, Y:-0.16, Z:-0.02 [[ 9.98415190e-01 5.58489878e-04 -5.62743012e-02 1.68035311e+00] [-4.72652636e-04 9.99998705e-01 1.53863454e-03 -1.58531520e-01] [ 5.62750876e-02 -1.50959790e-03 9.98414160e-01 -2.43934501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4650998929999997 meters Centerline goodness : 0.983400 with order 1 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.19, Z:-0.03 [[ 0.99822631 0.02053636 -0.05587932 1.59830583] [-0.01964411 0.99967137 0.01647028 -0.18826269] [ 0.0561992 -0.01534336 0.99830167 -0.02790875] [ 0. 0. 0. 1. ]] SLAMing on 2.5250998929999997 meters Centerline goodness : 0.989104 with order 1 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.19, Z:0.00 [[ 9.97561418e-01 4.14893797e-02 -5.61235161e-02 1.65645040e+00] [-4.15069574e-02 9.99137851e-01 8.52947106e-04 -1.90314515e-01] [ 5.61105175e-02 1.47864926e-03 9.98423469e-01 1.11051174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5850998929999998 meters Centerline goodness : 0.992791 with order 1 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.19, Z:0.00 [[ 9.97578093e-01 4.10864725e-02 -5.61235341e-02 1.71485361e+00] [-4.11034802e-02 9.99154532e-01 8.51761113e-04 -1.85988689e-01] [ 5.61110793e-02 1.45717434e-03 9.98423469e-01 2.97484821e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.645099893 meters Centerline goodness : 0.991907 with order 1 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.19, Z:-0.00 [[ 9.98390284e-01 8.18428169e-03 -5.61236016e-02 1.77396582e+00] [-8.14957272e-03 9.99966433e-01 8.47286059e-04 -1.90974210e-01] [ 5.61286521e-02 -3.88538796e-04 9.98423469e-01 -1.64792708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.705099893 meters Centerline goodness : 0.994655 with order 1 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.20, Z:0.00 [[ 9.98316794e-01 -1.46184570e-02 -5.61237860e-02 1.83155527e+00] [ 1.46884557e-02 9.99891770e-01 8.34891007e-04 -1.97999311e-01] [ 5.61055069e-02 -1.65785746e-03 9.98423469e-01 1.83613397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.765099893 meters Centerline goodness : 0.995581 with order 1 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.19, Z:0.01 [[ 9.98423753e-01 3.50305433e-04 -5.61238507e-02 1.88918165e+00] [-3.04172934e-04 9.99999609e-01 8.30517026e-04 -1.93326061e-01] [ 5.61241197e-02 -8.12136570e-04 9.98423469e-01 7.21331711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8250998929999995 meters Centerline goodness : 0.995995 with order 1 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.18, Z:0.01 [[ 9.98180891e-01 2.20230773e-02 -5.61239146e-02 1.94727300e+00] [-2.20114068e-02 9.99757378e-01 8.26178764e-04 -1.84519746e-01] [ 5.61284927e-02 4.10690460e-04 9.98423469e-01 1.01049481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8850998929999996 meters Centerline goodness : 0.996237 with order 1 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.17, Z:0.01 [[ 9.97598820e-01 4.05792933e-02 -5.61241141e-02 2.00604028e+00] [-4.05977125e-02 9.99175243e-01 8.12398766e-04 -1.67383932e-01] [ 5.61107919e-02 1.46806260e-03 9.98423469e-01 1.25784606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9450998929999996 meters Centerline goodness : 0.997177 with order 1 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.16, Z:0.01 [[ 9.97966871e-01 3.02024854e-02 -5.61242837e-02 2.06468661e+00] [-3.02051782e-02 9.99543399e-01 8.00504543e-04 -1.57176506e-01] [ 5.61228346e-02 8.96366978e-04 9.98423469e-01 1.09886644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0050998929999997 meters Centerline goodness : 0.997343 with order 1 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.15, Z:0.01 [[ 9.97909108e-01 3.20539544e-02 -5.61244708e-02 2.12340269e+00] [-3.20603220e-02 9.99485626e-01 7.87167910e-04 -1.46503027e-01] [ 5.61208337e-02 1.01384658e-03 9.98423469e-01 8.56208033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0650998929999997 meters Centerline goodness : 0.998028 with order 1 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.14, Z:0.02 [[ 9.97546843e-01 4.18369856e-02 -5.61245364e-02 2.18114075e+00] [-4.18590752e-02 9.99123218e-01 7.82463895e-04 -1.39491683e-01] [ 5.61080633e-02 1.56877680e-03 9.98423469e-01 2.13785050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.125099893 meters Centerline goodness : 0.998211 with order 1 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.14, Z:0.02 [[ 9.97635779e-01 3.96594245e-02 -5.61247113e-02 2.23932848e+00] [-3.96787901e-02 9.99212190e-01 7.69710899e-04 -1.41225702e-01] [ 5.61110220e-02 1.45906950e-03 9.98423469e-01 1.65194140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.185099893 meters Centerline goodness : 0.998485 with order 1 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.15, Z:0.02 [[ 9.98149153e-01 2.34153547e-02 -5.61247731e-02 2.29642810e+00] [-2.34093129e-02 9.99725672e-01 7.65176128e-04 -1.48049747e-01] [ 5.61272934e-02 5.50082473e-04 9.98423469e-01 2.21913747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2450998929999995 meters Centerline goodness : 0.998425 with order 1 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.15, Z:0.03 [[ 9.98412484e-01 4.74345155e-03 -5.61249627e-02 2.35357352e+00] [-4.70872247e-03 9.99988632e-01 7.51008412e-04 -1.52309939e-01] [ 5.61278870e-02 -4.85539301e-04 9.98423470e-01 3.48314559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3050998929999995 meters Centerline goodness : 0.998788 with order 1 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.16, Z:0.03 [[ 9.98387060e-01 -8.55918286e-03 -5.61250206e-02 2.41101880e+00] [ 8.61466372e-03 9.99962614e-01 7.46653071e-04 -1.57365717e-01] [ 5.61165316e-02 -1.22894694e-03 9.98423470e-01 2.63369034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3650998929999996 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.15, Z:0.03 [[ 9.98306421e-01 -1.53055046e-02 -5.61251441e-02 2.46916315e+00] [ 1.53711028e-02 9.99881586e-01 7.37253418e-04 -1.45481796e-01] [ 5.61072141e-02 -1.59871018e-03 9.98423470e-01 2.95047700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4250998929999996 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.13, Z:0.03 [[ 9.98359897e-01 -1.12906309e-02 -5.61251994e-02 2.52729282e+00] [ 1.13496561e-02 9.99935322e-01 7.33018392e-04 -1.28991135e-01] [ 5.61132931e-02 -1.36881788e-03 9.98423470e-01 2.82927214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4850998929999997 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.11, Z:0.03 [[ 9.98361189e-01 -1.11748989e-02 -5.61253727e-02 2.58561957e+00] [ 1.12329818e-02 9.99936649e-01 7.19498415e-04 -1.09870841e-01] [ 5.61137768e-02 -1.34877458e-03 9.98423470e-01 3.34782880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5450998929999997 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.09, Z:0.03 [[ 9.98139211e-01 -2.38338314e-02 -5.61254257e-02 2.64471747e+00] [ 2.39116539e-02 9.99713820e-01 7.15339965e-04 -9.24837020e-02] [ 5.60923144e-02 -2.05606063e-03 9.98423470e-01 2.82467710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6050998929999998 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.08, Z:0.03 [[ 9.97861627e-01 -3.34978537e-02 -5.61254675e-02 2.70396340e+00] [ 3.35907348e-02 9.99435418e-01 7.12044636e-04 -7.64242043e-02] [ 5.60699282e-02 -2.59581772e-03 9.98423470e-01 3.08757465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6650998929999994 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.06, Z:0.04 [[ 9.97767374e-01 -3.61964452e-02 -5.61256104e-02 2.76217259e+00] [ 3.62929403e-02 9.99340949e-01 7.00603747e-04 -6.22441555e-02] [ 5.60632613e-02 -2.73600299e-03 9.98423470e-01 4.12777214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7250998929999994 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.05, Z:0.05 [[ 9.97811393e-01 -3.49617573e-02 -5.61257496e-02 2.81945267e+00] [ 3.50556689e-02 9.99385123e-01 6.89267726e-04 -5.33996561e-02] [ 5.60671412e-02 -2.65528488e-03 9.98423470e-01 4.70476248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7850998929999995 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.05, Z:0.05 [[ 9.97812424e-01 -3.49322493e-02 -5.61257984e-02 2.87705243e+00] [ 3.50258900e-02 9.99386170e-01 6.85270510e-04 -4.90316441e-02] [ 5.60674087e-02 -2.64962747e-03 9.98423470e-01 4.96413600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8450998929999995 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.05, Z:0.05 [[ 9.98042761e-01 -2.75776122e-02 -5.61259496e-02 2.93512708e+00] [ 2.76589438e-02 9.99617192e-01 6.72654029e-04 -4.61546825e-02] [ 5.60859139e-02 -2.22372197e-03 9.98423470e-01 5.23868001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9050998929999996 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.04, Z:0.05 [[ 9.98284789e-01 -1.66535634e-02 -5.61260963e-02 2.99369104e+00] [ 1.67169592e-02 9.99860044e-01 6.60182088e-04 -4.33260511e-02] [ 5.61072467e-02 -1.59730740e-03 9.98423470e-01 5.14163297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9650998929999997 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.04, Z:0.06 [[ 9.98345904e-01 -1.24620350e-02 -5.61262214e-02 3.05086905e+00] [ 1.25182091e-02 9.99921433e-01 6.49373282e-04 -4.00716944e-02] [ 5.61137192e-02 -1.35089893e-03 9.98423470e-01 6.14094347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.025099892999999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.04, Z:0.06 [[ 9.98240547e-01 -1.91216628e-02 -5.61263884e-02 3.10990295e+00] [ 1.91875163e-02 9.99815701e-01 6.34604151e-04 -4.32339995e-02] [ 5.61039096e-02 -1.71041359e-03 9.98423470e-01 5.56153447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.085099892999999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.05, Z:0.06 [[ 9.98018756e-01 -2.84321346e-02 -5.61264292e-02 3.16747245e+00] [ 2.85124738e-02 9.99593238e-01 6.30971708e-04 -4.55219086e-02] [ 5.60856592e-02 -2.23002494e-03 9.98423470e-01 5.93080819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.145099892999999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.05, Z:0.07 [[ 9.97962608e-01 -3.03389042e-02 -5.61265047e-02 3.22473504e+00] [ 3.04218703e-02 9.99536953e-01 6.24181629e-04 -4.83163930e-02] [ 5.60815785e-02 -2.33038317e-03 9.98423470e-01 6.56462501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.205099892999999 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.05, Z:0.08 [[ 9.98115973e-01 -2.47853502e-02 -5.61265529e-02 3.28210145e+00] [ 2.48593097e-02 9.99690767e-01 6.19819411e-04 -4.69954862e-02] [ 5.60938343e-02 -2.01391902e-03 9.98423470e-01 7.56653131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2650998929999995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.05, Z:0.07 [[ 9.98068924e-01 -2.66125473e-02 -5.61266000e-02 3.34026433e+00] [ 2.66891485e-02 9.99643592e-01 6.15524956e-04 -5.35999572e-02] [ 5.60902153e-02 -2.11230749e-03 9.98423470e-01 6.85652069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.325099892999999 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.05, Z:0.07 [[ 9.98131145e-01 -2.41664433e-02 -5.61266459e-02 3.39838303e+00] [ 2.42389485e-02 9.99706007e-01 6.11311081e-04 -5.29987100e-02] [ 5.60953718e-02 -1.97061951e-03 9.98423470e-01 6.90383535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.385099892999999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.06, Z:0.08 [[ 9.98141530e-01 -2.37335494e-02 -5.61266905e-02 3.45651926e+00] [ 2.38051399e-02 9.99716433e-01 6.07186611e-04 -5.59279674e-02] [ 5.60963641e-02 -1.94216189e-03 9.98423470e-01 7.64022067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.445099892999999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.06, Z:0.08 [[ 9.98183833e-01 -2.18821404e-02 -5.61267167e-02 3.51536547e+00] [ 2.19506732e-02 9.99758872e-01 6.04758275e-04 -5.68004547e-02] [ 5.60999495e-02 -1.83567915e-03 9.98423470e-01 8.12629458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.505099892999999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.05, Z:0.10 [[ 9.98294865e-01 -1.60358797e-02 -5.61267601e-02 3.57383595e+00] [ 1.60949591e-02 9.99870287e-01 6.00700693e-04 -5.25981164e-02] [ 5.61098470e-02 -1.50303432e-03 9.98423470e-01 9.55765032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.565099892999999 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.05, Z:0.10 [[ 9.98382187e-01 -9.09900748e-03 -5.61267921e-02 3.63301158e+00] [ 9.14697015e-03 9.99957987e-01 5.97697801e-04 -5.28396312e-02] [ 5.61189956e-02 -1.11012093e-03 9.98423470e-01 9.52126823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.625099892999999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.05, Z:0.10 [[ 9.98423560e-01 -4.01756412e-04 -5.61269387e-02 3.69166717e+00] [ 4.35197872e-04 9.99999735e-01 5.83596828e-04 -4.65993532e-02] [ 5.61266894e-02 -6.07103147e-04 9.98423470e-01 1.01357598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.685099892999999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.04, Z:0.10 [[ 9.98352076e-01 1.19533707e-02 -5.61270835e-02 3.74934938e+00] [-1.19402389e-02 9.99928551e-01 5.69319932e-04 -4.03506937e-02] [ 5.61298786e-02 1.01789053e-04 9.98423470e-01 1.02495394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.745099892999999 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.04, Z:0.11 [[ 9.98329946e-01 1.36766313e-02 -5.61272458e-02 3.80692379e+00] [-1.36671471e-02 9.99906447e-01 5.52842453e-04 -3.58360365e-02] [ 5.61295560e-02 2.15180149e-04 9.98423471e-01 1.05471102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.805099892999999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.03, Z:0.11 [[ 9.98421397e-01 2.10727166e-03 -5.61272950e-02 3.86489946e+00] [-2.07980353e-03 9.99997687e-01 5.47798365e-04 -3.41824778e-02] [ 5.61283196e-02 -4.30199863e-04 9.98423471e-01 1.06668496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.865099892999999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.04, Z:0.12 [[ 9.98359915e-01 -1.12778784e-02 -5.61274483e-02 3.92323300e+00] [ 1.13255666e-02 9.99935722e-01 5.31615273e-04 -3.52783658e-02] [ 5.61178451e-02 -1.16641853e-03 9.98423471e-01 1.15584175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.925099892999999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.04, Z:0.12 [[ 9.98396716e-01 -7.32750314e-03 -5.61275778e-02 3.98117597e+00] [ 7.36816675e-03 9.99972721e-01 5.17574980e-04 -3.89086462e-02] [ 5.61222542e-02 -9.30302513e-04 9.98423471e-01 1.22740985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.985099892999999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.04, Z:0.12 [[ 9.98391294e-01 -8.03204941e-03 -5.61276240e-02 4.03881343e+00] [ 8.07354116e-03 9.99967277e-01 5.12521797e-04 -3.84604004e-02] [ 5.61216707e-02 -9.64845983e-04 9.98423471e-01 1.20365586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.045099892999999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.04, Z:0.11 [[ 9.98261776e-01 -1.79752890e-02 -5.61276688e-02 4.09974411e+00] [ 1.80321961e-02 9.99837278e-01 5.07559321e-04 -4.14928681e-02] [ 5.61094121e-02 -1.51878220e-03 9.98423471e-01 1.11687533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.105099892999999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.05, Z:0.12 [[ 9.98218715e-01 -2.02257333e-02 -5.61276779e-02 4.15863839e+00] [ 2.02861356e-02 9.99794087e-01 5.06553544e-04 -5.03047157e-02] [ 5.61058751e-02 -1.64426491e-03 9.98423471e-01 1.15025083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.165099892999999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.05, Z:0.12 [[ 9.97975614e-01 -2.99055776e-02 -5.61278030e-02 4.21747219e+00] [ 2.99804543e-02 9.99550364e-01 4.92292955e-04 -4.75190381e-02] [ 5.60878436e-02 -2.17403340e-03 9.98423471e-01 1.20753391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2250998929999986 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.05, Z:0.12 [[ 9.97948446e-01 -3.07987882e-02 -5.61278378e-02 4.27585547e+00] [ 3.08748496e-02 9.99523139e-01 4.88290877e-04 -5.16691481e-02] [ 5.60860339e-02 -2.22022767e-03 9.98423471e-01 1.24043778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.285099892999999 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.05, Z:0.14 [[ 9.98111572e-01 -2.49587899e-02 -5.61279579e-02 4.33429372e+00] [ 2.50248373e-02 9.99686717e-01 4.74076123e-04 -5.43948806e-02] [ 5.60985416e-02 -1.87777388e-03 9.98423471e-01 1.35508153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.345099892999999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.06, Z:0.14 [[ 9.98008790e-01 -2.87768307e-02 -5.61279747e-02 4.39215908e+00] [ 2.88487911e-02 9.99583676e-01 4.72078551e-04 -5.99603076e-02] [ 5.60910223e-02 -2.09036276e-03 9.98423471e-01 1.39257010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.405099892999999 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.07, Z:0.15 [[ 9.97638730e-01 -3.95803019e-02 -5.61281067e-02 4.44910586e+00] [ 3.96683962e-02 9.99212795e-01 4.55820032e-04 -6.83701205e-02] [ 5.60658809e-02 -2.68125569e-03 9.98423471e-01 1.45320653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.465099892999999 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.07, Z:0.15 [[ 9.97848864e-01 -3.38714525e-02 -5.61281547e-02 4.50593300e+00] [ 3.39502030e-02 9.99423424e-01 4.49834915e-04 -7.13108202e-02] [ 5.60805560e-02 -2.35442950e-03 9.98423471e-01 1.54189398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.525099892999999 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.07, Z:0.16 [[ 9.98333971e-01 -1.33755763e-02 -5.61282214e-02 4.56371143e+00] [ 1.34215028e-02 9.99909830e-01 4.41345694e-04 -7.40342260e-02] [ 5.61172571e-02 -1.19393548e-03 9.98423471e-01 1.61833914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.585099892999999 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.09, Z:0.16 [[ 9.98271189e-01 -1.74425218e-02 -5.61283425e-02 4.62155228e+00] [ 1.74939703e-02 9.99846878e-01 4.25373843e-04 -8.58794446e-02] [ 5.61123284e-02 -1.40654601e-03 9.98423471e-01 1.57812656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6450998929999985 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.10, Z:0.15 [[ 9.97906424e-01 -3.21304345e-02 -5.61284611e-02 4.67950569e+00] [ 3.22041505e-02 9.99481228e-01 4.09106987e-04 -9.57455677e-02] [ 5.60861984e-02 -2.21581990e-03 9.98423472e-01 1.51922341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.705099892999999 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.10, Z:0.15 [[ 9.97654901e-01 -3.91700191e-02 -5.61284970e-02 4.73992891e+00] [ 3.92545635e-02 9.99229161e-01 4.04115428e-04 -1.01838619e-01] [ 5.60694018e-02 -2.60646739e-03 9.98423472e-01 1.47171171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.765099892999999 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.10, Z:0.15 [[ 9.98055291e-01 -2.71150521e-02 -5.61285175e-02 4.79893679e+00] [ 2.71804113e-02 9.99630464e-01 4.01242943e-04 -1.03830306e-01] [ 5.60968963e-02 -1.92605883e-03 9.98423472e-01 1.53752729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.825099892999999 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.10, Z:0.16 [[ 9.98417642e-01 3.43387451e-03 -5.61286083e-02 4.85817348e+00] [-3.41747753e-03 9.99994085e-01 3.88114683e-04 -1.00725250e-01] [ 5.61296091e-02 -1.95682289e-04 9.98423472e-01 1.62161056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.885099892999999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.10, Z:0.17 [[ 9.97831495e-01 3.43785626e-02 -5.61286222e-02 4.91638056e+00] [-3.44111493e-02 9.99407686e-01 3.86099153e-04 -9.52422019e-02] [ 5.61086500e-02 1.54618850e-03 9.98423472e-01 1.73844731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.945099892999999 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.10, Z:0.17 [[ 9.98161670e-01 2.28658862e-02 -5.61287161e-02 4.97401931e+00] [-2.28810854e-02 9.99738125e-01 3.71926559e-04 -1.01285225e-01] [ 5.61225218e-02 9.13043113e-04 9.98423472e-01 1.74533769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.005099892999999 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.11, Z:0.17 [[ 9.98404636e-01 -6.14314140e-03 -5.61288171e-02 5.03274136e+00] [ 6.17285365e-03 9.99980884e-01 3.55997792e-04 -1.12303290e-01] [ 5.61255573e-02 -7.01904820e-04 9.98423472e-01 1.71077186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.065099892999998 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.11, Z:0.18 [[ 9.98418157e-01 3.27559063e-03 -5.61289021e-02 5.09087652e+00] [-3.26153253e-03 9.99994623e-01 3.42064815e-04 -1.08735987e-01] [ 5.61297207e-02 -1.58457483e-04 9.98423472e-01 1.82641778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.125099892999999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.09, Z:0.19 [[ 9.97626258e-01 3.98921793e-02 -5.61289846e-02 5.14992143e+00] [-3.99367441e-02 9.99202156e-01 3.27940791e-04 -9.02198015e-02] [ 5.60972847e-02 1.91444655e-03 9.98423472e-01 1.87355461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1850998929999985 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.08, Z:0.20 [[ 9.97772885e-01 3.60388416e-02 -5.61290632e-02 5.20819092e+00] [-3.60781098e-02 9.99348924e-01 3.13880964e-04 -7.99015195e-02] [ 5.61038308e-02 1.71184859e-03 9.98423472e-01 1.95395415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.245099892999999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.08, Z:0.19 [[ 9.98408765e-01 5.42744596e-03 -5.61291373e-02 5.26718552e+00] [-5.41914966e-03 9.99985271e-01 3.00013517e-04 -7.70006867e-02] [ 5.61299389e-02 4.63607081e-06 9.98423472e-01 1.90931139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.305099892999999 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.07, Z:0.19 [[ 9.98385488e-01 -8.71369449e-03 -5.61292096e-02 5.32511897e+00] [ 8.74352031e-03 9.99961734e-01 2.85818034e-04 -7.45527805e-02] [ 5.61245713e-02 -7.76123462e-04 9.98423472e-01 1.88830111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.365099892999999 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.05, Z:0.20 [[ 9.98391012e-01 8.05587307e-03 -5.61292347e-02 5.38360547e+00] [-8.05280687e-03 9.99967536e-01 2.80808116e-04 -5.42490153e-02] [ 5.61296747e-02 1.71641588e-04 9.98423472e-01 1.96460681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.425099892999999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.04, Z:0.20 [[ 9.98379912e-01 -9.33048500e-03 -5.61292548e-02 5.44154777e+00] [ 9.36077390e-03 9.99956149e-01 2.76732178e-04 -3.83950167e-02] [ 5.61242114e-02 -8.01697111e-04 9.98423472e-01 2.01111487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.485099892999998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.05, Z:0.20 [[ 9.98397890e-01 -7.15243006e-03 -5.61292742e-02 5.50079231e+00] [ 7.17905575e-03 9.99974193e-01 2.72738848e-04 -4.74087261e-02] [ 5.61258749e-02 -6.75257079e-04 9.98423472e-01 2.01359674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.545099892999999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.04, Z:0.21 [[ 9.98410863e-01 -5.02462549e-03 -5.61293340e-02 5.55949731e+00] [ 5.04716498e-03 9.99987229e-01 2.59811072e-04 -4.23921782e-02] [ 5.61273118e-02 -5.42692206e-04 9.98423472e-01 2.09858949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6050998929999984 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.04, Z:0.22 [[ 9.98394650e-01 -7.59039178e-03 -5.61293947e-02 5.61829324e+00] [ 7.61620483e-03 9.99970966e-01 2.45980796e-04 -4.22852692e-02] [ 5.61258979e-02 -6.73078877e-04 9.98423473e-01 2.15032952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.665099892999999 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.04, Z:0.22 [[ 9.98374986e-01 -9.84232828e-03 -5.61294516e-02 5.67664080e+00] [ 9.87092301e-03 9.99951254e-01 2.32215243e-04 -4.35729794e-02] [ 5.61244300e-02 -7.85887385e-04 9.98423473e-01 2.16344622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7250998929999986 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.04, Z:0.22 [[ 9.98301756e-01 -1.55911252e-02 -5.61295055e-02 5.73413105e+00] [ 1.56280173e-02 9.99877851e-01 2.18357088e-04 -4.48905359e-02] [ 5.61192450e-02 -1.09517915e-03 9.98423473e-01 2.16311299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.785099892999999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.04, Z:0.22 [[ 9.98276470e-01 -1.71337469e-02 -5.61295241e-02 5.79243615e+00] [ 1.71728005e-02 9.99852514e-01 2.13484433e-04 -4.40423295e-02] [ 5.61175879e-02 -1.17701760e-03 9.98423473e-01 2.21289668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.845099892999999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.04, Z:0.22 [[ 9.98422627e-01 -1.31463779e-03 -5.61295719e-02 5.85036202e+00] [ 1.32796055e-03 9.99999098e-01 2.00059683e-04 -4.49158701e-02] [ 5.61292583e-02 -2.74281972e-04 9.98423473e-01 2.24888441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.905099892999998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.04, Z:0.23 [[ 9.98419719e-01 2.74399432e-03 -5.61296245e-02 5.90855266e+00] [-2.73798145e-03 9.99996235e-01 1.84026200e-04 -4.07348578e-02] [ 5.61299181e-02 -3.00535159e-05 9.98423473e-01 2.32843553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.965099892999999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.04, Z:0.24 [[ 9.98421528e-01 1.97800065e-03 -5.61296666e-02 5.96684697e+00] [-1.97155911e-03 9.99998042e-01 1.70136827e-04 -3.93691688e-02] [ 5.61298932e-02 -5.92053160e-05 9.98423473e-01 2.35015404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.025099892999998 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.04, Z:0.24 [[ 9.98423300e-01 -6.08546877e-04 -5.61297104e-02 6.02505820e+00] [ 6.18177295e-04 9.99999797e-01 1.54211755e-04 -3.78218982e-02] [ 5.61296051e-02 -1.88666722e-04 9.98423473e-01 2.41163960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.085099892999999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.04, Z:0.24 [[ 9.98410293e-01 -5.13217576e-03 -5.61297451e-02 6.08281643e+00] [ 5.14816839e-03 9.99986738e-01 1.40328565e-04 -3.77524706e-02] [ 5.61282805e-02 -4.29070863e-04 9.98423473e-01 2.43958809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1450998929999985 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.04, Z:0.24 [[ 9.98289142e-01 -1.63779195e-02 -5.61297804e-02 6.14146191e+00] [ 1.64107718e-02 9.99865326e-01 1.24381903e-04 -4.13924781e-02] [ 5.61201841e-02 -1.04530212e-03 9.98423473e-01 2.39821906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.205099892999999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.04, Z:0.25 [[ 9.98327949e-01 -1.38112263e-02 -5.61298077e-02 6.19950444e+00] [ 1.38392467e-02 9.99904227e-01 1.10514290e-04 -3.71002392e-02] [ 5.61229057e-02 -8.87123759e-04 9.98423474e-01 2.49806308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.265099892999999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.05, Z:0.25 [[ 9.98173391e-01 -2.23455693e-02 -5.61298318e-02 6.25852819e+00] [ 2.23862795e-02 9.99749391e-01 9.65464293e-05 -4.66733934e-02] [ 5.61136077e-02 -1.35290818e-03 9.98423474e-01 2.46398924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.325099892999998 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.05, Z:0.25 [[ 9.98043062e-01 -2.75587791e-02 -5.61298521e-02 6.31679505e+00] [ 2.76069472e-02 9.99618852e-01 8.27899136e-05 -5.08264389e-02] [ 5.61061767e-02 -1.63220176e-03 9.98423474e-01 2.47725210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.385099892999999 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.05, Z:0.25 [[ 9.97983456e-01 -2.96388313e-02 -5.61298693e-02 6.37529349e+00] [ 2.96894933e-02 9.99559167e-01 6.87267049e-05 -5.09030414e-02] [ 5.61030884e-02 -1.73505549e-03 9.98423474e-01 2.52285524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.445099892999998 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.04, Z:0.26 [[ 9.98306175e-01 -1.53041244e-02 -5.61298829e-02 6.43278482e+00] [ 1.53313709e-02 9.99882466e-01 5.48123037e-05 -4.35486628e-02] [ 5.61224469e-02 -9.15267512e-04 9.98423474e-01 2.56505636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.505099892999999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.04, Z:0.26 [[ 9.98411103e-01 -4.97033360e-03 -5.61298940e-02 6.49097135e+00] [ 4.98035593e-03 9.99987597e-01 3.86728766e-05 -4.08332152e-02] [ 5.61290056e-02 -3.18158280e-04 9.98423474e-01 2.60267515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.565099892999998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.04, Z:0.27 [[ 9.98415140e-01 -4.07955484e-03 -5.61299002e-02 6.54814516e+00] [ 4.08738485e-03 9.99991646e-01 2.46954651e-05 -4.01226938e-02] [ 5.61293305e-02 -2.54080830e-04 9.98423474e-01 2.65445409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.625099892999999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.04, Z:0.27 [[ 9.98402452e-01 -6.47900863e-03 -5.61299019e-02 6.60600857e+00] [ 6.49035235e-03 9.99978937e-01 1.98028584e-05 -3.90666740e-02] [ 5.61285913e-02 -3.84074063e-04 9.98423474e-01 2.69161588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6850998929999985 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.04, Z:0.27 [[ 9.98370921e-01 -1.02438855e-02 -5.61299029e-02 6.66344910e+00] [ 1.02602677e-02 9.99947362e-01 3.68147784e-06 -3.85892156e-02] [ 5.61269107e-02 -5.79583311e-04 9.98423474e-01 2.72642217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.745099892999998 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.04, Z:0.28 [[ 9.98299868e-01 -1.57101111e-02 -5.61298993e-02 6.72140127e+00] [ 1.57342106e-02 9.99876210e-01 -1.25775609e-05 -4.02822301e-02] [ 5.61231486e-02 -8.70603480e-04 9.98423474e-01 2.75340135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.805099892999999 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.04, Z:0.28 [[ 9.98339505e-01 -1.29486769e-02 -5.61298978e-02 6.78069124e+00] [ 1.29681354e-02 9.99915910e-01 -1.75697459e-05 -3.97064937e-02] [ 5.61254053e-02 -7.10359545e-04 9.98423474e-01 2.75824272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.865099892999998 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.04, Z:0.28 [[ 9.98391552e-01 -7.98405151e-03 -5.61298904e-02 6.83813493e+00] [ 7.99492064e-03 9.99968040e-01 -3.09123807e-05 -3.53755113e-02] [ 5.61283433e-02 -4.17891360e-04 9.98423475e-01 2.84812343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.925099892999999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.04, Z:0.29 [[ 9.98370134e-01 -1.03204696e-02 -5.61298852e-02 6.89595077e+00] [ 1.03346030e-02 9.99946596e-01 -3.84727425e-05 -3.62742016e-02] [ 5.61272847e-02 -5.41670041e-04 9.98423475e-01 2.88058907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.985099892999998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.04, Z:0.29 [[ 9.98417315e-01 -3.50747419e-03 -5.61298697e-02 6.95425104e+00] [ 3.50995129e-03 9.99993839e-01 -5.44529751e-05 -3.68836752e-02] [ 5.61297149e-02 -1.42646315e-04 9.98423475e-01 2.94108741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.045099893 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.04, Z:0.29 [[ 9.98421404e-01 -2.03448183e-03 -5.61298529e-02 7.01328139e+00] [ 2.03385429e-03 9.99997929e-01 -6.83050415e-05 -3.90385776e-02] [ 5.61298756e-02 -4.59627269e-05 9.98423475e-01 2.93217309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.105099893 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.04, Z:0.30 [[ 9.98338529e-01 -1.30239855e-02 -5.61298320e-02 7.07150294e+00] [ 1.30399130e-02 9.99914973e-01 -8.24974418e-05 -3.94946154e-02] [ 5.61261339e-02 -6.49567753e-04 9.98423475e-01 2.97847522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.165099892999999 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.04, Z:0.30 [[ 9.98329520e-01 1.36972286e-02 -5.61298078e-02 7.13025653e+00] [-1.37242854e-02 9.99905813e-01 -9.65766711e-05 -3.82128457e-02] [ 5.61231983e-02 8.66756846e-04 9.98423475e-01 2.98500857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.04, Z:0.31 [[ 9.97858502e-01 3.35835812e-02 -5.61297802e-02 7.18891956e+00] [-3.36428225e-02 9.99433914e-01 -1.10573043e-04 -3.91284994e-02] [ 5.60942925e-02 1.99870048e-03 9.98423475e-01 3.07685394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.285099893 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.04, Z:0.31 [[ 9.97650424e-01 3.92820996e-02 -5.61297489e-02 7.24771692e+00] [-3.93511291e-02 9.99225437e-01 -1.24665136e-04 -4.11026515e-02] [ 5.60813758e-02 2.33314122e-03 9.98423475e-01 3.14714014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.345099892999999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.06, Z:0.31 [[ 9.98219391e-01 -2.01866905e-02 -5.61297144e-02 7.30571265e+00] [ 2.02107718e-02 9.99795732e-01 -1.38655079e-04 -6.17808107e-02] [ 5.61210479e-02 -9.96016661e-04 9.98423475e-01 3.11205489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.405099893 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.04, Z:0.32 [[ 9.98336388e-01 -1.31876125e-02 -5.61297018e-02 7.36394334e+00] [ 1.32003653e-02 9.99912861e-01 -1.43567264e-04 -4.31049497e-02] [ 5.61267041e-02 -5.97604143e-04 9.98423475e-01 3.19076762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.465099893 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.04, Z:0.31 [[ 9.98379454e-01 -9.37687907e-03 -5.61296626e-02 7.42327977e+00] [ 9.38282786e-03 9.99955968e-01 -1.57557194e-04 -3.98920365e-02] [ 5.61286685e-02 -3.69353096e-04 9.98423475e-01 3.14208128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.525099893 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.03, Z:0.33 [[ 9.98423251e-01 -6.88775966e-04 -5.61296510e-02 7.48152511e+00] [ 6.80780829e-04 9.99999755e-01 -1.61561485e-04 -3.37699991e-02] [ 5.61297486e-02 1.23094752e-04 9.98423475e-01 3.27938423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.585099892999999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.04, Z:0.33 [[ 9.98418666e-01 3.10403659e-03 -5.61296069e-02 7.53909468e+00] [-3.11881323e-03 9.99995121e-01 -1.75663128e-04 -3.72093021e-02] [ 5.61287878e-02 3.50443107e-04 9.98423475e-01 3.27660438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.645099893 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.04, Z:0.33 [[ 9.98400567e-01 6.76624981e-03 -5.61295514e-02 7.59667807e+00] [-6.78772180e-03 9.99976945e-01 -1.91903749e-04 -4.00206561e-02] [ 5.61269588e-02 5.72588591e-04 9.98423476e-01 3.29919086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.705099893 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.04, Z:0.33 [[ 9.98327157e-01 -1.38696609e-02 -5.61294916e-02 7.65477971e+00] [ 1.38798665e-02 9.99903648e-01 -2.08033107e-04 -4.19141996e-02] [ 5.61269688e-02 -5.71384752e-04 9.98423476e-01 3.31872181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.765099892999999 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.04, Z:0.33 [[ 9.98205708e-01 -2.08531214e-02 -5.61294277e-02 7.71202740e+00] [ 2.08734554e-02 9.99782101e-01 -2.24040739e-04 -4.34051394e-02] [ 5.61218691e-02 -9.47976360e-04 9.98423476e-01 3.34831814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.825099892999999 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.04, Z:0.34 [[ 9.98209352e-01 -2.06780397e-02 -5.61293825e-02 7.77009606e+00] [ 2.06974890e-02 9.99785756e-01 -2.34857192e-04 -4.47390582e-02] [ 5.61222135e-02 -9.27300633e-04 9.98423476e-01 3.36230812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.885099893 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.05, Z:0.34 [[ 9.98158229e-01 -2.30141256e-02 -5.61293112e-02 7.82817151e+00] [ 2.30363678e-02 9.99734596e-01 -2.50803721e-04 -4.51430131e-02] [ 5.61201863e-02 -1.04267366e-03 9.98423476e-01 3.41372028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.945099893 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.05, Z:0.34 [[ 9.98031604e-01 -2.79717742e-02 -5.61292888e-02 7.88772556e+00] [ 2.80015689e-02 9.99607846e-01 -2.55735624e-04 -4.70554475e-02] [ 5.61144308e-02 -1.31647591e-03 9.98423476e-01 3.35604213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.005099892999999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.05, Z:0.34 [[ 9.98339380e-01 -1.29611767e-02 -5.61292277e-02 7.94578649e+00] [ 1.29665486e-02 9.99915895e-01 -2.68496259e-04 -4.57235091e-02] [ 5.61279870e-02 -4.59751972e-04 9.98423476e-01 3.43472172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.065099893 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.04, Z:0.35 [[ 9.98423214e-01 7.73150081e-04 -5.61292031e-02 8.00296042e+00] [-7.89748687e-04 9.99999651e-01 -2.73540518e-04 -4.02661568e-02] [ 5.61289721e-02 3.17437167e-04 9.98423476e-01 3.51546226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.125099893 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.04, Z:0.35 [[ 9.98414588e-01 4.22222403e-03 -5.61291660e-02 8.06116786e+00] [-4.24468537e-03 9.99990952e-01 -2.80958528e-04 -4.07121110e-02] [ 5.61274719e-02 5.18763743e-04 9.98423476e-01 3.54852607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.185099892999999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.04, Z:0.36 [[ 9.98421714e-01 1.89896109e-03 -5.61290925e-02 8.11894052e+00] [-1.91854124e-03 9.99998116e-01 -2.94957879e-04 -4.26327600e-02] [ 5.61284266e-02 4.02178329e-04 9.98423476e-01 3.58601541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.245099892999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.04, Z:0.37 [[ 9.98268438e-01 -1.75971805e-02 -5.61290034e-02 8.17681932e+00] [ 1.76074820e-02 9.99844928e-01 -3.11034973e-04 -4.15216200e-02] [ 5.61257727e-02 -6.77794023e-04 9.98423476e-01 3.67973231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.305099893 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.04, Z:0.36 [[ 9.97969476e-01 -3.01075257e-02 -5.61289747e-02 8.23493913e+00] [ 3.01372991e-02 9.99545718e-01 -3.16125916e-04 -4.17324289e-02] [ 5.61129941e-02 -1.37609169e-03 9.98423476e-01 3.59636851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.365099893 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.04, Z:0.37 [[ 9.98097500e-01 -2.55131699e-02 -5.61289459e-02 8.29379857e+00] [ 2.55354040e-02 9.99673867e-01 -3.21158481e-04 -4.20953660e-02] [ 5.61188342e-02 -1.11272783e-03 9.98423476e-01 3.65031583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.425099892999999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.04, Z:0.37 [[ 9.98044476e-01 -2.75095390e-02 -5.61288627e-02 8.35256317e+00] [ 2.75341423e-02 9.99620807e-01 -3.35104060e-04 -3.84071219e-02] [ 5.61167976e-02 -1.21101134e-03 9.98423477e-01 3.68257966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.485099893 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.04, Z:0.37 [[ 9.97866739e-01 -3.33396480e-02 -5.61287767e-02 8.41112571e+00] [ 3.33726824e-02 9.99442916e-01 -3.48934184e-04 -4.39650789e-02] [ 5.61091416e-02 -1.52497802e-03 9.98423477e-01 3.68289532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.545099893 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.04, Z:0.37 [[ 9.97877157e-01 -3.30265134e-02 -5.61286859e-02 8.46951888e+00] [ 3.30582642e-02 9.99453360e-01 -3.62971585e-04 -4.20033475e-02] [ 5.61099914e-02 -1.49331587e-03 9.98423477e-01 3.68712119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.605099892999998 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.04, Z:0.38 [[ 9.97963459e-01 -3.03070390e-02 -5.61285910e-02 8.52795779e+00] [ 3.03337006e-02 9.99539756e-01 -3.77092303e-04 -3.89112075e-02] [ 5.61141868e-02 -1.32626353e-03 9.98423477e-01 3.75119201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.665099892999999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.04, Z:0.38 [[ 9.97937812e-01 -3.11402419e-02 -5.61284931e-02 8.58621969e+00] [ 3.11674296e-02 9.99514101e-01 -3.91145633e-04 -4.22429121e-02] [ 5.61134007e-02 -1.35904184e-03 9.98423477e-01 3.78467520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.725099893 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.04, Z:0.38 [[ 9.97845590e-01 -3.39673819e-02 -5.61283774e-02 8.64384154e+00] [ 3.39981385e-02 9.99421813e-01 -4.07099818e-04 -3.91134598e-02] [ 5.61097528e-02 -1.50203759e-03 9.98423477e-01 3.82120412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.785099893 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.03, Z:0.39 [[ 9.98017504e-01 -2.84724601e-02 -5.61282574e-02 8.70158866e+00] [ 2.84936421e-02 9.99593884e-01 -4.23020531e-04 -3.47933974e-02] [ 5.61175073e-02 -1.17711659e-03 9.98423477e-01 3.88300441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.845099892999999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.04, Z:0.39 [[ 9.98101155e-01 -2.53715884e-02 -5.61281320e-02 8.76037404e+00] [ 2.53869711e-02 9.99677602e-01 -4.39057590e-04 -3.80681725e-02] [ 5.61211760e-02 -9.86699378e-04 9.98423477e-01 3.88966205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.905099893 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.04, Z:0.39 [[ 9.97975204e-01 -2.99188656e-02 -5.61280198e-02 8.81931093e+00] [ 2.99406492e-02 9.99551576e-01 -4.52959088e-04 -3.98723190e-02] [ 5.61164027e-02 -1.22846741e-03 9.98423477e-01 3.89561727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.965099893 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.04, Z:0.39 [[ 9.97686873e-01 -3.83479143e-02 -5.61279022e-02 8.87810688e+00] [ 3.83822188e-02 9.99263022e-01 -4.67092588e-04 -3.89337556e-02] [ 5.61044492e-02 -1.68830128e-03 9.98423477e-01 3.94191489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.025099892999998 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.04, Z:0.40 [[ 9.97903206e-01 -3.22314031e-02 -5.61277817e-02 8.93698336e+00] [ 3.22552548e-02 9.99479548e-01 -4.81152094e-04 -3.81091640e-02] [ 5.61140781e-02 -1.33027268e-03 9.98423478e-01 3.97143968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.085099892999999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.04, Z:0.40 [[ 9.97902758e-01 -3.22454795e-02 -5.61276584e-02 8.99571138e+00] [ 3.22685676e-02 9.99479112e-01 -4.95132089e-04 -3.53458890e-02] [ 5.61143879e-02 -1.31706546e-03 9.98423478e-01 3.98371999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.145099893 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.04, Z:0.40 [[ 9.97778297e-01 -3.58911006e-02 -5.61275321e-02 9.05448788e+00] [ 3.59191649e-02 9.99354569e-01 -5.09058485e-04 -3.51744627e-02] [ 5.61095763e-02 -1.50812657e-03 9.98423478e-01 4.04895115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.205099893 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.03, Z:0.41 [[ 9.98098476e-01 -2.54783741e-02 -5.61274021e-02 9.11322754e+00] [ 2.54892059e-02 9.99674961e-01 -5.23006830e-04 -3.07462425e-02] [ 5.61224838e-02 -9.08630591e-04 9.98423478e-01 4.10056965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.265099892999999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.03, Z:0.41 [[ 9.98147906e-01 -2.34624645e-02 -5.61272700e-02 9.17144548e+00] [ 2.34693360e-02 9.99724413e-01 -5.36814974e-04 -3.02910166e-02] [ 5.61243971e-02 -7.81449018e-04 9.98423478e-01 4.13888223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.325099892999999 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.03, Z:0.42 [[ 9.98129968e-01 -2.42138672e-02 -5.61271327e-02 9.22969825e+00] [ 2.42211387e-02 9.99706473e-01 -5.50810686e-04 -3.09399223e-02] [ 5.61239951e-02 -8.09682413e-04 9.98423478e-01 4.16737129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.385099893 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.03, Z:0.42 [[ 9.98088252e-01 -2.58767111e-02 -5.61269701e-02 9.28748674e+00] [ 2.58857039e-02 9.99664748e-01 -5.66909180e-04 -3.19606004e-02] [ 5.61228232e-02 -8.87060738e-04 9.98423478e-01 4.18840539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.445099892999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.03, Z:0.42 [[ 9.98050515e-01 -2.72935635e-02 -5.61269198e-02 9.34506983e+00] [ 2.73045167e-02 9.99626999e-01 -5.71847496e-04 -3.18374539e-02] [ 5.61215921e-02 -9.61785731e-04 9.98423478e-01 4.22550602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.505099892999999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.03, Z:0.42 [[ 9.97982706e-01 -2.96699449e-02 -5.61267523e-02 9.40313625e+00] [ 2.96837527e-02 9.99559167e-01 -5.87840591e-04 -3.09058240e-02] [ 5.61194510e-02 -1.07939789e-03 9.98423478e-01 4.24967443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.565099893 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.02, Z:0.43 [[ 9.98169546e-01 -2.25244379e-02 -5.61267004e-02 9.46190970e+00] [ 2.25266832e-02 9.99746066e-01 -5.92750006e-04 -2.48110022e-02] [ 5.61257993e-02 -6.72683393e-04 9.98423478e-01 4.30275254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.625099893 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.02, Z:0.43 [[ 9.98201823e-01 -2.10459075e-02 -5.61265506e-02 9.51983610e+00] [ 2.10450379e-02 9.99778345e-01 -6.06616814e-04 -2.33901189e-02] [ 5.61268766e-02 -5.75659375e-04 9.98423478e-01 4.33841775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.685099892999999 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.02, Z:0.44 [[ 9.98197216e-01 -2.12637647e-02 -5.61263728e-02 9.57732349e+00] [ 2.12623381e-02 9.99773737e-01 -6.22645368e-04 -2.10407838e-02] [ 5.61269132e-02 -5.71855041e-04 9.98423479e-01 4.37743747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.745099892999999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.02, Z:0.44 [[ 9.98178125e-01 -2.21423167e-02 -5.61261889e-02 9.63484939e+00] [ 2.21413697e-02 9.99754646e-01 -6.38795903e-04 -1.91132752e-02] [ 5.61265626e-02 -6.05078601e-04 9.98423479e-01 4.42061252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.805099893 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.02, Z:0.45 [[ 9.98119175e-01 -2.46573256e-02 -5.61260013e-02 9.69128773e+00] [ 2.46594468e-02 9.99695695e-01 -6.54876161e-04 -1.80366359e-02] [ 5.61250694e-02 -7.30391688e-04 9.98423479e-01 4.45757941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.865099892999998 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.02, Z:0.45 [[ 9.98038922e-01 -2.77162724e-02 -5.61259199e-02 9.75021822e+00] [ 2.77228372e-02 9.99615429e-01 -6.61780676e-04 -1.85911113e-02] [ 5.61226776e-02 -8.95486867e-04 9.98423479e-01 4.46718666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.925099892999999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.02, Z:0.45 [[ 9.97973822e-01 -2.99691577e-02 -5.61257505e-02 9.80870832e+00] [ 2.99784901e-02 9.99550316e-01 -6.75852516e-04 -2.04807347e-02] [ 5.61207663e-02 -1.00808214e-03 9.98423479e-01 4.48524551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.985099893 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.02, Z:0.45 [[ 9.98155374e-01 -2.31466549e-02 -5.61255801e-02 9.86760237e+00] [ 2.31444310e-02 9.99731894e-01 -6.89719085e-04 -1.90806687e-02] [ 5.61264972e-02 -6.10547805e-04 9.98423479e-01 4.52275045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.045099893 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.02, Z:0.46 [[ 9.98132664e-01 -2.41065226e-02 -5.61254059e-02 9.92525452e+00] [ 2.41050338e-02 9.99709184e-01 -7.03610505e-04 -1.64017621e-02] [ 5.61260454e-02 -6.50608182e-04 9.98423479e-01 4.58539311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.105099892999998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.02, Z:0.46 [[ 9.98317289e-01 -1.45791474e-02 -5.61252007e-02 9.98313717e+00] [ 1.45617121e-02 9.99893714e-01 -7.19620921e-04 -1.55058868e-02] [ 5.61297268e-02 -9.88690088e-05 9.98423479e-01 4.64025809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.165099892999999 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.02, Z:0.46 [[ 9.98302619e-01 -1.55515314e-02 -5.61251372e-02 1.00426599e+01] [ 1.55353553e-02 9.99879057e-01 -7.24534733e-04 -1.86492760e-02] [ 5.61296169e-02 -1.48619027e-04 9.98423479e-01 4.62884083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.225099893 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.02, Z:0.47 [[ 9.98298034e-01 -1.58434396e-02 -5.61250390e-02 1.01012431e+01] [ 1.58273010e-02 9.99874472e-01 -7.32066693e-04 -1.74545796e-02] [ 5.61295922e-02 -1.57487147e-04 9.98423479e-01 4.71522296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.285099892999998 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.02, Z:0.48 [[ 9.98253113e-01 -1.84586660e-02 -5.61248525e-02 1.01602977e+01] [ 1.84458687e-02 9.99829582e-01 -7.46093521e-04 -1.81191194e-02] [ 5.61290597e-02 -2.90481483e-04 9.98423479e-01 4.75603364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.345099892999999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.02, Z:0.48 [[ 9.98033190e-01 -2.79244189e-02 -5.61246617e-02 1.02187865e+01] [ 2.79257799e-02 9.99609710e-01 -7.60184337e-04 -1.80144264e-02] [ 5.61239845e-02 -8.08635749e-04 9.98423480e-01 4.76566190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.405099893 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.02, Z:0.48 [[ 9.97743544e-01 -3.68492289e-02 -5.61244639e-02 1.02778700e+01] [ 3.68638839e-02 9.99319996e-01 -7.74513565e-04 -1.63989454e-02] [ 5.61148393e-02 -1.29619981e-03 9.98423480e-01 4.76302606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.465099893 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.01, Z:0.48 [[ 9.98106121e-01 -2.51840753e-02 -5.61242614e-02 1.03360640e+01] [ 2.51794920e-02 9.99682635e-01 -7.88922919e-04 -1.02495889e-02] [ 5.61263178e-02 -6.25751595e-04 9.98423480e-01 4.83949158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.525099892999998 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.01, Z:0.48 [[ 9.98018314e-01 -2.84523183e-02 -5.61240569e-02 1.03951419e+01] [ 2.84520940e-02 9.99594835e-01 -8.03212288e-04 -1.27947585e-02] [ 5.61241706e-02 -7.95226369e-04 9.98423480e-01 4.83307176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.585099892999999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.01, Z:0.49 [[ 9.97899778e-01 -3.23441980e-02 -5.61238509e-02 1.04538535e+01] [ 3.23493263e-02 9.99476289e-01 -8.17360963e-04 -1.28693210e-02] [ 5.61208951e-02 -9.99924442e-04 9.98423480e-01 4.86070850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.645099893 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.01, Z:0.49 [[ 9.97805365e-01 -3.51367459e-02 -5.61236444e-02 1.05120656e+01] [ 3.51455024e-02 9.99381860e-01 -8.31302120e-04 -1.18520452e-02] [ 5.61181614e-02 -1.14301596e-03 9.98423480e-01 4.90068971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.705099892999998 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.01, Z:0.49 [[ 9.97735173e-01 -3.70767947e-02 -5.61234048e-02 1.05704153e+01] [ 3.70877241e-02 9.99311655e-01 -8.47172806e-04 -1.14250856e-02] [ 5.61161830e-02 -1.23623525e-03 9.98423480e-01 4.90314923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.765099892999999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.01, Z:0.50 [[ 9.97960215e-01 -3.04236178e-02 -5.61231912e-02 1.06287971e+01] [ 3.04232529e-02 9.99536735e-01 -8.61098126e-04 -7.95456320e-03] [ 5.61233890e-02 -8.48108370e-04 9.98423480e-01 4.99268890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.825099892999999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.01, Z:0.51 [[ 9.98003860e-01 -2.89569917e-02 -5.61229714e-02 1.06873378e+01] [ 2.89535175e-02 9.99580376e-01 -8.75191711e-04 -8.55740285e-03] [ 5.61247637e-02 -7.51512731e-04 9.98423480e-01 5.06367085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.885099893 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.01, Z:0.50 [[ 9.97858514e-01 -3.35949950e-02 -5.61227466e-02 1.07466479e+01] [ 3.35980502e-02 9.99435030e-01 -8.89379082e-04 -8.95404482e-03] [ 5.61209176e-02 -9.98140369e-04 9.98423480e-01 5.01633431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.945099892999998 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.01, Z:0.50 [[ 9.97918169e-01 -3.17740638e-02 -5.61225195e-02 1.08056749e+01] [ 3.17734493e-02 9.99494688e-01 -9.03482143e-04 -7.92303566e-03] [ 5.61228675e-02 -8.81604781e-04 9.98423481e-01 5.03814947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.005099892999999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.01, Z:0.51 [[ 9.98065429e-01 -2.67523502e-02 -5.61222855e-02 1.08627590e+01] [ 2.67429985e-02 9.99641921e-01 -9.17790911e-04 -5.95187907e-03] [ 5.61267424e-02 -5.84862818e-04 9.98423481e-01 5.08508548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.065099893 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.00, Z:0.52 [[ 9.98297421e-01 -1.58921025e-02 -5.61221864e-02 1.09209861e+01] [ 1.58652609e-02 9.99873712e-01 -9.23813086e-04 -3.53314604e-03] [ 5.61297802e-02 3.18470888e-05 9.98423481e-01 5.17247814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.125099892999998 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.00, Z:0.51 [[ 9.98277801e-01 -1.70809532e-02 -5.61219522e-02 1.09804470e+01] [ 1.70552010e-02 9.99854110e-01 -9.37826545e-04 -4.39889541e-03] [ 5.61297836e-02 -2.09597561e-05 9.98423481e-01 5.14133899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.185099892999999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.00, Z:0.52 [[ 9.98314715e-01 -1.47675940e-02 -5.61217311e-02 1.10381261e+01] [ 1.47374554e-02 9.99890946e-01 -9.50878773e-04 -4.95279896e-03] [ 5.61296530e-02 1.22184763e-04 9.98423481e-01 5.18503219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.245099892999999 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.00, Z:0.52 [[ 9.98371180e-01 -1.02638857e-02 -5.61216470e-02 1.10961910e+01] [ 1.02263592e-02 9.99947253e-01 -9.55816624e-04 -3.61834122e-03] [ 5.61284971e-02 3.80339652e-04 9.98423481e-01 5.24325079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.305099893 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.00, Z:0.53 [[ 9.98249450e-01 -1.86660720e-02 -5.61214078e-02 1.11542332e+01] [ 1.86410330e-02 9.99825771e-01 -9.69663522e-04 -4.05796482e-03] [ 5.61297296e-02 -7.81949362e-05 9.98423481e-01 5.28056505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.365099892999998 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.01, Z:0.53 [[ 9.98085766e-01 -2.59850770e-02 -5.61211213e-02 1.12127150e+01] [ 2.59706800e-02 9.99662219e-01 -9.85969180e-04 -6.09481515e-03] [ 5.61277851e-02 -4.73421876e-04 9.98423481e-01 5.26902463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.425099892999999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.01, Z:0.53 [[ 9.97491017e-01 -4.31522858e-02 -5.61208691e-02 1.12711643e+01] [ 4.31642164e-02 9.99067490e-01 -1.00012354e-03 -5.94339862e-03] [ 5.61116934e-02 -1.42479909e-03 9.98423481e-01 5.29002241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.485099893 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.01, Z:0.53 [[ 9.97439575e-01 -4.43257262e-02 -5.61206161e-02 1.13299604e+01] [ 4.43387242e-02 9.99016040e-01 -1.01412393e-03 -6.43425567e-03] [ 5.61103474e-02 -1.47678917e-03 9.98423481e-01 5.31997758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.545099892999998 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:11.39, Y:0.00, Z:0.54 [[ 9.97778805e-01 -3.58881807e-02 -5.61203594e-02 1.13884398e+01] [ 3.58870571e-02 9.99355323e-01 -1.02813699e-03 7.65190693e-06] [ 5.61210778e-02 -9.88141241e-04 9.98423481e-01 5.38492538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.605099892999998 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.00, Z:0.54 [[ 9.97833249e-01 -3.43415492e-02 -5.61201001e-02 1.14459665e+01] [ 3.43371970e-02 9.99409761e-01 -1.04209930e-03 -1.92482044e-03] [ 5.61227631e-02 -8.87165604e-04 9.98423481e-01 5.40899762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.665099892999999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.00, Z:0.54 [[ 9.97572748e-01 -4.12211301e-02 -5.61197941e-02 1.15049552e+01] [ 4.12267362e-02 9.99149256e-01 -1.05832479e-03 -3.48380203e-03] [ 5.61156759e-02 -1.25787998e-03 9.98423482e-01 5.43185754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.725099893 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.00, Z:0.55 [[ 9.97393419e-01 -4.53537994e-02 -5.61195199e-02 1.15625639e+01] [ 4.53651305e-02 9.98969897e-01 -1.07266940e-03 -2.10432458e-03] [ 5.61103607e-02 -1.47599594e-03 9.98423482e-01 5.46440758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.785099892999998 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:11.62, Y:0.00, Z:0.55 [[ 9.97318875e-01 -4.69648448e-02 -5.61192048e-02 1.16200757e+01] [ 4.69778091e-02 9.98895340e-01 -1.08891114e-03 2.40411775e-03] [ 5.61083527e-02 -1.55036566e-03 9.98423482e-01 5.51268673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.845099892999999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:11.68, Y:0.00, Z:0.55 [[ 9.97332600e-01 -4.66728512e-02 -5.61188863e-02 1.16779196e+01] [ 4.66844445e-02 9.98909076e-01 -1.10508583e-03 3.44988252e-03] [ 5.61092423e-02 -1.51774091e-03 9.98423482e-01 5.51882662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.905099893 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:11.74, Y:0.00, Z:0.56 [[ 9.97316271e-01 -4.70205982e-02 -5.61187881e-02 1.17365299e+01] [ 4.70324621e-02 9.98892745e-01 -1.11005008e-03 4.80343702e-03] [ 5.61088455e-02 -1.53233377e-03 9.98423482e-01 5.57312719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.965099892999998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:11.79, Y:0.00, Z:0.56 [[ 9.97177892e-01 -4.98694749e-02 -5.61185072e-02 1.17947429e+01] [ 4.98850539e-02 9.98754333e-01 -1.12407216e-03 4.43794603e-03] [ 5.61046592e-02 -1.67857485e-03 9.98423482e-01 5.61756934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.025099892999998 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:11.85, Y:0.01, Z:0.56 [[ 9.97086537e-01 -5.16641928e-02 -5.61181737e-02 1.18513388e+01] [ 5.16816863e-02 9.98662957e-01 -1.14048647e-03 6.35552075e-03] [ 5.61020636e-02 -1.76311814e-03 9.98423482e-01 5.63837284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.085099892999999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:11.91, Y:0.01, Z:0.57 [[ 9.97072452e-01 -5.19355536e-02 -5.61179439e-02 1.19105039e+01] [ 5.19528467e-02 9.98648875e-01 -1.15168030e-03 6.66880691e-03] [ 5.61019347e-02 -1.76717824e-03 9.98423482e-01 5.66134381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.145099893 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:11.97, Y:0.01, Z:0.57 [[ 9.96949874e-01 -5.42379831e-02 -5.61176523e-02 1.19692986e+01] [ 5.42581274e-02 9.98526262e-01 -1.16571811e-03 7.62819971e-03] [ 5.60981759e-02 -1.88267621e-03 9.98423482e-01 5.69099812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.205099892999998 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:12.03, Y:0.01, Z:0.57 [[ 9.96941121e-01 -5.43989303e-02 -5.61173564e-02 1.20276538e+01] [ 5.44185374e-02 9.98517517e-01 -1.17979740e-03 7.97125114e-03] [ 5.60983430e-02 -1.87763592e-03 9.98423482e-01 5.69979239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.265099892999999 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:12.08, Y:0.01, Z:0.57 [[ 9.97102224e-01 -5.13617655e-02 -5.61170521e-02 1.20847926e+01] [ 5.13757665e-02 9.98678679e-01 -1.19409484e-03 8.34652648e-03] [ 5.61042343e-02 -1.69242194e-03 9.98423483e-01 5.73940470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.325099892999999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:12.14, Y:0.01, Z:0.58 [[ 9.97179951e-01 -4.98300698e-02 -5.61169234e-02 1.21434100e+01] [ 4.98413108e-02 9.98756428e-01 -1.20011392e-03 1.42608271e-02] [ 5.61069398e-02 -1.60021148e-03 9.98423483e-01 5.82762572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.385099892999998 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:12.20, Y:0.01, Z:0.58 [[ 9.97141262e-01 -5.05987004e-02 -5.61166198e-02 1.22025880e+01] [ 5.06103674e-02 9.98717736e-01 -1.21414830e-03 1.28281959e-02] [ 5.61060978e-02 -1.62940538e-03 9.98423483e-01 5.76808081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.445099892999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:12.26, Y:0.02, Z:0.58 [[ 9.97027288e-01 -5.27972122e-02 -5.61163117e-02 1.22610581e+01] [ 5.28115637e-02 9.98603740e-01 -1.22822414e-03 1.60635159e-02] [ 5.61028056e-02 -1.73901718e-03 9.98423483e-01 5.84952547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.505099892999999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:12.32, Y:0.02, Z:0.59 [[ 9.97196901e-01 -4.94907657e-02 -5.61159948e-02 1.23197749e+01] [ 4.94990849e-02 9.98773396e-01 -1.24253460e-03 1.86261503e-02] [ 5.61086567e-02 -1.53863874e-03 9.98423483e-01 5.88776349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.565099893 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:12.38, Y:0.02, Z:0.59 [[ 9.97319793e-01 -4.69495651e-02 -5.61156793e-02 1.23786222e+01] [ 4.69530746e-02 9.98896306e-01 -1.25662635e-03 1.93631642e-02] [ 5.61127428e-02 -1.38154534e-03 9.98423483e-01 5.92713659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.625099892999998 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:12.44, Y:0.02, Z:0.60 [[ 9.97419479e-01 -4.47822601e-02 -5.61153533e-02 1.24358429e+01] [ 4.47815345e-02 9.98995995e-01 -1.27101996e-03 2.29635415e-02] [ 5.61159323e-02 -1.24519157e-03 9.98423483e-01 5.96820825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.685099892999999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:12.49, Y:0.02, Z:0.60 [[ 9.97427825e-01 -4.45964418e-02 -5.61149749e-02 1.24948815e+01] [ 4.45944952e-02 9.99004341e-01 -1.28751075e-03 2.28395335e-02] [ 5.61165219e-02 -1.21821993e-03 9.98423483e-01 5.96580464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.745099892999999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:12.55, Y:0.03, Z:0.60 [[ 9.97400026e-01 -4.52143189e-02 -5.61146421e-02 1.25512775e+01] [ 4.52125423e-02 9.98976542e-01 -1.30185412e-03 2.55278804e-02] [ 5.61160736e-02 -1.23861629e-03 9.98423483e-01 6.00263163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.805099892999998 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:12.61, Y:0.03, Z:0.61 [[ 9.97566601e-01 -4.13769508e-02 -5.61143815e-02 1.26094421e+01] [ 4.13684829e-02 9.99143095e-01 -1.31299191e-03 2.90372040e-02] [ 5.61206245e-02 -1.01156996e-03 9.98423483e-01 6.05803157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.865099892999998 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:12.67, Y:0.03, Z:0.61 [[ 9.97562366e-01 -4.14793845e-02 -5.61140464e-02 1.26674875e+01] [ 4.14702818e-02 9.99138856e-01 -1.32716080e-03 3.39612300e-02] [ 5.61207740e-02 -1.00313965e-03 9.98423484e-01 6.11729474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.925099892999999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:12.73, Y:0.03, Z:0.61 [[ 9.97305415e-01 -4.72563317e-02 -5.61137068e-02 1.27257652e+01] [ 4.72555608e-02 9.98881931e-01 -1.34136870e-03 3.28598577e-02] [ 5.61143560e-02 -1.31393042e-03 9.98423484e-01 6.12009023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.985099893 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:12.78, Y:0.03, Z:0.61 [[ 9.97174100e-01 -4.99510749e-02 -5.61133089e-02 1.27848070e+01] [ 4.99536393e-02 9.98750615e-01 -1.35781293e-03 3.46521882e-02] [ 5.61110260e-02 -1.44908811e-03 9.98423484e-01 6.14396817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.045099892999998 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:12.84, Y:0.03, Z:0.62 [[ 9.97334083e-01 -4.66482824e-02 -5.61129619e-02 1.28434733e+01] [ 4.66448275e-02 9.98910595e-01 -1.37200430e-03 3.19397395e-02] [ 5.61158338e-02 -1.24903278e-03 9.98423484e-01 6.21469410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.105099892999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:12.90, Y:0.04, Z:0.63 [[ 9.97670449e-01 -3.87949755e-02 -5.61126054e-02 1.29011741e+01] [ 3.87782977e-02 9.99246877e-01 -1.38643419e-03 4.20003482e-02] [ 5.61241324e-02 -7.92746894e-04 9.98423484e-01 6.28417172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.165099892999999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:12.96, Y:0.03, Z:0.63 [[ 9.98088366e-01 -2.59037199e-02 -5.61124803e-02 1.29600300e+01] [ 2.58663953e-02 9.99664440e-01 -1.39147959e-03 3.10689810e-02] [ 5.61296957e-02 -6.26080062e-05 9.98423484e-01 6.30399467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.225099892999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:13.02, Y:0.03, Z:0.63 [[ 9.98158810e-01 -2.30308587e-02 -5.61121249e-02 1.30174776e+01] [ 2.29882004e-02 9.99734748e-01 -1.40566751e-03 3.00898962e-02] [ 5.61296147e-02 1.13162641e-04 9.98423484e-01 6.34013115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.285099892999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:13.08, Y:0.03, Z:0.64 [[ 9.98152179e-01 -2.33174284e-02 -5.61117172e-02 1.30757417e+01] [ 2.32743181e-02 9.99728105e-01 -1.42175760e-03 3.16396348e-02] [ 5.61296124e-02 1.13168497e-04 9.98423484e-01 6.37295757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.345099892999999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:13.13, Y:0.03, Z:0.64 [[ 9.98189766e-01 -2.16497776e-02 -5.61113050e-02 1.31337941e+01] [ 2.16031303e-02 9.99765591e-01 -1.43784170e-03 3.36280313e-02] [ 5.61292810e-02 2.23059042e-04 9.98423484e-01 6.39482803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.405099893 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:13.19, Y:0.04, Z:0.64 [[ 9.98190706e-01 -2.16074611e-02 -5.61108861e-02 1.31910224e+01] [ 2.15598381e-02 9.99766502e-01 -1.45401002e-03 3.55111483e-02] [ 5.61292018e-02 2.41637666e-04 9.98423484e-01 6.43346811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.465099892999998 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:13.25, Y:0.04, Z:0.65 [[ 9.98199458e-01 -2.12004441e-02 -5.61104641e-02 1.32490311e+01] [ 2.11512733e-02 9.99775206e-01 -1.47011589e-03 3.71082131e-02] [ 5.61290179e-02 2.80661119e-04 9.98423485e-01 6.45647771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.525099892999998 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:13.31, Y:0.04, Z:0.65 [[ 9.98195523e-01 -2.13860216e-02 -5.61100401e-02 1.33064674e+01] [ 2.13362438e-02 9.99771252e-01 -1.48612597e-03 3.87539438e-02] [ 5.61289873e-02 2.86266795e-04 9.98423485e-01 6.47651034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.585099892999999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:13.36, Y:0.04, Z:0.65 [[ 9.98192428e-01 -2.15310814e-02 -5.61096121e-02 1.33645913e+01] [ 2.14806341e-02 9.99768136e-01 -1.50211020e-03 4.02780871e-02] [ 5.61289444e-02 2.94124977e-04 9.98423485e-01 6.50609875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.645099892999998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:13.42, Y:0.04, Z:0.65 [[ 9.98181974e-01 -2.20115468e-02 -5.61091728e-02 1.34227661e+01] [ 2.19609454e-02 9.99757676e-01 -1.51834492e-03 4.14536520e-02] [ 5.61289974e-02 2.83374053e-04 9.98423485e-01 6.53063808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.705099892999998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:13.48, Y:0.04, Z:0.66 [[ 9.98164356e-01 -2.27975835e-02 -5.61087287e-02 1.34808557e+01] [ 2.27473101e-02 9.99740069e-01 -1.53458362e-03 4.23236526e-02] [ 5.61291291e-02 2.55444023e-04 9.98423485e-01 6.56022457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.765099892999999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:13.54, Y:0.04, Z:0.66 [[ 9.98138373e-01 -2.39092179e-02 -5.61082753e-02 1.35391048e+01] [ 2.38597774e-02 9.99714112e-01 -1.55098666e-03 4.34641104e-02] [ 5.61293175e-02 2.09368343e-04 9.98423485e-01 6.58688255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.825099892999999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:13.60, Y:0.06, Z:0.66 [[ 9.97304191e-01 -4.72891504e-02 -5.61078225e-02 1.35973598e+01] [ 4.72757314e-02 9.98880648e-01 -1.56719863e-03 5.54453285e-02] [ 5.61191296e-02 -1.08956458e-03 9.98423485e-01 6.60552292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.885099892999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:13.66, Y:0.06, Z:0.66 [[ 9.97390079e-01 -4.54417774e-02 -5.61077089e-02 1.36553408e+01] [ 4.54252104e-02 9.98966507e-01 -1.57125270e-03 5.85028493e-02] [ 5.61211225e-02 -9.81552631e-04 9.98423485e-01 6.64315667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.945099892999998 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:13.71, Y:0.06, Z:0.67 [[ 9.97393369e-01 -4.53700961e-02 -5.61072430e-02 1.37123403e+01] [ 4.53524899e-02 9.98969785e-01 -1.58771815e-03 6.08255923e-02] [ 5.61214754e-02 -9.61023614e-04 9.98423486e-01 6.68511066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.005099892999999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:13.77, Y:0.06, Z:0.67 [[ 9.97381189e-01 -4.56374537e-02 -5.61069233e-02 1.37700812e+01] [ 4.56196390e-02 9.98957603e-01 -1.59893834e-03 6.30493196e-02] [ 5.61214090e-02 -9.64826562e-04 9.98423486e-01 6.71162660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.065099892999998 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:13.83, Y:0.07, Z:0.67 [[ 9.97344387e-01 -4.64353145e-02 -5.61064602e-02 1.38275890e+01] [ 4.64178562e-02 9.98920805e-01 -1.61502692e-03 6.51776960e-02] [ 5.61209046e-02 -9.93603563e-04 9.98423486e-01 6.73840251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.125099892999998 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:13.89, Y:0.07, Z:0.68 [[ 9.97296727e-01 -4.74484802e-02 -5.61059796e-02 1.38851410e+01] [ 4.74316939e-02 9.98873151e-01 -1.63155289e-03 6.68380272e-02] [ 5.61201713e-02 -1.03405929e-03 9.98423486e-01 6.77356984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.185099892999999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:13.94, Y:0.07, Z:0.68 [[ 9.97243489e-01 -4.85550845e-02 -5.61055005e-02 1.39434137e+01] [ 4.85391301e-02 9.98819922e-01 -1.64786419e-03 6.77955191e-02] [ 5.61193039e-02 -1.07999036e-03 9.98423486e-01 6.80417553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.245099892999999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:14.00, Y:0.07, Z:0.68 [[ 9.97215822e-01 -4.91205862e-02 -5.61050140e-02 1.40008463e+01] [ 4.91046033e-02 9.98792255e-01 -1.66426627e-03 6.81394315e-02] [ 5.61190032e-02 -1.09538180e-03 9.98423486e-01 6.80366231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.305099892999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:14.06, Y:0.07, Z:0.69 [[ 9.97156260e-01 -5.03153698e-02 -5.61048646e-02 1.40575015e+01] [ 5.03009935e-02 9.98732709e-01 -1.66928557e-03 6.98803153e-02] [ 5.61177542e-02 -1.15759187e-03 9.98423486e-01 6.85625517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.365099892999998 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:14.12, Y:0.07, Z:0.69 [[ 9.96869435e-01 -5.57099277e-02 -5.61046613e-02 1.41159489e+01] [ 5.57036983e-02 9.98445937e-01 -1.67609273e-03 6.88118452e-02] [ 5.61108461e-02 -1.45439152e-03 9.98423486e-01 6.91772684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.425099892999999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:14.17, Y:0.07, Z:0.69 [[ 9.96959599e-01 -5.40728587e-02 -5.61042313e-02 1.41736708e+01] [ 5.40632379e-02 9.98536083e-01 -1.69036381e-03 7.37373293e-02] [ 5.61135022e-02 -1.34795198e-03 9.98423486e-01 6.94183845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.485099892999997 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:14.23, Y:0.08, Z:0.69 [[ 9.97117150e-01 -5.10854422e-02 -5.61040797e-02 1.42318550e+01] [ 5.10708157e-02 9.98693595e-01 -1.69538093e-03 7.58703534e-02] [ 5.61173944e-02 -1.17478771e-03 9.98423486e-01 6.94253706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.545099892999998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:14.29, Y:0.08, Z:0.70 [[ 9.97116804e-01 -5.10927231e-02 -5.61035987e-02 1.42896161e+01] [ 5.10772210e-02 9.98693241e-01 -1.71115317e-03 7.61600591e-02] [ 5.61177123e-02 -1.15939633e-03 9.98423486e-01 6.96913085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.605099892999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:14.35, Y:0.08, Z:0.70 [[ 9.97096433e-01 -5.14892851e-02 -5.61030980e-02 1.43469010e+01] [ 5.14734956e-02 9.98672867e-01 -1.72741267e-03 7.54678186e-02] [ 5.61175850e-02 -1.16542555e-03 9.98423487e-01 6.98083333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.665099892999999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:14.41, Y:0.08, Z:0.71 [[ 9.97297890e-01 -4.74276831e-02 -5.61028821e-02 1.44052548e+01] [ 4.74050800e-02 9.98874241e-01 -1.73439864e-03 8.13128395e-02] [ 5.61219823e-02 -9.29849508e-04 9.98423487e-01 7.09684370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.725099892999998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:14.46, Y:0.08, Z:0.71 [[ 9.97255530e-01 -4.83107189e-02 -5.61024328e-02 1.44626581e+01] [ 4.82887009e-02 9.98831889e-01 -1.74881241e-03 8.23908061e-02] [ 5.61213853e-02 -9.65100752e-04 9.98423487e-01 7.09659614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.785099892999998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:14.52, Y:0.08, Z:0.71 [[ 9.97078555e-01 -5.18352216e-02 -5.61022749e-02 1.45214063e+01] [ 5.18184913e-02 9.98654979e-01 -1.75386382e-03 8.18809802e-02] [ 5.61177281e-02 -1.15839524e-03 9.98423487e-01 7.09236023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.845099892999999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:14.58, Y:0.08, Z:0.71 [[ 9.96969342e-01 -5.38954218e-02 -5.61018272e-02 1.45794170e+01] [ 5.38811500e-02 9.98545790e-01 -1.76806871e-03 8.28962118e-02] [ 5.61155342e-02 -1.26012067e-03 9.98423487e-01 7.10956801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.905099892999997 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:14.64, Y:0.08, Z:0.71 [[ 9.96856677e-01 -5.59407604e-02 -5.61016694e-02 1.46368824e+01] [ 5.59294423e-02 9.98433149e-01 -1.77306048e-03 8.45527416e-02] [ 5.61129529e-02 -1.37024791e-03 9.98423487e-01 7.14432076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.965099892999998 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:14.70, Y:0.08, Z:0.72 [[ 9.96606317e-01 -6.02371196e-02 -5.61011511e-02 1.46958786e+01] [ 6.02316828e-02 9.98182820e-01 -1.78931119e-03 8.11710054e-02] [ 5.61069882e-02 -1.59582791e-03 9.98423487e-01 7.18340280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.025099892999997 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:14.75, Y:0.08, Z:0.72 [[ 9.96363291e-01 -6.41319254e-02 -5.61006975e-02 1.47546177e+01] [ 6.41318568e-02 9.97939804e-01 -1.80342168e-03 8.08438660e-02] [ 5.61007760e-02 -1.80097874e-03 9.98423487e-01 7.20284180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.085099893 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:14.81, Y:0.08, Z:0.72 [[ 9.96256455e-01 -6.57711111e-02 -5.61002303e-02 1.48120187e+01] [ 6.57728251e-02 9.97832967e-01 -1.81784170e-03 8.13629906e-02] [ 5.60982207e-02 -1.87883411e-03 9.98423487e-01 7.22052934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.145099892999998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:14.87, Y:0.08, Z:0.73 [[ 9.96186778e-01 -6.68183009e-02 -5.61000655e-02 1.48694127e+01] [ 6.68213868e-02 9.97763288e-01 -1.82291330e-03 8.25653339e-02] [ 5.60963898e-02 -1.93272205e-03 9.98423487e-01 7.26036103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.205099893 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:14.93, Y:0.08, Z:0.73 [[ 9.96167707e-01 -6.71024643e-02 -5.60995424e-02 1.49276627e+01] [ 6.71051023e-02 9.97744218e-01 -1.83887298e-03 8.45574979e-02] [ 5.60963869e-02 -1.93273964e-03 9.98423487e-01 7.29318600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.265099893 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:14.99, Y:0.09, Z:0.73 [[ 9.96012520e-01 -6.93682979e-02 -5.60990141e-02 1.49865978e+01] [ 6.93736232e-02 9.97589024e-01 -1.85485022e-03 8.80546279e-02] [ 5.60924285e-02 -2.04433783e-03 9.98423487e-01 7.31032431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.325099892999997 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:15.04, Y:0.09, Z:0.73 [[ 9.96527746e-01 -6.15256348e-02 -5.60985521e-02 1.50442110e+01] [ 6.15177698e-02 9.98104239e-01 -1.86871939e-03 9.25426400e-02] [ 5.61071768e-02 -1.58882709e-03 9.98423487e-01 7.33918968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.385099893 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:15.10, Y:0.10, Z:0.74 [[ 9.96528841e-01 -6.15084033e-02 -5.60980058e-02 1.51022542e+01] [ 6.14995965e-02 9.98105328e-01 -1.88497742e-03 9.92178826e-02] [ 5.61076605e-02 -1.57157036e-03 9.98423488e-01 7.42778688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.445099893 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:15.16, Y:0.10, Z:0.74 [[ 9.95982871e-01 -6.97939002e-02 -5.60975304e-02 1.51609975e+01] [ 6.97974144e-02 9.97559379e-01 -1.89902300e-03 9.66162741e-02] [ 5.60931578e-02 -2.02406820e-03 9.98423488e-01 7.39054787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.505099892999997 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:15.22, Y:0.10, Z:0.74 [[ 9.95855949e-01 -7.15824659e-02 -5.60970538e-02 1.52193777e+01] [ 7.15880253e-02 9.97432451e-01 -1.91299851e-03 9.67167473e-02] [ 5.60899590e-02 -2.11080636e-03 9.98423488e-01 7.43658630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.565099893 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:15.28, Y:0.10, Z:0.75 [[ 9.96179534e-01 -6.69291567e-02 -5.60965651e-02 1.52780082e+01] [ 6.69265508e-02 9.97756044e-01 -1.92722169e-03 9.92354704e-02] [ 5.60996742e-02 -1.83449081e-03 9.98423488e-01 7.46964826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.625099892999998 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:15.34, Y:0.10, Z:0.75 [[ 9.95950391e-01 -7.02570208e-02 -5.60960728e-02 1.53354251e+01] [ 7.02588817e-02 9.97526902e-01 -1.94144800e-03 1.01049909e-01] [ 5.60937421e-02 -2.00766145e-03 9.98423488e-01 7.52266410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.685099892999997 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:15.39, Y:0.11, Z:0.75 [[ 9.95958172e-01 -7.01467748e-02 -5.60958998e-02 1.53944367e+01] [ 7.01481808e-02 9.97534683e-01 -1.94643248e-03 1.07520854e-01] [ 5.60941416e-02 -1.99645998e-03 9.98423488e-01 7.52661966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.745099893 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:15.45, Y:0.10, Z:0.76 [[ 9.95930687e-01 -7.05362886e-02 -5.60954508e-02 1.54530690e+01] [ 7.05375880e-02 9.97507198e-01 -1.95928833e-03 1.04361192e-01] [ 5.60938169e-02 -2.00552242e-03 9.98423488e-01 7.55739242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.805099892999998 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:15.51, Y:0.11, Z:0.76 [[ 9.96003207e-01 -6.95051664e-02 -5.60949459e-02 1.55103918e+01] [ 6.95040263e-02 9.97579719e-01 -1.97363991e-03 1.08894788e-01] [ 5.60963585e-02 -1.93307291e-03 9.98423488e-01 7.58966018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.865099892999996 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:15.57, Y:0.11, Z:0.76 [[ 9.95918428e-01 -7.07100180e-02 -5.60943622e-02 1.55681644e+01] [ 7.07098595e-02 9.97494940e-01 -1.99009315e-03 1.09213214e-01] [ 5.60945619e-02 -1.98445402e-03 9.98423488e-01 7.55961505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.925099893 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:15.63, Y:0.12, Z:0.76 [[ 9.96116042e-01 -6.78696013e-02 -5.60941020e-02 1.56260788e+01] [ 6.78645360e-02 9.97692545e-01 -1.99740009e-03 1.15129655e-01] [ 5.61002301e-02 -1.81715792e-03 9.98423488e-01 7.63885911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.985099892999997 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:15.68, Y:0.11, Z:0.77 [[ 9.96168748e-01 -6.70919762e-02 -5.60935965e-02 1.56845405e+01] [ 6.70848872e-02 9.97745244e-01 -2.01149589e-03 1.14286802e-01] [ 5.61020744e-02 -1.75924325e-03 9.98423488e-01 7.68097467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.045099893 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:15.74, Y:0.12, Z:0.78 [[ 9.96222768e-01 -6.62854709e-02 -5.60930754e-02 1.57418621e+01] [ 6.62762939e-02 9.97799253e-01 -2.02592410e-03 1.24908863e-01] [ 5.61039180e-02 -1.69936944e-03 9.98423489e-01 7.75509092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.105099893 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:15.80, Y:0.12, Z:0.77 [[ 9.96309390e-01 -6.49706566e-02 -5.60928922e-02 1.58015701e+01] [ 6.49591145e-02 9.97885859e-01 -2.03098377e-03 1.18419633e-01] [ 5.61062583e-02 -1.62025641e-03 9.98423489e-01 7.70912575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.165099892999997 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:15.86, Y:0.13, Z:0.77 [[ 9.95848990e-01 -7.16828720e-02 -5.60923790e-02 1.58606119e+01] [ 7.16811614e-02 9.97425500e-01 -2.04505998e-03 1.25821900e-01] [ 5.60945650e-02 -1.98419596e-03 9.98423489e-01 7.74577922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.225099893 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:15.92, Y:0.12, Z:0.77 [[ 9.95516784e-01 -7.61579411e-02 -5.60918959e-02 1.59201804e+01] [ 7.61625754e-02 9.97093288e-01 -2.05822548e-03 1.22649485e-01] [ 5.60856032e-02 -2.22310525e-03 9.98423489e-01 7.71926422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.285099892999998 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:15.98, Y:0.13, Z:0.78 [[ 9.96135198e-01 -6.75901187e-02 -5.60913740e-02 1.59776026e+01] [ 6.75803945e-02 9.97711680e-01 -2.07235299e-03 1.28847783e-01] [ 5.61030895e-02 -1.72633343e-03 9.98423489e-01 7.82958747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.345099892999997 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:16.04, Y:0.13, Z:0.79 [[ 9.96602863e-01 -6.03034639e-02 -5.60912271e-02 1.60357885e+01] [ 6.02819878e-02 9.98179228e-01 -2.07632042e-03 1.33335963e-01] [ 5.61143071e-02 -1.31202379e-03 9.98423489e-01 7.89892636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.405099893 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:16.09, Y:0.14, Z:0.80 [[ 9.96507248e-01 -6.18638646e-02 -5.60907019e-02 1.60942569e+01] [ 6.18440641e-02 9.98083635e-01 -2.09041229e-03 1.36407101e-01] [ 5.61125326e-02 -1.38576597e-03 9.98423489e-01 7.97190919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.465099892999998 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:16.15, Y:0.14, Z:0.79 [[ 9.96186753e-01 -6.68269842e-02 -5.60901670e-02 1.61521958e+01] [ 6.68142343e-02 9.97763213e-01 -2.10466998e-03 1.36537937e-01] [ 5.61053539e-02 -1.65097721e-03 9.98423489e-01 7.93005465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.525099892999997 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:16.21, Y:0.15, Z:0.80 [[ 9.97267309e-01 -4.80814755e-02 -5.60899784e-02 1.62093036e+01] [ 4.80387999e-02 9.98843242e-01 -2.10968322e-03 1.50708116e-01] [ 5.61265326e-02 -5.90577147e-04 9.98423489e-01 8.02323899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.585099893 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:16.27, Y:0.15, Z:0.81 [[ 9.97453361e-01 -4.40542599e-02 -5.60893537e-02 1.62678433e+01] [ 4.40042947e-02 9.99029079e-01 -2.12616225e-03 1.51399052e-01] [ 5.61285619e-02 -3.47424771e-04 9.98423489e-01 8.06059212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.645099892999998 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:16.33, Y:0.15, Z:0.81 [[ 9.97569223e-01 -4.13484080e-02 -5.60888099e-02 1.63268437e+01] [ 4.12933675e-02 9.99144773e-01 -2.14041293e-03 1.52330597e-01] [ 5.61293439e-02 -1.80885774e-04 9.98423489e-01 8.10065547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.705099892999996 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:16.38, Y:0.15, Z:0.81 [[ 9.97603663e-01 -4.05097462e-02 -5.60882541e-02 1.63846420e+01] [ 4.04525677e-02 9.99179136e-01 -2.15488046e-03 1.54559707e-01] [ 5.61295069e-02 -1.19197254e-04 9.98423489e-01 8.12943220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.765099893 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:16.44, Y:0.16, Z:0.82 [[ 9.97631576e-01 -3.98166734e-02 -5.60880588e-02 1.64419376e+01] [ 3.97581154e-02 9.99206999e-01 -2.15995149e-03 1.56979753e-01] [ 5.61295830e-02 -7.51197005e-05 9.98423489e-01 8.17172864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.825099892999997 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:16.50, Y:0.16, Z:0.82 [[ 9.97719968e-01 -3.75375164e-02 -5.60874277e-02 1.64995788e+01] [ 3.74744451e-02 9.99295217e-01 -2.17621657e-03 1.59315502e-01] [ 5.61295880e-02 6.94095010e-05 9.98423490e-01 8.19377034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.885099893 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:16.56, Y:0.16, Z:0.82 [[ 9.97771218e-01 -3.61506402e-02 -5.60867944e-02 1.65561026e+01] [ 3.60844687e-02 9.99346339e-01 -2.19241838e-03 1.61607014e-01] [ 5.61293900e-02 1.63669779e-04 9.98423490e-01 8.22841844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.945099893 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:16.61, Y:0.16, Z:0.83 [[ 9.97966167e-01 -3.02957377e-02 -5.60865216e-02 1.66143097e+01] [ 3.02199346e-02 9.99540854e-01 -2.19937399e-03 1.61394091e-01] [ 5.61274014e-02 4.99969816e-04 9.98423490e-01 8.25813171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.005099892999997 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:16.67, Y:0.12, Z:0.84 [[ 9.98145797e-01 -2.36504069e-02 -5.60858809e-02 1.66741080e+01] [ 2.35632097e-02 9.99719894e-01 -2.21559377e-03 1.20930032e-01] [ 5.61225706e-02 8.89922241e-04 9.98423490e-01 8.35344850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.065099893 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:16.73, Y:0.12, Z:0.84 [[ 9.98131100e-01 -2.42640766e-02 -5.60853120e-02 1.67320017e+01] [ 2.41770434e-02 9.99705206e-01 -2.22990299e-03 1.21026578e-01] [ 5.61228849e-02 8.69758505e-04 9.98423490e-01 8.39160558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.125099892999998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:16.79, Y:0.12, Z:0.84 [[ 9.98097802e-01 -2.55976193e-02 -5.60851124e-02 1.67912043e+01] [ 2.55124078e-02 9.99672007e-01 -2.23491158e-03 1.15438610e-01] [ 5.61239253e-02 7.99794076e-04 9.98423490e-01 8.44339253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.185099892999997 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:16.85, Y:0.07, Z:0.85 [[ 9.98128219e-01 -2.43840133e-02 -5.60845609e-02 1.68513204e+01] [ 2.42961152e-02 9.99702277e-01 -2.24866613e-03 7.35960822e-02] [ 5.61226948e-02 8.81820163e-04 9.98423490e-01 8.46210886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.245099893 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:16.91, Y:0.07, Z:0.85 [[ 9.98151152e-01 -2.34278645e-02 -5.60839836e-02 1.69100839e+01] [ 2.33376548e-02 9.99725079e-01 -2.26297501e-03 7.25676967e-02] [ 5.61215816e-02 9.49922459e-04 9.98423490e-01 8.50270052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.305099892999998 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:16.97, Y:0.07, Z:0.85 [[ 9.98165942e-01 -2.27904506e-02 -5.60833956e-02 1.69679580e+01] [ 2.26984225e-02 9.99739764e-01 -2.27745489e-03 7.19384207e-02] [ 5.61207049e-02 1.00027330e-03 9.98423490e-01 8.52126054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.365099892999996 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:17.03, Y:0.07, Z:0.85 [[ 9.98174468e-01 -2.24144409e-02 -5.60831890e-02 1.70266417e+01] [ 2.23215350e-02 9.99748238e-01 -2.28252980e-03 6.97586712e-02] [ 5.61202311e-02 1.02650011e-03 9.98423490e-01 8.52562983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.425099893 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:17.09, Y:0.06, Z:0.85 [[ 9.98169752e-01 -2.26249176e-02 -5.60826107e-02 1.70850998e+01] [ 2.25315502e-02 9.99743494e-01 -2.29665190e-03 6.19996805e-02] [ 5.61201868e-02 1.02882029e-03 9.98423490e-01 8.54488125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.485099892999997 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:17.14, Y:0.06, Z:0.86 [[ 9.98056562e-01 -2.71646054e-02 -5.60819381e-02 1.71434560e+01] [ 2.70774806e-02 9.99630662e-01 -2.31296048e-03 5.75320677e-02] [ 5.61240556e-02 7.89907793e-04 9.98423491e-01 8.60461436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.545099892999996 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:17.20, Y:0.05, Z:0.86 [[ 9.97893110e-01 -3.26224647e-02 -5.60813378e-02 1.72020258e+01] [ 3.25431368e-02 9.99467622e-01 -2.32742622e-03 5.08311706e-02] [ 5.61274077e-02 4.97459941e-04 9.98423491e-01 8.62262369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.605099893 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:17.26, Y:0.04, Z:0.87 [[ 9.97740931e-01 -3.69862816e-02 -5.60807434e-02 1.72604724e+01] [ 3.69130403e-02 9.99315738e-01 -2.34166180e-03 4.32044289e-02] [ 5.61289788e-02 2.66261081e-04 9.98423491e-01 8.65716244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.665099892999997 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:17.32, Y:0.04, Z:0.87 [[ 9.97471884e-01 -4.36447891e-02 -5.60800527e-02 1.73191502e+01] [ 4.35811368e-02 9.99047108e-01 -2.35808787e-03 4.10519145e-02] [ 5.61295327e-02 -9.19060967e-05 9.98423491e-01 8.70641933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.725099893 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:17.38, Y:0.04, Z:0.88 [[ 9.97281753e-01 -4.77933276e-02 -5.60794412e-02 1.73772604e+01] [ 4.77354151e-02 9.98857198e-01 -2.37254303e-03 4.00736801e-02] [ 5.61287452e-02 -3.10881531e-04 9.98423491e-01 8.75449594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.785099892999998 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:17.44, Y:0.03, Z:0.88 [[ 9.96771935e-01 -5.74528543e-02 -5.60792259e-02 1.74357864e+01] [ 5.74099219e-02 9.98347859e-01 -2.37762027e-03 2.99276881e-02] [ 5.61231762e-02 -8.49558828e-04 9.98423491e-01 8.78831981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.845099892999997 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:17.49, Y:0.03, Z:0.88 [[ 9.96436813e-01 -6.29990209e-02 -5.60785334e-02 1.74949527e+01] [ 6.29639467e-02 9.98012931e-01 -2.39384202e-03 3.32055360e-02] [ 5.61179112e-02 -1.14561348e-03 9.98423491e-01 8.78151335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.905099893 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:17.55, Y:0.03, Z:0.88 [[ 9.96240370e-01 -6.60332551e-02 -5.60779306e-02 1.75539506e+01] [ 6.60021910e-02 9.97816573e-01 -2.40788269e-03 3.38274492e-02] [ 5.61144888e-02 -1.30243634e-03 9.98423491e-01 8.82305758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.965099892999998 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:17.61, Y:0.04, Z:0.88 [[ 9.96062965e-01 -6.86578830e-02 -5.60773145e-02 1.76126931e+01] [ 6.86301694e-02 9.97639230e-01 -2.42214693e-03 4.14115326e-02] [ 5.61112283e-02 -1.43598474e-03 9.98423491e-01 8.83927996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.025099892999997 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:17.67, Y:0.05, Z:0.89 [[ 9.95957977e-01 -7.01649040e-02 -5.60766825e-02 1.76708743e+01] [ 7.01387572e-02 9.97534269e-01 -2.43668984e-03 5.11111854e-02] [ 5.61093826e-02 -1.50630814e-03 9.98423491e-01 8.89537253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.085099893 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:17.73, Y:0.06, Z:0.90 [[ 9.95771363e-01 -7.27658577e-02 -5.60760471e-02 1.77281422e+01] [ 7.27430100e-02 9.97347706e-01 -2.45122578e-03 6.46694399e-02] [ 5.61056825e-02 -1.63828002e-03 9.98423492e-01 8.95636624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.145099892999998 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:17.79, Y:0.07, Z:0.89 [[ 9.95342996e-01 -7.84081263e-02 -5.60757107e-02 1.77864232e+01] [ 7.83937810e-02 9.96919440e-01 -2.45889795e-03 7.39915322e-02] [ 5.60957637e-02 -1.94854014e-03 9.98423492e-01 8.94228481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.205099892999996 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:17.84, Y:0.10, Z:0.90 [[ 9.95203440e-01 -8.01604524e-02 -5.60750838e-02 1.78434698e+01] [ 8.01480829e-02 9.96779900e-01 -2.47311243e-03 9.55989561e-02] [ 5.60927622e-02 -2.03306047e-03 9.98423492e-01 9.00761205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.265099893 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:17.90, Y:0.11, Z:0.90 [[ 9.95326692e-01 -7.86157905e-02 -5.60743674e-02 1.79015332e+01] [ 7.86000660e-02 9.96903121e-01 -2.48925211e-03 1.14165705e-01] [ 5.60964064e-02 -1.92982991e-03 9.98423492e-01 9.04455601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.325099892999997 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:17.96, Y:0.13, Z:0.90 [[ 9.95463860e-01 -7.68598780e-02 -5.60737223e-02 1.79593804e+01] [ 7.68405598e-02 9.97040250e-01 -2.50369895e-03 1.26800492e-01] [ 5.61001921e-02 -1.81639439e-03 9.98423492e-01 9.04567346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.385099892999996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:18.02, Y:0.14, Z:0.91 [[ 9.95830156e-01 -7.19590775e-02 -5.60730843e-02 1.80169544e+01] [ 7.19312008e-02 9.97406418e-01 -2.51790630e-03 1.44514705e-01] [ 5.61088404e-02 -1.52599727e-03 9.98423492e-01 9.11690864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.445099893 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:18.07, Y:0.16, Z:0.92 [[ 9.96438003e-01 -6.29856089e-02 -5.60724449e-02 1.80738763e+01] [ 6.29427375e-02 9.98013928e-01 -2.53206791e-03 1.61359159e-01] [ 5.61205648e-02 -1.00630449e-03 9.98423492e-01 9.16035263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.505099892999997 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:18.13, Y:0.17, Z:0.92 [[ 9.97076608e-01 -5.19056991e-02 -5.60717130e-02 1.81315791e+01] [ 5.18444074e-02 9.98651923e-01 -2.54817218e-03 1.74689189e-01] [ 5.61283887e-02 -3.66281856e-04 9.98423492e-01 9.18380581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.565099893 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:18.19, Y:0.19, Z:0.93 [[ 9.97882296e-01 -3.29692024e-02 -5.60709814e-02 1.81894958e+01] [ 3.28771193e-02 9.99456112e-01 -2.56417112e-03 1.94680744e-01] [ 5.61250237e-02 7.15288624e-04 9.98423492e-01 9.25142304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.625099892999998 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:18.25, Y:0.21, Z:0.93 [[ 9.98090193e-01 -2.59245890e-02 -5.60703326e-02 1.82479253e+01] [ 2.58206067e-02 9.99663268e-01 -2.57828039e-03 2.08706832e-01] [ 5.61182928e-02 1.12558636e-03 9.98423492e-01 9.27833225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.685099892999997 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:18.31, Y:0.22, Z:0.93 [[ 9.98040084e-01 -2.77881461e-02 -5.60696936e-02 1.83060465e+01] [ 2.76863249e-02 9.99613299e-01 -2.59210210e-03 2.16361777e-01] [ 5.61200411e-02 1.03465804e-03 9.98423493e-01 9.30090993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.745099893 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:18.36, Y:0.23, Z:0.93 [[ 9.97843757e-01 -3.41188948e-02 -5.60690480e-02 1.83645941e+01] [ 3.40262753e-02 9.99417541e-01 -2.60599210e-03 2.25385547e-01] [ 5.61253037e-02 6.92552077e-04 9.98423493e-01 9.30833045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.805099892999998 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:18.42, Y:0.23, Z:0.94 [[ 9.97617570e-01 -4.01935318e-02 -5.60683808e-02 1.84222297e+01] [ 4.01096934e-02 9.99191847e-01 -2.62027057e-03 2.34822389e-01] [ 5.61283868e-02 3.65142397e-04 9.98423493e-01 9.36873604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.865099892999996 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:18.48, Y:0.24, Z:0.94 [[ 9.97462908e-01 -4.38646858e-02 -5.60681449e-02 1.84791971e+01] [ 4.37863586e-02 9.99037468e-01 -2.62530721e-03 2.43168645e-01] [ 5.61293358e-02 1.63626667e-04 9.98423493e-01 9.41422793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.925099893 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:18.54, Y:0.25, Z:0.94 [[ 9.97285061e-01 -4.77379224e-02 -5.60677967e-02 1.85371416e+01] [ 4.76652935e-02 9.98859894e-01 -2.63272374e-03 2.46603667e-01] [ 5.61295542e-02 -4.69119254e-05 9.98423493e-01 9.44697072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.985099892999997 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:18.60, Y:0.25, Z:0.94 [[ 9.97147449e-01 -5.05316761e-02 -5.60670471e-02 1.85951973e+01] [ 5.04625672e-02 9.98722441e-01 -2.64859204e-03 2.47388917e-01] [ 5.61292559e-02 -1.88250332e-04 9.98423493e-01 9.42971374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.045099892999996 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:18.65, Y:0.25, Z:0.94 [[ 9.96955926e-01 -5.41792699e-02 -5.60668164e-02 1.86536528e+01] [ 5.41156493e-02 9.98531149e-01 -2.65346571e-03 2.46688598e-01] [ 5.61282255e-02 -3.88703809e-04 9.98423493e-01 9.44113607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.105099893 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:18.71, Y:0.25, Z:0.95 [[ 9.97335700e-01 -4.66699884e-02 -5.60661520e-02 1.87118317e+01] [ 4.65937220e-02 9.98910361e-01 -2.66743038e-03 2.48357264e-01] [ 5.61295491e-02 4.79928474e-05 9.98423493e-01 9.50067625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.165099892999997 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:18.77, Y:0.25, Z:0.96 [[ 9.97814097e-01 -3.49812878e-02 -5.60654823e-02 1.87707480e+01] [ 3.48857902e-02 9.99387708e-01 -2.68143290e-03 2.49311716e-01] [ 5.61249539e-02 7.19682891e-04 9.98423493e-01 9.56070210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.225099892999996 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:18.83, Y:0.25, Z:0.96 [[ 9.98014627e-01 -2.86973998e-02 -5.60648075e-02 1.88295688e+01] [ 2.85912068e-02 9.99587554e-01 -2.69547028e-03 2.52370354e-01] [ 5.61190367e-02 1.08715826e-03 9.98423493e-01 9.60770862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.285099892999998 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:18.89, Y:0.25, Z:0.96 [[ 9.98121518e-01 -2.47032402e-02 -5.60641211e-02 1.88875670e+01] [ 2.45899562e-02 9.99693949e-01 -2.70967212e-03 2.51868797e-01] [ 5.61139003e-02 1.32596777e-03 9.98423493e-01 9.59851830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.345099892999997 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:18.94, Y:0.25, Z:0.96 [[ 9.98142661e-01 -2.38342004e-02 -5.60638800e-02 1.89447622e+01] [ 2.37192678e-02 9.99714973e-01 -2.71465167e-03 2.53856350e-01] [ 5.61126018e-02 1.37981546e-03 9.98423493e-01 9.64984760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.405099893 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:19.00, Y:0.26, Z:0.97 [[ 9.97965491e-01 -3.03602728e-02 -5.60636480e-02 1.90032716e+01] [ 3.02553550e-02 9.99538503e-01 -2.71943431e-03 2.57930103e-01] [ 5.61203375e-02 1.01767603e-03 9.98423493e-01 9.73422695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.465099892999998 meters Centerline goodness : 0.998296 with order 1 Centerline is valid? [True, True] Translation: X:19.06, Y:0.27, Z:0.97 [[ 9.97663684e-01 -3.90399502e-02 -5.60629682e-02 1.90616135e+01] [ 3.89479358e-02 9.99237503e-01 -2.73337614e-03 2.65301027e-01] [ 5.61269312e-02 5.43453220e-04 9.98423493e-01 9.74475056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.525099892999997 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:19.12, Y:0.26, Z:0.98 [[ 9.97379082e-01 -4.57383951e-02 -5.60621687e-02 1.91199874e+01] [ 4.56560347e-02 9.98953435e-01 -2.74967776e-03 2.62542733e-01] [ 5.61292619e-02 1.82894756e-04 9.98423494e-01 9.76411331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.585099893 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:19.18, Y:0.27, Z:0.98 [[ 9.97112592e-01 -5.12205678e-02 -5.60618609e-02 1.91778995e+01] [ 5.11465114e-02 9.98687358e-01 -2.75593804e-03 2.67499041e-01] [ 5.61294325e-02 -1.19388088e-04 9.98423494e-01 9.82529819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.645099892999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:19.24, Y:0.27, Z:0.99 [[ 9.96711924e-01 -5.85015950e-02 -5.60616113e-02 1.92353241e+01] [ 5.84387567e-02 9.98287177e-01 -2.76100616e-03 2.71097175e-01] [ 5.61271110e-02 -5.24243105e-04 9.98423494e-01 9.87159302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.705099892999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:19.29, Y:0.27, Z:0.99 [[ 9.96310518e-01 -6.49810775e-02 -5.60607902e-02 1.92937653e+01] [ 6.49275507e-02 9.97886115e-01 -2.77758012e-03 2.72740141e-01] [ 5.61227743e-02 -8.72557513e-04 9.98423494e-01 9.87930881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.765099893 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:19.35, Y:0.28, Z:0.99 [[ 9.96220791e-01 -6.63430791e-02 -5.60600779e-02 1.93517057e+01] [ 6.62909017e-02 9.97796433e-01 -2.79188290e-03 2.80694384e-01] [ 5.61217679e-02 -9.34941327e-04 9.98423494e-01 9.90277784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.825099892999997 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:19.41, Y:0.29, Z:1.00 [[ 9.96485949e-01 -6.22342402e-02 -5.60593671e-02 1.94103513e+01] [ 6.21747668e-02 9.98061333e-01 -2.80608352e-03 2.87106350e-01] [ 5.61253211e-02 -6.89255270e-04 9.98423494e-01 9.95011765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.885099892999996 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:19.47, Y:0.30, Z:1.00 [[ 9.97031116e-01 -5.27861916e-02 -5.60586500e-02 1.94686008e+01] [ 5.27109871e-02 9.98605827e-01 -2.82033647e-03 2.96794661e-01] [ 5.61293694e-02 -1.42943562e-04 9.98423494e-01 9.97660609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.945099893 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:19.53, Y:0.29, Z:1.00 [[ 9.96630610e-01 -5.98743277e-02 -5.60579353e-02 1.95269432e+01] [ 5.98095272e-02 9.98205784e-01 -2.83447174e-03 2.94890922e-01] [ 5.61270673e-02 -5.27877301e-04 9.98423494e-01 1.00343433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.005099892999997 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:19.59, Y:0.30, Z:1.01 [[ 9.96517642e-01 -6.17266241e-02 -5.60572218e-02 1.95857440e+01] [ 6.16639616e-02 9.98092902e-01 -2.84851357e-03 2.96312533e-01] [ 5.61261443e-02 -6.18116338e-04 9.98423494e-01 1.00926218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.065099892999996 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:19.64, Y:0.30, Z:1.01 [[ 9.96454057e-01 -6.27453687e-02 -5.60565064e-02 1.96439965e+01] [ 6.26835287e-02 9.98029349e-01 -2.86252332e-03 2.96651114e-01] [ 5.61256486e-02 -6.61446649e-04 9.98423494e-01 1.01226092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.125099892999998 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:19.70, Y:0.29, Z:1.02 [[ 9.96679799e-01 -5.90519945e-02 -5.60556906e-02 1.97017472e+01] [ 5.89834233e-02 9.98254812e-01 -2.87840984e-03 2.91584858e-01] [ 5.61278388e-02 -4.37503585e-04 9.98423494e-01 1.01512672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.185099892999997 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:19.76, Y:0.29, Z:1.02 [[ 9.97591714e-01 -4.08488365e-02 -5.60548389e-02 1.97598564e+01] [ 4.07506000e-02 9.99165156e-01 -2.89490184e-03 2.90726018e-01] [ 5.61262952e-02 6.03661769e-04 9.98423495e-01 1.01634037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.245099893 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:19.82, Y:0.29, Z:1.02 [[ 9.97553917e-01 -4.17620382e-02 -5.60545772e-02 1.98179231e+01] [ 4.16649578e-02 9.99127430e-01 -2.89996019e-03 2.94519654e-01] [ 5.61267739e-02 5.57355055e-04 9.98423495e-01 1.02086647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.305099892999998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:19.87, Y:0.30, Z:1.02 [[ 9.97535878e-01 -4.21918303e-02 -5.60537306e-02 1.98745947e+01] [ 4.20945135e-02 9.99109377e-01 -2.91623388e-03 2.96789588e-01] [ 5.61268491e-02 5.49493409e-04 9.98423495e-01 1.02457723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.365099892999996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:19.93, Y:0.30, Z:1.03 [[ 9.97494140e-01 -4.31678295e-02 -5.60533661e-02 1.99319658e+01] [ 4.30716596e-02 9.99067709e-01 -2.92322316e-03 2.98945715e-01] [ 5.61272972e-02 5.01586473e-04 9.98423495e-01 1.02670838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.425099893 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:19.99, Y:0.30, Z:1.03 [[ 9.97376379e-01 -4.58090927e-02 -5.60525274e-02 1.99908095e+01] [ 4.57161912e-02 9.98950144e-01 -2.93921683e-03 3.01397213e-01] [ 5.61283232e-02 3.68997380e-04 9.98423495e-01 1.02701956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.485099892999997 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:20.05, Y:0.31, Z:1.03 [[ 9.97090787e-01 -5.16542331e-02 -5.60517795e-02 2.00482988e+01] [ 5.15697595e-02 9.98665028e-01 -2.95341229e-03 3.05283680e-01] [ 5.61295081e-02 5.42434032e-05 9.98423495e-01 1.02941347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.545099892999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:20.11, Y:0.31, Z:1.03 [[ 9.97047547e-01 -5.24826667e-02 -5.60513871e-02 2.01062571e+01] [ 5.23990835e-02 9.98621835e-01 -2.96083976e-03 3.07071630e-01] [ 5.61295318e-02 1.50567080e-05 9.98423495e-01 1.03180754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.605099893 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:20.17, Y:0.31, Z:1.03 [[ 9.97113446e-01 -5.12163283e-02 -5.60505412e-02 2.01652570e+01] [ 5.11298504e-02 9.98687577e-01 -2.97676787e-03 3.09621833e-01] [ 5.61294383e-02 1.02319476e-04 9.98423495e-01 1.03304778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.665099892999997 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:20.22, Y:0.32, Z:1.04 [[ 9.97479468e-01 -4.35101257e-02 -5.60497951e-02 2.02229367e+01] [ 4.34107016e-02 9.99052835e-01 -2.99075059e-03 3.18711312e-01] [ 5.61268346e-02 5.50051377e-04 9.98423495e-01 1.04487361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.725099892999996 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:20.28, Y:0.32, Z:1.05 [[ 9.97622953e-01 -4.00867745e-02 -5.60490358e-02 2.02819009e+01] [ 3.99811560e-02 9.99195916e-01 -3.00491274e-03 3.23506209e-01] [ 5.61244250e-02 7.56864680e-04 9.98423495e-01 1.04765580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.785099892999998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:20.34, Y:0.33, Z:1.05 [[ 9.97322974e-01 -4.69625085e-02 -5.60482629e-02 2.03395338e+01] [ 4.68669286e-02 9.98896579e-01 -3.01926244e-03 3.29667520e-01] [ 5.61282101e-02 3.84369859e-04 9.98423495e-01 1.05245991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.845099892999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:20.40, Y:0.33, Z:1.05 [[ 9.97089335e-01 -5.16863611e-02 -5.60479913e-02 2.03980830e+01] [ 5.15979537e-02 9.98663359e-01 -3.02429514e-03 3.32395702e-01] [ 5.61293901e-02 1.23530772e-04 9.98423495e-01 1.05241991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.905099892999996 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:20.46, Y:0.34, Z:1.05 [[ 9.96788373e-01 -5.71983306e-02 -5.60472161e-02 2.04566866e+01] [ 5.71178230e-02 9.98362820e-01 -3.03859464e-03 3.36506954e-01] [ 5.61292592e-02 -1.72459160e-04 9.98423496e-01 1.05441623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.965099892999998 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:20.51, Y:0.34, Z:1.06 [[ 9.96154028e-01 -6.73494460e-02 -5.60464470e-02 2.05149540e+01] [ 6.72841869e-02 9.97729181e-01 -3.05271404e-03 3.41183552e-01] [ 5.61247743e-02 -7.30066225e-04 9.98423496e-01 1.06147905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.025099892999997 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:20.57, Y:0.34, Z:1.06 [[ 9.95561675e-01 -7.56031365e-02 -5.60456674e-02 2.05728944e+01] [ 7.55501327e-02 9.97137288e-01 -3.06696042e-03 3.44126005e-01] [ 5.61170966e-02 -1.18090936e-03 9.98423496e-01 1.06418121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.085099893 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:20.63, Y:0.35, Z:1.07 [[ 9.95087177e-01 -8.16114209e-02 -5.60453931e-02 2.06327514e+01] [ 8.15676475e-02 9.96663073e-01 -3.07196546e-03 3.50146663e-01] [ 5.61090812e-02 -1.51461743e-03 9.98423496e-01 1.06689654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.145099892999998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:20.69, Y:0.36, Z:1.07 [[ 9.94471587e-01 -8.87985134e-02 -5.60453931e-02 2.06936698e+01] [ 8.87661265e-02 9.96047759e-01 -3.07196546e-03 3.55551055e-01] [ 5.60966741e-02 -1.91995008e-03 9.98423496e-01 1.06951783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.205099892999996 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:20.76, Y:0.36, Z:1.07 [[ 9.94346793e-01 -9.01851257e-02 -5.60455046e-02 2.07557832e+01] [ 9.01550513e-02 9.95923010e-01 -3.06992941e-03 3.62563967e-01] [ 5.60938696e-02 -2.00021088e-03 9.98423496e-01 1.07180508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.265099893 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:20.82, Y:0.37, Z:1.07 [[ 9.94967784e-01 -8.30541150e-02 -5.60457257e-02 2.08177020e+01] [ 8.30129686e-02 9.96543751e-01 -3.06588790e-03 3.66904907e-01] [ 5.61066523e-02 -1.60206238e-03 9.98423496e-01 1.07170494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.325099892999997 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:20.88, Y:0.37, Z:1.08 [[ 9.95335398e-01 -7.85257716e-02 -5.60459486e-02 2.08783066e+01] [ 7.84776840e-02 9.96911169e-01 -3.06180709e-03 3.69514440e-01] [ 5.61132629e-02 -1.35083127e-03 9.98423496e-01 1.07746651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.385099892999996 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:20.94, Y:0.38, Z:1.09 [[ 9.95678073e-01 -7.40541744e-02 -5.60460038e-02 2.09383997e+01] [ 7.39990661e-02 9.97253614e-01 -3.06079718e-03 3.78805127e-01] [ 5.61187446e-02 -1.09978331e-03 9.98423496e-01 1.08739195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.445099893 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:21.00, Y:0.38, Z:1.09 [[ 9.96120185e-01 -6.78484364e-02 -5.60461134e-02 2.09982221e+01] [ 6.77836247e-02 9.97695356e-01 -3.05878872e-03 3.81479951e-01] [ 5.61244811e-02 -7.52087525e-04 9.98423496e-01 1.08833444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.505099892999997 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:21.06, Y:0.38, Z:1.09 [[ 9.96404271e-01 -6.35403388e-02 -5.60460037e-02 2.10563375e+01] [ 6.34686032e-02 9.97979142e-01 -3.06079789e-03 3.83620263e-01] [ 5.61272268e-02 -5.07369480e-04 9.98423496e-01 1.08985561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.565099892999996 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:21.11, Y:0.39, Z:1.10 [[ 9.96980441e-01 -5.37482607e-02 -5.60457333e-02 2.11143786e+01] [ 5.36607787e-02 9.98554516e-01 -3.06573979e-03 3.91930071e-01] [ 5.61294983e-02 4.90249139e-05 9.98423496e-01 1.09626113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.625099892999998 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:21.17, Y:0.39, Z:1.10 [[ 9.97229522e-01 -4.89105780e-02 -5.60449481e-02 2.11720600e+01] [ 4.88146571e-02 9.98803105e-01 -3.08002884e-03 3.90530592e-01] [ 5.61285142e-02 3.35680767e-04 9.98423496e-01 1.09621244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.685099892999997 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:21.23, Y:0.39, Z:1.10 [[ 9.97503115e-01 -4.29721059e-02 -5.60440373e-02 2.12292580e+01] [ 4.28658913e-02 9.99076037e-01 -3.09651342e-03 3.92572280e-01] [ 5.61253184e-02 6.86404168e-04 9.98423496e-01 1.10329671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.745099892999995 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:21.29, Y:0.39, Z:1.10 [[ 9.97707230e-01 -3.79391750e-02 -5.60437576e-02 2.12878745e+01] [ 3.78247427e-02 9.99279575e-01 -3.10156651e-03 3.93375997e-01] [ 5.61210532e-02 9.74614615e-04 9.98423496e-01 1.10451745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.805099892999998 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:21.35, Y:0.39, Z:1.11 [[ 9.97556227e-01 -4.17223783e-02 -5.60429960e-02 2.13462846e+01] [ 4.16131398e-02 9.99128941e-01 -3.11526817e-03 3.90477857e-01] [ 5.61241557e-02 7.75530139e-04 9.98423496e-01 1.10850631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.865099892999996 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:21.40, Y:0.39, Z:1.11 [[ 9.97393830e-01 -4.54396616e-02 -5.60427148e-02 2.14045609e+01] [ 4.53360011e-02 9.98966922e-01 -3.12031851e-03 3.89392932e-01] [ 5.61266045e-02 5.71433843e-04 9.98423496e-01 1.11179217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.925099893 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:21.46, Y:0.39, Z:1.12 [[ 9.97178726e-01 -4.99390348e-02 -5.60417896e-02 2.14621872e+01] [ 4.98415436e-02 9.98752212e-01 -3.13684879e-03 3.89612157e-01] [ 5.61285125e-02 3.34789578e-04 9.98423496e-01 1.11594840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.985099892999997 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:21.52, Y:0.39, Z:1.12 [[ 9.96942626e-01 -5.44501821e-02 -5.60408552e-02 2.15193870e+01] [ 5.43588776e-02 9.98516484e-01 -3.15345311e-03 3.88491884e-01] [ 5.61294238e-02 9.74938420e-05 9.98423496e-01 1.11802873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.045099892999996 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:21.58, Y:0.38, Z:1.12 [[ 9.96635565e-01 -5.98081746e-02 -5.60404530e-02 2.15783833e+01] [ 5.97249301e-02 9.98209869e-01 -3.16058617e-03 3.84635218e-01] [ 5.61291621e-02 -1.97059552e-04 9.98423496e-01 1.11650818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.105099893 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:21.64, Y:0.39, Z:1.12 [[ 9.96597598e-01 -6.04382658e-02 -5.60396617e-02 2.16357903e+01] [ 6.03552312e-02 9.98171913e-01 -3.17455367e-03 3.86014120e-01] [ 5.61290809e-02 -2.18534183e-04 9.98423497e-01 1.12025897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.165099892999997 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:21.69, Y:0.39, Z:1.13 [[ 9.96723313e-01 -5.83292134e-02 -5.60387453e-02 2.16940156e+01] [ 5.82419427e-02 9.98297399e-01 -3.19064886e-03 3.89180932e-01] [ 5.61294417e-02 -8.36112862e-05 9.98423497e-01 1.12607483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.225099892999996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:21.75, Y:0.40, Z:1.13 [[ 9.97161142e-01 -5.02931998e-02 -5.60379430e-02 2.17512071e+01] [ 5.01924555e-02 9.98734423e-01 -3.20467952e-03 3.96384219e-01] [ 5.61281962e-02 3.82899937e-04 9.98423497e-01 1.13308220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.285099892999998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:21.81, Y:0.40, Z:1.13 [[ 9.97359605e-01 -4.61916926e-02 -5.60370110e-02 2.18089361e+01] [ 4.60835677e-02 9.98932395e-01 -3.22089337e-03 3.97308470e-01] [ 5.61259642e-02 6.30003546e-04 9.98423497e-01 1.13470418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.345099892999997 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:21.87, Y:0.40, Z:1.14 [[ 9.97680943e-01 -3.86354284e-02 -5.60360623e-02 2.18659715e+01] [ 3.85144709e-02 9.99252799e-01 -3.23731496e-03 4.04311804e-01] [ 5.61192671e-02 1.07160815e-03 9.98423497e-01 1.13927409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.405099892999996 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:21.92, Y:0.41, Z:1.14 [[ 9.97689520e-01 -3.84146621e-02 -5.60351214e-02 2.19241439e+01] [ 3.82924469e-02 9.99261279e-01 -3.25352006e-03 4.07888105e-01] [ 5.61187100e-02 1.10028096e-03 9.98423497e-01 1.14322514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.465099892999998 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:21.98, Y:0.41, Z:1.15 [[ 9.97389956e-01 -4.55349603e-02 -5.60343018e-02 2.19821438e+01] [ 4.54231775e-02 9.98962491e-01 -3.26757534e-03 4.09900800e-01] [ 5.61249546e-02 7.13790785e-04 9.98423497e-01 1.14537169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.525099892999997 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:22.04, Y:0.41, Z:1.15 [[ 9.96600086e-01 -6.04030920e-02 -5.60333451e-02 2.20406295e+01] [ 6.03138536e-02 9.98174061e-01 -3.28390072e-03 4.10955488e-01] [ 5.61293893e-02 -1.06851234e-04 9.98423497e-01 1.14705559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.585099892999995 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:22.10, Y:0.41, Z:1.15 [[ 9.95494202e-01 -7.64956490e-02 -5.60331058e-02 2.21000231e+01] [ 7.64316210e-02 9.97069404e-01 -3.28797748e-03 4.12015448e-01] [ 5.61204114e-02 -1.00953859e-03 9.98423497e-01 1.14690663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.645099892999998 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:22.16, Y:0.42, Z:1.15 [[ 9.94438040e-01 -8.91816245e-02 -5.60323294e-02 2.21581241e+01] [ 8.91369432e-02 9.96013909e-01 -3.30115557e-03 4.19027143e-01] [ 5.61033819e-02 -1.71175589e-03 9.98423498e-01 1.15336553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.705099892999996 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:22.22, Y:0.42, Z:1.15 [[ 9.93971710e-01 -9.42375253e-02 -5.60314941e-02 2.22198006e+01] [ 9.42000634e-02 9.95547767e-01 -3.31527441e-03 4.24145411e-01] [ 5.60944521e-02 -1.98288132e-03 9.98423498e-01 1.15475672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.765099893 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:22.28, Y:0.43, Z:1.16 [[ 9.93769549e-01 -9.63459148e-02 -5.60316748e-02 2.22818739e+01] [ 9.63119686e-02 9.95345686e-01 -3.31221737e-03 4.30218216e-01] [ 5.60900044e-02 -2.10494014e-03 9.98423498e-01 1.15699372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.825099892999997 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:22.34, Y:0.43, Z:1.16 [[ 9.93776578e-01 -9.62732400e-02 -5.60319161e-02 2.23443638e+01] [ 9.62394086e-02 9.95352718e-01 -3.30813062e-03 4.33847368e-01] [ 5.60900044e-02 -2.10493574e-03 9.98423498e-01 1.16051122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.885099892999996 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:22.40, Y:0.45, Z:1.17 [[ 9.93683719e-01 -9.72268647e-02 -5.60321573e-02 2.24045678e+01] [ 9.71947762e-02 9.95259895e-01 -3.30403945e-03 4.45564139e-01] [ 5.60878004e-02 -2.16286277e-03 9.98423498e-01 1.16539586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.945099893 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:22.47, Y:0.45, Z:1.16 [[ 9.94713643e-01 -8.60530180e-02 -5.60325577e-02 2.24664941e+01] [ 8.60036003e-02 9.96289370e-01 -3.29723570e-03 4.52016497e-01] [ 5.61083787e-02 -1.53919637e-03 9.98423498e-01 1.16283205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.005099892999997 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:22.53, Y:0.46, Z:1.17 [[ 9.95007667e-01 -8.25836984e-02 -5.60327989e-02 2.25279493e+01] [ 8.25290170e-02 9.96583221e-01 -3.29313175e-03 4.62823310e-01] [ 5.61133062e-02 -1.34764047e-03 9.98423498e-01 1.17130109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.065099892999996 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:22.59, Y:0.47, Z:1.18 [[ 9.95246161e-01 -7.96578814e-02 -5.60330394e-02 2.25885008e+01] [ 7.95987986e-02 9.96821556e-01 -3.28903352e-03 4.69726366e-01] [ 5.61169390e-02 -1.18676464e-03 9.98423498e-01 1.17703982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.125099892999998 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:22.65, Y:0.47, Z:1.18 [[ 9.96101701e-01 -6.81299210e-02 -5.60331576e-02 2.26490402e+01] [ 6.80527161e-02 9.97676312e-01 -3.28701918e-03 4.72956225e-01] [ 5.61268984e-02 -5.39003172e-04 9.98423498e-01 1.17936897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.185099892999997 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:22.71, Y:0.48, Z:1.18 [[ 9.96353388e-01 -6.43444788e-02 -5.60331576e-02 2.27073366e+01] [ 6.42612913e-02 9.97927694e-01 -3.28701918e-03 4.76770864e-01] [ 5.61285413e-02 -3.25730370e-04 9.98423498e-01 1.18339426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.245099892999995 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:22.76, Y:0.48, Z:1.19 [[ 9.96401273e-01 -6.35993879e-02 -5.60323149e-02 2.27645705e+01] [ 6.35142189e-02 9.97975473e-01 -3.30132158e-03 4.80867912e-01] [ 5.61288380e-02 -2.69407688e-04 9.98423498e-01 1.18584964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.305099892999998 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:22.82, Y:0.48, Z:1.19 [[ 9.97014664e-01 -5.31242586e-02 -5.60319007e-02 2.28231329e+01] [ 5.30221560e-02 9.98587856e-01 -3.30833678e-03 4.83584790e-01] [ 5.61285285e-02 3.27528103e-04 9.98423498e-01 1.19046711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.365099892999996 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:22.88, Y:0.49, Z:1.19 [[ 9.97400116e-01 -4.53158799e-02 -5.60310670e-02 2.28814019e+01] [ 4.52006725e-02 9.98972402e-01 -3.32239761e-03 4.85775384e-01] [ 5.61240470e-02 7.81117857e-04 9.98423498e-01 1.19396474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.425099892999995 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:22.94, Y:0.49, Z:1.20 [[ 9.97588629e-01 -4.09577804e-02 -5.60302316e-02 2.29395445e+01] [ 4.08349170e-02 9.99160336e-01 -3.33642634e-03 4.89013674e-01] [ 5.61198377e-02 1.04039112e-03 9.98423498e-01 1.19599516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.485099892999997 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:23.00, Y:0.49, Z:1.20 [[ 9.97657713e-01 -3.92394327e-02 -5.60299383e-02 2.29976381e+01] [ 3.91135862e-02 9.99229184e-01 -3.34134496e-03 4.92919674e-01] [ 5.61178620e-02 1.14198675e-03 9.98423498e-01 1.19887305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.545099892999996 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:23.06, Y:0.49, Z:1.20 [[ 9.97767757e-01 -3.63351216e-02 -5.60291173e-02 2.30561944e+01] [ 3.62039317e-02 9.99338791e-01 -3.35505544e-03 4.91628456e-01] [ 5.61139767e-02 1.31909181e-03 9.98423498e-01 1.20114820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.605099893 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:23.11, Y:0.49, Z:1.21 [[ 9.97940821e-01 -3.12241585e-02 -5.60282872e-02 2.31148600e+01] [ 3.10841491e-02 9.99511094e-01 -3.36886081e-03 4.88771072e-01] [ 5.61060845e-02 1.62033208e-03 9.98423498e-01 1.20808690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.665099892999997 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:23.17, Y:0.49, Z:1.21 [[ 9.97955458e-01 -3.07543526e-02 -5.60274330e-02 2.31729124e+01] [ 3.06128105e-02 9.99525593e-01 -3.38300783e-03 4.85925044e-01] [ 5.61048954e-02 1.66093394e-03 9.98423498e-01 1.21065473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.725099892999996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:23.23, Y:0.48, Z:1.21 [[ 9.97750078e-01 -3.68214443e-02 -5.60264541e-02 2.32317401e+01] [ 3.66885458e-02 9.99320968e-01 -3.39914368e-03 4.80143197e-01] [ 5.61135717e-02 1.33596675e-03 9.98423498e-01 1.21191726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.785099892999998 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:23.29, Y:0.48, Z:1.21 [[ 9.97537663e-01 -4.21870035e-02 -5.60256049e-02 2.32908878e+01] [ 4.20617728e-02 9.99109182e-01 -3.41308248e-03 4.75510203e-01] [ 5.61196840e-02 1.04814205e-03 9.98423499e-01 1.20951188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.845099892999997 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:23.35, Y:0.47, Z:1.22 [[ 9.96669081e-01 -5.92618795e-02 -5.60247425e-02 2.33501020e+01] [ 5.91627842e-02 9.98242465e-01 -3.42718027e-03 4.69310829e-01] [ 5.61293782e-02 1.01184859e-04 9.98423499e-01 1.21830338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.905099892999996 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:23.41, Y:0.47, Z:1.22 [[ 9.95599640e-01 -7.51173329e-02 -5.60244948e-02 2.34069164e+01] [ 7.50430645e-02 9.97174391e-01 -3.43122488e-03 4.67917818e-01] [ 5.61239359e-02 -7.88123522e-04 9.98423499e-01 1.22013458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.965099892999998 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:23.47, Y:0.47, Z:1.22 [[ 9.94113719e-01 -9.27319620e-02 -5.60240661e-02 2.34659882e+01] [ 9.26851919e-02 9.95689527e-01 -3.43821051e-03 4.67107610e-01] [ 5.61014079e-02 -1.77462908e-03 9.98423499e-01 1.22092662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.025099892999997 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:23.53, Y:0.47, Z:1.22 [[ 9.93647033e-01 -9.76062333e-02 -5.60231793e-02 2.35263026e+01] [ 9.75663816e-02 9.95223031e-01 -3.45260058e-03 4.73093778e-01] [ 5.60925536e-02 -2.03531256e-03 9.98423499e-01 1.22344782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.085099892999995 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:23.59, Y:0.48, Z:1.23 [[ 9.93667030e-01 -9.74024433e-02 -5.60231793e-02 2.35871892e+01] [ 9.73622684e-02 9.95243020e-01 -3.45260058e-03 4.77473831e-01] [ 5.60929699e-02 -2.02380845e-03 9.98423499e-01 1.22618651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.145099892999998 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:23.65, Y:0.49, Z:1.23 [[ 9.93759795e-01 -9.64513259e-02 -5.60233059e-02 2.36467519e+01] [ 9.64097583e-02 9.95335749e-01 -3.45054519e-03 4.85097789e-01] [ 5.60948087e-02 -1.97218029e-03 9.98423499e-01 1.23187504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.205099892999996 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:23.71, Y:0.49, Z:1.24 [[ 9.93930882e-01 -9.46719846e-02 -5.60233681e-02 2.37075158e+01] [ 9.46276526e-02 9.95506759e-01 -3.44953376e-03 4.94706480e-01] [ 5.60982159e-02 -1.87276168e-03 9.98423499e-01 1.23701445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.265099892999995 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:23.77, Y:0.51, Z:1.24 [[ 9.93995184e-01 -9.39943772e-02 -5.60234929e-02 2.37680644e+01] [ 9.39490849e-02 9.95571034e-01 -3.44750586e-03 5.05014524e-01] [ 5.60994130e-02 -1.83655167e-03 9.98423499e-01 1.23884240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.325099892999997 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:23.83, Y:0.51, Z:1.24 [[ 9.93298171e-01 -1.01094497e-01 -5.60236173e-02 2.38292378e+01] [ 1.01060579e-01 9.94874308e-01 -3.44548440e-03 5.12926654e-01] [ 5.60847769e-02 -2.23938587e-03 9.98423499e-01 1.24026579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.385099892999996 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:23.89, Y:0.52, Z:1.24 [[ 9.92906570e-01 -1.04870795e-01 -5.60237410e-02 2.38906290e+01] [ 1.04842985e-01 9.94482826e-01 -3.44347060e-03 5.22122387e-01] [ 5.60757678e-02 -2.45465167e-03 9.98423499e-01 1.24133119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.445099893 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:23.95, Y:0.53, Z:1.24 [[ 9.93131193e-01 -1.02721689e-01 -5.60239935e-02 2.39509414e+01] [ 1.02690699e-01 9.94707390e-01 -3.43935758e-03 5.31305752e-01] [ 5.60807770e-02 -2.33740975e-03 9.98423499e-01 1.24304780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.505099892999997 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:24.01, Y:0.54, Z:1.25 [[ 9.94018210e-01 -9.37501426e-02 -5.60241805e-02 2.40119799e+01] [ 9.37050935e-02 9.95594067e-01 -3.43630968e-03 5.44196816e-01] [ 5.60994963e-02 -1.83399668e-03 9.98423499e-01 1.24854711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.565099892999996 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:24.07, Y:0.56, Z:1.26 [[ 9.95291446e-01 -7.90961548e-02 -5.60244246e-02 2.40725239e+01] [ 7.90281194e-02 9.96866478e-01 -3.43232450e-03 5.58778288e-01] [ 5.61203546e-02 -1.01134170e-03 9.98423499e-01 1.25687745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.625099892999998 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:24.13, Y:0.56, Z:1.25 [[ 9.95498426e-01 -7.64467479e-02 -5.60248019e-02 2.41326062e+01] [ 7.63748677e-02 9.97073288e-01 -3.42615564e-03 5.57636905e-01] [ 5.61227519e-02 -8.68154291e-04 9.98423499e-01 1.25288674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.685099892999997 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:24.19, Y:0.56, Z:1.26 [[ 9.95465098e-01 -7.68794797e-02 -5.60248462e-02 2.41918659e+01] [ 7.68083248e-02 9.97039993e-01 -3.42543141e-03 5.60400886e-01] [ 5.61223576e-02 -8.93277169e-04 9.98423499e-01 1.25803539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.745099892999995 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:24.25, Y:0.56, Z:1.26 [[ 9.95602646e-01 -7.50772987e-02 -5.60247253e-02 2.42513934e+01] [ 7.50031817e-02 9.97177404e-01 -3.42740801e-03 5.62635464e-01] [ 5.61239106e-02 -7.89696161e-04 9.98423499e-01 1.26348607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.805099892999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:24.31, Y:0.57, Z:1.27 [[ 9.96276265e-01 -6.55350883e-02 -5.60246004e-02 2.43103823e+01] [ 6.54457724e-02 9.97850234e-01 -3.42944795e-03 5.68715790e-01] [ 5.61289098e-02 -2.49895648e-04 9.98423499e-01 1.26902002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.865099892999996 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:24.37, Y:0.57, Z:1.27 [[ 9.96620136e-01 -6.00796421e-02 -5.60244730e-02 2.43675825e+01] [ 5.99815935e-02 9.98193585e-01 -3.43152721e-03 5.72158671e-01] [ 5.61294345e-02 5.94919460e-05 9.98423499e-01 1.27001633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.925099892999995 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:24.43, Y:0.58, Z:1.27 [[ 9.95568662e-01 -7.55271228e-02 -5.60240345e-02 2.44262455e+01] [ 7.54530836e-02 9.97143424e-01 -3.43867114e-03 5.78271411e-01] [ 5.61237106e-02 -8.03752936e-04 9.98423499e-01 1.27492109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.985099892999997 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:24.49, Y:0.58, Z:1.27 [[ 9.94372276e-01 -8.99176390e-02 -5.60231707e-02 2.44861575e+01] [ 8.98655936e-02 9.95947917e-01 -3.45268848e-03 5.76106005e-01] [ 5.61066177e-02 -1.60129778e-03 9.98423499e-01 1.27106565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.045099892999996 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:24.55, Y:0.58, Z:1.28 [[ 9.97165828e-01 -5.02171811e-02 -5.60227214e-02 2.45462840e+01] [ 5.01019738e-02 9.98738114e-01 -3.45996294e-03 5.82688305e-01] [ 5.61257767e-02 6.43307893e-04 9.98423499e-01 1.28178860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.105099892999995 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:24.61, Y:0.57, Z:1.28 [[ 9.96342264e-01 -6.45255003e-02 -5.60227840e-02 2.46060520e+01] [ 6.44329308e-02 9.97916045e-01 -3.45894873e-03 5.65287838e-01] [ 5.61292255e-02 -1.63415354e-04 9.98423499e-01 1.28125044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.165099892999997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:24.66, Y:0.57, Z:1.29 [[ 9.95962746e-01 -7.01404609e-02 -5.60225334e-02 2.46639384e+01] [ 7.00565356e-02 9.97537012e-01 -3.46300223e-03 5.68168043e-01] [ 5.61274472e-02 -4.75723399e-04 9.98423499e-01 1.28867564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.225099892999996 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:24.72, Y:0.57, Z:1.29 [[ 9.95399123e-01 -7.77309232e-02 -5.60222228e-02 2.47231740e+01] [ 7.76587190e-02 9.96973970e-01 -3.46802099e-03 5.69031723e-01] [ 5.61222703e-02 -8.98549007e-04 9.98423499e-01 1.28679627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.285099892999998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:24.78, Y:0.57, Z:1.29 [[ 9.94715383e-01 -8.60402048e-02 -5.60213362e-02 2.47819533e+01] [ 8.59803510e-02 9.96290747e-01 -3.48228421e-03 5.73407173e-01] [ 5.61131553e-02 -1.35285248e-03 9.98423499e-01 1.28700279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.345099892999997 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:24.84, Y:0.58, Z:1.29 [[ 9.95055479e-01 -8.20140318e-02 -5.60204578e-02 2.48421753e+01] [ 8.19470112e-02 9.96630555e-01 -3.49635843e-03 5.82764490e-01] [ 5.61184504e-02 -1.11163847e-03 9.98423499e-01 1.29178863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.405099892999996 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:24.90, Y:0.59, Z:1.30 [[ 9.95444808e-01 -7.71449047e-02 -5.60205211e-02 2.49009618e+01] [ 7.70702362e-02 9.97019539e-01 -3.49534339e-03 5.90816162e-01] [ 5.61232021e-02 -8.38093361e-04 9.98423499e-01 1.29925568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.465099892999998 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:24.96, Y:0.60, Z:1.31 [[ 9.95673804e-01 -7.41308575e-02 -5.60204588e-02 2.49594650e+01] [ 7.40513657e-02 9.97248299e-01 -3.49634110e-03 5.99970773e-01] [ 5.61254941e-02 -6.67176234e-04 9.98423499e-01 1.30651235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.525099892999997 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:25.02, Y:0.61, Z:1.31 [[ 9.95833826e-01 -7.19493778e-02 -5.60203348e-02 2.50189368e+01] [ 7.18663250e-02 9.97408138e-01 -3.49832742e-03 6.06428373e-01] [ 5.61268403e-02 -5.42222805e-04 9.98423499e-01 1.31064530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.585099892999995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:25.08, Y:0.61, Z:1.31 [[ 9.95889783e-01 -7.11707521e-02 -5.60202063e-02 2.50775021e+01] [ 7.10863528e-02 9.97464023e-01 -3.50038324e-03 6.10116681e-01] [ 5.61272653e-02 -4.96276245e-04 9.98423499e-01 1.31147100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.645099892999998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:25.14, Y:0.62, Z:1.31 [[ 9.96173880e-01 -6.70773080e-02 -5.60199631e-02 2.51356511e+01] [ 6.69862211e-02 9.97747747e-01 -3.50427225e-03 6.19251149e-01] [ 5.61288491e-02 -2.61701154e-04 9.98423499e-01 1.31477723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.705099892999996 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:25.19, Y:0.63, Z:1.32 [[ 9.96278516e-01 -6.55055859e-02 -5.60190777e-02 2.51928057e+01] [ 6.54112234e-02 9.97852190e-01 -3.51836861e-03 6.25199470e-01] [ 5.61292322e-02 -1.59001347e-04 9.98423499e-01 1.31811343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.765099892999995 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:25.25, Y:0.63, Z:1.32 [[ 9.95886138e-01 -7.12234455e-02 -5.60180458e-02 2.52517845e+01] [ 7.11371981e-02 9.97460277e-01 -3.53472248e-03 6.30791997e-01] [ 5.61275306e-02 -4.64785707e-04 9.98423499e-01 1.32027695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.825099892999997 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:25.31, Y:0.63, Z:1.32 [[ 9.95230139e-01 -7.98689119e-02 -5.60172104e-02 2.53100972e+01] [ 7.97955951e-02 9.96804933e-01 -3.54791239e-03 6.29904087e-01] [ 5.61215996e-02 -9.38937301e-04 9.98423500e-01 1.32467712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.885099892999996 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:25.37, Y:0.63, Z:1.33 [[ 9.95041653e-01 -8.21841565e-02 -5.60167281e-02 2.53706058e+01] [ 8.21140762e-02 9.96616595e-01 -3.55551194e-03 6.33406049e-01] [ 5.61194075e-02 -1.06187940e-03 9.98423500e-01 1.32972771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.945099892999995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:25.43, Y:0.64, Z:1.33 [[ 9.94910213e-01 -8.37603335e-02 -5.60167281e-02 2.54313699e+01] [ 8.36927482e-02 9.96485264e-01 -3.55551194e-03 6.36604700e-01] [ 5.61176549e-02 -1.15077877e-03 9.98423500e-01 1.33177648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.005099892999997 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:25.49, Y:0.64, Z:1.33 [[ 9.94887563e-01 -8.40288616e-02 -5.60168551e-02 2.54926480e+01] [ 8.39618140e-02 9.96462637e-01 -3.55350937e-03 6.39878620e-01] [ 5.61173005e-02 -1.16793450e-03 9.98423500e-01 1.33461079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.065099892999996 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:25.55, Y:0.64, Z:1.34 [[ 9.95267717e-01 -7.93994231e-02 -5.60169812e-02 2.55531230e+01] [ 7.93251605e-02 9.96842468e-01 -3.55152035e-03 6.42886655e-01] [ 5.61220944e-02 -9.08842470e-04 9.98423500e-01 1.33602229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.125099892999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:25.61, Y:0.65, Z:1.34 [[ 9.96138772e-01 -6.75991516e-02 -5.60169812e-02 2.56118901e+01] [ 6.75062322e-02 9.97712531e-01 -3.55152035e-03 6.50447160e-01] [ 5.61289239e-02 -2.43688220e-04 9.98423500e-01 1.34081610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.185099892999997 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:25.67, Y:0.65, Z:1.35 [[ 9.97100172e-01 -5.15106967e-02 -5.60169169e-02 2.56694309e+01] [ 5.13923288e-02 9.98672223e-01 -3.55253367e-03 6.54664603e-01] [ 5.61255324e-02 6.63392119e-04 9.98423500e-01 1.34569281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.245099892999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:25.73, Y:0.65, Z:1.35 [[ 9.97143292e-01 -5.06696365e-02 -5.60164498e-02 2.57279914e+01] [ 5.05495298e-02 9.98715211e-01 -3.55988402e-03 6.54227786e-01] [ 5.61248585e-02 7.18109273e-04 9.98423500e-01 1.34800037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.305099892999998 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:25.79, Y:0.66, Z:1.35 [[ 9.97045743e-01 -5.25551389e-02 -5.60155631e-02 2.57865098e+01] [ 5.24372243e-02 9.98617828e-01 -3.57378264e-03 6.55819792e-01] [ 5.61259606e-02 6.25924121e-04 9.98423500e-01 1.34820100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.365099892999996 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:25.84, Y:0.66, Z:1.35 [[ 9.96892821e-01 -5.53810566e-02 -5.60146636e-02 2.58447018e+01] [ 5.52668094e-02 9.98465176e-01 -3.58782663e-03 6.56769066e-01] [ 5.61273885e-02 4.80926872e-04 9.98423500e-01 1.35345469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.425099892999995 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:25.90, Y:0.66, Z:1.36 [[ 9.96611697e-01 -6.02294486e-02 -5.60137445e-02 2.59016313e+01] [ 6.01220478e-02 9.98184534e-01 -3.60211758e-03 6.59242644e-01] [ 5.61290071e-02 2.22251492e-04 9.98423500e-01 1.35518780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.485099892999997 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:25.96, Y:0.66, Z:1.36 [[ 9.96307905e-01 -6.50620501e-02 -5.60132921e-02 2.59600630e+01] [ 6.49618836e-02 9.97881219e-01 -3.60914004e-03 6.63086191e-01] [ 5.61294302e-02 -4.29142085e-05 9.98423500e-01 1.35920593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.545099892999996 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:26.02, Y:0.67, Z:1.37 [[ 9.95271020e-01 -7.93612497e-02 -5.60123907e-02 2.60170708e+01] [ 7.92829005e-02 9.96845572e-01 -3.62307554e-03 6.69921111e-01] [ 5.61232354e-02 -8.34882701e-04 9.98423500e-01 1.36661834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.605099892999995 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:26.08, Y:0.67, Z:1.37 [[ 9.94215698e-01 -9.16399577e-02 -5.60112918e-02 2.60768594e+01] [ 9.15800974e-02 9.95791061e-01 -3.63998569e-03 6.71654325e-01] [ 5.61091118e-02 -1.51058864e-03 9.98423500e-01 1.36820054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.665099892999997 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:26.14, Y:0.68, Z:1.37 [[ 9.94117508e-01 -9.26991037e-02 -5.60112186e-02 2.61383880e+01] [ 9.26408583e-02 9.95692931e-01 -3.64111068e-03 6.80631043e-01] [ 5.61075022e-02 -1.56923550e-03 9.98423500e-01 1.37314225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.725099892999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:26.20, Y:0.69, Z:1.38 [[ 9.94248642e-01 -9.12817215e-02 -5.60114810e-02 2.62004887e+01] [ 9.12214577e-02 9.95823989e-01 -3.63707037e-03 6.87399342e-01] [ 5.61095745e-02 -1.49329666e-03 9.98423500e-01 1.37823699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.785099892999995 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:26.26, Y:0.70, Z:1.38 [[ 9.97617128e-01 -4.02833812e-02 -5.60117445e-02 2.62602250e+01] [ 4.01428089e-02 9.99187348e-01 -3.63300769e-03 6.97044895e-01] [ 5.61125763e-02 1.37588194e-03 9.98423500e-01 1.38331465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.845099892999997 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:26.32, Y:0.70, Z:1.39 [[ 9.97486390e-01 -4.34003057e-02 -5.60117445e-02 2.63187457e+01] [ 4.32646404e-02 9.99057041e-01 -3.63300769e-03 6.95107136e-01] [ 5.61166014e-02 1.20054775e-03 9.98423500e-01 1.38643333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.905099892999996 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:26.38, Y:0.69, Z:1.39 [[ 9.96943006e-01 -5.44742764e-02 -5.60106726e-02 2.63776561e+01] [ 5.43551366e-02 9.98514998e-01 -3.64945939e-03 6.93244451e-01] [ 5.61262982e-02 5.93835257e-04 9.98423500e-01 1.38801775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.965099892999998 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:26.43, Y:0.69, Z:1.39 [[ 9.95817838e-01 -7.21785425e-02 -5.60097365e-02 2.64343700e+01] [ 7.20865465e-02 9.97391652e-01 -3.66376922e-03 6.91702349e-01] [ 5.61280891e-02 -3.89101735e-04 9.98423500e-01 1.39061980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.025099892999997 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:26.49, Y:0.70, Z:1.39 [[ 9.95358840e-01 -7.82543279e-02 -5.60092750e-02 2.64927448e+01] [ 7.81715420e-02 9.96933165e-01 -3.67081041e-03 6.96732300e-01] [ 5.61247606e-02 -7.24557805e-04 9.98423500e-01 1.39496142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.085099892999995 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:26.55, Y:0.72, Z:1.40 [[ 9.96864965e-01 -5.58865452e-02 -5.60083531e-02 2.65519439e+01] [ 5.57676457e-02 9.98436974e-01 -3.68482404e-03 7.20825687e-01] [ 5.61267427e-02 5.49817995e-04 9.98423501e-01 1.40024239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.145099892999998 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:26.61, Y:0.72, Z:1.40 [[ 9.96575598e-01 -6.08287952e-02 -5.60083531e-02 2.66110047e+01] [ 6.07176920e-02 9.98148177e-01 -3.68482404e-03 7.21233865e-01] [ 5.61287790e-02 2.71507791e-04 9.98423501e-01 1.40205722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.205099892999996 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:26.67, Y:0.72, Z:1.40 [[ 9.95434216e-01 -7.72909543e-02 -5.60074095e-02 2.66686527e+01] [ 7.72050526e-02 9.97008373e-01 -3.69911009e-03 7.22896027e-01] [ 5.61257640e-02 -6.41834247e-04 9.98423501e-01 1.40352236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.265099892999995 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:26.73, Y:0.73, Z:1.41 [[ 9.95472510e-01 -7.67964105e-02 -5.60070776e-02 2.67291980e+01] [ 7.67094444e-02 9.97046609e-01 -3.70412961e-03 7.27506726e-01] [ 5.61261306e-02 -6.08912600e-04 9.98423501e-01 1.40731034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.325099892999997 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:26.79, Y:0.73, Z:1.41 [[ 9.95560775e-01 -7.56435815e-02 -5.60070776e-02 2.67892923e+01] [ 7.55547927e-02 9.97134772e-01 -3.70412961e-03 7.33465818e-01] [ 5.61267981e-02 -5.43916987e-04 9.98423501e-01 1.41146199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.385099892999996 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:26.85, Y:0.74, Z:1.41 [[ 9.95881036e-01 -7.13033646e-02 -5.60070776e-02 2.68488000e+01] [ 7.12077158e-02 9.97454631e-01 -3.70412961e-03 7.40316743e-01] [ 5.61286358e-02 -2.99263624e-04 9.98423501e-01 1.41364785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.445099892999995 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:26.91, Y:0.74, Z:1.42 [[ 9.97107713e-01 -5.13752304e-02 -5.60070955e-02 2.69070729e+01] [ 5.12481500e-02 9.98679082e-01 -3.70385788e-03 7.41539931e-01] [ 5.61234013e-02 8.22885230e-04 9.98423501e-01 1.41845112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.505099892999997 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:26.97, Y:0.75, Z:1.43 [[ 9.97036134e-01 -5.27470993e-02 -5.60061704e-02 2.69653548e+01] [ 5.26213983e-02 9.98607614e-01 -3.71779497e-03 7.45441607e-01] [ 5.61242911e-02 7.59652928e-04 9.98423501e-01 1.42564324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.565099892999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.02, Y:0.74, Z:1.44 [[ 9.95462252e-01 -7.69306085e-02 -5.60052430e-02 2.70237730e+01] [ 7.68423030e-02 9.97036276e-01 -3.73171296e-03 7.39039485e-01] [ 5.61263418e-02 -5.88792468e-04 9.98423501e-01 1.43559665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.625099892999994 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:27.08, Y:0.74, Z:1.43 [[ 9.96374340e-01 -6.40439239e-02 -5.60049090e-02 2.70838986e+01] [ 6.39349781e-02 9.97947070e-01 -3.73671860e-03 7.41671687e-01] [ 5.61292490e-02 1.42497894e-04 9.98423501e-01 1.43013169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.685099892999997 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:27.14, Y:0.75, Z:1.43 [[ 9.96817325e-01 -5.67334650e-02 -5.60047752e-02 2.71417159e+01] [ 5.66128730e-02 9.98389205e-01 -3.73872334e-03 7.47054458e-01] [ 5.61266737e-02 5.56232971e-04 9.98423501e-01 1.43367361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.745099892999995 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:27.20, Y:0.75, Z:1.44 [[ 9.97372064e-01 -4.59624876e-02 -5.60037065e-02 2.72003772e+01] [ 4.58240285e-02 9.98942471e-01 -3.75466369e-03 7.53450003e-01] [ 5.61170547e-02 1.17848123e-03 9.98423501e-01 1.43709358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.805099892999998 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:27.26, Y:0.76, Z:1.44 [[ 9.97493080e-01 -4.32579036e-02 -5.60027577e-02 2.72583299e+01] [ 4.31143956e-02 9.99063034e-01 -3.76876247e-03 7.56564129e-01] [ 5.61133138e-02 1.34478943e-03 9.98423501e-01 1.44000128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.865099892999996 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:27.32, Y:0.76, Z:1.44 [[ 9.97535365e-01 -4.22730478e-02 -5.60016493e-02 2.73172779e+01] [ 4.21270699e-02 9.99105091e-01 -3.78516138e-03 7.59077537e-01] [ 5.61115432e-02 1.41664695e-03 9.98423501e-01 1.44252057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.925099892999995 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:27.37, Y:0.76, Z:1.44 [[ 9.97548772e-01 -4.19567857e-02 -5.60006768e-02 2.73749120e+01] [ 4.18095059e-02 9.99118376e-01 -3.79949558e-03 7.61199224e-01] [ 5.61107199e-02 1.44882152e-03 9.98423501e-01 1.44483037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.985099892999997 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:27.43, Y:0.76, Z:1.45 [[ 9.97523455e-01 -4.25549054e-02 -5.60003352e-02 2.74329314e+01] [ 4.24082847e-02 9.99093120e-01 -3.80452349e-03 7.64447388e-01] [ 5.61114508e-02 1.42022326e-03 9.98423501e-01 1.45058364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.045099892999996 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:27.49, Y:0.77, Z:1.45 [[ 9.97509601e-01 -4.28796700e-02 -5.59993719e-02 2.74894319e+01] [ 4.27327677e-02 9.99079240e-01 -3.81865043e-03 7.67525232e-01] [ 5.61115524e-02 1.41613232e-03 9.98423501e-01 1.45339670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.105099892999995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:27.55, Y:0.77, Z:1.46 [[ 9.97432796e-01 -4.46315224e-02 -5.59986212e-02 2.75473283e+01] [ 4.44867611e-02 9.99002634e-01 -3.82962791e-03 7.70003614e-01] [ 5.61136921e-02 1.32859919e-03 9.98423502e-01 1.45793866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.165099892999997 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:27.61, Y:0.77, Z:1.46 [[ 9.97385753e-01 -4.56720691e-02 -5.59975242e-02 2.76055908e+01] [ 4.55280493e-02 9.98955659e-01 -3.84560191e-03 7.72285081e-01] [ 5.61146802e-02 1.28609051e-03 9.98423502e-01 1.46022523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.225099892999996 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:27.66, Y:0.77, Z:1.46 [[ 9.97223274e-01 -4.90932027e-02 -5.59964271e-02 2.76643829e+01] [ 4.89536761e-02 9.98793585e-01 -3.86151068e-03 7.73084294e-01] [ 5.61184461e-02 1.10955737e-03 9.98423502e-01 1.46376191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.285099892999995 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:27.72, Y:0.77, Z:1.47 [[ 9.96999021e-01 -5.34552165e-02 -5.59954655e-02 2.77230411e+01] [ 5.33217807e-02 9.98569862e-01 -3.87540431e-03 7.74406644e-01] [ 5.61225449e-02 8.77996370e-04 9.98423502e-01 1.46771346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.345099892999997 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:27.78, Y:0.76, Z:1.47 [[ 9.94852672e-01 -8.44557688e-02 -5.59945049e-02 2.77829784e+01] [ 8.43705036e-02 9.96426862e-01 -3.88923541e-03 7.58303695e-01] [ 5.61228972e-02 -8.55068335e-04 9.98423502e-01 1.47089889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.405099892999996 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:27.84, Y:0.76, Z:1.47 [[ 9.94686409e-01 -8.63921046e-02 -5.59942215e-02 2.78411656e+01] [ 8.63096744e-02 9.96260750e-01 -3.89331151e-03 7.59451474e-01] [ 5.61211964e-02 -9.60218981e-04 9.98423502e-01 1.47452838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.465099892999994 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:27.90, Y:0.76, Z:1.48 [[ 9.94855776e-01 -8.44195263e-02 -5.59940110e-02 2.79003322e+01] [ 8.43338041e-02 9.96429941e-01 -3.89633640e-03 7.63692513e-01] [ 5.61230359e-02 -8.45895177e-04 9.98423502e-01 1.47644600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.525099892999997 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:27.96, Y:0.77, Z:1.48 [[ 9.94949595e-01 -8.33065998e-02 -5.59938712e-02 2.79597391e+01] [ 8.32190038e-02 9.96523658e-01 -3.89834370e-03 7.68565410e-01] [ 5.61239751e-02 -7.81098694e-04 9.98423502e-01 1.48015627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.585099892999995 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:28.02, Y:0.77, Z:1.48 [[ 9.95346057e-01 -7.84278618e-02 -5.59937291e-02 2.80195233e+01] [ 7.83324352e-02 9.96919664e-01 -3.90038448e-03 7.74507942e-01] [ 5.61271484e-02 -5.03892846e-04 9.98423502e-01 1.48150998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.645099892999998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:28.08, Y:0.79, Z:1.49 [[ 9.95998064e-01 -6.96604171e-02 -5.59935889e-02 2.80775080e+01] [ 6.95510250e-02 9.97570763e-01 -3.90239536e-03 7.86307492e-01] [ 5.61294097e-02 -7.63327356e-06 9.98423502e-01 1.48618326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.705099892999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:28.14, Y:0.79, Z:1.49 [[ 9.95951519e-01 -7.03235385e-02 -5.59925973e-02 2.81351709e+01] [ 7.02143965e-02 9.97524235e-01 -3.91657259e-03 7.92819288e-01] [ 5.61294000e-02 -3.07699991e-05 9.98423502e-01 1.49162714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.765099892999995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:28.19, Y:0.80, Z:1.50 [[ 9.95913610e-01 -7.08586623e-02 -5.59922496e-02 2.81919281e+01] [ 7.07500863e-02 9.97486364e-01 -3.92153649e-03 8.01953007e-01] [ 5.61293803e-02 -5.59449297e-05 9.98423502e-01 1.49617954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.825099892999997 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:28.25, Y:0.81, Z:1.50 [[ 9.95816039e-01 -7.22177789e-02 -5.59911418e-02 2.82493798e+01] [ 7.21104636e-02 9.97388880e-01 -3.93729049e-03 8.08049998e-01] [ 5.61292846e-02 -1.16730175e-04 9.98423502e-01 1.49939279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.885099892999996 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:28.31, Y:0.82, Z:1.51 [[ 9.95204006e-01 -8.02128726e-02 -5.59900150e-02 2.83066723e+01] [ 8.01172945e-02 9.96777604e-01 -3.95324859e-03 8.22480135e-01] [ 5.61266944e-02 -5.51479690e-04 9.98423502e-01 1.50608725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.945099892999995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:28.37, Y:0.84, Z:1.51 [[ 9.95416737e-01 -7.75290281e-02 -5.59890188e-02 2.83667249e+01] [ 7.74284164e-02 9.96990020e-01 -3.96730854e-03 8.35169288e-01] [ 5.61280746e-02 -3.86015741e-04 9.98423502e-01 1.51002930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.005099892999997 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:28.43, Y:0.86, Z:1.51 [[ 9.96620897e-01 -6.00999273e-02 -5.59891620e-02 2.84257282e+01] [ 5.99719162e-02 9.98192189e-01 -3.96528574e-03 8.55319805e-01] [ 5.61262576e-02 5.94109301e-04 9.98423502e-01 1.50862289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.065099892999996 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:28.48, Y:0.86, Z:1.51 [[ 9.96644109e-01 -5.97138275e-02 -5.59890915e-02 2.84836672e+01] [ 5.95851518e-02 9.98215347e-01 -3.96628129e-03 8.58401731e-01] [ 5.61260122e-02 6.16852369e-04 9.98423502e-01 1.51028287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.125099892999994 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:28.54, Y:0.86, Z:1.51 [[ 9.96637291e-01 -5.98285740e-02 -5.59879578e-02 2.85424368e+01] [ 5.96991838e-02 9.98208470e-01 -3.98222112e-03 8.61381084e-01] [ 5.61259043e-02 6.26394691e-04 9.98423503e-01 1.51463220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.185099892999997 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:28.60, Y:0.87, Z:1.52 [[ 9.96615054e-01 -6.01987997e-02 -5.59869501e-02 2.86011766e+01] [ 6.00692002e-02 9.98186215e-01 -3.99633850e-03 8.65964769e-01] [ 5.61259766e-02 6.19719796e-04 9.98423503e-01 1.52020464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.245099892999995 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:28.66, Y:0.87, Z:1.52 [[ 9.96621180e-01 -6.00982546e-02 -5.59859201e-02 2.86573135e+01] [ 5.99676891e-02 9.98192261e-01 -4.01071567e-03 8.70922725e-01] [ 5.61257492e-02 6.39817925e-04 9.98423503e-01 1.52378950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.305099892999994 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:28.72, Y:0.87, Z:1.52 [[ 9.96821475e-01 -5.66796320e-02 -5.59854128e-02 2.87160362e+01] [ 5.65432816e-02 9.98392065e-01 -4.01778590e-03 8.73101770e-01] [ 5.61231185e-02 8.39416310e-04 9.98423503e-01 1.52478659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.365099892999996 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:28.77, Y:0.88, Z:1.53 [[ 9.97163667e-01 -5.03027778e-02 -5.59843961e-02 2.87729675e+01] [ 5.01555925e-02 9.98733278e-01 -4.03190263e-03 8.75851841e-01] [ 5.61162953e-02 1.21253626e-03 9.98423503e-01 1.53045079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.425099892999995 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:28.83, Y:0.87, Z:1.53 [[ 9.96954179e-01 -5.42971737e-02 -5.59837735e-02 2.88321372e+01] [ 5.41557934e-02 9.98524323e-01 -4.04052880e-03 8.69432575e-01] [ 5.61205489e-02 9.96376397e-04 9.98423503e-01 1.53073738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.485099892999997 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:28.89, Y:0.87, Z:1.54 [[ 9.96979740e-01 -5.38268569e-02 -5.59827440e-02 2.88893470e+01] [ 5.36839381e-02 9.98549745e-01 -4.05474275e-03 8.73409985e-01] [ 5.61198089e-02 1.03712221e-03 9.98423503e-01 1.53534467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.545099892999996 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:28.95, Y:0.88, Z:1.54 [[ 9.96996301e-01 -5.35196096e-02 -5.59823818e-02 2.89465184e+01] [ 5.33759266e-02 9.98566237e-01 -4.05973747e-03 8.77157755e-01] [ 5.61193919e-02 1.05943174e-03 9.98423503e-01 1.53985978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.605099892999995 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:29.00, Y:0.88, Z:1.54 [[ 9.97027374e-01 -5.29388221e-02 -5.59812103e-02 2.90041859e+01] [ 5.27933215e-02 9.98597142e-01 -4.07582825e-03 8.80640186e-01] [ 5.61184462e-02 1.10827831e-03 9.98423503e-01 1.54288371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.665099892999997 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:29.06, Y:0.88, Z:1.54 [[ 9.97273837e-01 -4.80742219e-02 -5.59800266e-02 2.90620058e+01] [ 4.79201565e-02 9.98842787e-01 -4.09202152e-03 8.81346843e-01] [ 5.61119666e-02 1.39829436e-03 9.98423503e-01 1.54423628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.725099892999996 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:29.12, Y:0.88, Z:1.55 [[ 9.97455461e-01 -4.41461178e-02 -5.59796628e-02 2.91207919e+01] [ 4.39855956e-02 9.99023764e-01 -4.09699310e-03 8.81485185e-01] [ 5.61058798e-02 1.62426933e-03 9.98423503e-01 1.55097375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.785099892999995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:29.18, Y:0.88, Z:1.55 [[ 9.97091149e-01 -5.17265462e-02 -5.59786112e-02 2.91795508e+01] [ 5.15771458e-02 9.98660551e-01 -4.11131160e-03 8.76618984e-01] [ 5.61162946e-02 1.21213542e-03 9.98423503e-01 1.55319430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.845099892999997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:29.24, Y:0.87, Z:1.56 [[ 9.96159906e-01 -6.73197899e-02 -5.59775639e-02 2.92393210e+01] [ 6.71941628e-02 9.97731389e-01 -4.12552099e-03 8.69698950e-01] [ 5.61283018e-02 3.48313054e-04 9.98423504e-01 1.55630095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.905099892999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:29.30, Y:0.87, Z:1.56 [[ 9.95165025e-01 -8.07038952e-02 -5.59772604e-02 2.92988724e+01] [ 8.05991716e-02 9.96738040e-01 -4.12963583e-03 8.65579927e-01] [ 5.61279425e-02 -4.02051665e-04 9.98423504e-01 1.55808517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.965099892999994 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:29.36, Y:0.87, Z:1.56 [[ 9.95517340e-01 -7.62357648e-02 -5.59761889e-02 2.93571154e+01] [ 7.61231672e-02 9.97089810e-01 -4.14410840e-03 8.70486854e-01] [ 5.61292169e-02 -1.35553021e-04 9.98423504e-01 1.56138030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.025099892999997 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:29.42, Y:0.88, Z:1.56 [[ 9.96301542e-01 -6.51921976e-02 -5.59751243e-02 2.94154994e+01] [ 6.50613653e-02 9.97872600e-01 -4.15843937e-03 8.75831747e-01] [ 5.61271406e-02 5.01241546e-04 9.98423504e-01 1.56389667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.085099892999995 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:29.47, Y:0.88, Z:1.57 [[ 9.96668652e-01 -5.93169602e-02 -5.59740707e-02 2.94737576e+01] [ 5.91760738e-02 9.98238840e-01 -4.17257291e-03 8.82840071e-01] [ 5.61229958e-02 8.46346880e-04 9.98423504e-01 1.56630216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.145099892999998 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:29.53, Y:0.89, Z:1.57 [[ 9.95557975e-01 -7.57056185e-02 -5.59730010e-02 2.95306469e+01] [ 7.55897791e-02 9.97130210e-01 -4.18687335e-03 8.86642476e-01] [ 5.61293401e-02 -6.27116213e-05 9.98423504e-01 1.56838770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.205099892999996 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:29.59, Y:0.89, Z:1.58 [[ 9.95857197e-01 -7.16625829e-02 -5.59724752e-02 2.95887813e+01] [ 7.15399660e-02 9.97428917e-01 -4.19389069e-03 8.93932593e-01] [ 5.61291104e-02 1.72247253e-04 9.98423504e-01 1.57751938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.265099892999995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:29.65, Y:0.90, Z:1.58 [[ 9.96139618e-01 -6.76244287e-02 -5.59714041e-02 2.96473340e+01] [ 6.74946401e-02 9.97710762e-01 -4.20813792e-03 8.99829641e-01] [ 5.61278451e-02 4.14123130e-04 9.98423504e-01 1.58392502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.325099892999997 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:29.71, Y:0.90, Z:1.58 [[ 9.95541566e-01 -7.59230724e-02 -5.59703273e-02 2.97062532e+01] [ 7.58055784e-02 9.97113677e-01 -4.22241123e-03 9.02878221e-01] [ 5.61293573e-02 -3.92771435e-05 9.98423504e-01 1.58268402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.385099892999996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:29.77, Y:0.91, Z:1.58 [[ 9.95027698e-01 -8.23852202e-02 -5.59692352e-02 2.97652631e+01] [ 8.22771244e-02 9.96600484e-01 -4.23683798e-03 9.09165254e-01] [ 5.61280197e-02 -3.89216582e-04 9.98423504e-01 1.58276557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.445099892999995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:29.82, Y:0.92, Z:1.59 [[ 9.94986894e-01 -8.28772541e-02 -5.59682145e-02 2.98245596e+01] [ 8.27691800e-02 9.96559681e-01 -4.25027922e-03 9.15681567e-01] [ 5.61279174e-02 -4.03471098e-04 9.98423504e-01 1.58506577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.505099892999997 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:29.88, Y:0.92, Z:1.59 [[ 9.95078071e-01 -8.17753538e-02 -5.59680597e-02 2.98832071e+01] [ 8.16654236e-02 9.96650729e-01 -4.25231623e-03 9.23338923e-01] [ 5.61283422e-02 -3.39268672e-04 9.98423504e-01 1.58963314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.565099892999996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:29.94, Y:0.93, Z:1.59 [[ 9.95339531e-01 -7.85289943e-02 -5.59679835e-02 2.99418813e+01] [ 7.84138783e-02 9.96911818e-01 -4.25331845e-03 9.32008087e-01] [ 5.61291530e-02 -1.55170655e-04 9.98423504e-01 1.59288474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.625099892999994 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:30.00, Y:0.94, Z:1.60 [[ 9.95262958e-01 -7.94936886e-02 -5.59678336e-02 3.00001635e+01] [ 7.93799857e-02 9.96835348e-01 -4.25529059e-03 9.39222181e-01] [ 5.61289836e-02 -2.07592724e-04 9.98423504e-01 1.59562954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.685099892999997 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:30.06, Y:0.95, Z:1.60 [[ 9.95383577e-01 -7.79695683e-02 -5.59667777e-02 3.00594508e+01] [ 7.78526793e-02 9.96955734e-01 -4.26913348e-03 9.47673683e-01] [ 5.61292624e-02 -1.07738243e-04 9.98423504e-01 1.59934401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.745099892999995 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:30.12, Y:0.96, Z:1.60 [[ 9.95759061e-01 -7.30180048e-02 -5.59666211e-02 3.01184882e+01] [ 7.28931828e-02 9.97330608e-01 -4.27118446e-03 9.56974874e-01] [ 5.61290976e-02 1.73485478e-04 9.98423504e-01 1.60275067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.805099892999994 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:30.18, Y:0.96, Z:1.61 [[ 9.95794332e-01 -7.25355366e-02 -5.59664648e-02 3.01772012e+01] [ 7.24098381e-02 9.97365808e-01 -4.27323257e-03 9.63631878e-01] [ 5.61289996e-02 2.02738116e-04 9.98423504e-01 1.60810516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.865099892999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.24, Y:0.97, Z:1.61 [[ 9.95417895e-01 -7.75305577e-02 -5.59663075e-02 3.02363364e+01] [ 7.74126292e-02 9.96989973e-01 -4.27529128e-03 9.70235613e-01] [ 5.61293131e-02 -7.67975620e-05 9.98423504e-01 1.61462746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.925099892999995 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:30.30, Y:0.98, Z:1.62 [[ 9.95512066e-01 -7.63119736e-02 -5.59661500e-02 3.02952120e+01] [ 7.61920049e-02 9.97083990e-01 -4.27735177e-03 9.76405832e-01] [ 5.61293653e-02 -6.01787929e-06 9.98423504e-01 1.61584826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.985099892999997 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:30.35, Y:0.98, Z:1.62 [[ 9.95834179e-01 -7.19866383e-02 -5.59661724e-02 3.03549843e+01] [ 7.18598586e-02 9.97405568e-01 -4.27705873e-03 9.84595950e-01] [ 5.61288631e-02 2.37520034e-04 9.98423504e-01 1.61675796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04509989299999 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:30.41, Y:0.99, Z:1.62 [[ 9.95979932e-01 -6.99411309e-02 -5.59661724e-02 3.04130891e+01] [ 6.98111240e-02 9.97551058e-01 -4.27705873e-03 9.91477324e-01] [ 5.61282568e-02 3.52803263e-04 9.98423504e-01 1.61867311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.105099892999995 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:30.47, Y:1.00, Z:1.62 [[ 9.95985976e-01 -6.98558780e-02 -5.59651036e-02 3.04710941e+01] [ 6.97249533e-02 9.97557025e-01 -4.29099824e-03 9.98934442e-01] [ 5.61281337e-02 3.71609826e-04 9.98423505e-01 1.62206089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.165099893 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:30.53, Y:1.00, Z:1.63 [[ 9.95802789e-01 -7.24212149e-02 -5.59640248e-02 3.05307162e+01] [ 7.22935494e-02 9.97374107e-01 -4.30502307e-03 1.00407486e+00] [ 5.61288442e-02 2.41115988e-04 9.98423505e-01 1.62638893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22509989299999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:30.59, Y:1.01, Z:1.63 [[ 9.95402729e-01 -7.77267802e-02 -5.59638669e-02 3.05893876e+01] [ 7.76073746e-02 9.96974696e-01 -4.30707395e-03 1.00917860e+00] [ 5.61293342e-02 -5.59356278e-05 9.98423505e-01 1.63161904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.285099892999995 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:30.65, Y:1.02, Z:1.64 [[ 9.94556350e-01 -8.78960842e-02 -5.59637893e-02 3.06490613e+01] [ 8.77926942e-02 9.96129451e-01 -4.30808299e-03 1.01576851e+00] [ 5.61258423e-02 -6.28580545e-04 9.98423505e-01 1.63682307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.345099893 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:30.71, Y:1.02, Z:1.64 [[ 9.93966846e-01 -9.43290120e-02 -5.59637893e-02 3.07114380e+01] [ 9.42358021e-02 9.95540584e-01 -4.30808299e-03 1.01953670e+00] [ 5.61206007e-02 -9.91700908e-04 9.98423505e-01 1.63915153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.405099893 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:30.77, Y:1.02, Z:1.64 [[ 9.93465010e-01 -9.94750859e-02 -5.59640975e-02 3.07737605e+01] [ 9.93902526e-02 9.95039222e-01 -4.30407535e-03 1.02497725e+00] [ 5.61146203e-02 -1.28633752e-03 9.98423505e-01 1.64376955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.465099892999994 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:30.84, Y:1.03, Z:1.64 [[ 9.93640766e-01 -9.77036622e-02 -5.59644825e-02 3.08358473e+01] [ 9.76163046e-02 9.95214839e-01 -4.29906326e-03 1.03342741e+00] [ 5.61167177e-02 -1.19132146e-03 9.98423505e-01 1.64470016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.525099893 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:30.90, Y:1.05, Z:1.65 [[ 9.94470983e-01 -8.88560956e-02 -5.59647877e-02 3.08967818e+01] [ 8.87549555e-02 9.96044231e-01 -4.29508607e-03 1.04588590e+00] [ 5.61250485e-02 -6.95813778e-04 9.98423505e-01 1.65260344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.585099893 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:30.96, Y:1.05, Z:1.66 [[ 9.95039558e-01 -8.22446682e-02 -5.59651035e-02 3.09575942e+01] [ 8.21333058e-02 9.96612115e-01 -4.29096761e-03 1.05174787e+00] [ 5.61284094e-02 -3.26916448e-04 9.98423505e-01 1.65514703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.645099892999994 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:31.02, Y:1.06, Z:1.66 [[ 9.95305027e-01 -7.89669866e-02 -5.59653369e-02 3.10195396e+01] [ 7.88506167e-02 9.96877221e-01 -4.28792127e-03 1.05547814e+00] [ 5.61291738e-02 -1.45111734e-04 9.98423505e-01 1.65751124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.705099892999996 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:31.08, Y:1.06, Z:1.66 [[ 9.95911672e-01 -7.09068957e-02 -5.59656482e-02 3.10807060e+01] [ 7.07780304e-02 9.97482892e-01 -4.28385414e-03 1.06018853e+00] [ 5.61285314e-02 3.05201985e-04 9.98423505e-01 1.66044137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.765099893 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:31.14, Y:1.06, Z:1.66 [[ 9.96873027e-01 -5.57852741e-02 -5.59658036e-02 3.11404013e+01] [ 5.56326937e-02 9.98442121e-01 -4.28182272e-03 1.06332499e+00] [ 5.61174784e-02 1.15490516e-03 9.98423505e-01 1.66446707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.825099892999994 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:31.20, Y:1.07, Z:1.67 [[ 9.97187069e-01 -4.98576618e-02 -5.59657273e-02 3.11980955e+01] [ 4.96956995e-02 9.98755223e-01 -4.28282082e-03 1.06520483e+00] [ 5.61095938e-02 1.48951757e-03 9.98423505e-01 1.66834345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.885099892999996 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:31.26, Y:1.07, Z:1.67 [[ 9.97058606e-01 -5.23651920e-02 -5.59644861e-02 3.12555660e+01] [ 5.22062673e-02 9.98627070e-01 -4.29897913e-03 1.06962456e+00] [ 5.61127676e-02 1.36463722e-03 9.98423505e-01 1.66985647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.945099893 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:31.32, Y:1.06, Z:1.67 [[ 9.96211902e-01 -6.65572682e-02 -5.59640598e-02 3.13152916e+01] [ 6.64203822e-02 9.97782443e-01 -4.30452048e-03 1.06179190e+00] [ 5.61264535e-02 5.71060292e-04 9.98423505e-01 1.67455326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00509989299999 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:31.37, Y:1.06, Z:1.67 [[ 9.95183319e-01 -8.04880195e-02 -5.59628435e-02 3.13749658e+01] [ 8.03722330e-02 9.96755556e-01 -4.32027697e-03 1.05621561e+00] [ 5.61290057e-02 -1.98391118e-04 9.98423505e-01 1.67415125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.065099892999996 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:31.44, Y:1.06, Z:1.68 [[ 9.94693633e-01 -8.63299482e-02 -5.59617407e-02 3.14360035e+01] [ 8.62225944e-02 9.96266468e-01 -4.33451508e-03 1.05606673e+00] [ 5.61270042e-02 -5.13651912e-04 9.98423505e-01 1.67804906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.125099893 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:31.50, Y:1.06, Z:1.68 [[ 9.94670309e-01 -8.65982639e-02 -5.59617407e-02 3.14961785e+01] [ 8.64913343e-02 9.96243174e-01 -4.33451508e-03 1.05691358e+00] [ 5.61268636e-02 -5.28792163e-04 9.98423505e-01 1.68342576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18509989299999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:31.56, Y:1.06, Z:1.69 [[ 9.95079881e-01 -8.17575973e-02 -5.59618191e-02 3.15573719e+01] [ 8.16430731e-02 9.96652211e-01 -4.33350154e-03 1.05994292e+00] [ 5.61287674e-02 -2.56714694e-04 9.98423505e-01 1.68828708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.245099892999995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:31.62, Y:1.06, Z:1.69 [[ 9.95229536e-01 -7.99151286e-02 -5.59619759e-02 3.16179409e+01] [ 7.97978074e-02 9.96801659e-01 -4.33147608e-03 1.06306133e+00] [ 5.61291409e-02 -1.54830052e-04 9.98423505e-01 1.69048626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.305099893 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:31.68, Y:1.07, Z:1.69 [[ 9.95205344e-01 -8.02158381e-02 -5.59619759e-02 3.16775861e+01] [ 8.00989919e-02 9.96777503e-01 -4.33147608e-03 1.06607692e+00] [ 5.61290916e-02 -1.71789719e-04 9.98423505e-01 1.69083632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36509989299999 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:31.74, Y:1.07, Z:1.69 [[ 9.94960538e-01 -8.31973754e-02 -5.59618171e-02 3.17363064e+01] [ 8.30851250e-02 9.96533031e-01 -4.33352709e-03 1.06592157e+00] [ 5.61283373e-02 -3.37906124e-04 9.98423505e-01 1.68998549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.425099892999995 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:31.80, Y:1.07, Z:1.70 [[ 9.95032401e-01 -8.23336045e-02 -5.59615825e-02 3.17964645e+01] [ 8.22198188e-02 9.96604784e-01 -4.33655409e-03 1.07093393e+00] [ 5.61286250e-02 -2.86139347e-04 9.98423505e-01 1.69626296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.485099893 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:31.86, Y:1.07, Z:1.70 [[ 9.94982087e-01 -8.29394272e-02 -5.59615825e-02 3.18560512e+01] [ 8.28265989e-02 9.96554539e-01 -4.33655409e-03 1.07426907e+00] [ 5.61284404e-02 -3.20313915e-04 9.98423505e-01 1.70153126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54509989299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:31.92, Y:1.08, Z:1.71 [[ 9.95097325e-01 -8.15451929e-02 -5.59615522e-02 3.19157657e+01] [ 8.14301394e-02 9.96669616e-01 -4.33694543e-03 1.08106150e+00] [ 5.61288358e-02 -2.41274202e-04 9.98423505e-01 1.71004825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.605099892999995 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:31.98, Y:1.08, Z:1.71 [[ 9.95472589e-01 -7.68285732e-02 -5.59615522e-02 3.19762733e+01] [ 7.67060700e-02 9.97044317e-01 -4.33694543e-03 1.08444398e+00] [ 5.61293489e-02 2.47195551e-05 9.98423505e-01 1.71075852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.665099893 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:32.03, Y:1.09, Z:1.71 [[ 9.95769352e-01 -7.28814299e-02 -5.59615522e-02 3.20349731e+01] [ 7.27526966e-02 9.97340582e-01 -4.33694543e-03 1.08831605e+00] [ 5.61288098e-02 2.47243513e-04 9.98423505e-01 1.71318052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72509989299999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:32.09, Y:1.09, Z:1.71 [[ 9.95725934e-01 -7.34730836e-02 -5.59604426e-02 3.20927519e+01] [ 7.33444818e-02 9.97297174e-01 -4.35121622e-03 1.08981572e+00] [ 5.61288885e-02 2.28229168e-04 9.98423505e-01 1.71341301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.785099892999995 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:32.15, Y:1.09, Z:1.72 [[ 9.95552003e-01 -7.57936821e-02 -5.59600534e-02 3.21508544e+01] [ 7.56684619e-02 9.97123517e-01 -4.35621574e-03 1.09347938e+00] [ 5.61292588e-02 1.02428140e-04 9.98423505e-01 1.71626852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.845099893 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:32.21, Y:1.10, Z:1.72 [[ 9.95285738e-01 -7.92143585e-02 -5.59587762e-02 3.22089649e+01] [ 7.90936204e-02 9.96857603e-01 -4.37256064e-03 1.09736610e+00] [ 5.61293011e-02 -7.40349563e-05 9.98423505e-01 1.71790489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90509989299999 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:32.27, Y:1.10, Z:1.73 [[ 9.96288618e-01 -6.54037415e-02 -5.59583839e-02 3.22683985e+01] [ 6.52609341e-02 9.97858631e-01 -4.37757580e-03 1.10259788e+00] [ 5.61248662e-02 7.09432536e-04 9.98423505e-01 1.72547473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.965099892999994 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:32.33, Y:1.10, Z:1.73 [[ 9.96749414e-01 -5.79593197e-02 -5.59582236e-02 3.23265965e+01] [ 5.78046729e-02 9.98318305e-01 -4.37962361e-03 1.10353340e+00] [ 5.61179590e-02 1.13074045e-03 9.98423505e-01 1.72847744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.025099893 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:32.38, Y:1.11, Z:1.73 [[ 9.96739508e-01 -5.81306389e-02 -5.59569576e-02 3.23842784e+01] [ 5.79753574e-02 9.98308337e-01 -4.39573945e-03 1.10694625e+00] [ 5.61178244e-02 1.13728256e-03 9.98423506e-01 1.73264159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.085099893 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:32.44, Y:1.11, Z:1.73 [[ 9.96660983e-01 -5.94630068e-02 -5.59556565e-02 3.24422547e+01] [ 5.93088966e-02 9.98229927e-01 -4.41224007e-03 1.11058960e+00] [ 5.61189760e-02 1.07883928e-03 9.98423506e-01 1.73402841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.145099892999994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:32.50, Y:1.11, Z:1.74 [[ 9.96207807e-01 -6.66260723e-02 -5.59550855e-02 3.25006481e+01] [ 6.64828385e-02 9.97777781e-01 -4.41947017e-03 1.10918917e+00] [ 5.61251930e-02 6.82657779e-04 9.98423506e-01 1.73768487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.205099892999996 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:32.56, Y:1.11, Z:1.74 [[ 9.95238452e-01 -7.98097588e-02 -5.59537887e-02 3.25586178e+01] [ 7.96864039e-02 9.96810113e-01 -4.43582805e-03 1.10904712e+00] [ 5.61293248e-02 -4.40495657e-05 9.98423506e-01 1.74071381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.265099893 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:32.62, Y:1.11, Z:1.74 [[ 9.94222951e-01 -9.15971843e-02 -5.59524835e-02 3.26166258e+01] [ 9.14915383e-02 9.95795901e-01 -4.45223126e-03 1.10636541e+00] [ 5.61250655e-02 -6.92668283e-04 9.98423506e-01 1.74112560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.325099892999994 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:32.67, Y:1.11, Z:1.75 [[ 9.93468023e-01 -9.94522650e-02 -5.59511837e-02 3.26749799e+01] [ 9.93581381e-02 9.95041704e-01 -4.46850596e-03 1.10956562e+00] [ 5.61181642e-02 -1.11988766e-03 9.98423506e-01 1.74694269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.385099892999996 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:32.74, Y:1.11, Z:1.75 [[ 9.92700099e-01 -1.06845709e-01 -5.59509437e-02 3.27363831e+01] [ 1.06763131e-01 9.94274429e-01 -4.47150918e-03 1.11442808e+00] [ 5.61083541e-02 -1.53463034e-03 9.98423506e-01 1.74953847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.445099893 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:32.80, Y:1.12, Z:1.75 [[ 9.92392619e-01 -1.09664777e-01 -5.59511004e-02 3.27977213e+01] [ 1.09586781e-01 9.93967183e-01 -4.46954704e-03 1.12162624e+00] [ 5.61037095e-02 -1.69595552e-03 9.98423506e-01 1.75112672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50509989299999 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:32.86, Y:1.13, Z:1.75 [[ 9.92551966e-01 -1.08212990e-01 -5.59512556e-02 3.28592723e+01] [ 1.08132801e-01 9.94126419e-01 -4.46760309e-03 1.12934240e+00] [ 5.61060741e-02 -1.61583778e-03 9.98423506e-01 1.75495343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.565099892999996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:32.92, Y:1.14, Z:1.76 [[ 9.93251196e-01 -1.01594703e-01 -5.59515759e-02 3.29211733e+01] [ 1.01504248e-01 9.94825092e-01 -4.46358919e-03 1.13929676e+00] [ 5.61155086e-02 -1.24585730e-03 9.98423506e-01 1.76014978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.625099893 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:32.98, Y:1.15, Z:1.77 [[ 9.95003123e-01 -8.26932283e-02 -5.59519019e-02 3.29812728e+01] [ 8.25730969e-02 9.96575033e-01 -4.45949865e-03 1.15434918e+00] [ 5.61290388e-02 -1.82906738e-04 9.98423506e-01 1.76516110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68509989299999 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:33.04, Y:1.16, Z:1.77 [[ 9.95488416e-01 -7.66301539e-02 -5.59520643e-02 3.30399337e+01] [ 7.65005633e-02 9.97059574e-01 -4.45745946e-03 1.16199916e+00] [ 5.61291173e-02 1.56984823e-04 9.98423506e-01 1.76906850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.745099892999995 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:33.10, Y:1.17, Z:1.77 [[ 9.96164644e-01 -6.72710033e-02 -5.59518995e-02 3.30986762e+01] [ 6.71265363e-02 9.97734504e-01 -4.45952746e-03 1.17068299e+00] [ 5.61251376e-02 6.86566369e-04 9.98423506e-01 1.77085190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.805099893 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:33.16, Y:1.18, Z:1.77 [[ 9.96199350e-01 -6.67559624e-02 -5.59508405e-02 3.31558478e+01] [ 6.66099398e-02 9.97769067e-01 -4.47277496e-03 1.17928051e+00] [ 5.61246023e-02 7.28893389e-04 9.98423506e-01 1.77422484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86509989299999 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:33.21, Y:1.18, Z:1.78 [[ 9.95492316e-01 -7.65813214e-02 -5.59495354e-02 3.32132205e+01] [ 7.64498788e-02 9.97063320e-01 -4.48904091e-03 1.18325318e+00] [ 5.61290062e-02 1.91470527e-04 9.98423506e-01 1.77652202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.925099892999995 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:33.27, Y:1.19, Z:1.78 [[ 9.94250529e-01 -9.12995273e-02 -5.59489287e-02 3.32718974e+01] [ 9.11909146e-02 9.95823276e-01 -4.49659004e-03 1.18696657e+00] [ 5.61257820e-02 -6.31296955e-04 9.98423506e-01 1.78119054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.985099893 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:33.33, Y:1.19, Z:1.79 [[ 9.93471835e-01 -9.94160757e-02 -5.59477978e-02 3.33332593e+01] [ 9.93195208e-02 9.95045369e-01 -4.51061726e-03 1.19085667e+00] [ 5.61190250e-02 -1.07553726e-03 9.98423506e-01 1.78662788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04509989299999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:33.39, Y:1.20, Z:1.79 [[ 9.92616567e-01 -1.07620524e-01 -5.59479611e-02 3.33948461e+01] [ 1.07537087e-01 9.94190851e-01 -4.50859124e-03 1.19592423e+00] [ 5.61081680e-02 -1.54117838e-03 9.98423506e-01 1.79023210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.105099892999995 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:33.46, Y:1.20, Z:1.79 [[ 9.91830982e-01 -1.14634597e-01 -5.59482933e-02 3.34557406e+01] [ 1.14562523e-01 9.93405828e-01 -4.50446467e-03 1.20013608e+00] [ 5.60957281e-02 -1.94191001e-03 9.98423506e-01 1.79124902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.165099893 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:33.52, Y:1.21, Z:1.79 [[ 9.91391491e-01 -1.18375007e-01 -5.59488119e-02 3.35178345e+01] [ 1.18309237e-01 9.92966612e-01 -4.49801445e-03 1.20760044e+00] [ 5.60877547e-02 -2.15996799e-03 9.98423506e-01 1.79212005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22509989299999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:33.58, Y:1.21, Z:1.79 [[ 9.91313761e-01 -1.19024034e-01 -5.59491414e-02 3.35785457e+01] [ 1.18959526e-01 9.92888934e-01 -4.49391221e-03 1.21439418e+00] [ 5.60861669e-02 -2.20080633e-03 9.98423507e-01 1.79464491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.285099892999995 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:33.64, Y:1.23, Z:1.80 [[ 9.91259951e-01 -1.19471238e-01 -5.59493850e-02 3.36406727e+01] [ 1.19407613e-01 9.92835160e-01 -4.49087678e-03 1.22548057e+00] [ 5.60850472e-02 -2.22915620e-03 9.98423507e-01 1.79730769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.345099893 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:33.70, Y:1.24, Z:1.80 [[ 9.91200237e-01 -1.19965426e-01 -5.59498633e-02 3.37030748e+01] [ 1.19902922e-01 9.92775491e-01 -4.48490972e-03 1.23700477e+00] [ 5.60836871e-02 -2.26310852e-03 9.98423507e-01 1.80245410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40509989299999 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:33.77, Y:1.25, Z:1.81 [[ 9.91422068e-01 -1.18117916e-01 -5.59503501e-02 3.37654178e+01] [ 1.18052819e-01 9.92997217e-01 -4.47882901e-03 1.25194516e+00] [ 5.60875719e-02 -2.16468662e-03 9.98423507e-01 1.80726855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.465099892999994 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:33.83, Y:1.26, Z:1.81 [[ 9.92513092e-01 -1.08569177e-01 -5.59508337e-02 3.38270734e+01] [ 1.08489261e-01 9.94087559e-01 -4.47277983e-03 1.26439182e+00] [ 5.61056337e-02 -1.63077209e-03 9.98423507e-01 1.81103210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.525099893 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:33.89, Y:1.27, Z:1.81 [[ 9.92815101e-01 -1.05771575e-01 -5.59513173e-02 3.38885808e+01] [ 1.05687564e-01 9.94389354e-01 -4.46672157e-03 1.27116322e+00] [ 5.61098465e-02 -1.47872979e-03 9.98423507e-01 1.81439632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58509989299999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:33.95, Y:1.28, Z:1.82 [[ 9.93099354e-01 -1.03068367e-01 -5.59516362e-02 3.39506157e+01] [ 1.02980295e-01 9.94673385e-01 -4.46272364e-03 1.27602561e+00] [ 5.61135690e-02 -1.32998805e-03 9.98423507e-01 1.81711773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.645099892999994 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:34.01, Y:1.28, Z:1.82 [[ 9.93421028e-01 -9.99201701e-02 -5.59519557e-02 3.40129511e+01] [ 9.98273357e-02 9.94994785e-01 -4.45871476e-03 1.28008700e+00] [ 5.61174197e-02 -1.15615366e-03 9.98423507e-01 1.82096088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.705099892999996 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:34.08, Y:1.29, Z:1.82 [[ 9.94005801e-01 -9.39244922e-02 -5.59522744e-02 3.40750116e+01] [ 9.38223894e-02 9.95578985e-01 -4.45471133e-03 1.28617345e+00] [ 5.61233150e-02 -8.21567177e-04 9.98423507e-01 1.82354143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.765099893 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:34.14, Y:1.29, Z:1.83 [[ 9.94646059e-01 -8.68822481e-02 -5.59525916e-02 3.41373795e+01] [ 8.67692303e-02 9.96218496e-01 -4.45072420e-03 1.29169670e+00] [ 5.61276955e-02 -4.28068022e-04 9.98423507e-01 1.82725046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.825099892999994 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:34.20, Y:1.30, Z:1.83 [[ 9.95507680e-01 -7.63787919e-02 -5.59530001e-02 3.41980289e+01] [ 7.62494722e-02 9.97078861e-01 -4.44558236e-03 1.29802234e+00] [ 5.61291018e-02 1.59224660e-04 9.98423507e-01 1.83250174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.885099892999996 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:34.26, Y:1.30, Z:1.84 [[ 9.95716027e-01 -7.36125015e-02 -5.59534994e-02 3.42579410e+01] [ 7.34791704e-02 9.97286872e-01 -4.43928853e-03 1.30071809e+00] [ 5.61284775e-02 3.08854019e-04 9.98423507e-01 1.83685729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.945099893 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:34.32, Y:1.30, Z:1.84 [[ 9.95285047e-01 -7.92267764e-02 -5.59534994e-02 3.43177769e+01] [ 7.91023064e-02 9.96856618e-01 -4.43928853e-03 1.30064622e+00] [ 5.61293268e-02 -7.69336233e-06 9.98423507e-01 1.83720705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00509989299999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:34.38, Y:1.30, Z:1.84 [[ 9.94772094e-01 -8.54265993e-02 -5.59533437e-02 3.43781375e+01] [ 8.53118134e-02 9.96344403e-01 -4.44125124e-03 1.30365538e+00] [ 5.61282018e-02 -3.55448412e-04 9.98423507e-01 1.83807651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.065099892999996 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:34.44, Y:1.31, Z:1.84 [[ 9.94052160e-01 -9.34319391e-02 -5.59533437e-02 3.44382090e+01] [ 9.33298143e-02 9.95625342e-01 -4.44125124e-03 1.30525660e+00] [ 5.61235216e-02 -8.07279785e-04 9.98423507e-01 1.83982933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.125099893 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:34.50, Y:1.31, Z:1.85 [[ 9.93319659e-01 -1.00922098e-01 -5.59534223e-02 3.45000666e+01] [ 1.00831890e-01 9.94893569e-01 -4.44026070e-03 1.30845527e+00] [ 5.61158204e-02 -1.23129108e-03 9.98423507e-01 1.84630356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18509989299999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:34.56, Y:1.31, Z:1.85 [[ 9.93078305e-01 -1.03269837e-01 -5.59537412e-02 3.45618573e+01] [ 1.03183576e-01 9.94652436e-01 -4.43623732e-03 1.31034485e+00] [ 5.61126546e-02 -1.36797609e-03 9.98423507e-01 1.85286376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.245099892999995 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:34.62, Y:1.31, Z:1.85 [[ 9.92706776e-01 -1.06782023e-01 -5.59540655e-02 3.46237129e+01] [ 1.06701561e-01 9.94281214e-01 -4.43214441e-03 1.31211604e+00] [ 5.61073495e-02 -1.57056636e-03 9.98423507e-01 1.85212440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.305099893 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:34.69, Y:1.32, Z:1.85 [[ 9.92725309e-01 -1.06609413e-01 -5.59543845e-02 3.46862753e+01] [ 1.06528905e-01 9.94299746e-01 -4.42811333e-03 1.31651120e+00] [ 5.61075088e-02 -1.56485913e-03 9.98423507e-01 1.84983423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36509989299999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:34.75, Y:1.33, Z:1.85 [[ 9.93758354e-01 -9.65059879e-02 -5.59547020e-02 3.47481136e+01] [ 9.64096948e-02 9.95331903e-01 -4.42409770e-03 1.32559602e+00] [ 5.61204519e-02 -9.98091691e-04 9.98423507e-01 1.85474607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.425099892999995 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:34.81, Y:1.34, Z:1.86 [[ 9.95574624e-01 -7.54996938e-02 -5.59550261e-02 3.48090282e+01] [ 7.53704248e-02 9.97145808e-01 -4.41999372e-03 1.33823669e+00] [ 5.61290279e-02 1.83079498e-04 9.98423507e-01 1.86047914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.485099893 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:34.87, Y:1.35, Z:1.87 [[ 9.96741038e-01 -5.81059609e-02 -5.59553478e-02 3.48688284e+01] [ 5.79495082e-02 9.98309749e-01 -4.41591822e-03 1.34748642e+00] [ 5.61173603e-02 1.15894203e-03 9.98423507e-01 1.87013483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54509989299999 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:34.93, Y:1.35, Z:1.87 [[ 9.96954715e-01 -5.43166275e-02 -5.59553478e-02 3.49265079e+01] [ 5.41542129e-02 9.98522819e-01 -4.41591822e-03 1.34967485e+00] [ 5.61125494e-02 1.37225268e-03 9.98423507e-01 1.87216199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.605099892999995 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:34.99, Y:1.35, Z:1.87 [[ 9.96545821e-01 -6.13634261e-02 -5.59549523e-02 3.49854387e+01] [ 6.12118205e-02 9.98115008e-01 -4.42092412e-03 1.34972842e+00] [ 5.61207607e-02 9.80548958e-04 9.98423507e-01 1.87265908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.665099893 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:35.04, Y:1.35, Z:1.87 [[ 9.95962220e-01 -7.02027309e-02 -5.59538517e-02 3.50443713e+01] [ 7.00642736e-02 9.97532621e-01 -4.43481053e-03 1.34699301e+00] [ 5.61271281e-02 4.96537766e-04 9.98423507e-01 1.87292650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72509989299999 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:35.10, Y:1.35, Z:1.88 [[ 9.95245048e-01 -7.97281934e-02 -5.59527483e-02 3.51027173e+01] [ 7.96039867e-02 9.96816640e-01 -4.44868734e-03 1.34717327e+00] [ 5.61293164e-02 -2.65277911e-05 9.98423507e-01 1.87861991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.785099892999995 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:35.16, Y:1.35, Z:1.88 [[ 9.94453244e-01 -8.90626975e-02 -5.59516052e-02 3.51626525e+01] [ 8.89524357e-02 9.96025876e-01 -4.46301891e-03 1.34513090e+00] [ 5.61267351e-02 -5.38767927e-04 9.98423507e-01 1.88194273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.845099893 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:35.22, Y:1.35, Z:1.89 [[ 9.93245495e-01 -1.01650449e-01 -5.59515248e-02 3.52235205e+01] [ 1.01560057e-01 9.94819394e-01 -4.46402645e-03 1.34511467e+00] [ 5.61154323e-02 -1.24856590e-03 9.98423507e-01 1.88889268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90509989299999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:35.29, Y:1.34, Z:1.89 [[ 9.91744073e-01 -1.15382420e-01 -5.59516863e-02 3.52861768e+01] [ 1.15313926e-01 9.93319077e-01 -4.46200115e-03 1.34395614e+00] [ 5.60927139e-02 -2.02684543e-03 9.98423507e-01 1.89380835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.965099892999994 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:35.35, Y:1.34, Z:1.89 [[ 9.90619050e-01 -1.24672654e-01 -5.59520081e-02 3.53486440e+01] [ 1.24619153e-01 9.92194635e-01 -4.45796299e-03 1.34443295e+00] [ 5.60710683e-02 -2.55654877e-03 9.98423507e-01 1.89255137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.025099893 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:35.41, Y:1.35, Z:1.89 [[ 9.90562674e-01 -1.25119647e-01 -5.59523341e-02 3.54103061e+01] [ 1.25067087e-01 9.92138290e-01 -4.45386670e-03 1.35060068e+00] [ 5.60697193e-02 -2.58596133e-03 9.98423507e-01 1.89372150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08509989299999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:35.47, Y:1.36, Z:1.90 [[ 9.91103183e-01 -1.20763324e-01 -5.59526556e-02 3.54717319e+01] [ 1.20704065e-01 9.92678562e-01 -4.44982463e-03 1.35895371e+00] [ 5.60803773e-02 -2.34347764e-03 9.98423507e-01 1.89811773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.145099892999994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:35.53, Y:1.37, Z:1.90 [[ 9.91543562e-01 -1.17092392e-01 -5.59529748e-02 3.55333058e+01] [ 1.17027527e-01 9.93118720e-01 -4.44580682e-03 1.36687217e+00] [ 5.60885169e-02 -2.13982711e-03 9.98423507e-01 1.90451228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.205099892999996 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:35.60, Y:1.38, Z:1.91 [[ 9.92225584e-01 -1.11164828e-01 -5.59532996e-02 3.55954696e+01] [ 1.11090781e-01 9.93800337e-01 -4.44171572e-03 1.37541305e+00] [ 5.61001705e-02 -1.80871178e-03 9.98423507e-01 1.90615414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26509989299999 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:35.66, Y:1.39, Z:1.91 [[ 9.93734598e-01 -9.67509272e-02 -5.59536201e-02 3.56564003e+01] [ 9.66542577e-02 9.95308124e-01 -4.43767403e-03 1.38798138e+00] [ 5.61204418e-02 -9.98285408e-04 9.98423507e-01 1.90997594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.325099892999994 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:35.72, Y:1.40, Z:1.92 [[ 9.94915194e-01 -8.37431399e-02 -5.59539359e-02 3.57172007e+01] [ 8.36261188e-02 9.96487338e-01 -4.43368889e-03 1.40094207e+00] [ 5.61286797e-02 -2.68066046e-04 9.98423507e-01 1.91577663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.385099892999996 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:35.78, Y:1.41, Z:1.92 [[ 9.95379477e-01 -7.80308885e-02 -5.59542505e-02 3.57778498e+01] [ 7.79050685e-02 9.96950941e-01 -4.42971453e-03 1.41103576e+00] [ 5.61292973e-02 5.01272032e-05 9.98423507e-01 1.91801206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.445099893 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:35.84, Y:1.42, Z:1.92 [[ 9.95108699e-01 -8.14111900e-02 -5.59544118e-02 3.58382845e+01] [ 8.12908227e-02 9.96680590e-01 -4.42767613e-03 1.41604863e+00] [ 5.61291386e-02 -1.42561138e-04 9.98423507e-01 1.91943081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50509989299999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:35.90, Y:1.42, Z:1.92 [[ 9.94426114e-01 -8.93633466e-02 -5.59544118e-02 3.58988989e+01] [ 8.92555486e-02 9.95998917e-01 -4.42767613e-03 1.41985054e+00] [ 5.61262056e-02 -5.91244956e-04 9.98423507e-01 1.92245337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.565099892999996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:35.96, Y:1.42, Z:1.93 [[ 9.93564338e-01 -9.84834095e-02 -5.59546683e-02 3.59612968e+01] [ 9.83902291e-02 9.95138074e-01 -4.42443332e-03 1.42207081e+00] [ 5.61183541e-02 -1.10943347e-03 9.98423507e-01 1.92736574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.625099893 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:36.02, Y:1.43, Z:1.93 [[ 9.92549068e-01 -1.08237643e-01 -5.59549853e-02 3.60228294e+01] [ 1.08160151e-01 9.94123655e-01 -4.42042043e-03 1.42559138e+00] [ 5.61046304e-02 -1.66461546e-03 9.98423507e-01 1.93170634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68509989299999 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:36.09, Y:1.43, Z:1.93 [[ 9.92408222e-01 -1.09521343e-01 -5.59553083e-02 3.60851889e+01] [ 1.09446118e-01 9.93982919e-01 -4.41632743e-03 1.42647928e+00] [ 5.61023028e-02 -1.74129165e-03 9.98423507e-01 1.93345942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.745099892999995 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:36.15, Y:1.43, Z:1.94 [[ 9.92464043e-01 -1.09014183e-01 -5.59556281e-02 3.61463278e+01] [ 1.08938381e-01 9.94038712e-01 -4.41227226e-03 1.43300730e+00] [ 5.61030607e-02 -1.71669398e-03 9.98423507e-01 1.93967289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.805099893 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:36.21, Y:1.44, Z:1.94 [[ 9.92481922e-01 -1.08851113e-01 -5.59559540e-02 3.62072666e+01] [ 1.08775286e-01 9.94056591e-01 -4.40813481e-03 1.43792459e+00] [ 5.61032153e-02 -1.71163079e-03 9.98423507e-01 1.94219138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86509989299999 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:36.27, Y:1.44, Z:1.94 [[ 9.92591307e-01 -1.07848832e-01 -5.59564752e-02 3.62693195e+01] [ 1.07771788e-01 9.94165916e-01 -4.40150908e-03 1.44441520e+00] [ 5.61047180e-02 -1.66162971e-03 9.98423507e-01 1.94437620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.925099892999995 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:36.33, Y:1.45, Z:1.95 [[ 9.93070687e-01 -1.03341414e-01 -5.59567910e-02 3.63305323e+01] [ 1.03257448e-01 9.94644942e-01 -4.39749100e-03 1.45261737e+00] [ 5.61115821e-02 -1.41093605e-03 9.98423507e-01 1.94796048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.985099893 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:36.39, Y:1.46, Z:1.95 [[ 9.93743372e-01 -9.66587445e-02 -5.59571070e-02 3.63921815e+01] [ 9.65644175e-02 9.95317040e-01 -4.39346569e-03 1.45884356e+00] [ 5.61197290e-02 -1.03748804e-03 9.98423507e-01 1.95153553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04509989299999 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:36.45, Y:1.47, Z:1.95 [[ 9.94896453e-01 -8.39631659e-02 -5.59574293e-02 3.64529094e+01] [ 8.38489857e-02 9.96468806e-01 -4.38935755e-03 1.46611813e+00] [ 5.61283771e-02 -3.25017427e-04 9.98423507e-01 1.95468457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.105099892999995 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:36.51, Y:1.47, Z:1.96 [[ 9.95639780e-01 -7.46335597e-02 -5.59576666e-02 3.65133686e+01] [ 7.45048158e-02 9.97211007e-01 -4.38633002e-03 1.47008793e+00] [ 5.61289685e-02 1.98089011e-04 9.98423507e-01 1.96100740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.165099893 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:36.57, Y:1.47, Z:1.96 [[ 9.96008268e-01 -6.95432984e-02 -5.59576666e-02 3.65719174e+01] [ 6.94065248e-02 9.97578816e-01 -4.38633002e-03 1.47491244e+00] [ 5.61272226e-02 4.84993790e-04 9.98423507e-01 1.96453469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22509989299999 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:36.63, Y:1.48, Z:1.97 [[ 9.96059393e-01 -6.88073448e-02 -5.59574330e-02 3.66302991e+01] [ 6.86692435e-02 9.97629826e-01 -4.38930765e-03 1.47581794e+00] [ 5.61268208e-02 5.29456520e-04 9.98423507e-01 1.96707501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.285099892999995 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:36.69, Y:1.47, Z:1.97 [[ 9.95625181e-01 -7.48290683e-02 -5.59563206e-02 3.66895863e+01] [ 7.46996712e-02 9.97196354e-01 -4.40344315e-03 1.47327419e+00] [ 5.61289445e-02 2.04260133e-04 9.98423507e-01 1.97130402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.75, Y:1.47, Z:1.98 [[ 9.94964128e-01 -8.31588964e-02 -5.59551859e-02 3.67482412e+01] [ 8.30418448e-02 9.96536269e-01 -4.41781576e-03 1.47347769e+00] [ 5.61287529e-02 -2.51053659e-04 9.98423507e-01 1.97782195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40509989299999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:36.81, Y:1.47, Z:1.98 [[ 9.93911721e-01 -9.49133045e-02 -5.59549465e-02 3.68085901e+01] [ 9.48146729e-02 9.95485125e-01 -4.42084528e-03 1.47206413e+00] [ 5.61219140e-02 -9.11420017e-04 9.98423507e-01 1.97924947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.465099892999994 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:36.87, Y:1.47, Z:1.98 [[ 9.93137461e-01 -1.02698725e-01 -5.59549465e-02 3.68705750e+01] [ 1.02612425e-01 9.94711590e-01 -4.42084528e-03 1.47304222e+00] [ 5.61130490e-02 -1.35116571e-03 9.98423507e-01 1.97954066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.525099893 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:36.93, Y:1.47, Z:1.98 [[ 9.92021417e-01 -1.12971390e-01 -5.59551037e-02 3.69323582e+01] [ 1.12901498e-01 9.93596359e-01 -4.41885576e-03 1.47412343e+00] [ 5.60959916e-02 -1.93381547e-03 9.98423507e-01 1.98388609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58509989299999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:36.99, Y:1.48, Z:1.99 [[ 9.91491989e-01 -1.17527128e-01 -5.59554198e-02 3.69945370e+01] [ 1.17464698e-01 9.93067245e-01 -4.41484832e-03 1.47723697e+00] [ 5.60863591e-02 -2.19549973e-03 9.98423507e-01 1.98680907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.645099892999994 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:37.06, Y:1.48, Z:1.99 [[ 9.91373253e-01 -1.18524377e-01 -5.59557364e-02 3.70561635e+01] [ 1.18463757e-01 9.92948580e-01 -4.41083200e-03 1.48391567e+00] [ 5.60839602e-02 -2.25594590e-03 9.98423507e-01 1.98889712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.705099892999996 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:37.12, Y:1.49, Z:1.99 [[ 9.91572869e-01 -1.16842482e-01 -5.59560505e-02 3.71183191e+01] [ 1.16779415e-01 9.93148100e-01 -4.40684462e-03 1.49019373e+00] [ 5.60875519e-02 -2.16480727e-03 9.98423507e-01 1.98915392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76509989299999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:37.18, Y:1.50, Z:1.99 [[ 9.92139398e-01 -1.11929890e-01 -5.59563642e-02 3.71783866e+01] [ 1.11859246e-01 9.93714307e-01 -4.40285765e-03 1.50112067e+00] [ 5.60974510e-02 -1.89098817e-03 9.98423507e-01 1.99387376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.825099892999994 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:37.24, Y:1.52, Z:2.00 [[ 9.93163461e-01 -1.02446084e-01 -5.59565954e-02 3.72394413e+01] [ 1.02360563e-01 9.94737632e-01 -4.39991638e-03 1.51504204e+00] [ 5.61128854e-02 -1.35791242e-03 9.98423507e-01 2.00323785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.885099892999996 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:37.30, Y:1.52, Z:2.01 [[ 9.93388450e-01 -1.00240764e-01 -5.59569183e-02 3.72998439e+01] [ 1.00151979e-01 9.94962440e-01 -4.39580652e-03 1.52317520e+00] [ 5.61156710e-02 -1.23745268e-03 9.98423507e-01 2.00541984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94509989299999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:37.36, Y:1.53, Z:2.01 [[ 9.93272302e-01 -1.01385062e-01 -5.59571562e-02 3.73612745e+01] [ 1.01298261e-01 9.94846403e-01 -4.39277612e-03 1.53233753e+00] [ 5.61141375e-02 -1.30513979e-03 9.98423507e-01 2.00817642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00509989299999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:37.42, Y:1.54, Z:2.01 [[ 9.93227844e-01 -1.01819506e-01 -5.59574736e-02 3.74233581e+01] [ 1.01733622e-01 9.94801995e-01 -4.38872984e-03 1.53974394e+00] [ 5.61134646e-02 -1.33374777e-03 9.98423507e-01 2.00939624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.065099892999996 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:37.48, Y:1.55, Z:2.01 [[ 9.93334136e-01 -1.00777073e-01 -5.59577944e-02 3.74843284e+01] [ 1.00689767e-01 9.94908210e-01 -4.38463491e-03 1.54652494e+00] [ 5.61147397e-02 -1.27896978e-03 9.98423507e-01 2.01285515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.125099893 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:37.55, Y:1.55, Z:2.02 [[ 9.93898755e-01 -9.50471675e-02 -5.59580311e-02 3.75459929e+01] [ 9.49509559e-02 9.95472309e-01 -4.38161278e-03 1.55457313e+00] [ 5.61211302e-02 -9.58389050e-04 9.98423507e-01 2.01812803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18509989299999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:37.61, Y:1.56, Z:2.02 [[ 9.95091092e-01 -8.16234104e-02 -5.59583520e-02 3.76074984e+01] [ 8.15061993e-02 9.96663221e-01 -4.37751032e-03 1.56134912e+00] [ 5.61289387e-02 -2.04931060e-04 9.98423507e-01 2.02451304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.245099892999995 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:37.67, Y:1.57, Z:2.03 [[ 9.95552547e-01 -7.57875527e-02 -5.59586727e-02 3.76689949e+01] [ 7.56613566e-02 9.97123980e-01 -4.37340608e-03 1.56682699e+00] [ 5.61291843e-02 1.20046469e-04 9.98423507e-01 2.02841535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.305099893 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:37.73, Y:1.57, Z:2.03 [[ 9.95852176e-01 -7.17428983e-02 -5.59589130e-02 3.77291777e+01] [ 7.16104927e-02 9.97423099e-01 -4.37033035e-03 1.56652067e+00] [ 5.61282525e-02 3.44957664e-04 9.98423507e-01 2.02906141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36509989299999 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:37.79, Y:1.57, Z:2.03 [[ 9.96348523e-01 -6.44844073e-02 -5.59587554e-02 3.77873006e+01] [ 6.43404450e-02 9.97918428e-01 -4.37234636e-03 1.57051681e+00] [ 5.61242214e-02 7.55969611e-04 9.98423507e-01 2.03362450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.425099892999995 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:37.85, Y:1.57, Z:2.04 [[ 9.96879394e-01 -5.56787039e-02 -5.59585230e-02 3.78456579e+01] [ 5.55207096e-02 9.98447949e-01 -4.37531879e-03 1.57155619e+00] [ 5.61152846e-02 1.25480823e-03 9.98423507e-01 2.03777164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.485099893 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:37.90, Y:1.57, Z:2.04 [[ 9.97041588e-01 -5.26957037e-02 -5.59574372e-02 3.79031322e+01] [ 5.25322405e-02 9.98609583e-01 -4.38916245e-03 1.57225317e+00] [ 5.61109230e-02 1.43660795e-03 9.98423508e-01 2.04099697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54509989299999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:37.96, Y:1.57, Z:2.04 [[ 9.96808118e-01 -5.69428014e-02 -5.59561660e-02 3.79628767e+01] [ 5.67851136e-02 9.98376705e-01 -4.40530836e-03 1.56952921e+00] [ 5.61161833e-02 1.21376989e-03 9.98423508e-01 2.04081549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.605099892999995 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:38.02, Y:1.57, Z:2.04 [[ 9.96305629e-01 -6.51468745e-02 -5.59551480e-02 3.80215477e+01] [ 6.50013811e-02 9.97875393e-01 -4.41820141e-03 1.56780564e+00] [ 5.61240973e-02 7.64717028e-04 9.98423508e-01 2.04273266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.665099893 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:38.08, Y:1.57, Z:2.05 [[ 9.95758970e-01 -7.30289100e-02 -5.59540250e-02 3.80807101e+01] [ 7.28950466e-02 9.97329768e-01 -4.43237859e-03 1.56724010e+00] [ 5.61283065e-02 3.34809481e-04 9.98423508e-01 2.04711604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72509989299999 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:38.14, Y:1.57, Z:2.05 [[ 9.95376199e-01 -7.80736568e-02 -5.59528915e-02 3.81391447e+01] [ 7.79469528e-02 9.96947591e-01 -4.44664089e-03 1.56818733e+00] [ 5.61292660e-02 6.47231081e-05 9.98423508e-01 2.05265300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.785099892999995 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:38.20, Y:1.57, Z:2.06 [[ 9.94608401e-01 -8.73128337e-02 -5.59517379e-02 3.81977333e+01] [ 8.71999124e-02 9.96180844e-01 -4.46111050e-03 1.56719582e+00] [ 5.61275616e-02 -4.41928654e-04 9.98423508e-01 2.05670233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.845099893 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:38.26, Y:1.57, Z:2.06 [[ 9.93662214e-01 -9.74932596e-02 -5.59505907e-02 3.82589057e+01] [ 9.73956391e-02 9.95235681e-01 -4.47545189e-03 1.56571603e+00] [ 5.61203506e-02 -1.00225611e-03 9.98423508e-01 2.05702629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90509989299999 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:38.32, Y:1.57, Z:2.06 [[ 9.92798736e-01 -1.05925448e-01 -5.59505907e-02 3.83204745e+01] [ 1.05841189e-01 9.94372975e-01 -4.47545189e-03 1.56681526e+00] [ 5.61098196e-02 -1.47865406e-03 9.98423508e-01 2.05896587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.965099892999994 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:38.38, Y:1.57, Z:2.06 [[ 9.92473295e-01 -1.08932416e-01 -5.59507550e-02 3.83823110e+01] [ 1.08853042e-01 9.94047788e-01 -4.47339738e-03 1.57040067e+00] [ 5.61050222e-02 -1.65068242e-03 9.98423508e-01 2.06132130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.025099893 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:38.44, Y:1.57, Z:2.06 [[ 9.92329781e-01 -1.10231946e-01 -5.59510804e-02 3.84436218e+01] [ 1.10154863e-01 9.93904387e-01 -4.46932393e-03 1.57381547e+00] [ 5.61026865e-02 -1.72824036e-03 9.98423508e-01 2.06172288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08509989299999 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:38.51, Y:1.58, Z:2.07 [[ 9.92646513e-01 -1.07342206e-01 -5.59513207e-02 3.85054606e+01] [ 1.07260709e-01 9.94220897e-01 -4.46631297e-03 1.57896227e+00] [ 5.61073962e-02 -1.56790831e-03 9.98423508e-01 2.06577787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.145099892999994 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:38.57, Y:1.58, Z:2.07 [[ 9.92991245e-01 -1.04104758e-01 -5.59516440e-02 3.85673906e+01] [ 1.04018355e-01 9.94565367e-01 -4.46225981e-03 1.58493342e+00] [ 5.61121098e-02 -1.38901303e-03 9.98423508e-01 2.07070710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.205099892999996 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:38.63, Y:1.59, Z:2.07 [[ 9.93333827e-01 -1.00783361e-01 -5.59519725e-02 3.86280511e+01] [ 1.00691926e-01 9.94907665e-01 -4.45813653e-03 1.59260079e+00] [ 5.61163523e-02 -1.20549408e-03 9.98423508e-01 2.07484892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26509989299999 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:38.69, Y:1.60, Z:2.08 [[ 9.93537486e-01 -9.87553239e-02 -5.59522149e-02 3.86885085e+01] [ 9.86608482e-02 9.95111144e-01 -4.45509254e-03 1.59963860e+00] [ 5.61186367e-02 -1.09399153e-03 9.98423508e-01 2.07901676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.325099892999994 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:38.75, Y:1.61, Z:2.08 [[ 9.93830807e-01 -9.57583390e-02 -5.59523760e-02 3.87497484e+01] [ 9.56592315e-02 9.95404180e-01 -4.45306808e-03 1.60873334e+00] [ 5.61216473e-02 -9.26765045e-04 9.98423508e-01 2.08246814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.385099892999996 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:38.81, Y:1.62, Z:2.09 [[ 9.94415340e-01 -8.94842795e-02 -5.59526148e-02 3.88104623e+01] [ 8.93754131e-02 9.95988068e-01 -4.45006564e-03 1.62044766e+00] [ 5.61263476e-02 -5.75574527e-04 9.98423508e-01 2.08769271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44509989299999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:38.87, Y:1.63, Z:2.09 [[ 9.94768279e-01 -8.54713896e-02 -5.59527725e-02 3.88711734e+01] [ 8.53562902e-02 9.96340563e-01 -4.44808159e-03 1.63013033e+00] [ 5.61282006e-02 -3.51110622e-04 9.98423508e-01 2.09046768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50509989299999 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:38.93, Y:1.64, Z:2.09 [[ 9.94626917e-01 -8.71008848e-02 -5.59529354e-02 3.89312570e+01] [ 8.69884766e-02 9.96199397e-01 -4.44603165e-03 1.63738001e+00] [ 5.61275338e-02 -4.45117861e-04 9.98423508e-01 2.09250454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.565099892999996 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:38.99, Y:1.64, Z:2.10 [[ 9.94329318e-01 -9.04348839e-02 -5.59530155e-02 3.89920649e+01] [ 9.03278048e-02 9.95902169e-01 -4.44502288e-03 1.64352767e+00] [ 5.61257146e-02 -6.34296501e-04 9.98423508e-01 2.09630824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62509989299999 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:39.05, Y:1.65, Z:2.10 [[ 9.94277346e-01 -9.10044017e-02 -5.59531773e-02 3.90517883e+01] [ 9.08983382e-02 9.95850266e-01 -4.44298541e-03 1.65015525e+00] [ 5.61253177e-02 -6.68491100e-04 9.98423508e-01 2.09779509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68509989299999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:39.11, Y:1.66, Z:2.10 [[ 9.95008394e-01 -8.26287247e-02 -5.59534568e-02 3.91121894e+01] [ 8.25096181e-02 9.96580380e-01 -4.43946244e-03 1.66061469e+00] [ 5.61289444e-02 -1.99395956e-04 9.98423508e-01 2.10164608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.745099892999995 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:39.17, Y:1.67, Z:2.11 [[ 9.95565201e-01 -7.56248819e-02 -5.59536152e-02 3.91720964e+01] [ 7.54948285e-02 9.97136320e-01 -4.43746570e-03 1.66978251e+00] [ 5.61289647e-02 1.93577846e-04 9.98423508e-01 2.10624051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.805099893 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:39.23, Y:1.68, Z:2.11 [[ 9.96188187e-01 -6.69200181e-02 -5.59536152e-02 3.92309489e+01] [ 6.67762370e-02 9.97758108e-01 -4.43746570e-03 1.67903303e+00] [ 5.61251285e-02 6.84179040e-04 9.98423508e-01 2.11231491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86509989299999 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:39.29, Y:1.68, Z:2.11 [[ 9.96208313e-01 -6.66198718e-02 -5.59534571e-02 3.92888436e+01] [ 6.64755057e-02 9.97778181e-01 -4.43945793e-03 1.68396111e+00] [ 5.61248948e-02 7.03090531e-04 9.98423508e-01 2.11418811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.925099892999995 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:39.35, Y:1.69, Z:2.12 [[ 9.95963506e-01 -7.01858286e-02 -5.59521683e-02 3.93466800e+01] [ 7.00461744e-02 9.97533799e-01 -4.45564313e-03 1.68711155e+00] [ 5.61269020e-02 5.18422617e-04 9.98423508e-01 2.11697589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.985099893 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:39.41, Y:1.69, Z:2.12 [[ 9.94763906e-01 -8.55235124e-02 -5.59508660e-02 3.94059201e+01] [ 8.54071538e-02 9.96336098e-01 -4.47193619e-03 1.68758769e+00] [ 5.61283232e-02 -3.30083510e-04 9.98423509e-01 2.11595104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04509989299999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:39.47, Y:1.69, Z:2.12 [[ 9.93440660e-01 -9.97260394e-02 -5.59497246e-02 3.94674531e+01] [ 9.96313517e-02 9.95014305e-01 -4.48617124e-03 1.69044620e+00] [ 5.61181645e-02 -1.11760178e-03 9.98423509e-01 2.11978789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.105099892999995 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:39.53, Y:1.70, Z:2.12 [[ 9.92756505e-01 -1.06320892e-01 -5.59498875e-02 3.95282589e+01] [ 1.06236771e-01 9.94330750e-01 -4.48413953e-03 1.69609399e+00] [ 5.61094513e-02 -1.49227670e-03 9.98423509e-01 2.12302234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.165099893 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:39.59, Y:1.70, Z:2.12 [[ 9.92402328e-01 -1.09577384e-01 -5.59501293e-02 3.95904864e+01] [ 1.09498598e-01 9.93976849e-01 -4.48112037e-03 1.70012341e+00] [ 5.61041627e-02 -1.67938645e-03 9.98423509e-01 2.12484792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22509989299999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:39.65, Y:1.70, Z:2.13 [[ 9.92255761e-01 -1.10896583e-01 -5.59504554e-02 3.96523563e+01] [ 1.10820120e-01 9.93830397e-01 -4.47704478e-03 1.70411627e+00] [ 5.61017522e-02 -1.75806271e-03 9.98423509e-01 2.13331493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.285099892999995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:39.71, Y:1.71, Z:2.14 [[ 9.92149549e-01 -1.11842667e-01 -5.59507800e-02 3.97147201e+01] [ 1.11767935e-01 9.93724268e-01 -4.47298435e-03 1.70825384e+00] [ 5.60999184e-02 -1.81563371e-03 9.98423509e-01 2.13806019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.345099893 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:39.78, Y:1.71, Z:2.14 [[ 9.92341182e-01 -1.10129253e-01 -5.59511018e-02 3.97767302e+01] [ 1.10052028e-01 9.93915781e-01 -4.46895520e-03 1.71255929e+00] [ 5.61028458e-02 -1.72280395e-03 9.98423509e-01 2.13666399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40509989299999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:39.84, Y:1.72, Z:2.14 [[ 9.92994405e-01 -1.04074728e-01 -5.59514261e-02 3.98378529e+01] [ 1.03988129e-01 9.94568516e-01 -4.46489128e-03 1.72239021e+00] [ 5.61122092e-02 -1.38467208e-03 9.98423509e-01 2.14130019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.465099892999994 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:39.90, Y:1.73, Z:2.14 [[ 9.94159041e-01 -9.22886878e-02 -5.59517506e-02 3.99000425e+01] [ 9.21836525e-02 9.95732030e-01 -4.46082169e-03 1.72975107e+00] [ 5.61246336e-02 -7.23070513e-04 9.98423509e-01 2.14417594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.525099893 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:39.96, Y:1.74, Z:2.15 [[ 9.95149040e-01 -8.09181892e-02 -5.59520715e-02 3.99609362e+01] [ 8.07954061e-02 9.96720743e-01 -4.45679292e-03 1.73638498e+00] [ 5.61292259e-02 -8.54971437e-05 9.98423509e-01 2.14963480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58509989299999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:40.02, Y:1.74, Z:2.16 [[ 9.95734684e-01 -7.33606558e-02 -5.59522323e-02 4.00204655e+01] [ 7.32260574e-02 9.97305419e-01 -4.45477317e-03 1.74139577e+00] [ 5.61282696e-02 3.38610789e-04 9.98423509e-01 2.15585745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.645099892999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:40.08, Y:1.74, Z:2.16 [[ 9.96196181e-01 -6.68021437e-02 -5.59521515e-02 4.00790254e+01] [ 6.66571479e-02 9.97765990e-01 -4.45578715e-03 1.74423843e+00] [ 5.61248100e-02 7.09227305e-04 9.98423509e-01 2.16375261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.705099892999996 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:40.14, Y:1.75, Z:2.16 [[ 9.96423185e-01 -6.33271079e-02 -5.59510009e-02 4.01384572e+01] [ 6.31758292e-02 9.97992401e-01 -4.47018898e-03 1.74599749e+00] [ 5.61217579e-02 9.19449061e-04 9.98423509e-01 2.16211781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76509989299999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:40.20, Y:1.75, Z:2.16 [[ 9.96341795e-01 -6.45958988e-02 -5.59499482e-02 4.01965603e+01] [ 6.44458808e-02 9.97911132e-01 -4.48332675e-03 1.74500531e+00] [ 5.61226807e-02 8.61182135e-04 9.98423509e-01 2.16165699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.825099892999994 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:40.26, Y:1.75, Z:2.17 [[ 9.95944802e-01 -7.04528141e-02 -5.59495501e-02 4.02552144e+01] [ 7.03117470e-02 9.97514969e-01 -4.48828893e-03 1.74524388e+00] [ 5.61267263e-02 5.36177421e-04 9.98423509e-01 2.16883102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.885099892999996 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:40.31, Y:1.74, Z:2.17 [[ 9.95300164e-01 -7.90402467e-02 -5.59484032e-02 4.03136568e+01] [ 7.89119264e-02 9.96871424e-01 -4.50254013e-03 1.74417595e+00] [ 5.61292463e-02 6.63826481e-05 9.98423509e-01 2.17381092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94509989299999 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:40.37, Y:1.74, Z:2.18 [[ 9.94246574e-01 -9.13431677e-02 -5.59479827e-02 4.03721097e+01] [ 9.12339955e-02 9.95819280e-01 -4.50775909e-03 1.74433384e+00] [ 5.61258329e-02 -6.22533980e-04 9.98423509e-01 2.17752888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00509989299999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:40.43, Y:1.75, Z:2.18 [[ 9.93610052e-01 -9.80251234e-02 -5.59476585e-02 4.04339071e+01] [ 9.79263002e-02 9.95183442e-01 -4.51177991e-03 1.74614060e+00] [ 5.61204511e-02 -9.95797333e-04 9.98423509e-01 2.18008384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.065099892999996 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:40.50, Y:1.75, Z:2.18 [[ 9.93561215e-01 -9.85188015e-02 -5.59478210e-02 4.04962310e+01] [ 9.84208736e-02 9.95134661e-01 -4.50976396e-03 1.75084223e+00] [ 5.61199124e-02 -1.02570686e-03 9.98423509e-01 2.18289727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12509989299999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:40.56, Y:1.76, Z:2.19 [[ 9.94527508e-01 -8.82317346e-02 -5.59481537e-02 4.05574922e+01] [ 8.81177615e-02 9.96099874e-01 -4.50563291e-03 1.75564020e+00] [ 5.61274886e-02 -4.49050191e-04 9.98423509e-01 2.18736471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18509989299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:40.62, Y:1.76, Z:2.19 [[ 9.95829328e-01 -7.20675748e-02 -5.59483174e-02 4.06161509e+01] [ 7.19281936e-02 9.97399645e-01 -4.50359952e-03 1.76181470e+00] [ 5.61273954e-02 4.60555079e-04 9.98423509e-01 2.19203673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.245099892999995 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:40.67, Y:1.76, Z:2.19 [[ 9.96559142e-01 -6.11528484e-02 -5.59482370e-02 4.06748921e+01] [ 6.09962150e-02 9.98127833e-01 -4.50459782e-03 1.76249124e+00] [ 5.61189615e-02 1.07646745e-03 9.98423509e-01 2.19071496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30509989299999 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:40.73, Y:1.76, Z:2.19 [[ 9.96576959e-01 -6.08628681e-02 -5.59470776e-02 4.07324030e+01] [ 6.07049728e-02 9.98145523e-01 -4.51895158e-03 1.76208490e+00] [ 5.61183614e-02 1.10721721e-03 9.98423509e-01 2.19450668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36509989299999 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:40.79, Y:1.76, Z:2.20 [[ 9.96258989e-01 -6.58642380e-02 -5.59457705e-02 4.07908428e+01] [ 6.57133125e-02 9.97828239e-01 -4.53507638e-03 1.75879127e+00] [ 5.61229690e-02 8.41728709e-04 9.98423509e-01 2.20062594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.425099892999995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:40.85, Y:1.76, Z:2.21 [[ 9.95771590e-01 -7.28634626e-02 -5.59451210e-02 4.08500053e+01] [ 7.27231188e-02 9.97341821e-01 -4.54307515e-03 1.75719308e+00] [ 5.61274330e-02 4.55361492e-04 9.98423509e-01 2.20667420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.485099893 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:40.91, Y:1.76, Z:2.21 [[ 9.95268069e-01 -7.94465055e-02 -5.59439328e-02 4.09069949e+01] [ 7.93157283e-02 9.96839126e-01 -4.55765924e-03 1.75768086e+00] [ 5.61291912e-02 9.88589410e-05 9.98423509e-01 2.20883590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54509989299999 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:40.97, Y:1.75, Z:2.21 [[ 9.93351214e-01 -1.00616844e-01 -5.59429793e-02 4.09655398e+01] [ 1.00518886e-01 9.94924658e-01 -4.56933387e-03 1.74931470e+00] [ 5.61188014e-02 -1.08437259e-03 9.98423509e-01 2.20744512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.605099892999995 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:41.03, Y:1.75, Z:2.21 [[ 9.92099478e-01 -1.12290046e-01 -5.59425696e-02 4.10264545e+01] [ 1.12210313e-01 9.93673951e-01 -4.57434338e-03 1.74796973e+00] [ 5.61023274e-02 -1.73912959e-03 9.98423509e-01 2.21183309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.665099893 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:41.09, Y:1.75, Z:2.21 [[ 9.91633339e-01 -1.16334649e-01 -5.59425696e-02 4.10878414e+01] [ 1.16261337e-01 9.93208124e-01 -4.57434338e-03 1.74969262e+00] [ 5.60947693e-02 -1.96788655e-03 9.98423509e-01 2.21180501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72509989299999 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:41.15, Y:1.76, Z:2.22 [[ 9.92197525e-01 -1.11420294e-01 -5.59427374e-02 4.11481495e+01] [ 1.11339296e-01 9.93771933e-01 -4.57229027e-03 1.76391076e+00] [ 5.61037683e-02 -1.69200993e-03 9.98423509e-01 2.21799117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.785099892999995 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:41.21, Y:1.77, Z:2.22 [[ 9.92233913e-01 -1.11095696e-01 -5.59429056e-02 4.12083281e+01] [ 1.11014300e-01 9.93808301e-01 -4.57023207e-03 1.77145454e+00] [ 5.61042570e-02 -1.67572323e-03 9.98423509e-01 2.22042851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.845099893 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:41.27, Y:1.78, Z:2.23 [[ 9.92341943e-01 -1.10126430e-01 -5.59431620e-02 4.12686263e+01] [ 1.10043672e-01 9.93916260e-01 -4.56709090e-03 1.77826701e+00] [ 5.61057758e-02 -1.62407514e-03 9.98423509e-01 2.22592141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90509989299999 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:41.33, Y:1.79, Z:2.23 [[ 9.92497357e-01 -1.08716792e-01 -5.59433282e-02 4.13292650e+01] [ 1.08631913e-01 9.94071561e-01 -4.56505486e-03 1.78512530e+00] [ 5.61079697e-02 -1.54642588e-03 9.98423509e-01 2.22791860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.965099892999994 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:41.39, Y:1.79, Z:2.23 [[ 9.93024268e-01 -1.03793684e-01 -5.59434947e-02 4.13903494e+01] [ 1.03701114e-01 9.94598038e-01 -4.56301295e-03 1.79431802e+00] [ 5.61149020e-02 -1.27022016e-03 9.98423509e-01 2.23097337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.025099893 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:41.45, Y:1.81, Z:2.23 [[ 9.94494176e-01 -8.86094800e-02 -5.59436597e-02 4.14506730e+01] [ 8.84929904e-02 9.96066357e-01 -4.56098880e-03 1.80612566e+00] [ 5.61277442e-02 -4.14744942e-04 9.98423509e-01 2.23407529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08509989299999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:41.51, Y:1.82, Z:2.24 [[ 9.95443701e-01 -7.72148005e-02 -5.59438271e-02 4.15088330e+01] [ 7.70804293e-02 9.97014455e-01 -4.55893565e-03 1.81697604e+00] [ 5.61288215e-02 2.25989570e-04 9.98423509e-01 2.23732989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.145099892999994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:41.57, Y:1.82, Z:2.24 [[ 9.95450510e-01 -7.71271493e-02 -5.59435806e-02 4.15664121e+01] [ 7.69924700e-02 9.97021238e-01 -4.56195752e-03 1.82290276e+00] [ 5.61287888e-02 2.33968484e-04 9.98423510e-01 2.23976318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.205099892999996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:41.62, Y:1.83, Z:2.24 [[ 9.94924964e-01 -8.36348002e-02 -5.59422548e-02 4.16243810e+01] [ 8.35094839e-02 9.96496466e-01 -4.57815810e-03 1.82811113e+00] [ 5.61291526e-02 -1.16785047e-04 9.98423510e-01 2.24261298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26509989299999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:41.68, Y:1.83, Z:2.25 [[ 9.93599315e-01 -9.81377280e-02 -5.59409277e-02 4.16831835e+01] [ 9.80344372e-02 9.95172418e-01 -4.59431777e-03 1.83281230e+00] [ 5.61217442e-02 -9.19226371e-04 9.98423510e-01 2.24804653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.325099892999994 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:41.74, Y:1.84, Z:2.25 [[ 9.90144647e-01 -1.28391281e-01 -5.59397683e-02 4.17442264e+01] [ 1.28335216e-01 9.91720140e-01 -4.60839098e-03 1.83631931e+00] [ 5.60682721e-02 -2.61606858e-03 9.98423510e-01 2.25038718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.385099892999996 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:41.81, Y:1.84, Z:2.25 [[ 9.89780436e-01 -1.31169400e-01 -5.59399347e-02 4.18052346e+01] [ 1.31117870e-01 9.91356084e-01 -4.60636997e-03 1.84145219e+00] [ 5.60606094e-02 -2.77543023e-03 9.98423510e-01 2.25299429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44509989299999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:41.87, Y:1.85, Z:2.26 [[ 9.89272236e-01 -1.34948651e-01 -5.59401826e-02 4.18679452e+01] [ 1.34903310e-01 9.90848074e-01 -4.60335834e-03 1.84667389e+00] [ 5.60494392e-02 -2.99254116e-03 9.98423510e-01 2.25790231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50509989299999 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:41.93, Y:1.86, Z:2.26 [[ 9.89574605e-01 -1.32712998e-01 -5.59406951e-02 4.19294329e+01] [ 1.32664447e-01 9.91150347e-01 -4.59712169e-03 1.85567842e+00] [ 5.60557372e-02 -2.87214649e-03 9.98423510e-01 2.25912659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.565099892999996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:41.99, Y:1.87, Z:2.26 [[ 9.90699454e-01 -1.24037028e-01 -5.59411157e-02 4.19915482e+01] [ 1.23974960e-01 9.92274721e-01 -4.59199771e-03 1.86578615e+00] [ 5.60785327e-02 -2.38600799e-03 9.98423510e-01 2.26253201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62509989299999 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:42.05, Y:1.88, Z:2.26 [[ 9.92306396e-01 -1.10447054e-01 -5.59416127e-02 4.20531942e+01] [ 1.10363743e-01 9.93880684e-01 -4.58593540e-03 1.87930591e+00] [ 5.61057913e-02 -1.62327275e-03 9.98423510e-01 2.26440847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68509989299999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:42.11, Y:1.90, Z:2.26 [[ 9.94238598e-01 -9.14336356e-02 -5.59419460e-02 4.21136185e+01] [ 9.13204370e-02 9.95811018e-01 -4.58186608e-03 1.89717736e+00] [ 5.61265428e-02 -5.53174843e-04 9.98423510e-01 2.26398001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.745099892999995 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:42.17, Y:1.91, Z:2.27 [[ 9.95558907e-01 -7.57161435e-02 -5.59421911e-02 4.21733690e+01] [ 7.55782877e-02 9.97129358e-01 -4.57887076e-03 1.91440405e+00] [ 5.61282956e-02 3.30520551e-04 9.98423510e-01 2.26948492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80509989299999 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:42.23, Y:1.93, Z:2.27 [[ 9.96347865e-01 -6.45088004e-02 -5.59423583e-02 4.22309037e+01] [ 6.43533965e-02 9.97916676e-01 -4.57682712e-03 1.92501704e+00] [ 5.61210579e-02 9.60031167e-04 9.98423510e-01 2.27219619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86509989299999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:42.29, Y:1.93, Z:2.28 [[ 9.96298719e-01 -6.52636396e-02 -5.59421121e-02 4.22890299e+01] [ 6.51092555e-02 9.97867631e-01 -4.57983524e-03 1.93159565e+00] [ 5.61217196e-02 9.20534717e-04 9.98423510e-01 2.27972658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.925099892999995 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:42.35, Y:1.94, Z:2.28 [[ 9.95977396e-01 -6.99973738e-02 -5.59409947e-02 4.23466763e+01] [ 6.98496828e-02 9.97546952e-01 -4.59344247e-03 1.93697723e+00] [ 5.61252977e-02 6.67504131e-04 9.98423510e-01 2.28283262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98509989299999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:42.40, Y:1.94, Z:2.28 [[ 9.95554044e-01 -7.57819127e-02 -5.59396675e-02 4.24047604e+01] [ 7.56424369e-02 9.97124352e-01 -4.60954928e-03 1.93681097e+00] [ 5.61281252e-02 3.57642660e-04 9.98423510e-01 2.28278683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04509989299999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:42.46, Y:1.94, Z:2.29 [[ 9.94980196e-01 -8.29777939e-02 -5.59383232e-02 4.24644136e+01] [ 8.28487611e-02 9.96551396e-01 -4.62580595e-03 1.93825942e+00] [ 5.61292532e-02 -3.18354606e-05 9.98423510e-01 2.28696960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.105099892999995 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:42.52, Y:1.94, Z:2.29 [[ 9.94889837e-01 -8.40543525e-02 -5.59381575e-02 4.25244584e+01] [ 8.39269072e-02 9.96461167e-01 -4.62780916e-03 1.93849002e+00] [ 5.61291892e-02 -9.05562526e-05 9.98423510e-01 2.29057469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.165099893 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:42.58, Y:1.94, Z:2.29 [[ 9.95211484e-01 -8.01563144e-02 -5.59380758e-02 4.25844904e+01] [ 8.00226590e-02 9.96782297e-01 -4.62879602e-03 1.94185309e+00] [ 5.61291109e-02 1.30317386e-04 9.98423510e-01 2.29442223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22509989299999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:42.64, Y:1.95, Z:2.30 [[ 9.95512800e-01 -7.63229781e-02 -5.59380758e-02 4.26443999e+01] [ 7.61832743e-02 9.97083087e-01 -4.62879602e-03 1.94615013e+00] [ 5.61281928e-02 3.46479911e-04 9.98423510e-01 2.29642422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.285099892999995 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:42.70, Y:1.95, Z:2.30 [[ 9.95479637e-01 -7.67544285e-02 -5.59379111e-02 4.27028125e+01] [ 7.66152935e-02 9.97049975e-01 -4.63078499e-03 1.94940210e+00] [ 5.61283262e-02 3.24152687e-04 9.98423510e-01 2.29763282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.345099893 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:42.76, Y:1.96, Z:2.30 [[ 9.95410341e-01 -7.76487796e-02 -5.59367477e-02 4.27620080e+01] [ 7.75102682e-02 9.96980734e-01 -4.64479665e-03 1.95501807e+00] [ 5.61285225e-02 2.87806305e-04 9.98423510e-01 2.30097476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40509989299999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:42.82, Y:1.96, Z:2.30 [[ 9.95268919e-01 -7.94410374e-02 -5.59365794e-02 4.28212683e+01] [ 7.93052401e-02 9.96839549e-01 -4.64682192e-03 1.95927056e+00] [ 5.61289429e-02 1.88773572e-04 9.98423510e-01 2.30409439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.465099892999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.88, Y:1.97, Z:2.31 [[ 9.95092304e-01 -8.16236749e-02 -5.59364094e-02 4.28796568e+01] [ 8.14912076e-02 9.96663219e-01 -4.64886805e-03 1.96612637e+00] [ 5.61292195e-02 6.77272782e-05 9.98423510e-01 2.31164843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.525099893 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:42.94, Y:1.97, Z:2.31 [[ 9.94774882e-01 -8.54053852e-02 -5.59361583e-02 4.29392161e+01] [ 8.52787201e-02 9.96346275e-01 -4.65188696e-03 1.97097969e+00] [ 5.61290792e-02 -1.42583681e-04 9.98423510e-01 2.31112172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58509989299999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:43.00, Y:1.98, Z:2.32 [[ 9.94056458e-01 -9.33965888e-02 -5.59359896e-02 4.29988626e+01] [ 9.32824413e-02 9.95628810e-01 -4.65391415e-03 1.97791130e+00] [ 5.61261425e-02 -5.91592253e-04 9.98423510e-01 2.31553551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.645099892999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:43.06, Y:1.98, Z:2.32 [[ 9.93401743e-01 -1.00120478e-01 -5.59362662e-02 4.30603601e+01] [ 1.00017160e-01 9.94974844e-01 -4.65058757e-03 1.98386340e+00] [ 5.61207968e-02 -9.74684678e-04 9.98423510e-01 2.31862749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.705099892999996 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:43.12, Y:1.99, Z:2.32 [[ 9.93249538e-01 -1.01619202e-01 -5.59365173e-02 4.31226923e+01] [ 1.01518427e-01 9.94822803e-01 -4.64756507e-03 1.98964757e+00] [ 5.61192048e-02 -1.06239539e-03 9.98423510e-01 2.32076250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76509989299999 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:43.18, Y:2.00, Z:2.32 [[ 9.93210178e-01 -1.02002993e-01 -5.59368543e-02 4.31839848e+01] [ 1.01903055e-01 9.94783497e-01 -4.64350565e-03 1.99645919e+00] [ 5.61187110e-02 -1.08815926e-03 9.98423510e-01 2.32424246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.825099892999994 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:43.25, Y:2.00, Z:2.32 [[ 9.93320635e-01 -1.00921489e-01 -5.59371942e-02 4.32455239e+01] [ 1.00820068e-01 9.94893859e-01 -4.63940826e-03 2.00330713e+00] [ 5.61197869e-02 -1.03117178e-03 9.98423510e-01 2.32448980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.885099892999996 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:43.31, Y:2.01, Z:2.33 [[ 9.93667352e-01 -9.74483792e-02 -5.59375341e-02 4.33074111e+01] [ 9.73416901e-02 9.95240227e-01 -4.63530556e-03 2.00919696e+00] [ 5.61229872e-02 -8.39102309e-04 9.98423510e-01 2.32861735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94509989299999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:43.37, Y:2.01, Z:2.34 [[ 9.94299882e-01 -9.07672802e-02 -5.59378737e-02 4.33688297e+01] [ 9.06502523e-02 9.95872022e-01 -4.63120415e-03 2.01394325e+00] [ 5.61273252e-02 -4.65976623e-04 9.98423510e-01 2.33576393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00509989299999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:43.43, Y:2.02, Z:2.34 [[ 9.94768935e-01 -8.54732800e-02 -5.59382129e-02 4.34297739e+01] [ 8.53481158e-02 9.96340448e-01 -4.62710317e-03 2.01773505e+00] [ 5.61289978e-02 -1.71322580e-04 9.98423510e-01 2.33927226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.065099892999996 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:43.49, Y:2.02, Z:2.34 [[ 9.95273462e-01 -7.93828328e-02 -5.59383815e-02 4.34899158e+01] [ 7.92481665e-02 9.96844189e-01 -4.62506428e-03 2.02344745e+00] [ 5.61290012e-02 1.70189562e-04 9.98423510e-01 2.34187262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12509989299999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:43.55, Y:2.03, Z:2.34 [[ 9.95894314e-01 -7.11716454e-02 -5.59384643e-02 4.35493194e+01] [ 7.10240854e-02 9.97463883e-01 -4.62406223e-03 2.02822469e+00] [ 5.61256999e-02 6.32099021e-04 9.98423510e-01 2.34389875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18509989299999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:43.61, Y:2.03, Z:2.35 [[ 9.96407813e-01 -6.35796840e-02 -5.59382975e-02 4.36080514e+01] [ 6.34200531e-02 9.97976200e-01 -4.62607922e-03 2.03321029e+00] [ 5.61192143e-02 1.06185168e-03 9.98423510e-01 2.34955052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.245099892999995 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:43.67, Y:2.04, Z:2.35 [[ 9.96360009e-01 -6.43254882e-02 -5.59371363e-02 4.36659172e+01] [ 6.41662456e-02 9.97928436e-01 -4.64007819e-03 2.03539783e+00] [ 5.61197342e-02 1.03391232e-03 9.98423511e-01 2.35231046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30509989299999 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:43.72, Y:2.04, Z:2.35 [[ 9.95717647e-01 -7.36040452e-02 -5.59357868e-02 4.37235732e+01] [ 7.34585092e-02 9.97287404e-01 -4.65628921e-03 2.03612919e+00] [ 5.61267774e-02 5.27389822e-04 9.98423511e-01 2.35474880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36509989299999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:43.78, Y:2.04, Z:2.36 [[ 9.94897707e-01 -8.39636283e-02 -5.59344445e-02 4.37811711e+01] [ 8.38335350e-02 9.96468819e-01 -4.67235848e-03 2.03829489e+00] [ 5.61292381e-02 -4.06634725e-05 9.98423511e-01 2.35924867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.425099892999995 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:43.84, Y:2.04, Z:2.36 [[ 9.93291211e-01 -1.01212954e-01 -5.59330696e-02 4.38425624e+01] [ 1.01109217e-01 9.94864283e-01 -4.68876021e-03 2.03687693e+00] [ 5.61203765e-02 -9.98044550e-04 9.98423511e-01 2.35891375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48509989299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:43.90, Y:2.04, Z:2.36 [[ 9.92128510e-01 -1.12037994e-01 -5.59330696e-02 4.39038014e+01] [ 1.11951416e-01 9.93702620e-01 -4.68876021e-03 2.03957768e+00] [ 5.61061571e-02 -1.60993366e-03 9.98423511e-01 2.36348171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54509989299999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:43.97, Y:2.04, Z:2.37 [[ 9.91118832e-01 -1.20643790e-01 -5.59333260e-02 4.39660253e+01] [ 1.20571049e-01 9.92693642e-01 -4.68569997e-03 2.04401723e+00] [ 5.60899577e-02 -2.09985428e-03 9.98423511e-01 2.36670633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.605099892999995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:44.03, Y:2.05, Z:2.37 [[ 9.90699960e-01 -1.24036341e-01 -5.59336655e-02 4.40284801e+01] [ 1.23969220e-01 9.92275020e-01 -4.68164424e-03 2.05094374e+00] [ 5.60822730e-02 -2.29594813e-03 9.98423511e-01 2.37200190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66509989299999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:44.09, Y:2.06, Z:2.37 [[ 9.90734382e-01 -1.23760864e-01 -5.59341811e-02 4.40904534e+01] [ 1.23693652e-01 9.92309438e-01 -4.67547484e-03 2.05734056e+00] [ 5.60826567e-02 -2.28654947e-03 9.98423511e-01 2.37400053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72509989299999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:44.15, Y:2.07, Z:2.38 [[ 9.91545779e-01 -1.17082440e-01 -5.59345255e-02 4.41524251e+01] [ 1.17004849e-01 9.93120357e-01 -4.67135107e-03 2.06545899e+00] [ 5.60966492e-02 -1.91275230e-03 9.98423511e-01 2.37565460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.785099892999995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:44.21, Y:2.07, Z:2.38 [[ 9.92179073e-01 -1.11588428e-01 -5.59348673e-02 4.42139902e+01] [ 1.11502348e-01 9.93753210e-01 -4.66725560e-03 2.07352511e+00] [ 5.61062656e-02 -1.60611572e-03 9.98423511e-01 2.38027144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.845099893 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:44.27, Y:2.08, Z:2.38 [[ 9.93763688e-01 -9.64623540e-02 -5.59352088e-02 4.42744694e+01] [ 9.63525368e-02 9.95336347e-01 -4.66315881e-03 2.08496626e+00] [ 5.61241657e-02 -7.55421373e-04 9.98423511e-01 2.38104763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90509989299999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:44.34, Y:2.10, Z:2.39 [[ 9.94862925e-01 -8.43738818e-02 -5.59357487e-02 4.43359146e+01] [ 8.42453182e-02 9.96434163e-01 -4.65667406e-03 2.09546213e+00] [ 5.61291926e-02 -7.95725671e-05 9.98423511e-01 2.38757259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.965099892999994 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:44.40, Y:2.11, Z:2.39 [[ 9.96309214e-01 -6.51084018e-02 -5.59360826e-02 4.43960287e+01] [ 6.49496857e-02 9.97877693e-01 -4.65265915e-03 2.10533932e+00] [ 5.61202963e-02 1.00245620e-03 9.98423511e-01 2.39229692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.025099893 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:44.45, Y:2.11, Z:2.40 [[ 9.96629943e-01 -5.99992599e-02 -5.59360826e-02 4.44541053e+01] [ 5.98325039e-02 9.98197588e-01 -4.65265915e-03 2.10651832e+00] [ 5.61144188e-02 1.29018354e-03 9.98423511e-01 2.39610485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08509989299999 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:44.51, Y:2.10, Z:2.40 [[ 9.96409224e-01 -6.35606974e-02 -5.59347429e-02 4.45135521e+01] [ 6.33986443e-02 9.97977362e-01 -4.66871056e-03 2.10476775e+00] [ 5.61183536e-02 1.10575940e-03 9.98423511e-01 2.39777607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.145099892999994 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:44.57, Y:2.11, Z:2.40 [[ 9.96084973e-01 -6.84555444e-02 -5.59335686e-02 4.45718146e+01] [ 6.83004104e-02 9.97653811e-01 -4.68273739e-03 2.10500645e+00] [ 5.61228971e-02 8.44118658e-04 9.98423511e-01 2.40169225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.205099892999996 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:44.63, Y:2.11, Z:2.40 [[ 9.95742579e-01 -7.32687277e-02 -5.59321883e-02 4.46296655e+01] [ 7.31202548e-02 9.97312061e-01 -4.69916603e-03 2.10617649e+00] [ 5.61261479e-02 5.89383841e-04 9.98423511e-01 2.40411193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26509989299999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:44.69, Y:2.11, Z:2.41 [[ 9.95287850e-01 -7.92075734e-02 -5.59308141e-02 4.46871038e+01] [ 7.90675501e-02 9.96858108e-01 -4.71546569e-03 2.10662501e+00] [ 5.61285861e-02 2.70933263e-04 9.98423512e-01 2.40850823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.325099892999994 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:44.75, Y:2.10, Z:2.41 [[ 9.94891235e-01 -8.40436009e-02 -5.59294495e-02 4.47466466e+01] [ 8.39103037e-02 9.96462078e-01 -4.73159576e-03 2.10338383e+00] [ 5.61292358e-02 1.43660530e-05 9.98423512e-01 2.41037583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.385099892999996 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:44.81, Y:2.10, Z:2.42 [[ 9.94892132e-01 -8.40337964e-02 -5.59282373e-02 4.48055975e+01] [ 8.38996806e-02 9.96462905e-01 -4.74588147e-03 2.10267438e+00] [ 5.61292282e-02 2.92788867e-05 9.98423512e-01 2.41526977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44509989299999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:44.86, Y:2.10, Z:2.42 [[ 9.94994039e-01 -8.28192510e-02 -5.59270414e-02 4.48649071e+01] [ 8.26824280e-02 9.96564579e-01 -4.75993222e-03 2.10403389e+00] [ 5.61291225e-02 1.11920609e-04 9.98423512e-01 2.41749946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50509989299999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:44.92, Y:2.11, Z:2.42 [[ 9.94906698e-01 -8.38626976e-02 -5.59259436e-02 4.49236465e+01] [ 8.37267987e-02 9.96477317e-01 -4.77279577e-03 2.10686591e+00] [ 5.61291938e-02 6.59862498e-05 9.98423512e-01 2.42083333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.565099892999996 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:44.98, Y:2.11, Z:2.42 [[ 9.94485500e-01 -8.87187297e-02 -5.59247517e-02 4.49823150e+01] [ 8.85897169e-02 9.96056700e-01 -4.78672209e-03 2.10634680e+00] [ 5.61288955e-02 -1.94032206e-04 9.98423512e-01 2.42236227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62509989299999 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:45.04, Y:2.11, Z:2.43 [[ 9.94226862e-01 -9.15723949e-02 -5.59235414e-02 4.50421338e+01] [ 9.14470987e-02 9.95798363e-01 -4.80082027e-03 2.11016126e+00] [ 5.61281936e-02 -3.40941136e-04 9.98423512e-01 2.42675422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68509989299999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:45.10, Y:2.11, Z:2.43 [[ 9.94113975e-01 -9.27899901e-02 -5.59233684e-02 4.51014435e+01] [ 9.26665055e-02 9.95685619e-01 -4.80283415e-03 2.11444132e+00] [ 5.61277486e-02 -4.07658580e-04 9.98423512e-01 2.43032840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.745099892999995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:45.16, Y:2.12, Z:2.43 [[ 9.93933878e-01 -9.46997443e-02 -5.59231955e-02 4.51607323e+01] [ 9.45791661e-02 9.95505748e-01 -4.80484717e-03 2.11575902e+00] [ 5.61268804e-02 -5.13468813e-04 9.98423512e-01 2.43325351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80509989299999 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:45.22, Y:2.12, Z:2.44 [[ 9.93945533e-01 -9.45780095e-02 -5.59220615e-02 4.52204698e+01] [ 9.44564983e-02 9.95517331e-01 -4.81800906e-03 2.11881944e+00] [ 5.61270591e-02 -4.93363526e-04 9.98423512e-01 2.43651725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86509989299999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:45.28, Y:2.12, Z:2.44 [[ 9.94508249e-01 -8.84650569e-02 -5.59220548e-02 4.52796331e+01] [ 8.83338796e-02 9.96079270e-01 -4.81808745e-03 2.12412097e+00] [ 5.61290319e-02 -1.48184340e-04 9.98423512e-01 2.44340296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.925099892999995 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:45.34, Y:2.13, Z:2.45 [[ 9.95347442e-01 -7.84615324e-02 -5.59218847e-02 4.53389758e+01] [ 7.83144554e-02 9.96917054e-01 -4.82006043e-03 2.13136981e+00] [ 5.61276699e-02 4.18142869e-04 9.98423512e-01 2.44970251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98509989299999 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:45.40, Y:2.14, Z:2.45 [[ 9.95712308e-01 -7.36869251e-02 -5.59217084e-02 4.53973355e+01] [ 7.35322071e-02 9.97281185e-01 -4.82210514e-03 2.13761452e+00] [ 5.61249937e-02 6.89382791e-04 9.98423512e-01 2.45265552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04509989299999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:45.46, Y:2.14, Z:2.45 [[ 9.95622541e-01 -7.48909653e-02 -5.59204641e-02 4.54556191e+01] [ 7.47373367e-02 9.97191526e-01 -4.83649230e-03 2.14326532e+00] [ 5.61256225e-02 6.35974200e-04 9.98423512e-01 2.45328274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.105099892999995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:45.51, Y:2.15, Z:2.46 [[ 9.95187666e-01 -8.04645797e-02 -5.59192285e-02 4.55145568e+01] [ 8.03189383e-02 9.96757412e-01 -4.85073606e-03 2.14767214e+00] [ 5.61282179e-02 3.36019635e-04 9.98423512e-01 2.45553981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16509989299999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:45.57, Y:2.15, Z:2.46 [[ 9.94690489e-01 -8.63945077e-02 -5.59179806e-02 4.55720444e+01] [ 8.62574183e-02 9.96261004e-01 -4.86507904e-03 2.15234807e+00] [ 5.61292196e-02 1.59072003e-05 9.98423513e-01 2.45936519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22509989299999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:45.63, Y:2.15, Z:2.46 [[ 9.93599785e-01 -9.81468553e-02 -5.59165670e-02 4.56302653e+01] [ 9.80274296e-02 9.95171742e-01 -4.88127218e-03 2.15471241e+00] [ 5.61256689e-02 -6.31326348e-04 9.98423513e-01 2.46307913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.285099892999995 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:45.69, Y:2.16, Z:2.47 [[ 9.92647549e-01 -1.07351087e-01 -5.59158939e-02 4.56907706e+01] [ 1.07245802e-01 9.94220517e-01 -4.88897117e-03 2.15939626e+00] [ 5.61175653e-02 -1.14371963e-03 9.98423513e-01 2.46856063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.345099893 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:45.75, Y:2.16, Z:2.47 [[ 9.91455359e-01 -1.17854499e-01 -5.59158939e-02 4.57516580e+01] [ 1.17765873e-01 9.93029354e-01 -4.88897117e-03 2.16323264e+00] [ 5.61023112e-02 -1.73778740e-03 9.98423513e-01 2.47146955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40509989299999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:45.81, Y:2.17, Z:2.47 [[ 9.90753694e-01 -1.23614322e-01 -5.59161608e-02 4.58132592e+01] [ 1.23535017e-01 9.92328185e-01 -4.88591612e-03 2.16966482e+00] [ 5.60911516e-02 -2.06686441e-03 9.98423513e-01 2.47377899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.465099892999994 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:45.87, Y:2.18, Z:2.48 [[ 9.90846433e-01 -1.22868580e-01 -5.59165262e-02 4.58737784e+01] [ 1.22788325e-01 9.92420876e-01 -4.88173075e-03 2.17880982e+00] [ 5.60925393e-02 -2.02885110e-03 9.98423513e-01 2.47633511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.525099893 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:45.93, Y:2.19, Z:2.48 [[ 9.91045030e-01 -1.21256176e-01 -5.59167960e-02 4.59348757e+01] [ 1.21173534e-01 9.92619350e-01 -4.87863868e-03 2.18800558e+00] [ 5.60956588e-02 -1.94068518e-03 9.98423513e-01 2.48013103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58509989299999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:46.00, Y:2.20, Z:2.48 [[ 9.91127980e-01 -1.20576116e-01 -5.59171526e-02 4.59964234e+01] [ 1.20492624e-01 9.92702255e-01 -4.87454847e-03 2.19970735e+00] [ 5.60968375e-02 -1.90630309e-03 9.98423513e-01 2.48265924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.645099892999994 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:46.06, Y:2.21, Z:2.49 [[ 9.91330737e-01 -1.18897443e-01 -5.59175088e-02 4.60565164e+01] [ 1.18811516e-01 9.92904881e-01 -4.87045823e-03 2.21098804e+00] [ 5.60998525e-02 -1.81540903e-03 9.98423513e-01 2.48574731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.705099892999996 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:46.12, Y:2.22, Z:2.49 [[ 9.92063773e-01 -1.12617207e-01 -5.59181001e-02 4.61177135e+01] [ 1.12521696e-01 9.93637365e-01 -4.86366075e-03 2.22368586e+00] [ 5.61100455e-02 -1.46693783e-03 9.98423513e-01 2.48911734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76509989299999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:46.18, Y:2.24, Z:2.49 [[ 9.92794699e-01 -1.05980237e-01 -5.59184673e-02 4.61776624e+01] [ 1.05874442e-01 9.94367632e-01 -4.85943535e-03 2.23702711e+00] [ 5.61185180e-02 -1.09591487e-03 9.98423513e-01 2.49264856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.825099892999994 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:46.24, Y:2.25, Z:2.50 [[ 9.93606758e-01 -9.80747990e-02 -5.59190926e-02 4.62390036e+01] [ 9.79568936e-02 9.95178830e-01 -4.85222908e-03 2.25266570e+00] [ 5.61253785e-02 -6.56452999e-04 9.98423513e-01 2.49628485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.885099892999996 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:46.30, Y:2.26, Z:2.50 [[ 9.93625590e-01 -9.78836265e-02 -5.59194366e-02 4.63002098e+01] [ 9.77656419e-02 9.95197656e-01 -4.84826091e-03 2.26478691e+00] [ 5.61254576e-02 -6.49643509e-04 9.98423513e-01 2.50201952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94509989299999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:46.36, Y:2.28, Z:2.51 [[ 9.93349010e-01 -1.00651491e-01 -5.59197835e-02 4.63616005e+01] [ 1.00538112e-01 9.94921415e-01 -4.84425602e-03 2.27572835e+00] [ 5.61233717e-02 -8.10032538e-04 9.98423513e-01 2.50905195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00509989299999 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:46.42, Y:2.28, Z:2.51 [[ 9.92755570e-01 -1.06345269e-01 -5.59201387e-02 4.64226336e+01] [ 1.06241139e-01 9.94328614e-01 -4.84015238e-03 2.28068702e+00] [ 5.61177214e-02 -1.13593097e-03 9.98423513e-01 2.51069698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.065099892999996 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:46.48, Y:2.28, Z:2.51 [[ 9.92002115e-01 -1.13157912e-01 -5.59204014e-02 4.64849124e+01] [ 1.13064754e-01 9.93575847e-01 -4.83711561e-03 2.28230447e+00] [ 5.61085181e-02 -1.52419752e-03 9.98423513e-01 2.51060362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12509989299999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:46.55, Y:2.29, Z:2.51 [[ 9.91837707e-01 -1.14589848e-01 -5.59207507e-02 4.65466893e+01] [ 1.14499189e-01 9.93411585e-01 -4.83307414e-03 2.28576527e+00] [ 5.61061428e-02 -1.60925544e-03 9.98423513e-01 2.51140926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18509989299999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:46.61, Y:2.29, Z:2.52 [[ 9.92168596e-01 -1.11688442e-01 -5.59210956e-02 4.66087710e+01] [ 1.11593405e-01 9.93742216e-01 -4.82908050e-03 2.29175787e+00] [ 5.61105059e-02 -1.44916347e-03 9.98423513e-01 2.51668936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.245099892999995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:46.67, Y:2.30, Z:2.53 [[ 9.93194164e-01 -1.02167236e-01 -5.59214411e-02 4.66700419e+01] [ 1.02057336e-01 9.94766816e-01 -4.82507592e-03 2.29804490e+00] [ 5.61217586e-02 -9.14956058e-04 9.98423513e-01 2.52550905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30509989299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:46.73, Y:2.30, Z:2.53 [[ 9.93996439e-01 -9.40416568e-02 -5.59217892e-02 4.67307213e+01] [ 9.39191271e-02 9.95568157e-01 -4.82103823e-03 2.30430917e+00] [ 5.61273310e-02 -4.60030794e-04 9.98423513e-01 2.53040409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36509989299999 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:46.79, Y:2.31, Z:2.53 [[ 9.94405715e-01 -8.96102656e-02 -5.59220457e-02 4.67927916e+01] [ 8.94808991e-02 9.95976885e-01 -4.81806144e-03 2.30913724e+00] [ 5.61288126e-02 -2.12847099e-04 9.98423513e-01 2.53015597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.425099892999995 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:46.85, Y:2.31, Z:2.53 [[ 9.94214901e-01 -9.17028771e-02 -5.59223906e-02 4.68537963e+01] [ 9.15770429e-02 9.95786358e-01 -4.81405468e-03 2.31231396e+00] [ 5.61282163e-02 -3.35002269e-04 9.98423513e-01 2.53117620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48509989299999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:46.92, Y:2.32, Z:2.54 [[ 9.93624941e-01 -9.78884207e-02 -5.59225610e-02 4.69156975e+01] [ 9.77724799e-02 9.95197159e-01 -4.81207438e-03 2.31826579e+00] [ 5.61250202e-02 -6.86290353e-04 9.98423513e-01 2.53501084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54509989299999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:46.98, Y:2.32, Z:2.54 [[ 9.93403080e-01 -1.00114681e-01 -5.59229117e-02 4.69777479e+01] [ 1.00002493e-01 9.94975570e-01 -4.80799512e-03 2.32330471e+00] [ 5.61232818e-02 -8.16153428e-04 9.98423513e-01 2.53909498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.605099892999995 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:47.04, Y:2.33, Z:2.54 [[ 9.92681834e-01 -1.07029745e-01 -5.59232584e-02 4.70384609e+01] [ 1.06928738e-01 9.94255081e-01 -4.80395904e-03 2.32795979e+00] [ 5.61161504e-02 -1.21100056e-03 9.98423513e-01 2.54173879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66509989299999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:47.10, Y:2.34, Z:2.55 [[ 9.91550834e-01 -1.17044884e-01 -5.59235148e-02 4.71001304e+01] [ 1.16959931e-01 9.93125030e-01 -4.80097284e-03 2.33505154e+00] [ 5.61009716e-02 -1.78040180e-03 9.98423513e-01 2.55024519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72509989299999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:47.16, Y:2.34, Z:2.55 [[ 9.90875051e-01 -1.22634232e-01 -5.59238647e-02 4.71617809e+01] [ 1.22558386e-01 9.92449712e-01 -4.79689352e-03 2.33859558e+00] [ 5.60898868e-02 -2.10081651e-03 9.98423513e-01 2.55243191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.785099892999995 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:47.22, Y:2.34, Z:2.55 [[ 9.90830803e-01 -1.22991066e-01 -5.59242148e-02 4.72235095e+01] [ 1.22916018e-01 9.92405503e-01 -4.79280849e-03 2.34184449e+00] [ 5.60889711e-02 -2.12511951e-03 9.98423513e-01 2.55450972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84509989299999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:47.29, Y:2.35, Z:2.56 [[ 9.90971399e-01 -1.21852904e-01 -5.59245601e-02 4.72855990e+01] [ 1.21776275e-01 9.92546022e-01 -4.78877571e-03 2.34510921e+00] [ 5.60912259e-02 -2.06474482e-03 9.98423513e-01 2.55818157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90509989299999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:47.35, Y:2.35, Z:2.56 [[ 9.91102681e-01 -1.20780295e-01 -5.59249119e-02 4.73467759e+01] [ 1.20702193e-01 9.92677232e-01 -4.78466375e-03 2.35021047e+00] [ 5.60932799e-02 -2.00816644e-03 9.98423513e-01 2.56147225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.965099892999994 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:47.41, Y:2.36, Z:2.56 [[ 9.92552687e-01 -1.08219862e-01 -5.59251706e-02 4.74089213e+01] [ 1.08121997e-01 9.94126134e-01 -4.78163798e-03 2.35810354e+00] [ 5.61141418e-02 -1.30071353e-03 9.98423513e-01 2.56391370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.025099893 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:47.47, Y:2.37, Z:2.57 [[ 9.93788508e-01 -9.62119449e-02 -5.59255175e-02 4.74701075e+01] [ 9.60952929e-02 9.95360673e-01 -4.77757766e-03 2.36763463e+00] [ 5.61257208e-02 -6.26277208e-04 9.98423513e-01 2.57077605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08509989299999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:47.53, Y:2.37, Z:2.57 [[ 9.94874605e-01 -8.42426114e-02 -5.59258618e-02 4.75317583e+01] [ 8.41072703e-02 9.96445272e-01 -4.77354309e-03 2.37390093e+00] [ 5.61291964e-02 4.53052172e-05 9.98423513e-01 2.57457567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.145099892999994 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:47.59, Y:2.38, Z:2.58 [[ 9.95767862e-01 -7.29289019e-02 -5.59262088e-02 4.75908729e+01] [ 7.27759449e-02 9.97336911e-01 -4.76947492e-03 2.38165638e+00] [ 5.61251049e-02 6.79207146e-04 9.98423513e-01 2.57686708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.205099892999996 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:47.65, Y:2.38, Z:2.58 [[ 9.95527908e-01 -7.61344517e-02 -5.59261101e-02 4.76490490e+01] [ 7.59864821e-02 9.97097435e-01 -4.77063195e-03 2.37742792e+00] [ 5.61269904e-02 4.99668884e-04 9.98423513e-01 2.57867976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26509989299999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:47.71, Y:2.38, Z:2.58 [[ 9.94874045e-01 -8.42493890e-02 -5.59256155e-02 4.77086671e+01] [ 8.41138967e-02 9.96444699e-01 -4.77642251e-03 2.37873072e+00] [ 5.61291938e-02 4.78173361e-05 9.98423513e-01 2.58364090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.325099892999994 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:47.77, Y:2.38, Z:2.59 [[ 9.94171784e-01 -9.21672861e-02 -5.59254444e-02 4.77686625e+01] [ 9.20441900e-02 9.95743458e-01 -4.77842546e-03 2.38058845e+00] [ 5.61278099e-02 -3.97036464e-04 9.98423513e-01 2.58892137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.385099892999996 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:47.83, Y:2.38, Z:2.59 [[ 9.93589046e-01 -9.82504524e-02 -5.59254444e-02 4.78305508e+01] [ 9.81369782e-02 9.95161444e-01 -4.77842546e-03 2.38302507e+00] [ 5.61243285e-02 -7.40562916e-04 9.98423513e-01 2.59413232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44509989299999 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:47.89, Y:2.38, Z:2.60 [[ 9.93258001e-01 -1.01542348e-01 -5.59257971e-02 4.78917393e+01] [ 1.01434317e-01 9.94830782e-01 -4.77429428e-03 2.38498941e+00] [ 5.61214975e-02 -9.30689032e-04 9.98423513e-01 2.59716056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50509989299999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:47.95, Y:2.39, Z:2.60 [[ 9.96014126e-01 -6.94847994e-02 -5.59260578e-02 4.79526227e+01] [ 6.93263181e-02 9.97582627e-01 -4.77123869e-03 2.38997834e+00] [ 5.61223922e-02 8.75073465e-04 9.98423513e-01 2.59912348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.565099892999996 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:48.01, Y:2.39, Z:2.60 [[ 9.96270338e-01 -6.57089780e-02 -5.59262342e-02 4.80116630e+01] [ 6.55446687e-02 9.97838239e-01 -4.76916926e-03 2.39414531e+00] [ 5.61187123e-02 1.08571538e-03 9.98423513e-01 2.60055901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62509989299999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:48.07, Y:2.40, Z:2.60 [[ 9.96360234e-01 -6.43325340e-02 -5.59250231e-02 4.80707077e+01] [ 6.41652643e-02 9.97927822e-01 -4.78332939e-03 2.39733494e+00] [ 5.61168602e-02 1.17747530e-03 9.98423513e-01 2.60293131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68509989299999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:48.13, Y:2.40, Z:2.61 [[ 9.96153505e-01 -6.74590393e-02 -5.59238120e-02 4.81287247e+01] [ 6.72958975e-02 9.97721528e-01 -4.79744702e-03 2.40177909e+00] [ 5.61200223e-02 1.01555054e-03 9.98423513e-01 2.60899414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.745099892999995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:48.19, Y:2.40, Z:2.61 [[ 9.94071870e-01 -9.32404286e-02 -5.59226177e-02 4.81884135e+01] [ 9.31171783e-02 9.95643532e-01 -4.81132879e-03 2.39557240e+00] [ 5.61276029e-02 -4.24549749e-04 9.98423513e-01 2.61418456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80509989299999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:48.25, Y:2.40, Z:2.62 [[ 9.93988522e-01 -9.41250140e-02 -5.59222695e-02 4.82492017e+01] [ 9.40029348e-02 9.95560275e-01 -4.81537290e-03 2.40002566e+00] [ 5.61272370e-02 -4.70432057e-04 9.98423513e-01 2.61770005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86509989299999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:48.31, Y:2.41, Z:2.62 [[ 9.94121922e-01 -9.27053624e-02 -5.59224455e-02 4.83086375e+01] [ 9.25811537e-02 9.95693508e-01 -4.81332803e-03 2.40674022e+00] [ 5.61278372e-02 -3.92329610e-04 9.98423513e-01 2.62363246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.925099892999995 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:48.37, Y:2.41, Z:2.63 [[ 9.94276717e-01 -9.10301055e-02 -5.59225321e-02 4.83699112e+01] [ 9.09033054e-02 9.95848096e-01 -4.81232119e-03 2.41132400e+00] [ 5.61284132e-02 -2.98764098e-04 9.98423513e-01 2.62617701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98509989299999 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:48.43, Y:2.41, Z:2.63 [[ 9.93453432e-01 -9.96138990e-02 -5.59227069e-02 4.84308489e+01] [ 9.95007894e-02 9.95025856e-01 -4.81028873e-03 2.40639709e+00] [ 5.61237110e-02 -7.85555636e-04 9.98423513e-01 2.63144588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04509989299999 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:48.49, Y:2.41, Z:2.63 [[ 9.92226641e-01 -1.11170783e-01 -5.59227069e-02 4.84921667e+01] [ 1.11075984e-01 9.93800275e-01 -4.81028873e-03 2.40541723e+00] [ 5.61107651e-02 -1.43877307e-03 9.98423513e-01 2.63291503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.105099892999995 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:48.55, Y:2.41, Z:2.64 [[ 9.90777371e-01 -1.23421362e-01 -5.59228819e-02 4.85543426e+01] [ 1.23346127e-01 9.92352061e-01 -4.80825411e-03 2.40578277e+00] [ 5.60886284e-02 -2.13396154e-03 9.98423513e-01 2.63752652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16509989299999 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:48.61, Y:2.41, Z:2.64 [[ 9.90509026e-01 -1.25556609e-01 -5.59232296e-02 4.86148970e+01] [ 1.25484996e-01 9.92083885e-01 -4.80420688e-03 2.41083922e+00] [ 5.60837348e-02 -2.25891598e-03 9.98423513e-01 2.63991548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22509989299999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:48.68, Y:2.42, Z:2.64 [[ 9.90116840e-01 -1.28612621e-01 -5.59234872e-02 4.86765429e+01] [ 1.28546038e-01 9.91691920e-01 -4.80120597e-03 2.41585754e+00] [ 5.60763661e-02 -2.43498784e-03 9.98423513e-01 2.64302698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.285099892999995 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:48.74, Y:2.42, Z:2.64 [[ 9.89772134e-01 -1.31238889e-01 -5.59238434e-02 4.87378507e+01] [ 1.31176718e-01 9.91347395e-01 -4.79705333e-03 2.42138947e+00] [ 5.60695164e-02 -2.58791655e-03 9.98423513e-01 2.64491402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34509989299999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:48.80, Y:2.43, Z:2.65 [[ 9.89631001e-01 -1.32298681e-01 -5.59244275e-02 4.87999844e+01] [ 1.32238583e-01 9.91206341e-01 -4.79023426e-03 2.42712257e+00] [ 5.60663888e-02 -2.65480270e-03 9.98423513e-01 2.65014835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40509989299999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:48.86, Y:2.43, Z:2.65 [[ 9.89529888e-01 -1.33052697e-01 -5.59247765e-02 4.88620794e+01] [ 1.32994029e-01 9.91105282e-01 -4.78615661e-03 2.43393083e+00] [ 5.60641524e-02 -2.70161633e-03 9.98423513e-01 2.65444212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.465099892999994 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:48.92, Y:2.44, Z:2.66 [[ 9.89543300e-01 -1.32952764e-01 -5.59251297e-02 4.89235861e+01] [ 1.32894169e-01 9.91118697e-01 -4.78202594e-03 2.44010476e+00] [ 5.60642252e-02 -2.70010190e-03 9.98423513e-01 2.65740972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52509989299999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:48.98, Y:2.45, Z:2.66 [[ 9.89794732e-01 -1.31067616e-01 -5.59255656e-02 4.89845717e+01] [ 1.31006308e-01 9.91370026e-01 -4.77692199e-03 2.44912040e+00] [ 5.60690292e-02 -2.59842967e-03 9.98423513e-01 2.66173214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58509989299999 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:49.05, Y:2.46, Z:2.67 [[ 9.89956061e-01 -1.29843369e-01 -5.59258236e-02 4.90463266e+01] [ 1.29780283e-01 9.91531284e-01 -4.77390034e-03 2.45836646e+00] [ 5.60720630e-02 -2.53211766e-03 9.98423513e-01 2.66617251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.645099892999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.11, Y:2.47, Z:2.67 [[ 9.89929759e-01 -1.30043588e-01 -5.59261744e-02 4.91086087e+01] [ 1.29981053e-01 9.91505005e-01 -4.76978651e-03 2.46653603e+00] [ 5.60713620e-02 -2.54758945e-03 9.98423513e-01 2.67255258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.705099892999996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:49.17, Y:2.47, Z:2.67 [[ 9.90026570e-01 -1.29304273e-01 -5.59267001e-02 4.91696192e+01] [ 1.29240910e-01 9.91601783e-01 -4.76361457e-03 2.47428362e+00] [ 5.60729713e-02 -2.51191260e-03 9.98423513e-01 2.67233068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76509989299999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:49.23, Y:2.48, Z:2.68 [[ 9.90038220e-01 -1.29214759e-01 -5.59273498e-02 4.92306721e+01] [ 1.29151684e-01 9.91613444e-01 -4.75597488e-03 2.48121235e+00] [ 5.60728541e-02 -2.51451449e-03 9.98423513e-01 2.67631945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.825099892999994 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:49.29, Y:2.49, Z:2.68 [[ 9.90047934e-01 -1.29140052e-01 -5.59279551e-02 4.92934950e+01] [ 1.29077260e-01 9.91623169e-01 -4.74884597e-03 2.48818777e+00] [ 5.60727223e-02 -2.51744205e-03 9.98423513e-01 2.68057452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.885099892999996 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:49.36, Y:2.50, Z:2.68 [[ 9.89976047e-01 -1.29689759e-01 -5.59284649e-02 4.93555672e+01] [ 1.29628180e-01 9.91551330e-01 -4.74283478e-03 2.49505722e+00] [ 5.60710408e-02 -2.55461230e-03 9.98423514e-01 2.68408443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94509989299999 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:49.42, Y:2.50, Z:2.69 [[ 9.89791970e-01 -1.31087089e-01 -5.59288085e-02 4.94170773e+01] [ 1.31027963e-01 9.91367347e-01 -4.73877984e-03 2.50212487e+00] [ 5.60671873e-02 -2.63783161e-03 9.98423514e-01 2.68565923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00509989299999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:49.48, Y:2.51, Z:2.69 [[ 9.89456797e-01 -1.33593325e-01 -5.59291585e-02 4.94779804e+01] [ 1.33538422e-01 9.91032327e-01 -4.73464437e-03 2.50909305e+00] [ 5.60601210e-02 -2.78396552e-03 9.98423514e-01 2.68733501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.065099892999996 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:49.54, Y:2.52, Z:2.69 [[ 9.89170017e-01 -1.35700322e-01 -5.59294167e-02 4.95392909e+01] [ 1.35648947e-01 9.90745666e-01 -4.73159284e-03 2.51905148e+00] [ 5.60539059e-02 -2.90641669e-03 9.98423514e-01 2.69322347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12509989299999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:49.60, Y:2.53, Z:2.70 [[ 9.89331495e-01 -1.34517859e-01 -5.59297639e-02 4.96002473e+01] [ 1.34464832e-01 9.90907089e-01 -4.72748497e-03 2.52840048e+00] [ 5.60571307e-02 -2.84353652e-03 9.98423514e-01 2.69890187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18509989299999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:49.66, Y:2.54, Z:2.70 [[ 9.89666257e-01 -1.32032150e-01 -5.59304150e-02 4.96617715e+01] [ 1.31975600e-01 9.91241729e-01 -4.71976959e-03 2.53794215e+00] [ 5.60637226e-02 -2.71045335e-03 9.98423514e-01 2.70381720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.245099892999995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:49.72, Y:2.54, Z:2.71 [[ 9.89801926e-01 -1.31011058e-01 -5.59307661e-02 4.97229698e+01] [ 1.30953118e-01 9.91377347e-01 -4.71560511e-03 2.54476285e+00] [ 5.60662909e-02 -2.65679317e-03 9.98423514e-01 2.70765290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30509989299999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:49.78, Y:2.55, Z:2.71 [[ 9.90203900e-01 -1.27937319e-01 -5.59310250e-02 4.97846402e+01] [ 1.27874661e-01 9.91779140e-01 -4.71253218e-03 2.55426623e+00] [ 5.60741326e-02 -2.48579312e-03 9.98423514e-01 2.71192857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36509989299999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:49.85, Y:2.56, Z:2.72 [[ 9.90425067e-01 -1.26213583e-01 -5.59313628e-02 4.98466288e+01] [ 1.26148409e-01 9.92000206e-01 -4.70851973e-03 2.56148789e+00] [ 5.60782026e-02 -2.39221646e-03 9.98423514e-01 2.71671804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.425099892999995 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:49.91, Y:2.57, Z:2.72 [[ 9.90739893e-01 -1.23717866e-01 -5.59316990e-02 4.99083583e+01] [ 1.23648949e-01 9.92314872e-01 -4.70452322e-03 2.56801099e+00] [ 5.60838903e-02 -2.25493696e-03 9.98423514e-01 2.71870080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48509989299999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:49.97, Y:2.58, Z:2.72 [[ 9.91181228e-01 -1.20130682e-01 -5.59320409e-02 4.99696715e+01] [ 1.20056294e-01 9.92755958e-01 -4.70045462e-03 2.57608674e+00] [ 5.60915356e-02 -2.05599114e-03 9.98423514e-01 2.72192785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54509989299999 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:50.03, Y:2.59, Z:2.73 [[ 9.91545143e-01 -1.17088809e-01 -5.59324629e-02 5.00324382e+01] [ 1.17009872e-01 9.93119652e-01 -4.69542764e-03 2.58538353e+00] [ 5.60974101e-02 -1.88892188e-03 9.98423514e-01 2.72514116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.605099892999995 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:50.10, Y:2.59, Z:2.73 [[ 9.91702059e-01 -1.15752016e-01 -5.59329727e-02 5.00952772e+01] [ 1.15671299e-01 9.93276477e-01 -4.68934696e-03 2.59305618e+00] [ 5.60997074e-02 -1.81940457e-03 9.98423514e-01 2.72954527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66509989299999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:50.16, Y:2.60, Z:2.73 [[ 9.91981804e-01 -1.13329368e-01 -5.59334883e-02 5.01569533e+01] [ 1.13245153e-01 9.93556039e-01 -4.68318891e-03 2.60099825e+00] [ 5.61037979e-02 -1.68855826e-03 9.98423514e-01 2.73044882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72509989299999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:50.22, Y:2.61, Z:2.73 [[ 9.92330601e-01 -1.10233322e-01 -5.59338291e-02 5.02190728e+01] [ 1.10144424e-01 9.93904579e-01 -4.67911498e-03 2.60901783e+00] [ 5.61086832e-02 -1.51757043e-03 9.98423514e-01 2.73364438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.785099892999995 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:50.28, Y:2.62, Z:2.74 [[ 9.92878303e-01 -1.05185755e-01 -5.59341723e-02 5.02801661e+01] [ 1.05089086e-01 9.94451823e-01 -4.67500810e-03 2.61794983e+00] [ 5.61155839e-02 -1.23635692e-03 9.98423514e-01 2.74025555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84509989299999 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:50.34, Y:2.62, Z:2.74 [[ 9.93090475e-01 -1.03163160e-01 -5.59345169e-02 5.03419455e+01] [ 1.03063518e-01 9.94663810e-01 -4.67088208e-03 2.62460100e+00] [ 5.61179026e-02 -1.12619959e-03 9.98423514e-01 2.74308514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90509989299999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:50.40, Y:2.63, Z:2.75 [[ 9.93140055e-01 -1.02684532e-01 -5.59349423e-02 5.04033050e+01] [ 1.02584419e-01 9.94713359e-01 -4.66578222e-03 2.62936701e+00] [ 5.61183380e-02 -1.10427833e-03 9.98423514e-01 2.74793500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.965099892999994 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:50.47, Y:2.63, Z:2.75 [[ 9.93090389e-01 -1.03163624e-01 -5.59351917e-02 5.04658898e+01] [ 1.03064439e-01 9.94663752e-01 -4.66279009e-03 2.63390460e+00] [ 5.61177380e-02 -1.13435711e-03 9.98423514e-01 2.75227075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02509989299999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:50.53, Y:2.64, Z:2.75 [[ 9.92699629e-01 -1.06858057e-01 -5.59356987e-02 5.05282839e+01] [ 1.06765070e-01 9.94273370e-01 -4.65670070e-03 2.63671684e+00] [ 5.61129816e-02 -1.34927371e-03 9.98423514e-01 2.75473997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08509989299999 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:50.59, Y:2.64, Z:2.76 [[ 9.92312340e-01 -1.10396465e-01 -5.59360402e-02 5.05905547e+01] [ 1.10309320e-01 9.93886416e-01 -4.65259413e-03 2.64029150e+00] [ 5.61077005e-02 -1.55344000e-03 9.98423514e-01 2.75836198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.145099892999994 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:50.65, Y:2.64, Z:2.76 [[ 9.92013983e-01 -1.13045911e-01 -5.59363815e-02 5.06518121e+01] [ 1.12963201e-01 9.93588298e-01 -4.64848754e-03 2.64368455e+00] [ 5.61032266e-02 -1.70738804e-03 9.98423514e-01 2.76470723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20509989299999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:50.71, Y:2.65, Z:2.77 [[ 9.91868000e-01 -1.14319570e-01 -5.59366342e-02 5.07137376e+01] [ 1.14239053e-01 9.93442428e-01 -4.64544440e-03 2.64651170e+00] [ 5.61008910e-02 -1.78248046e-03 9.98423514e-01 2.76588734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26509989299999 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:50.78, Y:2.65, Z:2.77 [[ 9.91679117e-01 -1.15946476e-01 -5.59369654e-02 5.07762940e+01] [ 1.15868767e-01 9.93253687e-01 -4.64145339e-03 2.65047299e+00] [ 5.60977573e-02 -1.87851480e-03 9.98423514e-01 2.76947264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.325099892999994 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:50.84, Y:2.65, Z:2.77 [[ 9.91371708e-01 -1.18545925e-01 -5.59374673e-02 5.08393417e+01] [ 1.18472685e-01 9.92946492e-01 -4.63539663e-03 2.65492644e+00] [ 5.60924193e-02 -2.03166089e-03 9.98423514e-01 2.77009503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.385099892999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:50.90, Y:2.66, Z:2.78 [[ 9.91474574e-01 -1.17682173e-01 -5.59381412e-02 5.09003703e+01] [ 1.17608020e-01 9.93049315e-01 -4.62724948e-03 2.65777755e+00] [ 5.60938776e-02 -1.99097380e-03 9.98423514e-01 2.77851297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44509989299999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:50.96, Y:2.66, Z:2.78 [[ 9.91639650e-01 -1.16282834e-01 -5.59384298e-02 5.09629386e+01] [ 1.16206655e-01 9.93214294e-01 -4.62375866e-03 2.66276274e+00] [ 5.60965118e-02 -1.91531541e-03 9.98423514e-01 2.77934551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50509989299999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:51.03, Y:2.67, Z:2.78 [[ 9.91794237e-01 -1.14956627e-01 -5.59389351e-02 5.10261479e+01] [ 1.14878688e-01 9.93368796e-01 -4.61763690e-03 2.66852549e+00] [ 5.60988206e-02 -1.84644579e-03 9.98423514e-01 2.78226239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.565099892999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:51.09, Y:2.67, Z:2.79 [[ 9.91799079e-01 -1.14914606e-01 -5.59394351e-02 5.10887781e+01] [ 1.14836941e-01 9.93373651e-01 -4.61157158e-03 2.67374388e+00] [ 5.60986979e-02 -1.85016119e-03 9.98423514e-01 2.78561630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62509989299999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:51.15, Y:2.68, Z:2.79 [[ 9.91555578e-01 -1.16996834e-01 -5.59399306e-02 5.11513875e+01] [ 1.16922815e-01 9.93130326e-01 -4.60555344e-03 2.67646804e+00] [ 5.60944767e-02 -1.97399197e-03 9.98423514e-01 2.78824191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68509989299999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:51.21, Y:2.68, Z:2.79 [[ 9.91719969e-01 -1.15594933e-01 -5.59402688e-02 5.12126277e+01] [ 1.15518919e-01 9.93294622e-01 -4.60144258e-03 2.68174310e+00] [ 5.60970716e-02 -1.89881689e-03 9.98423514e-01 2.79194986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.745099892999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.27, Y:2.69, Z:2.80 [[ 9.92275688e-01 -1.10723072e-01 -5.59406871e-02 5.12739263e+01] [ 1.10639613e-01 9.93849963e-01 -4.59635143e-03 2.68948010e+00] [ 5.61055720e-02 -1.62840821e-03 9.98423514e-01 2.80215932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80509989299999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:51.34, Y:2.70, Z:2.80 [[ 9.92880966e-01 -1.05156977e-01 -5.59410190e-02 5.13358457e+01] [ 1.05064919e-01 9.94454762e-01 -4.59230849e-03 2.69573582e+00] [ 5.61137260e-02 -1.31782294e-03 9.98423514e-01 2.80465588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86509989299999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:51.40, Y:2.70, Z:2.81 [[ 9.93673069e-01 -9.73878687e-02 -5.59413489e-02 5.13970769e+01] [ 9.72837303e-02 9.95246112e-01 -4.58828557e-03 2.70483357e+00] [ 5.61222534e-02 -8.82927292e-04 9.98423514e-01 2.81023854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.925099892999995 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:51.46, Y:2.71, Z:2.81 [[ 9.94172702e-01 -9.21475224e-02 -5.59416825e-02 5.14594227e+01] [ 9.20353208e-02 9.95745191e-01 -4.58421454e-03 2.71131245e+00] [ 5.61260854e-02 -5.91109740e-04 9.98423514e-01 2.81090393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98509989299999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:51.52, Y:2.72, Z:2.81 [[ 9.94677092e-01 -8.65330713e-02 -5.59420191e-02 5.15198680e+01] [ 8.64122246e-02 9.96248940e-01 -4.58010355e-03 2.71627807e+00] [ 5.61285077e-02 -2.78350243e-04 9.98423514e-01 2.81371955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04509989299999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:51.58, Y:2.72, Z:2.82 [[ 9.95265347e-01 -7.94817698e-02 -5.59422666e-02 5.15813589e+01] [ 7.93499566e-02 9.96836313e-01 -4.57707939e-03 2.72256506e+00] [ 5.61290771e-02 1.16392088e-04 9.98423514e-01 2.81712021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.105099892999995 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:51.64, Y:2.73, Z:2.82 [[ 9.95426759e-01 -7.74338009e-02 -5.59425991e-02 5.16411789e+01] [ 7.72989844e-02 9.96997470e-01 -4.57301176e-03 2.72566174e+00] [ 5.61287354e-02 2.27792184e-04 9.98423514e-01 2.81798162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16509989299999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:51.70, Y:2.73, Z:2.82 [[ 9.95166866e-01 -8.07052289e-02 -5.59425991e-02 5.17017952e+01] [ 8.05755758e-02 9.96738012e-01 -4.57301176e-03 2.72753331e+00] [ 5.61291809e-02 4.33026525e-05 9.98423514e-01 2.82307108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22509989299999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:51.76, Y:2.73, Z:2.83 [[ 9.94669019e-01 -8.66254471e-02 -5.59425991e-02 5.17632542e+01] [ 8.65051452e-02 9.96240908e-01 -4.57301176e-03 2.73008011e+00] [ 5.61284449e-02 -2.90689535e-04 9.98423514e-01 2.82627675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.285099892999995 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:51.83, Y:2.73, Z:2.83 [[ 9.93839456e-01 -9.56741448e-02 -5.59427641e-02 5.18259117e+01] [ 9.55682670e-02 9.95412383e-01 -4.57099150e-03 2.73077706e+00] [ 5.61234459e-02 -8.03521314e-04 9.98423514e-01 2.82810106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34509989299999 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:51.89, Y:2.73, Z:2.83 [[ 9.95416405e-01 -7.75664264e-02 -5.59430917e-02 5.18884680e+01] [ 7.74321581e-02 9.96987163e-01 -4.56697946e-03 2.73031855e+00] [ 5.61287885e-02 2.14251959e-04 9.98423514e-01 2.83115373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40509989299999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:51.95, Y:2.74, Z:2.84 [[ 9.95893981e-01 -7.11724117e-02 -5.59434233e-02 5.19479126e+01] [ 7.10282873e-02 9.97463865e-01 -4.56291394e-03 2.73653166e+00] [ 5.61262968e-02 5.70612986e-04 9.98423514e-01 2.83740359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.465099892999994 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:52.01, Y:2.74, Z:2.84 [[ 9.96010921e-01 -6.95168148e-02 -5.59433410e-02 5.20067628e+01] [ 6.93700244e-02 9.97580558e-01 -4.56392176e-03 2.73944397e+00] [ 5.61252587e-02 6.64924981e-04 9.98423514e-01 2.83915253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52509989299999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:52.07, Y:2.74, Z:2.84 [[ 9.95559750e-01 -7.57050528e-02 -5.59421896e-02 5.20652080e+01] [ 7.55672289e-02 9.97130200e-01 -4.57799238e-03 2.74317040e+00] [ 5.61282238e-02 3.30268708e-04 9.98423514e-01 2.84471004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58509989299999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:52.12, Y:2.75, Z:2.85 [[ 9.95136828e-01 -8.10758510e-02 -5.59410375e-02 5.21247198e+01] [ 8.09457141e-02 9.96707933e-01 -4.59202744e-03 2.74663351e+00] [ 5.61291784e-02 4.15083973e-05 9.98423514e-01 2.84764958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.645099892999994 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:52.19, Y:2.75, Z:2.85 [[ 9.94571797e-01 -8.77357385e-02 -5.59408746e-02 5.21852591e+01] [ 8.76160103e-02 9.96143729e-01 -4.59401114e-03 2.74868068e+00] [ 5.61282104e-02 -3.32242329e-04 9.98423514e-01 2.84991079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70509989299999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:52.25, Y:2.75, Z:2.85 [[ 9.93779580e-01 -9.62951992e-02 -5.59408746e-02 5.22471472e+01] [ 9.61890088e-02 9.95352485e-01 -4.59401114e-03 2.75032779e+00] [ 5.61232698e-02 -8.15462819e-04 9.98423514e-01 2.85376239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76509989299999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:52.31, Y:2.75, Z:2.86 [[ 9.92789123e-01 -1.06020464e-01 -5.59412102e-02 5.23095267e+01] [ 1.05929909e-01 9.94363006e-01 -4.58992092e-03 2.75310473e+00] [ 5.61124954e-02 -1.36902376e-03 9.98423514e-01 2.85519616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.825099892999994 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:52.37, Y:2.77, Z:2.86 [[ 9.92859012e-01 -1.05363781e-01 -5.59415454e-02 5.23694870e+01] [ 1.05272416e-01 9.94432848e-01 -4.58583113e-03 2.77458867e+00] [ 5.61132909e-02 -1.33601786e-03 9.98423514e-01 2.85587570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88509989299999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:52.43, Y:2.78, Z:2.86 [[ 9.93297744e-01 -1.01143991e-01 -5.59417936e-02 5.24303569e+01] [ 1.01046109e-01 9.94871188e-01 -4.58280156e-03 2.78331326e+00] [ 5.61184016e-02 -1.10061415e-03 9.98423514e-01 2.85728496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94509989299999 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:52.49, Y:2.79, Z:2.86 [[ 9.93399743e-01 -1.00136933e-01 -5.59423326e-02 5.24924654e+01] [ 1.00037827e-01 9.94973111e-01 -4.57621295e-03 2.79107131e+00] [ 5.61193646e-02 -1.05034063e-03 9.98423514e-01 2.86177951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00509989299999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:52.55, Y:2.80, Z:2.87 [[ 9.93330663e-01 -1.00819610e-01 -5.59428311e-02 5.25534495e+01] [ 1.00721929e-01 9.94904120e-01 -4.57011105e-03 2.79907052e+00] [ 5.61185099e-02 -1.09503843e-03 9.98423514e-01 2.86838160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.065099892999996 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:52.62, Y:2.81, Z:2.87 [[ 9.93281860e-01 -1.01298997e-01 -5.59433601e-02 5.26153146e+01] [ 1.01202440e-01 9.94855386e-01 -4.56362542e-03 2.80522092e+00] [ 5.61178438e-02 -1.12863821e-03 9.98423514e-01 2.87121107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12509989299999 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:52.68, Y:2.81, Z:2.87 [[ 9.92787342e-01 -1.06035831e-01 -5.59436846e-02 5.26777088e+01] [ 1.05947006e-01 9.94361323e-01 -4.55964476e-03 2.80665114e+00] [ 5.61117220e-02 -1.40030827e-03 9.98423514e-01 2.87164574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18509989299999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:52.74, Y:2.81, Z:2.88 [[ 9.92698088e-01 -1.06868022e-01 -5.59440158e-02 5.27409686e+01] [ 1.06780745e-01 9.94272156e-01 -4.55557747e-03 2.81029185e+00] [ 5.61104227e-02 -1.45143063e-03 9.98423514e-01 2.87681294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.245099892999995 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:52.80, Y:2.82, Z:2.88 [[ 9.92606887e-01 -1.07711557e-01 -5.59445176e-02 5.28026096e+01] [ 1.07625965e-01 9.94181047e-01 -4.54940694e-03 2.81541508e+00] [ 5.61090028e-02 -1.50531005e-03 9.98423514e-01 2.87849785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30509989299999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:52.86, Y:2.82, Z:2.88 [[ 9.92537281e-01 -1.08350914e-01 -5.59448454e-02 5.28648679e+01] [ 1.08266563e-01 9.94111508e-01 -4.54537270e-03 2.82031046e+00] [ 5.61079099e-02 -1.54550427e-03 9.98423514e-01 2.88361159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36509989299999 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:52.93, Y:2.82, Z:2.89 [[ 9.92590121e-01 -1.07865603e-01 -5.59451770e-02 5.29270565e+01] [ 1.07780713e-01 9.94164320e-01 -4.54128659e-03 2.82370049e+00] [ 5.61085475e-02 -1.52217485e-03 9.98423514e-01 2.88704559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.425099892999995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:52.99, Y:2.83, Z:2.89 [[ 9.92638595e-01 -1.07418438e-01 -5.59455068e-02 5.29889649e+01] [ 1.07333067e-01 9.94212767e-01 -4.53722092e-03 2.82884497e+00] [ 5.61091183e-02 -1.50098223e-03 9.98423514e-01 2.89275395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48509989299999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:53.05, Y:2.83, Z:2.90 [[ 9.92519656e-01 -1.08511729e-01 -5.59458347e-02 5.30514354e+01] [ 1.08428320e-01 9.94093934e-01 -4.53317378e-03 2.83349305e+00] [ 5.61073174e-02 -1.56684880e-03 9.98423514e-01 2.89539834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54509989299999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:53.11, Y:2.84, Z:2.90 [[ 9.92227168e-01 -1.11154241e-01 -5.59462464e-02 5.31134460e+01] [ 1.11075311e-01 9.93801676e-01 -4.52808687e-03 2.84076844e+00] [ 5.61027895e-02 -1.72135591e-03 9.98423514e-01 2.89698196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.605099892999995 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:53.18, Y:2.85, Z:2.90 [[ 9.92350893e-01 -1.10044020e-01 -5.59465792e-02 5.31757604e+01] [ 1.09963561e-01 9.93925324e-01 -4.52397200e-03 2.84722085e+00] [ 5.61045579e-02 -1.66271741e-03 9.98423514e-01 2.89956183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66509989299999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:53.24, Y:2.85, Z:2.90 [[ 9.92889183e-01 -1.05076223e-01 -5.59469140e-02 5.32368828e+01] [ 1.04988118e-01 9.94463205e-01 -4.51982758e-03 2.85155585e+00] [ 5.61120738e-02 -1.38607331e-03 9.98423514e-01 2.90300954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72509989299999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:53.30, Y:2.86, Z:2.91 [[ 9.93501019e-01 -9.91243714e-02 -5.59471612e-02 5.32983372e+01] [ 9.90270082e-02 9.95074495e-01 -4.51676528e-03 2.86018596e+00] [ 5.61193147e-02 -1.05286908e-03 9.98423514e-01 2.90945609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.785099892999995 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:53.36, Y:2.87, Z:2.91 [[ 9.93421940e-01 -9.99135988e-02 -5.59474899e-02 5.33598918e+01] [ 9.98177151e-02 9.94995507e-01 -4.51269036e-03 2.86512169e+00] [ 5.61183802e-02 -1.10154500e-03 9.98423514e-01 2.91360946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84509989299999 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:53.42, Y:2.87, Z:2.92 [[ 9.93256682e-01 -1.01543123e-01 -5.59478144e-02 5.34221672e+01] [ 1.01450048e-01 9.94830418e-01 -4.50866358e-03 2.86851904e+00] [ 5.61164113e-02 -1.19764822e-03 9.98423514e-01 2.91593257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90509989299999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:53.48, Y:2.87, Z:2.92 [[ 9.93196395e-01 -1.02130925e-01 -5.59481438e-02 5.34835758e+01] [ 1.02039011e-01 9.94770199e-01 -4.50457286e-03 2.87242031e+00] [ 5.61156023e-02 -1.23496776e-03 9.98423514e-01 2.92150636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.965099892999994 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:53.55, Y:2.88, Z:2.92 [[ 9.93173628e-01 -1.02351909e-01 -5.59484708e-02 5.35460453e+01] [ 1.02260575e-01 9.94747466e-01 -4.50050697e-03 2.87722911e+00] [ 5.61152350e-02 -1.25153794e-03 9.98423514e-01 2.92261475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02509989299999 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:53.61, Y:2.88, Z:2.93 [[ 9.92005973e-01 -1.13110038e-01 -5.59488020e-02 5.36077501e+01] [ 1.13035998e-01 9.93580719e-01 -4.49638570e-03 2.87675034e+00] [ 5.60982373e-02 -1.86378722e-03 9.98423514e-01 2.92633543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08509989299999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:53.67, Y:2.88, Z:2.93 [[ 9.91871648e-01 -1.14281836e-01 -5.59490466e-02 5.36702520e+01] [ 1.14209828e-01 9.93446488e-01 -4.49334025e-03 2.87771226e+00] [ 5.60958910e-02 -1.93311418e-03 9.98423514e-01 2.92897370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.145099892999994 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:53.73, Y:2.88, Z:2.93 [[ 9.91998720e-01 -1.13173355e-01 -5.59493686e-02 5.37324047e+01] [ 1.13099813e-01 9.93573489e-01 -4.48932776e-03 2.88352744e+00] [ 5.60978816e-02 -1.87445576e-03 9.98423514e-01 2.93139073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20509989299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:53.79, Y:2.89, Z:2.94 [[ 9.91980721e-01 -1.13330846e-01 -5.59496886e-02 5.37940151e+01] [ 1.13257779e-01 9.93555513e-01 -4.48533541e-03 2.88788619e+00] [ 5.60974484e-02 -1.88737121e-03 9.98423514e-01 2.93844525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26509989299999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:53.86, Y:2.89, Z:2.94 [[ 9.91974544e-01 -1.13384743e-01 -5.59500087e-02 5.38560836e+01] [ 1.13311987e-01 9.93549350e-01 -4.48133970e-03 2.89192943e+00] [ 5.60972103e-02 -1.89443173e-03 9.98423514e-01 2.93965978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.325099892999994 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:53.92, Y:2.90, Z:2.94 [[ 9.91945730e-01 -1.13636352e-01 -5.59504043e-02 5.39182236e+01] [ 1.13564274e-01 9.93520567e-01 -4.47639452e-03 2.89740218e+00] [ 5.60965586e-02 -1.91362660e-03 9.98423514e-01 2.94336247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38509989299999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:53.98, Y:2.90, Z:2.95 [[ 9.91950040e-01 -1.13598569e-01 -5.59507259e-02 5.39804498e+01] [ 1.13526658e-01 9.93524884e-01 -4.47237136e-03 2.90355364e+00] [ 5.60964935e-02 -1.91552999e-03 9.98423514e-01 2.94625292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44509989299999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:54.04, Y:2.91, Z:2.95 [[ 9.92200716e-01 -1.11387694e-01 -5.59510518e-02 5.40408961e+01] [ 1.11312503e-01 9.93775408e-01 -4.46829051e-03 2.91038172e+00] [ 5.61004919e-02 -1.79461060e-03 9.98423514e-01 2.95364273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50509989299999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:54.10, Y:2.91, Z:2.95 [[ 9.92346594e-01 -1.10080383e-01 -5.59512925e-02 5.41037079e+01] [ 1.10003287e-01 9.93921193e-01 -4.46527416e-03 2.91381508e+00] [ 5.61027145e-02 -1.72372651e-03 9.98423514e-01 2.95484943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56509989299999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:54.16, Y:2.92, Z:2.96 [[ 9.92438465e-01 -1.09248751e-01 -5.59517892e-02 5.41647408e+01] [ 1.09170687e-01 9.94013017e-01 -4.45904165e-03 2.91853453e+00] [ 5.61039515e-02 -1.68297081e-03 9.98423514e-01 2.95975939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62509989299999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:54.23, Y:2.92, Z:2.96 [[ 9.92526301e-01 -1.08447742e-01 -5.59520330e-02 5.42265430e+01] [ 1.08368579e-01 9.94100797e-01 -4.45598074e-03 2.92292351e+00] [ 5.61052017e-02 -1.64076425e-03 9.98423514e-01 2.96321590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68509989299999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:54.29, Y:2.93, Z:2.97 [[ 9.92630755e-01 -1.07487299e-01 -5.59523519e-02 5.42882180e+01] [ 1.07406839e-01 9.94205185e-01 -4.45197227e-03 2.92600030e+00] [ 5.61066489e-02 -1.59050067e-03 9.98423514e-01 2.96533813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.745099892999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:54.35, Y:2.93, Z:2.97 [[ 9.93280592e-01 -1.01306287e-01 -5.59526735e-02 5.43504671e+01] [ 1.01216256e-01 9.94854505e-01 -4.44792678e-03 2.92943448e+00] [ 5.61153723e-02 -1.24528080e-03 9.98423514e-01 2.97049520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80509989299999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:54.41, Y:2.93, Z:2.97 [[ 9.93543026e-01 -9.86991285e-02 -5.59529972e-02 5.44125172e+01] [ 9.86051965e-02 9.95116710e-01 -4.44385100e-03 2.93278974e+00] [ 5.61183668e-02 -1.10209911e-03 9.98423514e-01 2.97098680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86509989299999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:54.47, Y:2.94, Z:2.98 [[ 9.93802709e-01 -9.60489551e-02 -5.59533166e-02 5.44745029e+01] [ 9.59510529e-02 9.95376152e-01 -4.43982597e-03 2.93636863e+00] [ 5.61210376e-02 -9.56468567e-04 9.98423515e-01 2.97621526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.925099892999995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:54.53, Y:2.94, Z:2.98 [[ 9.94028325e-01 -9.36850017e-02 -5.59536414e-02 5.45348473e+01] [ 9.35835880e-02 9.95601545e-01 -4.43572958e-03 2.94049483e+00] [ 5.61230931e-02 -8.27101677e-04 9.98423515e-01 2.98211890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98509989299999 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:54.60, Y:2.93, Z:2.98 [[ 9.93625144e-01 -9.78682844e-02 -5.59541989e-02 5.45977718e+01] [ 9.77738903e-02 9.95198801e-01 -4.42868473e-03 2.93443711e+00] [ 5.61189795e-02 -1.07040720e-03 9.98423515e-01 2.98328020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04509989299999 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:54.66, Y:2.93, Z:2.99 [[ 9.93090450e-01 -1.03152557e-01 -5.59545265e-02 5.46590732e+01] [ 1.03066768e-01 9.94664599e-01 -4.42454201e-03 2.93393483e+00] [ 5.61123895e-02 -1.37308182e-03 9.98423515e-01 2.98544604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.105099892999995 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:54.72, Y:2.94, Z:2.99 [[ 9.92839865e-01 -1.05536879e-01 -5.59550752e-02 5.47211853e+01] [ 1.05455262e-01 9.94414236e-01 -4.41759251e-03 2.93509938e+00] [ 5.61087423e-02 -1.51479517e-03 9.98423515e-01 2.98791835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16509989299999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:54.78, Y:2.94, Z:2.99 [[ 9.92734734e-01 -1.06521083e-01 -5.59553949e-02 5.47830083e+01] [ 1.06441255e-01 9.94309197e-01 -4.41353908e-03 2.93872285e+00] [ 5.61070988e-02 -1.57448890e-03 9.98423515e-01 2.99219296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22509989299999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:54.85, Y:2.94, Z:3.00 [[ 9.92626435e-01 -1.07525433e-01 -5.59557173e-02 5.48453137e+01] [ 1.07447429e-01 9.94200989e-01 -4.40944825e-03 2.94200155e+00] [ 5.61053573e-02 -1.63536304e-03 9.98423515e-01 2.99658596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.285099892999995 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:54.91, Y:2.94, Z:3.00 [[ 9.93027285e-01 -1.03758053e-01 -5.59560368e-02 5.49079821e+01] [ 1.03674303e-01 9.94601544e-01 -4.40538961e-03 2.94123042e+00] [ 5.61110553e-02 -1.42653102e-03 9.98423515e-01 3.00167611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34509989299999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:54.97, Y:2.95, Z:3.01 [[ 9.93034792e-01 -1.03686003e-01 -5.59563555e-02 5.49703891e+01] [ 1.03602367e-01 9.94609058e-01 -4.40133827e-03 2.94607834e+00] [ 5.61110552e-02 -1.42652885e-03 9.98423515e-01 3.00519367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40509989299999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:55.03, Y:2.95, Z:3.01 [[ 9.93181117e-01 -1.02274726e-01 -5.59566740e-02 5.50322600e+01] [ 1.02189081e-01 9.94755274e-01 -4.39728475e-03 2.95052864e+00] [ 5.61129277e-02 -1.35086091e-03 9.98423515e-01 3.00823774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.465099892999994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:55.09, Y:2.96, Z:3.01 [[ 9.93324731e-01 -1.00870185e-01 -5.59569931e-02 5.50940349e+01] [ 1.00782543e-01 9.94898778e-01 -4.39322042e-03 2.95513324e+00] [ 5.61146890e-02 -1.27559355e-03 9.98423515e-01 3.01157093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52509989299999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:55.16, Y:2.96, Z:3.01 [[ 9.93479030e-01 -9.93387923e-02 -5.59573097e-02 5.51561308e+01] [ 9.92489511e-02 9.95052954e-01 -4.38918358e-03 2.95978609e+00] [ 5.61165025e-02 -1.19314245e-03 9.98423515e-01 3.01421889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58509989299999 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:55.22, Y:2.97, Z:3.02 [[ 9.94146798e-01 -9.24169292e-02 -5.59576252e-02 5.52181240e+01] [ 9.23163546e-02 9.95720072e-01 -4.38515780e-03 2.96575861e+00] [ 5.61233934e-02 -8.06313390e-04 9.98423515e-01 3.01859422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.645099892999994 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:55.28, Y:2.97, Z:3.02 [[ 9.94113888e-01 -9.27700711e-02 -5.59579421e-02 5.52793056e+01] [ 9.26702833e-02 9.95687212e-01 -4.38111022e-03 2.97079817e+00] [ 5.61230433e-02 -8.30315832e-04 9.98423515e-01 3.02255361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70509989299999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:55.34, Y:2.98, Z:3.03 [[ 9.93915695e-01 -9.48698190e-02 -5.59581030e-02 5.53390221e+01] [ 9.47734706e-02 9.95489233e-01 -4.37905434e-03 2.97511933e+00] [ 5.61211291e-02 -9.50932788e-04 9.98423515e-01 3.02595290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76509989299999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:55.40, Y:2.98, Z:3.03 [[ 9.93610193e-01 -9.80176854e-02 -5.59581822e-02 5.53996231e+01] [ 9.79263787e-02 9.95184032e-01 -4.37804280e-03 2.97926194e+00] [ 5.61178149e-02 -1.12971418e-03 9.98423515e-01 3.03047205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.825099892999994 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:55.46, Y:2.98, Z:3.03 [[ 9.93435721e-01 -9.97704000e-02 -5.59583383e-02 5.54611618e+01] [ 9.96819824e-02 9.95009725e-01 -4.37604568e-03 2.98408407e+00] [ 5.61156907e-02 -1.23071799e-03 9.98423515e-01 3.03389967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88509989299999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:55.52, Y:2.99, Z:3.04 [[ 9.93264055e-01 -1.01464998e-01 -5.59586516e-02 5.55225005e+01] [ 1.01379491e-01 9.94838220e-01 -4.37203633e-03 2.98917927e+00] [ 5.61134140e-02 -1.33047310e-03 9.98423515e-01 3.03860619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94509989299999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:55.58, Y:2.99, Z:3.04 [[ 9.92906779e-01 -1.04903397e-01 -5.59589664e-02 5.55844495e+01] [ 1.04823568e-01 9.94481242e-01 -4.36800321e-03 2.99450452e+00] [ 5.61083608e-02 -1.52879851e-03 9.98423515e-01 3.04023650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00509989299999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:55.64, Y:3.04, Z:3.05 [[ 9.94010503e-01 -9.38705418e-02 -5.59592825e-02 5.56427822e+01] [ 9.37734615e-02 9.95583996e-01 -4.36394995e-03 3.04260986e+00] [ 5.61218124e-02 -9.09683542e-04 9.98423515e-01 3.04674593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06509989299999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:55.70, Y:3.05, Z:3.05 [[ 9.94025172e-01 -9.37148864e-02 -5.59595973e-02 5.57042496e+01] [ 9.36177871e-02 9.95598665e-01 -4.35990953e-03 3.05094656e+00] [ 5.61218888e-02 -9.04953842e-04 9.98423515e-01 3.05045727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12509989299999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:55.77, Y:3.06, Z:3.05 [[ 9.94020622e-01 -9.37629579e-02 -5.59599060e-02 5.57656869e+01] [ 9.36661579e-02 9.95594132e-01 -4.35594343e-03 3.05906741e+00] [ 5.61217802e-02 -9.11651792e-04 9.98423515e-01 3.05437006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18509989299999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:55.83, Y:3.07, Z:3.06 [[ 9.94148537e-01 -9.23966432e-02 -5.59602251e-02 5.58277034e+01] [ 9.22979115e-02 9.95721928e-01 -4.35184084e-03 3.06659556e+00] [ 5.61229186e-02 -8.38635696e-04 9.98423515e-01 3.06042462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24509989299999 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:55.89, Y:3.07, Z:3.06 [[ 9.94255379e-01 -9.12395656e-02 -5.59605423e-02 5.58894730e+01] [ 9.11392326e-02 9.95828669e-01 -4.34775710e-03 3.07265281e+00] [ 5.61237998e-02 -7.77420005e-04 9.98423515e-01 3.06171295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30509989299999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:55.95, Y:3.08, Z:3.06 [[ 9.94343252e-01 -9.02766852e-02 -5.59608557e-02 5.59515875e+01] [ 9.01750558e-02 9.95916458e-01 -4.34372044e-03 3.07921644e+00] [ 5.61244738e-02 -7.27124172e-04 9.98423515e-01 3.06255219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36509989299999 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:56.01, Y:3.08, Z:3.07 [[ 9.94284071e-01 -9.09259821e-02 -5.59611645e-02 5.60135232e+01] [ 9.08256041e-02 9.95857357e-01 -4.33973854e-03 3.08351501e+00] [ 5.61239323e-02 -7.67773668e-04 9.98423515e-01 3.06598702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.425099892999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.08, Y:3.09, Z:3.07 [[ 9.94289896e-01 -9.08620702e-02 -5.59614814e-02 5.60750816e+01] [ 9.07618213e-02 9.95863190e-01 -4.33564729e-03 3.08695253e+00] [ 5.61239253e-02 -7.68275688e-04 9.98423515e-01 3.07205548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.14, Y:3.09, Z:3.08 [[ 9.95097759e-01 -8.15397317e-02 -5.59617965e-02 5.61364602e+01] [ 8.14249714e-02 9.96670061e-01 -4.33157652e-03 3.09344995e+00] [ 5.61286428e-02 -2.46345591e-04 9.98423515e-01 3.07990554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54509989299999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:56.20, Y:3.10, Z:3.08 [[ 9.95806487e-01 -7.23718415e-02 -5.59621091e-02 5.61973056e+01] [ 7.22428331e-02 9.97377684e-01 -4.32753422e-03 3.09712537e+00] [ 5.61285504e-02 2.66525342e-04 9.98423515e-01 3.07823015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.605099892999995 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:56.26, Y:3.10, Z:3.08 [[ 9.96178123e-01 -6.70623455e-02 -5.59623947e-02 5.62574392e+01] [ 6.69251707e-02 9.97748629e-01 -4.32383841e-03 3.10061266e+00] [ 5.61263693e-02 5.62020420e-04 9.98423515e-01 3.08024934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66509989299999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:56.32, Y:3.10, Z:3.08 [[ 9.96318991e-01 -6.49359548e-02 -5.59623947e-02 5.63174727e+01] [ 6.47954282e-02 9.97889201e-01 -4.32383841e-03 3.10111954e+00] [ 5.61250418e-02 6.81815001e-04 9.98423515e-01 3.08404287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72509989299999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:56.38, Y:3.10, Z:3.09 [[ 9.96077028e-01 -6.85476603e-02 -5.59622372e-02 5.63750933e+01] [ 6.84127130e-02 9.97647727e-01 -4.32587521e-03 3.10119126e+00] [ 5.61271274e-02 4.80376451e-04 9.98423515e-01 3.08930564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.785099892999995 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:56.43, Y:3.10, Z:3.09 [[ 9.94755428e-01 -8.56148915e-02 -5.59618498e-02 5.64344164e+01] [ 8.55066113e-02 9.96328190e-01 -4.33088172e-03 3.09836842e+00] [ 5.61271565e-02 -4.76940040e-04 9.98423515e-01 3.09322366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.50, Y:3.10, Z:3.10 [[ 9.92894013e-01 -1.05023212e-01 -5.59607349e-02 5.64961926e+01] [ 1.04944856e-01 9.94468550e-01 -4.34523898e-03 3.09619342e+00] [ 5.61075419e-02 -1.55842948e-03 9.98423515e-01 3.09895821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.56, Y:3.10, Z:3.10 [[ 9.91409617e-01 -1.18217220e-01 -5.59612438e-02 5.65582082e+01] [ 1.18160178e-01 9.92985070e-01 -4.33867561e-03 3.09629164e+00] [ 5.60815857e-02 -2.31098580e-03 9.98423515e-01 3.10237646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.965099892999994 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:56.62, Y:3.10, Z:3.10 [[ 9.90221584e-01 -1.27787006e-01 -5.59615591e-02 5.66202438e+01] [ 1.27745412e-01 9.91797520e-01 -4.33460531e-03 3.09602885e+00] [ 5.60564418e-02 -2.85661268e-03 9.98423515e-01 3.10257075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02509989299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:56.68, Y:3.11, Z:3.11 [[ 9.91562371e-01 -1.16928751e-01 -5.59618754e-02 5.66829620e+01] [ 1.16870121e-01 9.93137766e-01 -4.33051753e-03 3.10685145e+00] [ 5.60842139e-02 -2.24629292e-03 9.98423515e-01 3.10674042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08509989299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:56.75, Y:3.11, Z:3.11 [[ 9.91710080e-01 -1.15669069e-01 -5.59623453e-02 5.67456307e+01] [ 1.15608781e-01 9.93285412e-01 -4.32443622e-03 3.11327570e+00] [ 5.60867847e-02 -2.18115155e-03 9.98423515e-01 3.11015450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.145099892999994 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:56.81, Y:3.12, Z:3.11 [[ 9.91927924e-01 -1.13785573e-01 -5.59628112e-02 5.68076138e+01] [ 1.13722634e-01 9.93503153e-01 -4.31839911e-03 3.12140172e+00] [ 5.60906009e-02 -2.08069761e-03 9.98423515e-01 3.10974443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20509989299999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:56.87, Y:3.13, Z:3.11 [[ 9.92060568e-01 -1.12623085e-01 -5.59631211e-02 5.68702091e+01] [ 1.12558526e-01 9.93635730e-01 -4.31437888e-03 3.12925956e+00] [ 5.60928554e-02 -2.01900126e-03 9.98423515e-01 3.11360502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26509989299999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:56.93, Y:3.14, Z:3.12 [[ 9.92101555e-01 -1.12261216e-01 -5.59635870e-02 5.69318363e+01] [ 1.12196424e-01 9.93676708e-01 -4.30832762e-03 3.13883222e+00] [ 5.60933710e-02 -2.00461578e-03 9.98423515e-01 3.11544553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.325099892999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.99, Y:3.15, Z:3.12 [[ 9.91816005e-01 -1.14756503e-01 -5.59638948e-02 5.69930434e+01] [ 1.14695898e-01 9.93391325e-01 -4.30432504e-03 3.15076712e+00] [ 5.60879969e-02 -2.14973074e-03 9.98423515e-01 3.12415129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38509989299999 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:57.05, Y:3.16, Z:3.12 [[ 9.92527118e-01 -1.08433977e-01 -5.59642062e-02 5.70546190e+01] [ 1.08363563e-01 9.94102030e-01 -4.30027269e-03 3.16128956e+00] [ 5.61004267e-02 -1.79634355e-03 9.98423515e-01 3.12301212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44509989299999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:57.12, Y:3.17, Z:3.13 [[ 9.92824118e-01 -1.05679913e-01 -5.59645162e-02 5.71160792e+01] [ 1.05605357e-01 9.94398839e-01 -4.29623533e-03 3.16727945e+00] [ 5.61050757e-02 -1.64474668e-03 9.98423515e-01 3.12832355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50509989299999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:57.18, Y:3.17, Z:3.13 [[ 9.92794186e-01 -1.05960570e-01 -5.59648237e-02 5.71775634e+01] [ 1.05886686e-01 9.94368939e-01 -4.29222553e-03 3.17210827e+00] [ 5.61044890e-02 -1.66463314e-03 9.98423515e-01 3.13432951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56509989299999 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:57.24, Y:3.18, Z:3.14 [[ 9.92692586e-01 -1.06908064e-01 -5.59651330e-02 5.72400058e+01] [ 1.06835910e-01 9.94267419e-01 -4.28818857e-03 3.17598194e+00] [ 5.61027503e-02 -1.72223293e-03 9.98423515e-01 3.13584334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62509989299999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:57.30, Y:3.18, Z:3.14 [[ 9.92937666e-01 -1.04607174e-01 -5.59654478e-02 5.73006118e+01] [ 1.04531602e-01 9.94512338e-01 -4.28407585e-03 3.18044727e+00] [ 5.61064734e-02 -1.59633764e-03 9.98423515e-01 3.14386574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68509989299999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:57.36, Y:3.19, Z:3.15 [[ 9.95478538e-01 -7.67482069e-02 -5.59660085e-02 5.73627953e+01] [ 7.66289615e-02 9.97050506e-01 -4.27673858e-03 3.18608520e+00] [ 5.61291691e-02 -3.12156452e-05 9.98423515e-01 3.14777077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74509989299999 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:57.42, Y:3.19, Z:3.15 [[ 9.95751258e-01 -7.31245733e-02 -5.59663149e-02 5.74234511e+01] [ 7.29998330e-02 9.97322800e-01 -4.27272487e-03 3.19065221e+00] [ 5.61289231e-02 1.69039524e-04 9.98423515e-01 3.15079502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80509989299999 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:57.48, Y:3.19, Z:3.15 [[ 9.95607201e-01 -7.50603476e-02 -5.59664676e-02 5.74838126e+01] [ 7.49387753e-02 9.97178991e-01 -4.27072474e-03 3.19036684e+00] [ 5.61291478e-02 5.79057683e-05 9.98423515e-01 3.15246542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86509989299999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:57.54, Y:3.18, Z:3.16 [[ 9.93330548e-01 -1.00807626e-01 -5.59664676e-02 5.75447118e+01] [ 1.00726782e-01 9.94904958e-01 -4.27072474e-03 3.18054725e+00] [ 5.61118377e-02 -1.39508085e-03 9.98423515e-01 3.15596832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92509989299999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:57.61, Y:3.18, Z:3.16 [[ 9.92794813e-01 -1.05953826e-01 -5.59664676e-02 5.76062909e+01] [ 1.05881142e-01 9.94369622e-01 -4.27072474e-03 3.18255126e+00] [ 5.61038548e-02 -1.68584011e-03 9.98423515e-01 3.15733821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98509989299999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:57.67, Y:3.18, Z:3.16 [[ 9.92099690e-01 -1.12276147e-01 -5.59667005e-02 5.76683405e+01] [ 1.12213669e-01 9.93674937e-01 -4.26766988e-03 3.18348627e+00] [ 5.60918651e-02 -2.04627482e-03 9.98423515e-01 3.16161664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04509989299999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:57.73, Y:3.19, Z:3.16 [[ 9.91807779e-01 -1.14826056e-01 -5.59670076e-02 5.77307166e+01] [ 1.14767854e-01 9.93383189e-01 -4.26363959e-03 3.18610049e+00] [ 5.60862614e-02 -2.19450247e-03 9.98423515e-01 3.16498222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.105099892999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:57.79, Y:3.19, Z:3.16 [[ 9.92486095e-01 -1.08807216e-01 -5.59673252e-02 5.77924155e+01] [ 1.08739693e-01 9.94061133e-01 -4.25946646e-03 3.19085581e+00] [ 5.60984033e-02 -1.85840854e-03 9.98423515e-01 3.16279044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.85, Y:3.20, Z:3.17 [[ 9.93312977e-01 -1.00979842e-01 -5.59678622e-02 5.78538485e+01] [ 1.00900303e-01 9.94887454e-01 -4.25239790e-03 3.19806686e+00] [ 5.61111304e-02 -1.42321226e-03 9.98423515e-01 3.16519841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22509989299999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:57.91, Y:3.21, Z:3.17 [[ 9.94335895e-01 -9.03531262e-02 -5.59682087e-02 5.79149231e+01] [ 9.02570136e-02 9.95909447e-01 -4.24783330e-03 3.20783304e+00] [ 5.61230728e-02 -8.27750244e-04 9.98423515e-01 3.17247710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.285099892999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.98, Y:3.22, Z:3.18 [[ 9.95410849e-01 -7.76194083e-02 -5.59684647e-02 5.79751685e+01] [ 7.75033538e-02 9.96983056e-01 -4.24445774e-03 3.22043937e+00] [ 5.61290632e-02 -1.12764434e-04 9.98423515e-01 3.17593004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34509989299999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:58.03, Y:3.23, Z:3.19 [[ 9.95691313e-01 -7.39345063e-02 -5.59687303e-02 5.80334942e+01] [ 7.38128303e-02 9.97263095e-01 -4.24095222e-03 3.22906040e+00] [ 5.61291019e-02 9.14688992e-05 9.98423515e-01 3.18597712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40509989299999 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:58.09, Y:3.24, Z:3.19 [[ 9.95706288e-01 -7.37326152e-02 -5.59686416e-02 5.80936108e+01] [ 7.36105547e-02 9.97278041e-01 -4.24212228e-03 3.23728659e+00] [ 5.61290800e-02 1.04025071e-04 9.98423515e-01 3.18536609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.465099892999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.15, Y:3.25, Z:3.19 [[ 9.95695778e-01 -7.38742099e-02 -5.59689109e-02 5.81534595e+01] [ 7.37525728e-02 9.97267563e-01 -4.23856651e-03 3.24518612e+00] [ 5.61291001e-02 9.24716035e-05 9.98423515e-01 3.19084122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52509989299999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:58.21, Y:3.25, Z:3.19 [[ 9.95635822e-01 -7.46779136e-02 -5.59689109e-02 5.82138043e+01] [ 7.45575452e-02 9.97207705e-01 -4.23856651e-03 3.25277635e+00] [ 5.61291565e-02 4.71640457e-05 9.98423515e-01 3.19455160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58509989299999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:58.28, Y:3.24, Z:3.19 [[ 9.92520152e-01 -1.08495257e-01 -5.59689864e-02 5.82753490e+01] [ 1.08428473e-01 9.94095221e-01 -4.23756937e-03 3.24359615e+00] [ 5.60982581e-02 -1.86275874e-03 9.98423515e-01 3.19406800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.645099892999994 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:58.34, Y:3.25, Z:3.20 [[ 9.92145686e-01 -1.11867821e-01 -5.59689864e-02 5.83378089e+01] [ 1.11806390e-01 9.93720974e-01 -4.23756937e-03 3.24745791e+00] [ 5.60916033e-02 -2.05340414e-03 9.98423515e-01 3.19570406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70509989299999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:58.40, Y:3.25, Z:3.20 [[ 9.92070288e-01 -1.12534364e-01 -5.59692909e-02 5.84002743e+01] [ 1.12474218e-01 9.93645625e-01 -4.23354275e-03 3.25171117e+00] [ 5.60900601e-02 -2.09513025e-03 9.98423515e-01 3.19775611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76509989299999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:58.46, Y:3.26, Z:3.20 [[ 9.92579935e-01 -1.07946640e-01 -5.59695915e-02 5.84613849e+01] [ 1.07879436e-01 9.94154987e-01 -4.22956521e-03 3.25780538e+00] [ 5.60990159e-02 -1.83978642e-03 9.98423515e-01 3.20449211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.825099892999994 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:58.52, Y:3.27, Z:3.21 [[ 9.93601895e-01 -9.80951271e-02 -5.59698218e-02 5.85229427e+01] [ 9.80124737e-02 9.95176211e-01 -4.22651605e-03 3.26567435e+00] [ 5.61144358e-02 -1.28626633e-03 9.98423515e-01 3.21257902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88509989299999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:58.58, Y:3.28, Z:3.22 [[ 9.95034092e-01 -8.23073561e-02 -5.59701327e-02 5.85842896e+01] [ 8.21999495e-02 9.96606913e-01 -4.22239498e-03 3.27504293e+00] [ 5.61277553e-02 -3.99315125e-04 9.98423515e-01 3.21561456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94509989299999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:58.65, Y:3.28, Z:3.21 [[ 9.94845859e-01 -8.45519195e-02 -5.59704377e-02 5.86455536e+01] [ 8.44482891e-02 9.96418934e-01 -4.21834821e-03 3.27780148e+00] [ 5.61266733e-02 -5.30001448e-04 9.98423515e-01 3.21332946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00509989299999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:58.71, Y:3.28, Z:3.22 [[ 9.94783394e-01 -8.52836052e-02 -5.59705868e-02 5.87069175e+01] [ 8.51812431e-02 9.96356552e-01 -4.21636869e-03 3.28321160e+00] [ 5.61262480e-02 -5.73270610e-04 9.98423515e-01 3.21717402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06509989299999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:58.77, Y:3.29, Z:3.22 [[ 9.94750886e-01 -8.56617412e-02 -5.59708867e-02 5.87687095e+01] [ 8.55602014e-02 9.96324098e-01 -4.21238400e-03 3.28872497e+00] [ 5.61259833e-02 -5.98607613e-04 9.98423515e-01 3.22174528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12509989299999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:58.83, Y:3.29, Z:3.23 [[ 9.94648446e-01 -8.68429312e-02 -5.59711881e-02 5.88299122e+01] [ 8.67434851e-02 9.96221791e-01 -4.20837543e-03 3.29377434e+00] [ 5.61251849e-02 -6.69281839e-04 9.98423515e-01 3.22808808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.89, Y:3.30, Z:3.23 [[ 9.93874925e-01 -9.52881653e-02 -5.59714181e-02 5.88920752e+01] [ 9.52022589e-02 9.95449067e-01 -4.20531346e-03 3.29811031e+00] [ 5.61174126e-02 -1.14904985e-03 9.98423515e-01 3.23304123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24509989299999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:58.95, Y:3.30, Z:3.23 [[ 9.93298203e-01 -1.01122929e-01 -5.59717230e-02 5.89533404e+01] [ 1.01046497e-01 9.94872834e-01 -4.20125151e-03 3.29737204e+00] [ 5.61095895e-02 -1.48265095e-03 9.98423515e-01 3.23121528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.02, Y:3.30, Z:3.24 [[ 9.93100683e-01 -1.03044523e-01 -5.59719486e-02 5.90153556e+01] [ 1.02971307e-01 9.94675467e-01 -4.19824356e-03 3.29910738e+00] [ 5.61065302e-02 -1.59422615e-03 9.98423515e-01 3.23684351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36509989299999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:59.08, Y:3.30, Z:3.24 [[ 9.92932127e-01 -1.04656098e-01 -5.59722528e-02 5.90773579e+01] [ 1.04585667e-01 9.94507037e-01 -4.19418502e-03 3.30478094e+00] [ 5.61037463e-02 -1.68935432e-03 9.98423515e-01 3.23735746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42509989299999 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:59.14, Y:3.31, Z:3.25 [[ 9.94742829e-01 -8.57541751e-02 -5.59725520e-02 5.91386879e+01] [ 8.56540303e-02 9.96316129e-01 -4.19018727e-03 3.31387237e+00] [ 5.61256824e-02 -6.26115931e-04 9.98423515e-01 3.24555841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.20, Y:3.32, Z:3.25 [[ 9.95348190e-01 -7.84156977e-02 -5.59728502e-02 5.92003014e+01] [ 7.83041768e-02 9.96920725e-01 -4.18620036e-03 3.31881780e+00] [ 5.61287582e-02 -2.16181014e-04 9.98423515e-01 3.25269787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54509989299999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:59.26, Y:3.32, Z:3.25 [[ 9.96723121e-01 -5.83954351e-02 -5.59731514e-02 5.92609519e+01] [ 5.82525583e-02 9.98293118e-01 -4.18217006e-03 3.32294592e+00] [ 5.61218314e-02 9.07886331e-04 9.98423515e-01 3.25273370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60509989299999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:59.32, Y:3.33, Z:3.26 [[ 9.97056241e-01 -5.24009413e-02 -5.59731514e-02 5.93191440e+01] [ 5.22486265e-02 9.98625350e-01 -4.18217006e-03 3.32517209e+00] [ 5.61153575e-02 1.24533848e-03 9.98423515e-01 3.25891952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66509989299999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:59.38, Y:3.30, Z:3.25 [[ 9.94200189e-01 -9.18319474e-02 -5.59721158e-02 5.93805988e+01] [ 9.17410935e-02 9.95774053e-01 -4.19598320e-03 3.29617341e+00] [ 5.61209060e-02 -9.63295822e-04 9.98423515e-01 3.25194683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72509989299999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:59.44, Y:3.30, Z:3.26 [[ 9.93704531e-01 -9.70487536e-02 -5.59718179e-02 5.94418875e+01] [ 9.69659378e-02 9.95278839e-01 -4.19995422e-03 3.29550848e+00] [ 5.61151662e-02 -1.25384627e-03 9.98423515e-01 3.25875809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.785099892999995 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:59.50, Y:3.30, Z:3.26 [[ 9.93527499e-01 -9.88445625e-02 -5.59719681e-02 5.95035635e+01] [ 9.87647049e-02 9.95101960e-01 -4.19795137e-03 3.29616096e+00] [ 5.61127598e-02 -1.35727479e-03 9.98423515e-01 3.26429915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.57, Y:3.30, Z:3.27 [[ 9.93388859e-01 -1.00228138e-01 -5.59722710e-02 5.95653766e+01] [ 1.00150701e-01 9.94963441e-01 -4.19390833e-03 3.29638374e+00] [ 5.61107110e-02 -1.43948037e-03 9.98423515e-01 3.27208902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90509989299999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:59.63, Y:3.30, Z:3.27 [[ 9.93382412e-01 -1.00291840e-01 -5.59725796e-02 5.96266604e+01] [ 1.00214736e-01 9.94957010e-01 -4.18978577e-03 3.29847636e+00] [ 5.61105118e-02 -1.44721778e-03 9.98423515e-01 3.27236817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.965099892999994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:59.69, Y:3.30, Z:3.28 [[ 9.93332349e-01 -1.00786354e-01 -5.59728074e-02 5.96889638e+01] [ 1.00710205e-01 9.94906994e-01 -4.18674032e-03 3.29989132e+00] [ 5.61097038e-02 -1.47820834e-03 9.98423515e-01 3.27532249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02509989299999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:59.75, Y:3.30, Z:3.28 [[ 9.93393356e-01 -1.00183090e-01 -5.59731118e-02 5.97509529e+01] [ 1.00106215e-01 9.94967965e-01 -4.18266699e-03 3.30245230e+00] [ 5.61104856e-02 -1.44822274e-03 9.98423515e-01 3.27947303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08509989299999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:59.81, Y:3.30, Z:3.28 [[ 9.94118069e-01 -9.27159204e-02 -5.59734152e-02 5.98128972e+01] [ 9.26274442e-02 9.95692069e-01 -4.17860275e-03 3.29921284e+00] [ 5.61197086e-02 -1.03064989e-03 9.98423515e-01 3.27894072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.145099892999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:59.87, Y:3.30, Z:3.29 [[ 9.94444120e-01 -8.91507324e-02 -5.59735650e-02 5.98735877e+01] [ 8.90567258e-02 9.96017799e-01 -4.17659605e-03 3.30375149e+00] [ 5.61230136e-02 -8.31431038e-04 9.98423515e-01 3.28500419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20509989299999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:59.93, Y:3.31, Z:3.29 [[ 9.94620010e-01 -8.71663809e-02 -5.59737175e-02 5.99336906e+01] [ 8.70693497e-02 9.96193506e-01 -4.17455019e-03 3.30805980e+00] [ 5.61245343e-02 -7.21504035e-04 9.98423515e-01 3.28759105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26509989299999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:59.99, Y:3.31, Z:3.29 [[ 9.94920903e-01 -8.36620540e-02 -5.59737175e-02 5.99926718e+01] [ 8.35594804e-02 9.96494047e-01 -4.17455019e-03 3.31161968e+00] [ 5.61267278e-02 -5.23787510e-04 9.98423515e-01 3.29170966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.325099892999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.05, Y:3.32, Z:3.30 [[ 9.95027260e-01 -8.23875782e-02 -5.59735628e-02 6.00509545e+01] [ 8.22828730e-02 9.96600263e-01 -4.17662371e-03 3.31579765e+00] [ 5.61273693e-02 -4.49811115e-04 9.98423515e-01 3.29795389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38509989299999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:60.11, Y:3.32, Z:3.30 [[ 9.95321466e-01 -7.87538236e-02 -5.59733348e-02 6.01090933e+01] [ 7.86432038e-02 9.96894065e-01 -4.17967654e-03 3.32000270e+00] [ 5.61286508e-02 -2.41800602e-04 9.98423515e-01 3.30086930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.17, Y:3.32, Z:3.31 [[ 9.95593468e-01 -7.52379622e-02 -5.59722718e-02 6.01675369e+01] [ 7.51209912e-02 9.97165607e-01 -4.19386495e-03 3.32302588e+00] [ 5.61291622e-02 -2.93079802e-05 9.98423515e-01 3.30639860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50509989299999 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:60.23, Y:3.33, Z:3.30 [[ 9.95915588e-01 -7.08474844e-02 -5.59712021e-02 6.02258069e+01] [ 7.07227830e-02 9.97487133e-01 -4.20809240e-03 3.32517945e+00] [ 5.61286866e-02 2.32465634e-04 9.98423516e-01 3.30439122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.28, Y:3.33, Z:3.31 [[ 9.96049309e-01 -6.89430132e-02 -5.59699554e-02 6.02838953e+01] [ 6.88143789e-02 9.97620536e-01 -4.22461000e-03 3.32840764e+00] [ 5.61280342e-02 3.56382156e-04 9.98423516e-01 3.30939845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62509989299999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:60.34, Y:3.33, Z:3.31 [[ 9.96085619e-01 -6.84174380e-02 -5.59686940e-02 6.03415350e+01] [ 6.82870395e-02 9.97656700e-01 -4.24125487e-03 3.33205441e+00] [ 5.61277184e-02 4.02716561e-04 9.98423516e-01 3.31035376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.40, Y:3.34, Z:3.32 [[ 9.96081239e-01 -6.84821903e-02 -5.59674441e-02 6.03989387e+01] [ 6.83509708e-02 9.97652252e-01 -4.25768543e-03 3.33595892e+00] [ 5.61276223e-02 4.15571446e-04 9.98423516e-01 3.31547759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74509989299999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:60.46, Y:3.34, Z:3.32 [[ 9.96074439e-01 -6.85820573e-02 -5.59661887e-02 6.04567232e+01] [ 6.84500716e-02 9.97645388e-01 -4.27412406e-03 3.33975058e+00] [ 5.61275382e-02 4.26456102e-04 9.98423516e-01 3.31664920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80509989299999 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:60.51, Y:3.34, Z:3.32 [[ 9.96062070e-01 -6.87625029e-02 -5.59649138e-02 6.05141081e+01] [ 6.86298676e-02 9.97632964e-01 -4.29075287e-03 3.34336164e+00] [ 5.61274857e-02 4.32991560e-04 9.98423516e-01 3.31910161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86509989299999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:60.57, Y:3.35, Z:3.32 [[ 9.95976099e-01 -6.99977235e-02 -5.59636454e-02 6.05721542e+01] [ 6.98661105e-02 9.97547079e-01 -4.30723268e-03 3.34721191e+00] [ 5.61278675e-02 3.79938561e-04 9.98423516e-01 3.32352581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92509989299999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:60.63, Y:3.35, Z:3.33 [[ 9.95893579e-01 -7.11631337e-02 -5.59623822e-02 6.06297304e+01] [ 7.10324403e-02 9.97464635e-01 -4.32358280e-03 3.35054195e+00] [ 5.61281769e-02 3.30683772e-04 9.98423517e-01 3.32582135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98509989299999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:60.69, Y:3.35, Z:3.33 [[ 9.95585603e-01 -7.53502458e-02 -5.59611324e-02 6.06878951e+01] [ 7.52252540e-02 9.97157123e-01 -4.33969985e-03 3.35266093e+00] [ 5.61290392e-02 1.10852288e-04 9.98423517e-01 3.32928581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04509989299999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:60.75, Y:3.36, Z:3.33 [[ 9.95333526e-01 -7.86108375e-02 -5.59598755e-02 6.07459286e+01] [ 7.84900860e-02 9.96905378e-01 -4.35584683e-03 3.35561741e+00] [ 5.61291177e-02 -5.67750612e-05 9.98423517e-01 3.33203391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10509989299999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:60.81, Y:3.35, Z:3.33 [[ 9.91302457e-01 -1.19113709e-01 -5.59585752e-02 6.08061597e+01] [ 1.19056186e-01 9.92877891e-01 -4.37248868e-03 3.34521813e+00] [ 5.60808555e-02 -2.32775576e-03 9.98423517e-01 3.33376751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16509989299999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:60.87, Y:3.35, Z:3.34 [[ 9.91059951e-01 -1.21115015e-01 -5.59582514e-02 6.08678697e+01] [ 1.21060440e-01 9.92635490e-01 -4.37662893e-03 3.35089416e+00] [ 5.60762217e-02 -2.43682887e-03 9.98423517e-01 3.33839616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22509989299999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:60.93, Y:3.36, Z:3.34 [[ 9.90946547e-01 -1.22039250e-01 -5.59585748e-02 6.09303003e+01] [ 1.21986377e-01 9.92522143e-01 -4.37248996e-03 3.35608136e+00] [ 5.60737400e-02 -2.49327998e-03 9.98423517e-01 3.34067230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.285099892999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.99, Y:3.36, Z:3.35 [[ 9.90614954e-01 -1.24702103e-01 -5.59588978e-02 6.09922130e+01] [ 1.24653699e-01 9.92190694e-01 -4.36835230e-03 3.36174968e+00] [ 5.60666403e-02 -2.64812847e-03 9.98423517e-01 3.34655830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34509989299999 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:61.05, Y:3.37, Z:3.35 [[ 9.90496663e-01 -1.25638076e-01 -5.59592270e-02 6.10529685e+01] [ 1.25591398e-01 9.92072455e-01 -4.36413128e-03 3.36700659e+00] [ 5.60639087e-02 -2.70534010e-03 9.98423517e-01 3.34620189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40509989299999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:61.11, Y:3.37, Z:3.35 [[ 9.90250052e-01 -1.27567131e-01 -5.59594702e-02 6.11143463e+01] [ 1.27523699e-01 9.91825936e-01 -4.36101052e-03 3.37367530e+00] [ 5.60583755e-02 -2.81766771e-03 9.98423517e-01 3.35057148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.465099892999994 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:61.17, Y:3.38, Z:3.35 [[ 9.90154632e-01 -1.28305519e-01 -5.59597924e-02 6.11746980e+01] [ 1.28263495e-01 9.91730555e-01 -4.35687146e-03 3.38058296e+00] [ 5.60560467e-02 -2.86362211e-03 9.98423517e-01 3.35295793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52509989299999 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:61.24, Y:3.39, Z:3.36 [[ 9.90188097e-01 -1.28046897e-01 -5.59600305e-02 6.12370334e+01] [ 1.28004634e-01 9.91764013e-01 -4.35381141e-03 3.38656579e+00] [ 5.60566365e-02 -2.85205097e-03 9.98423517e-01 3.35552023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58509989299999 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:61.30, Y:3.39, Z:3.36 [[ 9.90231022e-01 -1.27714382e-01 -5.59603482e-02 6.12990902e+01] [ 1.27671820e-01 9.91806930e-01 -4.34972419e-03 3.39264955e+00] [ 5.60573835e-02 -2.83732770e-03 9.98423517e-01 3.35934594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.645099892999994 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:61.36, Y:3.40, Z:3.36 [[ 9.90422368e-01 -1.26221774e-01 -5.59606709e-02 6.13605166e+01] [ 1.26177071e-01 9.91998217e-01 -4.34556882e-03 3.40114801e+00] [ 5.60613912e-02 -2.75700501e-03 9.98423517e-01 3.36340891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70509989299999 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:61.42, Y:3.41, Z:3.37 [[ 9.90568024e-01 -1.25073404e-01 -5.59609955e-02 6.14212776e+01] [ 1.25027110e-01 9.92143827e-01 -4.34138426e-03 3.40813963e+00] [ 5.60643480e-02 -2.69620512e-03 9.98423517e-01 3.36662845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.48, Y:3.42, Z:3.37 [[ 9.90725090e-01 -1.23823000e-01 -5.59612350e-02 6.14827369e+01] [ 1.23774892e-01 9.92300839e-01 -4.33829540e-03 3.41522822e+00] [ 5.60675612e-02 -2.62853770e-03 9.98423517e-01 3.37318769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.825099892999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.54, Y:3.45, Z:3.38 [[ 9.92651737e-01 -1.07288554e-01 -5.59615542e-02 6.15416045e+01] [ 1.07214413e-01 9.94226475e-01 -4.33417365e-03 3.44526817e+00] [ 5.61034660e-02 -1.69756020e-03 9.98423517e-01 3.37553099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88509989299999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:61.60, Y:3.45, Z:3.38 [[ 9.92962305e-01 -1.04374935e-01 -5.59618955e-02 6.16024032e+01] [ 1.04296422e-01 9.94536832e-01 -4.32976206e-03 3.45016176e+00] [ 5.61080849e-02 -1.53733494e-03 9.98423517e-01 3.37777825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94509989299999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:61.66, Y:3.46, Z:3.38 [[ 9.93210475e-01 -1.01986270e-01 -5.59620680e-02 6.16645851e+01] [ 1.01904096e-01 9.94784815e-01 -4.32753122e-03 3.45609338e+00] [ 5.61115643e-02 -1.40461461e-03 9.98423517e-01 3.37987502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00509989299999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:61.73, Y:3.46, Z:3.38 [[ 9.93418138e-01 -9.99430497e-02 -5.59623895e-02 6.17260945e+01] [ 9.98578713e-02 9.94992319e-01 -4.32337029e-03 3.46203820e+00] [ 5.61142385e-02 -1.29337062e-03 9.98423517e-01 3.38312721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.79, Y:3.47, Z:3.39 [[ 9.93908520e-01 -9.49422467e-02 -5.59627069e-02 6.17880725e+01] [ 9.48493786e-02 9.95482265e-01 -4.31925778e-03 3.47098017e+00] [ 5.61199623e-02 -1.01508087e-03 9.98423517e-01 3.38718452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12509989299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:61.85, Y:3.48, Z:3.39 [[ 9.94196781e-01 -9.18743803e-02 -5.59630202e-02 6.18494679e+01] [ 9.17768844e-02 9.95770246e-01 -4.31519429e-03 3.47941823e+00] [ 5.61227662e-02 -8.45959362e-04 9.98423517e-01 3.38980303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18509989299999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:61.91, Y:3.49, Z:3.39 [[ 9.94292593e-01 -9.08314016e-02 -5.59633420e-02 6.19103973e+01] [ 9.07324901e-02 9.95865970e-01 -4.31101735e-03 3.48577020e+00] [ 5.61235636e-02 -7.91280759e-04 9.98423517e-01 3.39130535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24509989299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:61.97, Y:3.49, Z:3.40 [[ 9.94054588e-01 -9.33999644e-02 -5.59635790e-02 6.19714905e+01] [ 9.33052916e-02 9.95628226e-01 -4.30793832e-03 3.49184319e+00] [ 5.61212802e-02 -9.39372202e-04 9.98423517e-01 3.39811646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30509989299999 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:62.03, Y:3.50, Z:3.40 [[ 9.93177274e-01 -1.02308177e-01 -5.59637347e-02 6.20340047e+01] [ 1.02227730e-01 9.94751703e-01 -4.30591452e-03 3.49551618e+00] [ 5.61105507e-02 -1.44450910e-03 9.98423517e-01 3.39966176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36509989299999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:62.09, Y:3.50, Z:3.40 [[ 9.91035013e-01 -1.21316233e-01 -5.59640509e-02 6.20947009e+01] [ 1.21266195e-01 9.92610701e-01 -4.30180191e-03 3.50048866e+00] [ 5.60723942e-02 -2.52331120e-03 9.98423517e-01 3.40179393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.16, Y:3.51, Z:3.41 [[ 9.91588453e-01 -1.16706208e-01 -5.59642844e-02 6.21571385e+01] [ 1.16649014e-01 9.93163898e-01 -4.29876113e-03 3.51214665e+00] [ 5.60833990e-02 -2.26557672e-03 9.98423517e-01 3.40909280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.22, Y:3.52, Z:3.41 [[ 9.92082130e-01 -1.12432181e-01 -5.59647468e-02 6.22202695e+01] [ 1.12368538e-01 9.93657327e-01 -4.29273314e-03 3.51898292e+00] [ 5.60924221e-02 -2.02993294e-03 9.98423517e-01 3.41117712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.28, Y:3.53, Z:3.41 [[ 9.92342200e-01 -1.10112912e-01 -5.59652176e-02 6.22809274e+01] [ 1.10045933e-01 9.93917259e-01 -4.28658618e-03 3.52562397e+00] [ 5.60968042e-02 -1.90498425e-03 9.98423517e-01 3.41417189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60509989299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:62.34, Y:3.53, Z:3.42 [[ 9.92622915e-01 -1.07552856e-01 -5.59654483e-02 6.23426872e+01] [ 1.07481985e-01 9.94197804e-01 -4.28357193e-03 3.53234527e+00] [ 5.61014362e-02 -1.76330580e-03 9.98423517e-01 3.41593725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.40, Y:3.54, Z:3.42 [[ 9.92955557e-01 -1.04437047e-01 -5.59657495e-02 6.24039643e+01] [ 1.04361455e-01 9.94530226e-01 -4.27963367e-03 3.53923347e+00] [ 5.61065818e-02 -1.59118104e-03 9.98423517e-01 3.42100145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72509989299999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:62.47, Y:3.55, Z:3.42 [[ 9.93462720e-01 -9.94968577e-02 -5.59660570e-02 6.24657080e+01] [ 9.94136614e-02 9.95037006e-01 -4.27560897e-03 3.54665831e+00] [ 5.61137074e-02 -1.31613251e-03 9.98423517e-01 3.42277717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.53, Y:3.55, Z:3.43 [[ 9.94013643e-01 -9.38330622e-02 -5.59663654e-02 6.25275297e+01] [ 9.37411222e-02 9.95587443e-01 -4.27156763e-03 3.55443057e+00] [ 5.61202249e-02 -1.00035340e-03 9.98423517e-01 3.42826155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.59, Y:3.56, Z:3.43 [[ 9.95732800e-01 -7.33752091e-02 -5.59666815e-02 6.25878768e+01] [ 7.32511625e-02 9.97304395e-01 -4.26742175e-03 3.56325599e+00] [ 5.61289404e-02 1.49587324e-04 9.98423517e-01 3.43004506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90509989299999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:62.65, Y:3.57, Z:3.43 [[ 9.95779004e-01 -7.27451229e-02 -5.59671552e-02 6.26462074e+01] [ 7.26204315e-02 9.97350548e-01 -4.26120082e-03 3.56885332e+00] [ 5.61288544e-02 1.78855348e-04 9.98423517e-01 3.43082153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.965099892999994 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:62.70, Y:3.57, Z:3.44 [[ 9.95842441e-01 -7.18724529e-02 -5.59659163e-02 6.27042272e+01] [ 7.17454733e-02 9.97413801e-01 -4.27740987e-03 3.57046842e+00] [ 5.61286053e-02 2.44325127e-04 9.98423517e-01 3.43555762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02509989299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:62.76, Y:3.57, Z:3.44 [[ 9.95344827e-01 -7.84636282e-02 -5.59654740e-02 6.27619503e+01] [ 7.83467293e-02 9.96916970e-01 -4.28318979e-03 3.56757591e+00] [ 5.61290053e-02 -1.21461038e-04 9.98423517e-01 3.43738180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08509989299998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:62.82, Y:3.56, Z:3.44 [[ 9.94451778e-01 -8.90705954e-02 -5.59650869e-02 6.28219333e+01] [ 8.89701795e-02 9.96025059e-01 -4.28824222e-03 3.56354230e+00] [ 5.61245852e-02 -7.14773725e-04 9.98423517e-01 3.43965566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.88, Y:3.56, Z:3.45 [[ 9.93268014e-01 -1.01422777e-01 -5.59649315e-02 6.28831280e+01] [ 1.01341808e-01 9.94842415e-01 -4.29026873e-03 3.56343301e+00] [ 5.61114186e-02 -1.41020065e-03 9.98423517e-01 3.44846256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.95, Y:3.56, Z:3.45 [[ 9.91514717e-01 -1.17330624e-01 -5.59650878e-02 6.29454303e+01] [ 1.17275016e-01 9.93090218e-01 -4.28822886e-03 3.55626528e+00] [ 5.60815218e-02 -2.31146453e-03 9.98423517e-01 3.45119544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.01, Y:3.56, Z:3.45 [[ 9.91303571e-01 -1.19101270e-01 -5.59653200e-02 6.30076202e+01] [ 1.19048647e-01 9.92879175e-01 -4.28519641e-03 3.55950186e+00] [ 5.60771731e-02 -2.41466511e-03 9.98423517e-01 3.45414102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32509989299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:63.07, Y:3.56, Z:3.45 [[ 9.91287566e-01 -1.19234265e-01 -5.59656364e-02 6.30685390e+01] [ 1.19182086e-01 9.92863184e-01 -4.28106049e-03 3.56228882e+00] [ 5.60766690e-02 -2.42633926e-03 9.98423517e-01 3.45458948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.13, Y:3.56, Z:3.46 [[ 9.91440054e-01 -1.17959354e-01 -5.59661579e-02 6.31310652e+01] [ 1.17905533e-01 9.93015617e-01 -4.27423127e-03 3.56483068e+00] [ 5.60794544e-02 -2.36107561e-03 9.98423517e-01 3.45568374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44509989299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:63.19, Y:3.57, Z:3.46 [[ 9.93326016e-01 -1.00852266e-01 -5.59664720e-02 6.31925755e+01] [ 1.00771528e-01 9.94900430e-01 -4.27011494e-03 3.57430536e+00] [ 5.61117178e-02 -1.39821062e-03 9.98423517e-01 3.45868096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50509989299998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:63.25, Y:3.58, Z:3.46 [[ 9.94448470e-01 -8.91064511e-02 -5.59667837e-02 6.32545881e+01] [ 8.90073421e-02 9.96021834e-01 -4.26602505e-03 3.58307173e+00] [ 5.61242690e-02 -7.39112586e-04 9.98423517e-01 3.46095859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56509989299998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:63.31, Y:3.59, Z:3.47 [[ 9.95474726e-01 -7.67968379e-02 -5.59670971e-02 6.33141249e+01] [ 7.66785030e-02 9.97046761e-01 -4.26191044e-03 3.59162347e+00] [ 5.61291141e-02 -4.88490924e-05 9.98423517e-01 3.46601831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62509989299998 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:63.37, Y:3.60, Z:3.47 [[ 9.96250910e-01 -6.59682349e-02 -5.59670971e-02 6.33720301e+01] [ 6.58328138e-02 9.97821566e-01 -4.26191044e-03 3.59839436e+00] [ 5.61263271e-02 5.61460679e-04 9.98423517e-01 3.46814829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68509989299999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:63.43, Y:3.60, Z:3.47 [[ 9.96546676e-01 -6.13394458e-02 -5.59660116e-02 6.34293056e+01] [ 6.11959321e-02 9.98116613e-01 -4.27611689e-03 3.60319299e+00] [ 5.61229006e-02 8.36457831e-04 9.98423518e-01 3.47301141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74509989299999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:63.49, Y:3.61, Z:3.48 [[ 9.96591433e-01 -6.06090688e-02 -5.59647847e-02 6.34867363e+01] [ 6.04635063e-02 9.98161180e-01 -4.29211527e-03 3.60771057e+00] [ 5.61220166e-02 8.93658197e-04 9.98423518e-01 3.47551298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.54, Y:3.61, Z:3.48 [[ 9.96415315e-01 -6.34397573e-02 -5.59635294e-02 6.35444479e+01] [ 6.32977388e-02 9.97985388e-01 -4.30842031e-03 3.61107694e+00] [ 5.61241097e-02 7.50611113e-04 9.98423518e-01 3.47928474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86509989299998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:63.60, Y:3.61, Z:3.48 [[ 9.95953458e-01 -7.03202319e-02 -5.59622627e-02 6.36027369e+01] [ 7.01881399e-02 9.97524396e-01 -4.32481188e-03 3.61244725e+00] [ 5.61278441e-02 3.79424224e-04 9.98423518e-01 3.48025627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.66, Y:3.62, Z:3.49 [[ 9.95334425e-01 -7.85986640e-02 -5.59609950e-02 6.36598789e+01] [ 7.84787194e-02 9.96906337e-01 -4.34115326e-03 3.61546759e+00] [ 5.61290794e-02 -7.08479421e-05 9.98423518e-01 3.48712087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98509989299998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:63.72, Y:3.62, Z:3.49 [[ 9.94673760e-01 -8.65599146e-02 -5.59597314e-02 6.37192073e+01] [ 8.64516379e-02 9.96246519e-01 -4.35738131e-03 3.61717686e+00] [ 5.61268622e-02 -5.03637586e-04 9.98423518e-01 3.48721983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04509989299999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:63.78, Y:3.61, Z:3.49 [[ 9.93527391e-01 -9.88532025e-02 -5.59586171e-02 6.37792825e+01] [ 9.87635794e-02 9.95101324e-01 -4.37164506e-03 3.61493517e+00] [ 5.61166450e-02 -1.18332420e-03 9.98423518e-01 3.48768651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10509989299999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:63.84, Y:3.62, Z:3.49 [[ 9.93028180e-01 -1.03748180e-01 -5.59584598e-02 6.38402230e+01] [ 1.03666201e-01 9.94602529e-01 -4.37365724e-03 3.61829165e+00] [ 5.61101846e-02 -1.45783605e-03 9.98423518e-01 3.49086183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16509989299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:63.90, Y:3.62, Z:3.49 [[ 9.92764064e-01 -1.06245692e-01 -5.59586154e-02 6.39008775e+01] [ 1.06167785e-01 9.94338619e-01 -4.37166553e-03 3.62305478e+00] [ 5.61062830e-02 -1.60096982e-03 9.98423518e-01 3.49395328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22509989299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:63.96, Y:3.63, Z:3.50 [[ 9.92583833e-01 -1.07916364e-01 -5.59588463e-02 6.39626489e+01] [ 1.07841274e-01 9.94158526e-01 -4.36870834e-03 3.63036099e+00] [ 5.61034192e-02 -1.69836402e-03 9.98423518e-01 3.49900037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.02, Y:3.64, Z:3.50 [[ 9.92464778e-01 -1.09005672e-01 -5.59591654e-02 6.40237715e+01] [ 1.08932542e-01 9.94039562e-01 -4.36461681e-03 3.63906453e+00] [ 5.61013923e-02 -1.76404566e-03 9.98423518e-01 3.50334069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.09, Y:3.65, Z:3.50 [[ 9.92479360e-01 -1.08872663e-01 -5.59594801e-02 6.40858532e+01] [ 1.08799549e-01 9.94054145e-01 -4.36057811e-03 3.64701332e+00] [ 5.61015009e-02 -1.76058243e-03 9.98423518e-01 3.50486613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40509989299998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:64.15, Y:3.66, Z:3.50 [[ 9.92514751e-01 -1.08549395e-01 -5.59597941e-02 6.41473543e+01] [ 1.08475995e-01 9.94089523e-01 -4.35654493e-03 3.65509191e+00] [ 5.61019453e-02 -1.74635925e-03 9.98423518e-01 3.50399915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46509989299999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:64.21, Y:3.67, Z:3.51 [[ 9.92994283e-01 -1.04071228e-01 -5.59601041e-02 6.42090918e+01] [ 1.03990949e-01 9.94568719e-01 -4.35255893e-03 3.66697234e+00] [ 5.61091453e-02 -1.49727820e-03 9.98423518e-01 3.50827105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.27, Y:3.68, Z:3.52 [[ 9.93803498e-01 -9.60366531e-02 -5.59604208e-02 6.42696617e+01] [ 9.59438728e-02 9.95377247e-01 -4.34848306e-03 3.67858813e+00] [ 5.61193434e-02 -1.04752182e-03 9.98423518e-01 3.51688423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.33, Y:3.69, Z:3.52 [[ 9.94574208e-01 -8.76957774e-02 -5.59606670e-02 6.43313354e+01] [ 8.75899758e-02 9.96147135e-01 -4.34531278e-03 3.68874762e+00] [ 5.61261237e-02 -5.79857450e-04 9.98423518e-01 3.52152787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.39, Y:3.70, Z:3.53 [[ 9.95384826e-01 -7.79577815e-02 -5.59609949e-02 6.43918962e+01] [ 7.78368285e-02 9.96956661e-01 -4.34108555e-03 3.69796645e+00] [ 5.61291080e-02 -3.47756789e-05 9.98423518e-01 3.52526080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.45, Y:3.70, Z:3.53 [[ 9.95469758e-01 -7.68655245e-02 -5.59611572e-02 6.44502894e+01] [ 7.67429646e-02 9.97041469e-01 -4.33899256e-03 3.69969368e+00] [ 5.61291133e-02 2.47107721e-05 9.98423518e-01 3.52670674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76509989299998 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:64.51, Y:3.70, Z:3.53 [[ 9.95429574e-01 -7.73843555e-02 -5.59609217e-02 6.45087469e+01] [ 7.72624441e-02 9.97001335e-01 -4.34202818e-03 3.70100033e+00] [ 5.61291187e-02 -1.49432063e-06 9.98423518e-01 3.52601517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82509989299999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:64.57, Y:3.70, Z:3.53 [[ 9.95299483e-01 -7.90407194e-02 -5.59598453e-02 6.45682117e+01] [ 7.89206462e-02 9.96871385e-01 -4.35585689e-03 3.70178238e+00] [ 5.61290585e-02 -8.10050443e-05 9.98423518e-01 3.52953112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88509989299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:64.63, Y:3.70, Z:3.53 [[ 9.94647548e-01 -8.68606304e-02 -5.59596899e-02 6.46286268e+01] [ 8.67528028e-02 9.96220337e-01 -4.35785185e-03 3.69786799e+00] [ 5.61267069e-02 -5.20133291e-04 9.98423518e-01 3.53455171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.69, Y:3.70, Z:3.54 [[ 9.93832505e-01 -9.57365281e-02 -5.59595291e-02 6.46876775e+01] [ 9.56426291e-02 9.95406188e-01 -4.35991610e-03 3.69998836e+00] [ 5.61198648e-02 -1.01909014e-03 9.98423518e-01 3.53933447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00509989299998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:64.75, Y:3.70, Z:3.54 [[ 9.92735029e-01 -1.06516152e-01 -5.59595464e-02 6.47482076e+01] [ 1.06439349e-01 9.94309639e-01 -4.35969388e-03 3.70102229e+00] [ 5.61054942e-02 -1.62827685e-03 9.98423518e-01 3.53860004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06509989299998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:64.81, Y:3.70, Z:3.54 [[ 9.91220095e-01 -1.19796679e-01 -5.59596234e-02 6.48104003e+01] [ 1.19741018e-01 9.92795593e-01 -4.35870589e-03 3.70167181e+00] [ 5.60786260e-02 -2.38022542e-03 9.98423518e-01 3.54058810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.87, Y:3.71, Z:3.55 [[ 9.90703290e-01 -1.23997894e-01 -5.59599358e-02 6.48726690e+01] [ 1.23949140e-01 9.92279017e-01 -4.35469139e-03 3.70501228e+00] [ 5.60678426e-02 -2.62197880e-03 9.98423518e-01 3.54600124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.93, Y:3.71, Z:3.55 [[ 9.91021949e-01 -1.21424658e-01 -5.59602478e-02 6.49341798e+01] [ 1.21372038e-01 9.92597552e-01 -4.35067812e-03 3.71027370e+00] [ 5.60742845e-02 -2.48039179e-03 9.98423518e-01 3.55231695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24509989299999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:65.00, Y:3.71, Z:3.55 [[ 9.91019549e-01 -1.21444102e-01 -5.59605612e-02 6.49963931e+01] [ 1.21391740e-01 9.92595160e-01 -4.34664319e-03 3.71467129e+00] [ 5.60740564e-02 -2.48554154e-03 9.98423518e-01 3.55149529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30509989299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:65.06, Y:3.72, Z:3.55 [[ 9.90477327e-01 -1.25789686e-01 -5.59608770e-02 6.50581778e+01] [ 1.25744465e-01 9.92053160e-01 -4.34257294e-03 3.72020131e+00] [ 5.60624158e-02 -2.73555049e-03 9.98423519e-01 3.55296188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.12, Y:3.73, Z:3.56 [[ 9.90290419e-01 -1.27252629e-01 -5.59611912e-02 6.51203323e+01] [ 1.27209964e-01 9.91866323e-01 -4.33852081e-03 3.72626425e+00] [ 5.60581091e-02 -2.82242550e-03 9.98423519e-01 3.55766689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42509989299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:65.18, Y:3.73, Z:3.56 [[ 9.91035029e-01 -1.21317274e-01 -5.59615063e-02 6.51817883e+01] [ 1.21265397e-01 9.92610657e-01 -4.33445225e-03 3.73053280e+00] [ 5.60738315e-02 -2.49060028e-03 9.98423519e-01 3.56047360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.24, Y:3.74, Z:3.56 [[ 9.91906347e-01 -1.13974046e-01 -5.59617411e-02 6.52437161e+01] [ 1.13910672e-01 9.93481554e-01 -4.33141871e-03 3.73986264e+00] [ 5.60906268e-02 -2.07827783e-03 9.98423519e-01 3.56482359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54509989299999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:65.31, Y:3.75, Z:3.56 [[ 9.92332968e-01 -1.10197596e-01 -5.59622217e-02 6.53054664e+01] [ 1.10128577e-01 9.93907938e-01 -4.32519996e-03 3.74621471e+00] [ 5.60979231e-02 -1.87100131e-03 9.98423519e-01 3.56462898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.37, Y:3.75, Z:3.57 [[ 9.92761909e-01 -1.06263761e-01 -5.59625405e-02 6.53669943e+01] [ 1.06188733e-01 9.94336604e-01 -4.32107188e-03 3.75475449e+00] [ 5.61047758e-02 -1.65279571e-03 9.98423519e-01 3.57061150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.43, Y:3.77, Z:3.58 [[ 9.94396371e-01 -8.96884407e-02 -5.59628588e-02 6.54283891e+01] [ 8.95873872e-02 9.95969610e-01 -4.31694556e-03 3.76710319e+00] [ 5.61244868e-02 -7.20811305e-04 9.98423519e-01 3.57520584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.49, Y:3.77, Z:3.58 [[ 9.95122608e-01 -8.12349592e-02 -5.59631750e-02 6.54879825e+01] [ 8.11207710e-02 9.96694948e-01 -4.31284229e-03 3.77014625e+00] [ 5.61285674e-02 -2.47969035e-04 9.98423519e-01 3.57960868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.55, Y:3.78, Z:3.58 [[ 9.95312839e-01 -7.88699951e-02 -5.59631750e-02 6.55466489e+01] [ 7.87520708e-02 9.96884903e-01 -4.31284229e-03 3.77572638e+00] [ 5.61289982e-02 -1.14588615e-04 9.98423519e-01 3.58066308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.60, Y:3.78, Z:3.59 [[ 9.95337323e-01 -7.85612341e-02 -5.59620100e-02 6.56040812e+01] [ 7.84419751e-02 9.96909287e-01 -4.32790676e-03 3.77706455e+00] [ 5.61290531e-02 -8.20434607e-05 9.98423519e-01 3.58747156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.66, Y:3.78, Z:3.59 [[ 9.95177478e-01 -8.05611059e-02 -5.59615619e-02 6.56633629e+01] [ 8.04446805e-02 9.96749654e-01 -4.33369258e-03 3.77872763e+00] [ 5.61287945e-02 -1.89016716e-04 9.98423519e-01 3.59052940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96509989299999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:65.72, Y:3.78, Z:3.59 [[ 9.94390716e-01 -8.97520167e-02 -5.59614054e-02 6.57223861e+01] [ 8.96500078e-02 9.95963894e-01 -4.33571338e-03 3.77808339e+00] [ 5.61246782e-02 -7.05547289e-04 9.98423519e-01 3.58785274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.78, Y:3.78, Z:3.59 [[ 9.93700303e-01 -9.70986645e-02 -5.59603133e-02 6.57820055e+01] [ 9.70074941e-02 9.95274146e-01 -4.34976294e-03 3.78253673e+00] [ 5.61182092e-02 -1.10620901e-03 9.98423519e-01 3.59483722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.84, Y:3.79, Z:3.60 [[ 9.93181366e-01 -1.02270321e-01 -5.59603133e-02 6.58430134e+01] [ 1.02187345e-01 9.94755662e-01 -4.34976294e-03 3.78551391e+00] [ 5.61116901e-02 -1.39833233e-03 9.98423519e-01 3.59946300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.90, Y:3.79, Z:3.61 [[ 9.92743871e-01 -1.06433231e-01 -5.59604687e-02 6.59047339e+01] [ 1.06356969e-01 9.94318506e-01 -4.34776322e-03 3.79405454e+00] [ 5.61052761e-02 -1.63557052e-03 9.98423519e-01 3.60592943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20509989299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:65.97, Y:3.80, Z:3.60 [[ 9.93378503e-01 -1.00337139e-01 -5.59607782e-02 6.59673617e+01] [ 1.00251436e-01 9.94952653e-01 -4.34377594e-03 3.80042192e+00] [ 5.61141667e-02 -1.29513476e-03 9.98423519e-01 3.60485230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.03, Y:3.81, Z:3.61 [[ 9.94826341e-01 -8.47873760e-02 -5.59611599e-02 6.60291249e+01] [ 8.46773392e-02 9.96398978e-01 -4.33885212e-03 3.81073369e+00] [ 5.61275224e-02 -4.22237739e-04 9.98423519e-01 3.60981524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.09, Y:3.82, Z:3.61 [[ 9.95967751e-01 -7.01181283e-02 -5.59614728e-02 6.60877231e+01] [ 6.99851556e-02 9.97538614e-01 -4.33481328e-03 3.81859965e+00] [ 5.61276790e-02 4.00861853e-04 9.98423519e-01 3.61348930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.15, Y:3.82, Z:3.62 [[ 9.96172100e-01 -6.71525362e-02 -5.59614575e-02 6.61462336e+01] [ 6.70148761e-02 9.97742559e-01 -4.33501035e-03 3.81850671e+00] [ 5.61262348e-02 5.68166221e-04 9.98423519e-01 3.61879706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.20, Y:3.82, Z:3.62 [[ 9.95585986e-01 -7.53457659e-02 -5.59603453e-02 6.62039827e+01] [ 7.52202262e-02 9.97157460e-01 -4.34932088e-03 3.81609724e+00] [ 5.61289787e-02 1.20773087e-04 9.98423519e-01 3.62248081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.26, Y:3.82, Z:3.63 [[ 9.94912524e-01 -8.37709832e-02 -5.59597323e-02 6.62627893e+01] [ 8.36583082e-02 9.96484973e-01 -4.35719311e-03 3.81631349e+00] [ 5.61280387e-02 -3.46470536e-04 9.98423519e-01 3.62810219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.32, Y:3.81, Z:3.63 [[ 9.91038547e-01 -1.21289870e-01 -5.59586134e-02 6.63220333e+01] [ 1.21235861e-01 9.92614102e-01 -4.37151655e-03 3.80913009e+00] [ 5.60755295e-02 -2.45184927e-03 9.98423519e-01 3.63008683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.39, Y:3.81, Z:3.63 [[ 9.90295753e-01 -1.27212384e-01 -5.59582965e-02 6.63850151e+01] [ 1.27167567e-01 9.91871597e-01 -4.37556926e-03 3.81238059e+00] [ 5.60600715e-02 -2.78297273e-03 9.98423519e-01 3.63375181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.45, Y:3.82, Z:3.64 [[ 9.89678889e-01 -1.31925398e-01 -5.59587857e-02 6.64463676e+01] [ 1.31888436e-01 9.91254937e-01 -4.36930395e-03 3.81683041e+00] [ 5.60458447e-02 -3.05610886e-03 9.98423519e-01 3.63687275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.51, Y:3.82, Z:3.64 [[ 9.89883518e-01 -1.30380899e-01 -5.59592979e-02 6.65075313e+01] [ 1.30341848e-01 9.91459515e-01 -4.36273464e-03 3.82386106e+00] [ 5.60501956e-02 -2.97523919e-03 9.98423519e-01 3.64330164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.57, Y:3.83, Z:3.64 [[ 9.90445509e-01 -1.26040527e-01 -5.59596247e-02 6.65690930e+01] [ 1.25994805e-01 9.92021327e-01 -4.35853822e-03 3.83364209e+00] [ 5.60624936e-02 -2.73372740e-03 9.98423519e-01 3.64094639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86509989299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:66.63, Y:3.85, Z:3.64 [[ 9.90302229e-01 -1.27161237e-01 -5.59599468e-02 6.66308591e+01] [ 1.27117531e-01 9.91878104e-01 -4.35439914e-03 3.84605137e+00] [ 5.60591567e-02 -2.80131909e-03 9.98423519e-01 3.63934315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.69, Y:3.86, Z:3.65 [[ 9.91160797e-01 -1.20286001e-01 -5.59602684e-02 6.66911702e+01] [ 1.20231594e-01 9.92736339e-01 -4.35026184e-03 3.85911886e+00] [ 5.60770676e-02 -2.41638328e-03 9.98423519e-01 3.64566424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.75, Y:3.87, Z:3.65 [[ 9.91793060e-01 -1.14956284e-01 -5.59605054e-02 6.67526050e+01] [ 1.14893580e-01 9.93368294e-01 -4.34721155e-03 3.86722620e+00] [ 5.60891310e-02 -2.11796858e-03 9.98423519e-01 3.65134848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04509989299999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:66.81, Y:3.87, Z:3.65 [[ 9.92027465e-01 -1.12915437e-01 -5.59608134e-02 6.68141539e+01] [ 1.12849716e-01 9.93602575e-01 -4.34324209e-03 3.87366246e+00] [ 5.60932274e-02 -2.00654648e-03 9.98423519e-01 3.65448544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.88, Y:3.88, Z:3.66 [[ 9.91911910e-01 -1.13925917e-01 -5.59611298e-02 6.68759211e+01] [ 1.13862031e-01 9.93487096e-01 -4.33916224e-03 3.87902939e+00] [ 5.60910034e-02 -2.06778116e-03 9.98423519e-01 3.66076168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.94, Y:3.88, Z:3.66 [[ 9.91762918e-01 -1.15215582e-01 -5.59614485e-02 6.69371482e+01] [ 1.15153975e-01 9.93338195e-01 -4.33504760e-03 3.88467616e+00] [ 5.60881093e-02 -2.14484380e-03 9.98423519e-01 3.66324202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.00, Y:3.89, Z:3.67 [[ 9.91833880e-01 -1.14602983e-01 -5.59616841e-02 6.69991313e+01] [ 1.14540575e-01 9.93409125e-01 -4.33200438e-03 3.89008794e+00] [ 5.60893083e-02 -2.11325477e-03 9.98423519e-01 3.66594570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.06, Y:3.90, Z:3.67 [[ 9.91962656e-01 -1.13482796e-01 -5.59619908e-02 6.70614487e+01] [ 1.13418833e-01 9.93537838e-01 -4.32803814e-03 3.89563683e+00] [ 5.60915133e-02 -2.05389147e-03 9.98423519e-01 3.67005827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.12, Y:3.89, Z:3.67 [[ 9.91998391e-01 -1.13169760e-01 -5.59624675e-02 6.71237373e+01] [ 1.13105647e-01 9.93573568e-01 -4.32186563e-03 3.89481154e+00] [ 5.60919330e-02 -2.04238735e-03 9.98423519e-01 3.66927190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.19, Y:3.90, Z:3.67 [[ 9.92192634e-01 -1.11453778e-01 -5.59627812e-02 6.71851616e+01] [ 1.11387170e-01 9.93767707e-01 -4.31780088e-03 3.90027110e+00] [ 5.60952399e-02 -1.94944558e-03 9.98423519e-01 3.67396310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.25, Y:3.91, Z:3.68 [[ 9.92711499e-01 -1.06733368e-01 -5.59630943e-02 6.72454836e+01] [ 1.06659498e-01 9.94286248e-01 -4.31373783e-03 3.90665863e+00] [ 5.61037549e-02 -1.68669841e-03 9.98423519e-01 3.67914172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.31, Y:3.91, Z:3.68 [[ 9.92909396e-01 -1.04876296e-01 -5.59633257e-02 6.73070115e+01] [ 1.04799649e-01 9.94484013e-01 -4.31073445e-03 3.91210698e+00] [ 5.61067265e-02 -1.58476816e-03 9.98423519e-01 3.68373244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.37, Y:3.92, Z:3.69 [[ 9.93505895e-01 -9.90661802e-02 -5.59636407e-02 6.73689650e+01] [ 9.89805543e-02 9.95080048e-01 -4.30664083e-03 3.91863049e+00] [ 5.61149448e-02 -1.26063912e-03 9.98423519e-01 3.68616221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.43, Y:3.93, Z:3.69 [[ 9.93962753e-01 -9.43720345e-02 -5.59639531e-02 6.74301193e+01] [ 9.42792023e-02 9.95536498e-01 -4.30257773e-03 3.92554975e+00] [ 5.61202009e-02 -9.99634852e-04 9.98423519e-01 3.68691462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.49, Y:3.93, Z:3.70 [[ 9.93450794e-01 -9.96169141e-02 -5.59641835e-02 6.74913948e+01] [ 9.95325584e-02 9.95025016e-01 -4.29957872e-03 3.93219597e+00] [ 5.61140734e-02 -1.29883847e-03 9.98423519e-01 3.69577355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.55, Y:3.94, Z:3.70 [[ 9.94568740e-01 -8.77553208e-02 -5.59644981e-02 6.75524720e+01] [ 8.76524171e-02 9.96141859e-01 -4.29547933e-03 3.93514820e+00] [ 5.61255304e-02 -6.33274070e-04 9.98423519e-01 3.69601806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82509989299999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:67.61, Y:3.94, Z:3.70 [[ 9.95353545e-01 -7.83534947e-02 -5.59647307e-02 6.76129970e+01] [ 7.82359014e-02 9.96925633e-01 -4.29244690e-03 3.94069439e+00] [ 5.61290028e-02 -1.05948913e-04 9.98423519e-01 3.69600815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.67, Y:3.92, Z:3.70 [[ 9.96069352e-01 -6.86570808e-02 -5.59647307e-02 6.76735176e+01] [ 6.85241841e-02 9.97640221e-01 -4.29244690e-03 3.91507528e+00] [ 5.61273732e-02 4.40637295e-04 9.98423519e-01 3.69858100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.73, Y:3.92, Z:3.70 [[ 9.96249307e-01 -6.59947766e-02 -5.59643351e-02 6.77314000e+01] [ 6.58573927e-02 9.97819791e-01 -4.29759913e-03 3.92159141e+00] [ 5.61259402e-02 5.95814967e-04 9.98423519e-01 3.70474578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.79, Y:3.93, Z:3.71 [[ 9.96329883e-01 -6.47678902e-02 -5.59632401e-02 6.77889025e+01] [ 6.46277743e-02 9.97900125e-01 -4.31181139e-03 3.92535356e+00] [ 5.61249912e-02 6.79206894e-04 9.98423519e-01 3.70806965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.85, Y:3.93, Z:3.71 [[ 9.96544041e-01 -6.13851143e-02 -5.59628548e-02 6.78476804e+01] [ 6.12393879e-02 9.98113772e-01 -4.31680646e-03 3.92774837e+00] [ 5.61222837e-02 8.74756783e-04 9.98423519e-01 3.70700230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.91, Y:3.93, Z:3.72 [[ 9.96510834e-01 -6.19224731e-02 -5.59621735e-02 6.79054557e+01] [ 6.17770984e-02 9.98080598e-01 -4.32562080e-03 3.93324487e+00] [ 5.61226127e-02 8.53347299e-04 9.98423519e-01 3.71605042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.96, Y:3.94, Z:3.72 [[ 9.96582183e-01 -6.07644892e-02 -5.59609552e-02 6.79633494e+01] [ 6.06164089e-02 9.98151694e-01 -4.34132460e-03 3.93730684e+00] [ 5.61213206e-02 9.34334600e-04 9.98423520e-01 3.71897221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.02, Y:3.94, Z:3.73 [[ 9.96290640e-01 -6.53710607e-02 -5.59605648e-02 6.80221052e+01] [ 6.52299556e-02 9.97860793e-01 -4.34635157e-03 3.93530463e+00] [ 5.61249791e-02 6.79924236e-04 9.98423520e-01 3.72760762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.08, Y:3.94, Z:3.73 [[ 9.95861846e-01 -7.16080908e-02 -5.59594875e-02 6.80803855e+01] [ 7.14760431e-02 9.97432787e-01 -4.36017710e-03 3.93536776e+00] [ 5.61280515e-02 3.42371280e-04 9.98423520e-01 3.73157587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.14, Y:3.94, Z:3.73 [[ 9.95555416e-01 -7.57501995e-02 -5.59582045e-02 6.81377760e+01] [ 7.56237659e-02 9.97126818e-01 -4.37658200e-03 3.93746617e+00] [ 5.61289533e-02 1.25359758e-04 9.98423520e-01 3.73476510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.20, Y:3.94, Z:3.74 [[ 9.95220813e-01 -8.00272294e-02 -5.59569084e-02 6.81950877e+01] [ 7.99066207e-02 9.96792673e-01 -4.39309149e-03 3.93943424e+00] [ 5.61290032e-02 -9.92313641e-05 9.98423520e-01 3.73755615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.25, Y:3.93, Z:3.74 [[ 9.93315039e-01 -1.00965933e-01 -5.59563499e-02 6.82548635e+01] [ 1.00878050e-01 9.94889068e-01 -4.40019341e-03 3.93131677e+00] [ 5.61146304e-02 -1.27398916e-03 9.98423520e-01 3.73895875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.31, Y:3.94, Z:3.74 [[ 9.93500254e-01 -9.91274762e-02 -5.59552363e-02 6.83148289e+01] [ 9.90358857e-02 9.95074071e-01 -4.41430921e-03 3.93721473e+00] [ 5.61171841e-02 -1.15595906e-03 9.98423520e-01 3.74065047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.37, Y:3.94, Z:3.74 [[ 9.93710737e-01 -9.69947593e-02 -5.59552363e-02 6.83749110e+01] [ 9.68997909e-02 9.95284354e-01 -4.41430921e-03 3.94301112e+00] [ 5.61195360e-02 -1.03550423e-03 9.98423520e-01 3.74212781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.43, Y:3.96, Z:3.75 [[ 9.94467303e-01 -8.89032874e-02 -5.59552363e-02 6.84343777e+01] [ 8.87955137e-02 9.96040095e-01 -4.41430921e-03 3.95538349e+00] [ 5.61261055e-02 -5.78687774e-04 9.98423520e-01 3.74774470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.49, Y:3.96, Z:3.75 [[ 9.94375407e-01 -8.99253075e-02 -5.59552363e-02 6.84928652e+01] [ 8.98191504e-02 9.95948309e-01 -4.41430921e-03 3.96303052e+00] [ 5.61254811e-02 -6.36371261e-04 9.98423520e-01 3.75265396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.55, Y:3.97, Z:3.76 [[ 9.94289318e-01 -9.08729321e-02 -5.59541116e-02 6.85516677e+01] [ 9.07674745e-02 9.95862266e-01 -4.42851916e-03 3.96890979e+00] [ 5.61250210e-02 -6.75584113e-04 9.98423520e-01 3.75673087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.61, Y:3.98, Z:3.76 [[ 9.94299132e-01 -9.07655841e-02 -5.59539494e-02 6.86109470e+01] [ 9.06598414e-02 9.95872062e-01 -4.43056879e-03 3.97610713e+00] [ 5.61251181e-02 -6.67465471e-04 9.98423520e-01 3.76153789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90509989299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:68.67, Y:3.99, Z:3.76 [[ 9.94588938e-01 -8.75329570e-02 -5.59537859e-02 6.86709822e+01] [ 8.74219856e-02 9.96161507e-01 -4.43263172e-03 3.98538766e+00] [ 5.61270091e-02 -4.82944595e-04 9.98423520e-01 3.76196209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.73, Y:3.99, Z:3.76 [[ 9.94607388e-01 -8.73230641e-02 -5.59537859e-02 6.87289800e+01] [ 8.72117609e-02 9.96179934e-01 -4.43263172e-03 3.99134597e+00] [ 5.61271097e-02 -4.71099941e-04 9.98423520e-01 3.76404747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.79, Y:4.00, Z:3.77 [[ 9.94550646e-01 -8.79676758e-02 -5.59526556e-02 6.87868152e+01] [ 8.78565917e-02 9.96123208e-01 -4.44685445e-03 3.99854541e+00] [ 5.61269182e-02 -4.93187643e-04 9.98423520e-01 3.76661721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08509989299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:68.85, Y:4.01, Z:3.77 [[ 9.94492670e-01 -8.86208620e-02 -5.59524177e-02 6.88454975e+01] [ 8.85106425e-02 9.96065292e-01 -4.44984550e-03 4.00679008e+00] [ 5.61266104e-02 -5.27045705e-04 9.98423520e-01 3.76877948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14509989299998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:68.90, Y:4.01, Z:3.77 [[ 9.94231444e-01 -9.15050813e-02 -5.59522586e-02 6.89038355e+01] [ 9.13993112e-02 9.95804372e-01 -4.45184564e-03 4.01467392e+00] [ 5.61248702e-02 -6.87832973e-04 9.98423520e-01 3.76867662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.96, Y:4.03, Z:3.78 [[ 9.93508868e-01 -9.90429337e-02 -5.59519930e-02 6.89639801e+01] [ 9.89489084e-02 9.95082542e-01 -4.45518060e-03 4.02528337e+00] [ 5.61181056e-02 -1.11012719e-03 9.98423520e-01 3.77720154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.02, Y:4.04, Z:3.78 [[ 9.92966445e-01 -1.04340768e-01 -5.59521546e-02 6.90244721e+01] [ 1.04255252e-01 9.94540603e-01 -4.45315054e-03 4.03570489e+00] [ 5.61113347e-02 -1.41147693e-03 9.98423520e-01 3.78268498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32509989299999 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:69.09, Y:4.04, Z:3.78 [[ 9.93028131e-01 -1.03751922e-01 -5.59523946e-02 6.90856989e+01] [ 1.03665642e-01 9.94602248e-01 -4.45013287e-03 4.04460391e+00] [ 5.61120873e-02 -1.38123380e-03 9.98423520e-01 3.78412217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.15, Y:4.05, Z:3.79 [[ 9.93034235e-01 -1.03693308e-01 -5.59527194e-02 6.91471182e+01] [ 1.03607165e-01 9.94608359e-01 -4.44604576e-03 4.05336603e+00] [ 5.61120676e-02 -1.38202701e-03 9.98423520e-01 3.79125326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.21, Y:4.06, Z:3.79 [[ 9.92647880e-01 -1.07328667e-01 -5.59530401e-02 6.92087916e+01] [ 1.07248517e-01 9.94222321e-01 -4.44200581e-03 4.06376904e+00] [ 5.61065160e-02 -1.59153290e-03 9.98423520e-01 3.79113307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.27, Y:4.07, Z:3.80 [[ 9.92333966e-01 -1.10193107e-01 -5.59533629e-02 6.92706936e+01] [ 1.10117730e-01 9.93908643e-01 -4.43793566e-03 4.07453554e+00] [ 5.61015609e-02 -1.75754302e-03 9.98423520e-01 3.79504171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.33, Y:4.08, Z:3.80 [[ 9.92607889e-01 -1.07697516e-01 -5.59537602e-02 6.93314929e+01] [ 1.07618463e-01 9.94182386e-01 -4.43292032e-03 4.08262730e+00] [ 5.61056574e-02 -1.62150599e-03 9.98423520e-01 3.80266129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.39, Y:4.09, Z:3.81 [[ 9.93152197e-01 -1.02556635e-01 -5.59539953e-02 6.93933606e+01] [ 1.02469597e-01 9.94726273e-01 -4.42995141e-03 4.08747310e+00] [ 5.61132301e-02 -1.33396737e-03 9.98423520e-01 3.80835793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.46, Y:4.09, Z:3.81 [[ 9.93767397e-01 -9.64130441e-02 -5.59543137e-02 6.94552734e+01] [ 9.63165007e-02 9.95340918e-01 -4.42592630e-03 4.09329463e+00] [ 5.61203350e-02 -9.90982428e-04 9.98423520e-01 3.81272966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.52, Y:4.10, Z:3.81 [[ 9.94413089e-01 -8.95080306e-02 -5.59546312e-02 6.95173594e+01] [ 8.94007859e-02 9.95985917e-01 -4.42190837e-03 4.09800400e+00] [ 5.61258210e-02 -6.05184435e-04 9.98423520e-01 3.80898845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.58, Y:4.10, Z:3.81 [[ 9.94623330e-01 -8.71405166e-02 -5.59549953e-02 6.95774349e+01] [ 8.70297873e-02 9.96195916e-01 -4.41729684e-03 4.10285677e+00] [ 5.61270633e-02 -4.76204843e-04 9.98423520e-01 3.81486765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.64, Y:4.10, Z:3.82 [[ 9.94827214e-01 -8.47812107e-02 -5.59549953e-02 6.96378724e+01] [ 8.46667519e-02 9.96399533e-01 -4.41729684e-03 4.10235631e+00] [ 5.61280349e-02 -3.43080592e-04 9.98423520e-01 3.82000238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.70, Y:4.10, Z:3.83 [[ 9.93961822e-01 -9.43871593e-02 -5.59549953e-02 6.96983647e+01] [ 9.42878943e-02 9.95535173e-01 -4.41729684e-03 4.10119657e+00] [ 5.61221020e-02 -8.85254262e-04 9.98423520e-01 3.83004150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.76, Y:4.10, Z:3.83 [[ 9.93291329e-01 -1.01199626e-01 -5.59550800e-02 6.97593600e+01] [ 1.01111211e-01 9.94865328e-01 -4.41622318e-03 4.10226857e+00] [ 5.61146891e-02 -1.27108970e-03 9.98423520e-01 3.83402541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.82, Y:4.10, Z:3.83 [[ 9.92113311e-01 -1.12161284e-01 -5.59555654e-02 6.98225701e+01] [ 1.12090601e-01 9.93688205e-01 -4.41006481e-03 4.09830795e+00] [ 5.60970238e-02 -1.89680893e-03 9.98423520e-01 3.83127861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10509989299999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:69.88, Y:4.10, Z:3.84 [[ 9.90496882e-01 -1.25637782e-01 -5.59560110e-02 6.98841830e+01] [ 1.25588834e-01 9.92072601e-01 -4.40440377e-03 4.09579908e+00] [ 5.60657849e-02 -2.66490195e-03 9.98423520e-01 3.83688775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.95, Y:4.10, Z:3.84 [[ 9.90943184e-01 -1.22067609e-01 -5.59562790e-02 6.99472889e+01] [ 1.22013175e-01 9.92518723e-01 -4.40099625e-03 4.09724816e+00] [ 5.60748736e-02 -2.46626605e-03 9.98423520e-01 3.84343885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.01, Y:4.10, Z:3.85 [[ 9.92285208e-01 -1.10629599e-01 -5.59567568e-02 7.00090512e+01] [ 1.10557338e-01 9.93860030e-01 -4.39491228e-03 4.10231137e+00] [ 5.60993914e-02 -1.82542365e-03 9.98423520e-01 3.84767081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.07, Y:4.11, Z:3.85 [[ 9.93856840e-01 -9.54850109e-02 -5.59570796e-02 7.00711714e+01] [ 9.53889753e-02 9.95430391e-01 -4.39079795e-03 4.10675083e+00] [ 5.61206331e-02 -9.73863917e-04 9.98423520e-01 3.85059726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.13, Y:4.11, Z:3.85 [[ 9.94579787e-01 -8.76345622e-02 -5.59573995e-02 7.01323539e+01] [ 8.75263343e-02 9.96152547e-01 -4.38671837e-03 4.11154141e+00] [ 5.61265342e-02 -5.34804629e-04 9.98423520e-01 3.85319748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.19, Y:4.12, Z:3.86 [[ 9.95258007e-01 -7.95628711e-02 -5.59575567e-02 7.01928124e+01] [ 7.94420002e-02 9.96829847e-01 -4.38471225e-03 4.11727862e+00] [ 5.61290229e-02 -8.14602508e-05 9.98423520e-01 3.85714362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.25, Y:4.12, Z:3.86 [[ 9.95814623e-01 -7.22633267e-02 -5.59575567e-02 7.02505833e+01] [ 7.21309340e-02 9.97385534e-01 -4.38471225e-03 4.12221052e+00] [ 5.61281114e-02 3.30089749e-04 9.98423520e-01 3.85957730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.31, Y:4.12, Z:3.87 [[ 9.97015561e-01 -5.31861495e-02 -5.59571592e-02 7.03077008e+01] [ 5.30234233e-02 9.98583620e-01 -4.38977843e-03 4.12431506e+00] [ 5.61113780e-02 1.40963727e-03 9.98423520e-01 3.86664595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.37, Y:4.12, Z:3.87 [[ 9.97249768e-01 -4.85977352e-02 -5.59567698e-02 7.03664399e+01] [ 4.84275172e-02 9.98817031e-01 -4.39473711e-03 4.12444593e+00] [ 5.61041489e-02 1.67280314e-03 9.98423520e-01 3.87194682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.42, Y:4.12, Z:3.87 [[ 9.97201696e-01 -4.95756196e-02 -5.59556511e-02 7.04237420e+01] [ 4.94061426e-02 9.98769040e-01 -4.40893431e-03 4.12387968e+00] [ 5.61053476e-02 1.63204389e-03 9.98423521e-01 3.87427080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70509989299998 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:70.48, Y:4.12, Z:3.87 [[ 9.96966251e-01 -5.41050585e-02 -5.59547804e-02 7.04822494e+01] [ 5.39420848e-02 9.98534284e-01 -4.41995755e-03 4.12186873e+00] [ 5.61119086e-02 1.38823099e-03 9.98423521e-01 3.87317720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.54, Y:4.11, Z:3.88 [[ 9.95905467e-01 -7.10035544e-02 -5.59535226e-02 7.05419153e+01] [ 7.08663031e-02 9.97475960e-01 -4.43582297e-03 4.11197928e+00] [ 5.61272529e-02 4.52441049e-04 9.98423521e-01 3.87836269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82509989299999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:70.60, Y:4.10, Z:3.88 [[ 9.94424534e-01 -8.93816776e-02 -5.59532066e-02 7.05998384e+01] [ 8.92732261e-02 9.95997279e-01 -4.43980551e-03 4.09967776e+00] [ 5.61260788e-02 -5.80071742e-04 9.98423521e-01 3.87866509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.66, Y:4.10, Z:3.88 [[ 9.93748161e-01 -9.66120755e-02 -5.59526589e-02 7.06581875e+01] [ 9.65146780e-02 9.95321628e-01 -4.44669726e-03 4.09660104e+00] [ 5.61204962e-02 -9.81355634e-04 9.98423521e-01 3.88219159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.72, Y:4.10, Z:3.89 [[ 9.93417413e-01 -9.99564240e-02 -5.59513719e-02 7.07166211e+01] [ 9.98634148e-02 9.94991146e-01 -4.46283365e-03 4.09745224e+00] [ 5.61172085e-02 -1.15403839e-03 9.98423521e-01 3.88615496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.78, Y:4.09, Z:3.89 [[ 9.92325544e-01 -1.10270516e-01 -5.59502333e-02 7.07759953e+01] [ 1.10193058e-01 9.93900119e-01 -4.47706230e-03 4.09485961e+00] [ 5.61026315e-02 -1.72262401e-03 9.98423521e-01 3.89129647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06509989299998 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:70.84, Y:4.09, Z:3.89 [[ 9.91179923e-01 -1.20133522e-01 -5.59490638e-02 7.08356883e+01] [ 1.20070906e-01 9.92755158e-01 -4.49163046e-03 4.09334588e+00] [ 5.60833170e-02 -2.26584086e-03 9.98423521e-01 3.88941465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.90, Y:4.10, Z:3.89 [[ 9.90021128e-01 -1.29336333e-01 -5.59488953e-02 7.08961305e+01] [ 1.29288235e-01 9.91596873e-01 -4.49372769e-03 4.09503433e+00] [ 5.60599519e-02 -2.78464857e-03 9.98423521e-01 3.89183687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.95, Y:4.10, Z:3.89 [[ 9.89967055e-01 -1.29749570e-01 -5.59488953e-02 7.09548405e+01] [ 1.29702130e-01 9.91542820e-01 -4.49372769e-03 4.10124889e+00] [ 5.60587847e-02 -2.80804852e-03 9.98423521e-01 3.89445759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.02, Y:4.11, Z:3.90 [[ 9.90818791e-01 -1.23076617e-01 -5.59488131e-02 7.10151345e+01] [ 1.23018503e-01 9.92394198e-01 -4.49475053e-03 4.11013244e+00] [ 5.60764763e-02 -2.42925596e-03 9.98423521e-01 3.89751176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.07, Y:4.12, Z:3.90 [[ 9.91817783e-01 -1.14748404e-01 -5.59489784e-02 7.10748312e+01] [ 1.14677173e-01 9.93392652e-01 -4.49269210e-03 4.11841190e+00] [ 5.60948333e-02 -1.96013878e-03 9.98423521e-01 3.90158576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.13, Y:4.14, Z:3.91 [[ 9.94539013e-01 -8.81014370e-02 -5.59489784e-02 7.11338352e+01] [ 8.79879858e-02 9.96111404e-01 -4.49269210e-03 4.13519449e+00] [ 5.61272281e-02 -4.54680350e-04 9.98423521e-01 3.90851955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.19, Y:4.14, Z:3.91 [[ 9.95132730e-01 -8.11206628e-02 -5.59489784e-02 7.11911665e+01] [ 8.09961811e-02 9.96704286e-01 -4.49269210e-03 4.14363713e+00] [ 5.61290368e-02 -6.08286347e-05 9.98423521e-01 3.91241740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.25, Y:4.15, Z:3.92 [[ 9.95120668e-01 -8.12694010e-02 -5.59476669e-02 7.12485924e+01] [ 8.11442393e-02 9.96692170e-01 -4.50896578e-03 4.14984427e+00] [ 5.61290425e-02 -5.28658373e-05 9.98423521e-01 3.91578537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.31, Y:4.15, Z:3.92 [[ 9.94797169e-01 -8.51387203e-02 -5.59463238e-02 7.13062300e+01] [ 8.50187371e-02 9.96369075e-01 -4.52556985e-03 4.15494809e+00] [ 5.61284881e-02 -2.54461723e-04 9.98423521e-01 3.91830976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.36, Y:4.16, Z:3.92 [[ 9.93926971e-01 -9.47593552e-02 -5.59449856e-02 7.13642665e+01] [ 9.46536581e-02 9.95499902e-01 -4.54205264e-03 4.15884313e+00] [ 5.61236297e-02 -7.80928918e-04 9.98423522e-01 3.92100858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.42, Y:4.16, Z:3.92 [[ 9.93100852e-01 -1.03058275e-01 -5.59436292e-02 7.14222028e+01] [ 1.02964783e-01 9.94674556e-01 -4.55869870e-03 4.16233786e+00] [ 5.61155161e-02 -1.23297610e-03 9.98423522e-01 3.92277412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.48, Y:4.16, Z:3.93 [[ 9.92150360e-01 -1.11839257e-01 -5.59432120e-02 7.14816892e+01] [ 1.11759402e-01 9.93724815e-01 -4.56381255e-03 4.16468288e+00] [ 5.61025714e-02 -1.72419164e-03 9.98423522e-01 3.92676973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.54, Y:4.17, Z:3.93 [[ 9.91058147e-01 -1.21136805e-01 -5.59430441e-02 7.15422300e+01] [ 1.21071599e-01 9.92633276e-01 -4.56586951e-03 4.16819266e+00] [ 5.60840220e-02 -2.24807162e-03 9.98423522e-01 3.92998197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.60, Y:4.17, Z:3.93 [[ 9.90256385e-01 -1.27525165e-01 -5.59430441e-02 7.16031961e+01] [ 1.27470118e-01 9.91831902e-01 -4.56586951e-03 4.17340936e+00] [ 5.60683591e-02 -2.60968499e-03 9.98423522e-01 3.93221040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.66, Y:4.18, Z:3.93 [[ 9.88890808e-01 -1.37714657e-01 -5.59432118e-02 7.16636415e+01] [ 1.37675951e-01 9.90466811e-01 -4.56381329e-03 4.18050462e+00] [ 5.60383986e-02 -3.18892189e-03 9.98423522e-01 3.93326527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.73, Y:4.19, Z:3.94 [[ 9.88516669e-01 -1.40374940e-01 -5.59434607e-02 7.17252194e+01] [ 1.40340647e-01 9.90092775e-01 -4.56076099e-03 4.19059335e+00] [ 5.60294328e-02 -3.34275319e-03 9.98423522e-01 3.93525387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.79, Y:4.20, Z:3.94 [[ 9.89100052e-01 -1.36203452e-01 -5.59437865e-02 7.17859243e+01] [ 1.36162736e-01 9.90676004e-01 -4.55676028e-03 4.20421594e+00] [ 5.60428134e-02 -3.11036722e-03 9.98423522e-01 3.93819698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08509989299998 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:71.85, Y:4.22, Z:3.94 [[ 9.89673244e-01 -1.31973967e-01 -5.59441066e-02 7.18476218e+01] [ 1.31926736e-01 9.91249014e-01 -4.55282720e-03 4.21606200e+00] [ 5.60553952e-02 -2.87471211e-03 9.98423522e-01 3.94213658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.91, Y:4.23, Z:3.95 [[ 9.90106530e-01 -1.28682866e-01 -5.59444321e-02 7.19084278e+01] [ 1.28630622e-01 9.91682142e-01 -4.54882476e-03 4.22778019e+00] [ 5.60644500e-02 -2.69234602e-03 9.98423522e-01 3.95115624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.97, Y:4.24, Z:3.96 [[ 9.90590937e-01 -1.24899074e-01 -5.59447716e-02 7.19699412e+01] [ 1.24841046e-01 9.92166347e-01 -4.54464508e-03 4.24269253e+00] [ 5.60741416e-02 -2.48231960e-03 9.98423522e-01 3.95538282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.03, Y:4.26, Z:3.96 [[ 9.91579781e-01 -1.16789052e-01 -5.59451119e-02 7.20305268e+01] [ 1.16718371e-01 9.93154674e-01 -4.54045158e-03 4.25931352e+00] [ 5.60924244e-02 -2.02760235e-03 9.98423522e-01 3.95735161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.09, Y:4.27, Z:3.96 [[ 9.91847155e-01 -1.14495969e-01 -5.59454494e-02 7.20914411e+01] [ 1.14421881e-01 9.93421892e-01 -4.53628964e-03 4.26699746e+00] [ 5.60968211e-02 -1.90207757e-03 9.98423522e-01 3.96074850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.15, Y:4.28, Z:3.97 [[ 9.93121172e-01 -1.02861148e-01 -5.59456981e-02 7.21519689e+01] [ 1.02768778e-01 9.94694942e-01 -4.53322018e-03 4.28226847e+00] [ 5.61151952e-02 -1.24743410e-03 9.98423522e-01 3.96537911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.21, Y:4.30, Z:3.97 [[ 9.93517698e-01 -9.89576936e-02 -5.59460255e-02 7.22124843e+01] [ 9.88593677e-02 9.95091107e-01 -4.52917689e-03 4.30157436e+00] [ 5.61195893e-02 -1.03097130e-03 9.98423522e-01 3.96512630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.27, Y:4.31, Z:3.97 [[ 9.93049348e-01 -1.03551908e-01 -5.59463506e-02 7.22744109e+01] [ 1.03461087e-01 9.94623208e-01 -4.52515743e-03 4.30827356e+00] [ 5.61141274e-02 -1.29456562e-03 9.98423522e-01 3.96933766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.34, Y:4.31, Z:3.97 [[ 9.92833743e-01 -1.05598901e-01 -5.59466828e-02 7.23363234e+01] [ 1.05511556e-01 9.94407799e-01 -4.52104609e-03 4.31383752e+00] [ 5.61112352e-02 -1.41437444e-03 9.98423522e-01 3.97291945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.40, Y:4.32, Z:3.98 [[ 9.92363047e-01 -1.09934139e-01 -5.59470158e-02 7.23984993e+01] [ 1.09853902e-01 9.93937482e-01 -4.51692140e-03 4.31915992e+00] [ 5.61043999e-02 -1.66357213e-03 9.98423522e-01 3.97611933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.46, Y:4.32, Z:3.98 [[ 9.92151059e-01 -1.11830991e-01 -5.59473487e-02 7.24616010e+01] [ 1.11753996e-01 9.93725656e-01 -4.51279490e-03 4.32408250e+00] [ 5.61009861e-02 -1.77496556e-03 9.98423522e-01 3.97949947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74509989299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:72.52, Y:4.33, Z:3.98 [[ 9.91997078e-01 -1.13188497e-01 -5.59478495e-02 7.25240460e+01] [ 1.13114007e-01 9.93571795e-01 -4.50657775e-03 4.32894526e+00] [ 5.60982980e-02 -1.85797350e-03 9.98423522e-01 3.98180542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.58, Y:4.33, Z:3.99 [[ 9.92505206e-01 -1.08642531e-01 -5.59483438e-02 7.25843537e+01] [ 1.08561174e-01 9.94079583e-01 -4.50043265e-03 4.33369521e+00] [ 5.61060446e-02 -1.60711507e-03 9.98423522e-01 3.98781655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.65, Y:4.34, Z:3.99 [[ 9.92430137e-01 -1.09326024e-01 -5.59485863e-02 7.26463202e+01] [ 1.09245922e-01 9.94004578e-01 -4.49741518e-03 4.33929279e+00] [ 5.61048355e-02 -1.64878451e-03 9.98423522e-01 3.99127003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.71, Y:4.35, Z:3.99 [[ 9.92334223e-01 -1.10193053e-01 -5.59489105e-02 7.27080859e+01] [ 1.10114553e-01 9.93908746e-01 -4.49337895e-03 4.34504891e+00] [ 5.61032506e-02 -1.70185558e-03 9.98423522e-01 3.99321683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.77, Y:4.35, Z:4.00 [[ 9.92575168e-01 -1.08001013e-01 -5.59492308e-02 7.27700658e+01] [ 1.07919260e-01 9.94149525e-01 -4.48938663e-03 4.35152210e+00] [ 5.61067596e-02 -1.58194590e-03 9.98423522e-01 3.99718301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.83, Y:4.36, Z:4.00 [[ 9.93403652e-01 -1.00094112e-01 -5.59495589e-02 7.28319486e+01] [ 1.00000056e-01 9.94977322e-01 -4.48529450e-03 4.35855577e+00] [ 5.61174938e-02 -1.13925110e-03 9.98423522e-01 4.00129388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.89, Y:4.36, Z:4.00 [[ 9.94835171e-01 -8.46911576e-02 -5.59498885e-02 7.28940646e+01] [ 8.45729636e-02 9.96407212e-01 -4.48117893e-03 4.36281165e+00] [ 5.61283887e-02 -2.73813478e-04 9.98423522e-01 4.00388089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.95, Y:4.37, Z:4.00 [[ 9.95366449e-01 -7.81997780e-02 -5.59502151e-02 7.29533230e+01] [ 7.80715612e-02 9.96937705e-01 -4.47709769e-03 4.36526130e+00] [ 5.61289870e-02 8.82321862e-05 9.98423522e-01 4.00446235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.01, Y:4.37, Z:4.01 [[ 9.95136246e-01 -8.10766511e-02 -5.59502318e-02 7.30133789e+01] [ 8.09529884e-02 9.96707866e-01 -4.47688930e-03 4.36640158e+00] [ 5.61290073e-02 -7.42236527e-05 9.98423522e-01 4.00902615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.07, Y:4.37, Z:4.01 [[ 9.94550737e-01 -8.79682940e-02 -5.59500676e-02 7.30735750e+01] [ 8.78554060e-02 9.96123168e-01 -4.47893988e-03 4.36587743e+00] [ 5.61271633e-02 -4.60982940e-04 9.98423522e-01 4.01444197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.13, Y:4.37, Z:4.02 [[ 9.93756491e-01 -9.65278585e-02 -5.59500676e-02 7.31339340e+01] [ 9.64285129e-02 9.95329835e-01 -4.47893988e-03 4.36628040e+00] [ 5.61211140e-02 -9.44206234e-04 9.98423522e-01 4.01859822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.20, Y:4.37, Z:4.02 [[ 9.92780322e-01 -1.06098131e-01 -5.59501484e-02 7.31961791e+01] [ 1.06014006e-01 9.94354554e-01 -4.47793031e-03 4.36725250e+00] [ 5.61093849e-02 -1.48589827e-03 9.98423522e-01 4.02165352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.26, Y:4.37, Z:4.02 [[ 9.91013015e-01 -1.21502049e-01 -5.59504701e-02 7.32580309e+01] [ 1.21442607e-01 9.92588373e-01 -4.47390717e-03 4.36524870e+00] [ 5.60793750e-02 -2.36107072e-03 9.98423522e-01 4.02245921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.32, Y:4.37, Z:4.03 [[ 9.90107534e-01 -1.28672410e-01 -5.59507084e-02 7.33206928e+01] [ 1.28624541e-01 9.91683285e-01 -4.47092514e-03 4.36791549e+00] [ 5.60606670e-02 -2.76993753e-03 9.98423522e-01 4.02621159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.38, Y:4.37, Z:4.03 [[ 9.89526307e-01 -1.33068216e-01 -5.59512040e-02 7.33821037e+01] [ 1.33027695e-01 9.91102264e-01 -4.46471372e-03 4.37063058e+00] [ 5.60474765e-02 -3.02510806e-03 9.98423522e-01 4.02988501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.44, Y:4.38, Z:4.03 [[ 9.89540699e-01 -1.32961050e-01 -5.59514470e-02 7.34445332e+01] [ 1.32920530e-01 9.91116656e-01 -4.46166685e-03 4.37620997e+00] [ 5.60476390e-02 -3.02209507e-03 9.98423522e-01 4.03422540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.50, Y:4.38, Z:4.04 [[ 9.89987322e-01 -1.29593532e-01 -5.59519296e-02 7.35049122e+01] [ 1.29547992e-01 9.91563142e-01 -4.45560597e-03 4.38330988e+00] [ 5.60572889e-02 -2.83746674e-03 9.98423522e-01 4.03730796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.57, Y:4.39, Z:4.04 [[ 9.90222498e-01 -1.27784032e-01 -5.59521665e-02 7.35665002e+01] [ 1.27735781e-01 9.91798238e-01 -4.45262913e-03 4.39138897e+00] [ 5.60622351e-02 -2.73800013e-03 9.98423522e-01 4.03958157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.63, Y:4.40, Z:4.04 [[ 9.90016467e-01 -1.29370454e-01 -5.59524843e-02 7.36286703e+01] [ 1.29324953e-01 9.91592288e-01 -4.44863281e-03 4.39834268e+00] [ 5.60575736e-02 -2.83183263e-03 9.98423522e-01 4.03903250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.69, Y:4.41, Z:4.04 [[ 9.89800412e-01 -1.31013085e-01 -5.59528020e-02 7.36901674e+01] [ 1.30970424e-01 9.91376313e-01 -4.44463313e-03 4.40628619e+00] [ 5.60525876e-02 -2.92886250e-03 9.98423522e-01 4.04086403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.75, Y:4.42, Z:4.04 [[ 9.90357166e-01 -1.26735680e-01 -5.59531228e-02 7.37511546e+01] [ 1.26686438e-01 9.91932874e-01 -4.44059147e-03 4.41641128e+00] [ 5.60645233e-02 -2.69073025e-03 9.98423522e-01 4.04477042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.81, Y:4.43, Z:4.05 [[ 9.91444999e-01 -1.17923855e-01 -5.59533666e-02 7.38122285e+01] [ 1.17860777e-01 9.93020214e-01 -4.43751731e-03 4.42721611e+00] [ 5.60861132e-02 -2.19515291e-03 9.98423522e-01 4.05007173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.87, Y:4.44, Z:4.05 [[ 9.91733229e-01 -1.15474613e-01 -5.59536880e-02 7.38741217e+01] [ 1.15407873e-01 9.93308294e-01 -4.43346056e-03 4.43872036e+00] [ 5.60912145e-02 -2.06068596e-03 9.98423522e-01 4.05007855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.94, Y:4.44, Z:4.05 [[ 9.91577958e-01 -1.16800212e-01 -5.59541183e-02 7.39356191e+01] [ 1.16735884e-01 9.93153123e-01 -4.42802370e-03 4.44239071e+00] [ 5.60882014e-02 -2.14112276e-03 9.98423522e-01 4.05146042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.00, Y:4.44, Z:4.06 [[ 9.91560542e-01 -1.16947810e-01 -5.59544625e-02 7.39973561e+01] [ 1.16883962e-01 9.93135726e-01 -4.42366960e-03 4.44380934e+00] [ 5.60877142e-02 -2.15384303e-03 9.98423522e-01 4.05752034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.06, Y:4.45, Z:4.06 [[ 9.91538667e-01 -1.17132973e-01 -5.59547808e-02 7.40590569e+01] [ 1.17069646e-01 9.93113873e-01 -4.41963893e-03 4.44797187e+00] [ 5.60871546e-02 -2.16836350e-03 9.98423522e-01 4.06130296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.12, Y:4.45, Z:4.07 [[ 9.91431044e-01 -1.18040301e-01 -5.59550942e-02 7.41212098e+01] [ 1.17978639e-01 9.93006316e-01 -4.41566823e-03 4.45193233e+00] [ 5.60849887e-02 -2.22367528e-03 9.98423522e-01 4.06743322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.18, Y:4.46, Z:4.07 [[ 9.91529644e-01 -1.17209026e-01 -5.59554170e-02 7.41821160e+01] [ 1.17146274e-01 9.93104873e-01 -4.41157347e-03 4.45635671e+00] [ 5.60866735e-02 -2.18076273e-03 9.98423522e-01 4.07017054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.24, Y:4.46, Z:4.07 [[ 9.90931690e-01 -1.22161166e-01 -5.59556559e-02 7.42439344e+01] [ 1.22106456e-01 9.92507218e-01 -4.40854154e-03 4.45667693e+00] [ 5.60749450e-02 -2.46398330e-03 9.98423522e-01 4.07427626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.30, Y:4.47, Z:4.08 [[ 9.95500249e-01 -7.64734173e-02 -5.59559748e-02 7.43049681e+01] [ 7.63465566e-02 9.97071614e-01 -4.40448978e-03 4.46515302e+00] [ 5.61289405e-02 1.12624675e-04 9.98423522e-01 4.08348297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.36, Y:4.47, Z:4.09 [[ 9.95868523e-01 -7.15176785e-02 -5.59562923e-02 7.43636820e+01] [ 7.13832252e-02 9.97439257e-01 -4.40045346e-03 4.46837309e+00] [ 5.61277128e-02 3.87932474e-04 9.98423522e-01 4.08681086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.42, Y:4.47, Z:4.09 [[ 9.96290926e-01 -6.53713265e-02 -5.59551596e-02 7.44215342e+01] [ 6.52263774e-02 9.97860726e-01 -4.41480929e-03 4.47026803e+00] [ 5.61240581e-02 7.48682085e-04 9.98423522e-01 4.08903900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.48, Y:4.47, Z:4.09 [[ 9.96513466e-01 -6.18876066e-02 -5.59538790e-02 7.44791377e+01] [ 6.17362622e-02 9.98082662e-01 -4.43098087e-03 4.47243638e+00] [ 5.61208193e-02 9.61148758e-04 9.98423522e-01 4.09198137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.54, Y:4.48, Z:4.09 [[ 9.96530384e-01 -6.16157307e-02 -5.59526095e-02 7.45368623e+01] [ 6.14630616e-02 9.98099452e-01 -4.44695399e-03 4.47629171e+00] [ 5.61202712e-02 9.92506088e-04 9.98423522e-01 4.09497015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.59, Y:4.48, Z:4.10 [[ 9.96516855e-01 -6.18353041e-02 -5.59513478e-02 7.45939250e+01] [ 6.16820929e-02 9.98085870e-01 -4.46277212e-03 4.47878885e+00] [ 5.61202065e-02 9.96031400e-04 9.98423523e-01 4.09788238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.65, Y:4.48, Z:4.10 [[ 9.96463514e-01 -6.26897753e-02 -5.59504848e-02 7.46517663e+01] [ 6.25373036e-02 9.98032601e-01 -4.47356596e-03 4.48181971e+00] [ 5.61208547e-02 9.58752803e-04 9.98423523e-01 4.10137602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.71, Y:4.48, Z:4.11 [[ 9.96367977e-01 -6.41914106e-02 -5.59492392e-02 7.47096352e+01] [ 6.40404322e-02 9.97937208e-01 -4.48909055e-03 4.48437035e+00] [ 5.61219886e-02 8.89772613e-04 9.98423523e-01 4.10591008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.77, Y:4.48, Z:4.11 [[ 9.95886680e-01 -7.12709410e-02 -5.59479456e-02 7.47685216e+01] [ 7.11302164e-02 9.97456864e-01 -4.50515564e-03 4.48371690e+00] [ 5.61267490e-02 5.07035018e-04 9.98423523e-01 4.11019670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.83, Y:4.45, Z:4.12 [[ 9.94710480e-01 -8.61454292e-02 -5.59466436e-02 7.48277214e+01] [ 8.60272790e-02 9.96282523e-01 -4.52126584e-03 4.45079982e+00] [ 5.61281497e-02 -3.15587009e-04 9.98423523e-01 4.11672793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.89, Y:4.44, Z:4.12 [[ 9.94547383e-01 -8.80087987e-02 -5.59459922e-02 7.48874621e+01] [ 8.78931412e-02 9.96119612e-01 -4.52931239e-03 4.44389484e+00] [ 5.61275194e-02 -4.12653210e-04 9.98423523e-01 4.11846885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.95, Y:4.45, Z:4.12 [[ 9.94550692e-01 -8.79721519e-02 -5.59448110e-02 7.49453318e+01] [ 8.78556183e-02 9.96122856e-01 -4.54385539e-03 4.44539952e+00] [ 5.61276377e-02 -3.95971443e-04 9.98423523e-01 4.12139743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.00, Y:4.45, Z:4.12 [[ 9.94592180e-01 -8.75027191e-02 -5.59434525e-02 7.50028684e+01] [ 8.73845062e-02 9.96164218e-01 -4.56052071e-03 4.44703179e+00] [ 5.61279236e-02 -3.52732736e-04 9.98423523e-01 4.12451068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.06, Y:4.45, Z:4.13 [[ 9.94763769e-01 -8.55308566e-02 -5.59420890e-02 7.50604507e+01] [ 8.54085903e-02 9.96335497e-01 -4.57718562e-03 4.44594600e+00] [ 5.61285796e-02 -2.24716540e-04 9.98423523e-01 4.12740996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.12, Y:4.42, Z:4.13 [[ 9.95089949e-01 -8.16487761e-02 -5.59416704e-02 7.51212099e+01] [ 8.15200909e-02 9.96661165e-01 -4.58229492e-03 4.42499082e+00] [ 5.61290292e-02 -5.74437130e-07 9.98423523e-01 4.13210056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.18, Y:4.42, Z:4.14 [[ 9.94777128e-01 -8.53763626e-02 -5.59405191e-02 7.51794888e+01] [ 8.52527769e-02 9.96348753e-01 -4.59630752e-03 4.42292076e+00] [ 5.61286825e-02 -1.96782999e-04 9.98423524e-01 4.13572892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.24, Y:4.42, Z:4.14 [[ 9.94573300e-01 -8.77197754e-02 -5.59391823e-02 7.52377253e+01] [ 8.75989809e-02 9.96145142e-01 -4.61251952e-03 4.42421569e+00] [ 5.61281539e-02 -3.12726606e-04 9.98423524e-01 4.13878017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.30, Y:4.42, Z:4.14 [[ 9.94083248e-01 -9.31093442e-02 -5.59387713e-02 7.52954340e+01] [ 9.29967912e-02 9.95655701e-01 -4.61749888e-03 4.42277156e+00] [ 5.61256889e-02 -6.11947952e-04 9.98423524e-01 4.14384555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.36, Y:4.41, Z:4.14 [[ 9.91809203e-01 -1.14828179e-01 -5.59374118e-02 7.53553977e+01] [ 1.14749118e-01 9.93383696e-01 -4.63391029e-03 4.40644195e+00] [ 5.60994163e-02 -1.82281382e-03 9.98423524e-01 4.14210919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.41, Y:4.41, Z:4.14 [[ 9.91378262e-01 -1.18491323e-01 -5.59369937e-02 7.54129776e+01] [ 1.18417796e-01 9.92953023e-01 -4.63895109e-03 4.40856545e+00] [ 5.60924825e-02 -2.02498024e-03 9.98423524e-01 4.14462233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.47, Y:4.41, Z:4.15 [[ 9.91154345e-01 -1.20350612e-01 -5.59356267e-02 7.54697455e+01] [ 1.20279113e-01 9.92729199e-01 -4.65537653e-03 4.41211698e+00] [ 5.60892073e-02 -2.11369088e-03 9.98423524e-01 4.14726793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.53, Y:4.42, Z:4.15 [[ 9.90828245e-01 -1.23006900e-01 -5.59347028e-02 7.55271644e+01] [ 1.22938998e-01 9.92403258e-01 -4.66645146e-03 4.41515310e+00] [ 5.60837870e-02 -2.25290442e-03 9.98423524e-01 4.15105336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.59, Y:4.42, Z:4.16 [[ 9.90679438e-01 -1.24200296e-01 -5.59333280e-02 7.55859202e+01] [ 1.24133365e-01 9.92254493e-01 -4.68287201e-03 4.41979801e+00] [ 5.60817101e-02 -2.30396723e-03 9.98423524e-01 4.15525006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.64, Y:4.43, Z:4.16 [[ 9.89924155e-01 -1.30083677e-01 -5.59321332e-02 7.56443695e+01] [ 1.30025303e-01 9.91499550e-01 -4.69709932e-03 4.42660627e+00] [ 5.60677009e-02 -2.62282048e-03 9.98423524e-01 4.16005821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.70, Y:4.43, Z:4.17 [[ 9.89408509e-01 -1.33949738e-01 -5.59309406e-02 7.57024278e+01] [ 1.33896720e-01 9.90984093e-01 -4.71125770e-03 4.43432790e+00] [ 5.60577442e-02 -2.82761105e-03 9.98423524e-01 4.16603119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.76, Y:4.44, Z:4.17 [[ 9.89204111e-01 -1.35451448e-01 -5.59297127e-02 7.57594434e+01] [ 1.35400003e-01 9.90779747e-01 -4.72578983e-03 4.44078000e+00] [ 5.60541417e-02 -2.89811252e-03 9.98423524e-01 4.16944889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.82, Y:4.45, Z:4.17 [[ 9.88996158e-01 -1.36961796e-01 -5.59291086e-02 7.58170185e+01] [ 1.36912354e-01 9.90571858e-01 -4.73292852e-03 4.44732483e+00] [ 5.60500315e-02 -2.97653782e-03 9.98423524e-01 4.17332285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.87, Y:4.46, Z:4.18 [[ 9.88562677e-01 -1.40056864e-01 -5.59277090e-02 7.58748161e+01] [ 1.40011425e-01 9.90138497e-01 -4.74941047e-03 4.45523038e+00] [ 5.60413653e-02 -3.13542833e-03 9.98423525e-01 4.17626810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.93, Y:4.46, Z:4.18 [[ 9.88381759e-01 -1.41328441e-01 -5.59264738e-02 7.59335543e+01] [ 1.41284212e-01 9.89957614e-01 -4.76391103e-03 4.46199844e+00] [ 5.60381147e-02 -3.19296501e-03 9.98423525e-01 4.17920467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.99, Y:4.49, Z:4.18 [[ 9.88825812e-01 -1.38187847e-01 -5.59252384e-02 7.59917107e+01] [ 1.38137797e-01 9.90401492e-01 -4.77837042e-03 4.48916155e+00] [ 5.60487523e-02 -3.00041319e-03 9.98423525e-01 4.18088139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.05, Y:4.50, Z:4.18 [[ 9.89315446e-01 -1.34637720e-01 -5.59252384e-02 7.60510987e+01] [ 1.34582013e-01 9.90890937e-01 -4.77837042e-03 4.50003840e+00] [ 5.60591607e-02 -2.79921552e-03 9.98423525e-01 4.18395471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.11, Y:4.51, Z:4.19 [[ 9.89633771e-01 -1.32277578e-01 -5.59253258e-02 7.61101897e+01] [ 1.32218171e-01 9.91209126e-01 -4.77734721e-03 4.50791393e+00] [ 5.60656292e-02 -2.66652018e-03 9.98423525e-01 4.18712784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.17, Y:4.52, Z:4.19 [[ 9.90285404e-01 -1.27307450e-01 -5.59252402e-02 7.61700672e+01] [ 1.27240079e-01 9.91860439e-01 -4.77834867e-03 4.51898903e+00] [ 5.60783527e-02 -2.38400303e-03 9.98423525e-01 4.19143127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.23, Y:4.53, Z:4.19 [[ 9.90611581e-01 -1.24743992e-01 -5.59252402e-02 7.62294854e+01] [ 1.24672545e-01 9.92186436e-01 -4.77834867e-03 4.52641689e+00] [ 5.60843351e-02 -2.23885447e-03 9.98423525e-01 4.19446664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.29, Y:4.55, Z:4.20 [[ 9.92885436e-01 -1.05123203e-01 -5.59251551e-02 7.62884588e+01] [ 1.05020559e-01 9.94458566e-01 -4.77934478e-03 4.55022630e+00] [ 5.61176696e-02 -1.12794924e-03 9.98423525e-01 4.19782846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.35, Y:4.56, Z:4.20 [[ 9.93310273e-01 -1.01029990e-01 -5.59253327e-02 7.63473696e+01] [ 1.00920980e-01 9.94882975e-01 -4.77726500e-03 4.55769788e+00] [ 5.61218084e-02 -8.98732998e-04 9.98423525e-01 4.20078134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.41, Y:4.56, Z:4.20 [[ 9.93464673e-01 -9.95003000e-02 -5.59252457e-02 7.64060061e+01] [ 9.93888117e-02 9.95037201e-01 -4.77828413e-03 4.56386312e+00] [ 5.61231406e-02 -8.11287231e-04 9.98423525e-01 4.20451774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.47, Y:4.57, Z:4.21 [[ 9.93822741e-01 -9.58585512e-02 -5.59240308e-02 7.64654265e+01] [ 9.57405026e-02 9.95394790e-01 -4.79246031e-03 4.57248038e+00] [ 5.61258872e-02 -5.91338775e-04 9.98423525e-01 4.20978247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.52, Y:4.58, Z:4.21 [[ 9.93955042e-01 -9.44769641e-02 -5.59238545e-02 7.65235777e+01] [ 9.43566146e-02 9.95526917e-01 -4.79451747e-03 4.57933492e+00] [ 5.61266739e-02 -5.11250774e-04 9.98423525e-01 4.21401402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.58, Y:4.59, Z:4.22 [[ 9.94075436e-01 -9.32024051e-02 -5.59226120e-02 7.65820087e+01] [ 9.30792274e-02 9.95647092e-01 -4.80896594e-03 4.58610391e+00] [ 5.61273932e-02 -4.24758610e-04 9.98423525e-01 4.21804798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.64, Y:4.59, Z:4.22 [[ 9.92561859e-01 -1.08137675e-01 -5.59213734e-02 7.66402415e+01] [ 1.08037333e-01 9.94135137e-01 -4.82332653e-03 4.58939434e+00] [ 5.61149855e-02 -1.25414608e-03 9.98423525e-01 4.21859490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.70, Y:4.59, Z:4.22 [[ 9.91607580e-01 -1.16564857e-01 -5.59199491e-02 7.67004297e+01] [ 1.16476955e-01 9.93181602e-01 -4.83978307e-03 4.59185137e+00] [ 5.61028133e-02 -1.71421982e-03 9.98423525e-01 4.21981835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.76, Y:4.60, Z:4.22 [[ 9.91095927e-01 -1.20838040e-01 -5.59198614e-02 7.67610856e+01] [ 1.20756866e-01 9.92670311e-01 -4.84079663e-03 4.59610027e+00] [ 5.60949385e-02 -1.95501335e-03 9.98423525e-01 4.22182679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.82, Y:4.60, Z:4.22 [[ 9.90166196e-01 -1.28233665e-01 -5.59198614e-02 7.68222953e+01] [ 1.28164247e-01 9.91741142e-01 -4.84079663e-03 4.60075924e+00] [ 5.60787803e-02 -2.37373373e-03 9.98423525e-01 4.22333942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.88, Y:4.61, Z:4.23 [[ 9.89753539e-01 -1.31380674e-01 -5.59200345e-02 7.68837286e+01] [ 1.31316376e-01 9.91328702e-01 -4.83879543e-03 4.60650443e+00] [ 5.60708594e-02 -2.55400137e-03 9.98423525e-01 4.22723082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.94, Y:4.62, Z:4.24 [[ 9.88212042e-01 -1.42512702e-01 -5.59203867e-02 7.69444920e+01] [ 1.42466367e-01 9.89787836e-01 -4.83472248e-03 4.61829220e+00] [ 5.60383279e-02 -3.18904334e-03 9.98423525e-01 4.23571632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.01, Y:4.62, Z:4.24 [[ 9.88263745e-01 -1.42153585e-01 -5.59207366e-02 7.70062754e+01] [ 1.42106905e-01 9.89839528e-01 -4.83067200e-03 4.62444522e+00] [ 5.60392528e-02 -3.17274481e-03 9.98423525e-01 4.23898732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.07, Y:4.63, Z:4.24 [[ 9.88381270e-01 -1.41333988e-01 -5.59210909e-02 7.70681611e+01] [ 1.41286234e-01 9.89957021e-01 -4.82656654e-03 4.63052804e+00] [ 5.60416345e-02 -3.13039237e-03 9.98423525e-01 4.24086169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.13, Y:4.64, Z:4.24 [[ 9.88440652e-01 -1.40917954e-01 -5.59214511e-02 7.71295169e+01] [ 1.40869772e-01 9.90016390e-01 -4.82238907e-03 4.63596396e+00] [ 5.60427144e-02 -3.11099667e-03 9.98423525e-01 4.24278872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.19, Y:4.68, Z:4.25 [[ 9.95239699e-01 -7.98166827e-02 -5.59217173e-02 7.71882700e+01] [ 7.96717857e-02 9.96809501e-01 -4.81930106e-03 4.67854530e+00] [ 5.61279597e-02 3.40976661e-04 9.98423525e-01 4.25084900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.25, Y:4.68, Z:4.25 [[ 9.94853446e-01 -8.44946362e-02 -5.59220718e-02 7.72467799e+01] [ 8.43573522e-02 9.96423931e-01 -4.81518399e-03 4.68030590e+00] [ 5.61289478e-02 7.29644818e-05 9.98423525e-01 4.25413609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.31, Y:4.68, Z:4.26 [[ 9.94807703e-01 -8.50323150e-02 -5.59208286e-02 7.73065968e+01] [ 8.48950707e-02 9.96378192e-01 -4.82957805e-03 4.68455622e+00] [ 5.61289644e-02 5.70987457e-05 9.98423525e-01 4.25807529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.36, Y:4.69, Z:4.26 [[ 9.94789786e-01 -8.52417891e-02 -5.59206517e-02 7.73639705e+01] [ 8.51047604e-02 9.96360294e-01 -4.83162646e-03 4.68885914e+00] [ 5.61289734e-02 4.73389966e-05 9.98423525e-01 4.26034684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.42, Y:4.69, Z:4.26 [[ 9.94779958e-01 -8.53566907e-02 -5.59202162e-02 7.74227745e+01] [ 8.52195603e-02 9.96350457e-01 -4.83666149e-03 4.69265521e+00] [ 5.61289744e-02 4.59176758e-05 9.98423525e-01 4.26337205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.48, Y:4.70, Z:4.27 [[ 9.94782856e-01 -8.53236952e-02 -5.59190099e-02 7.74825116e+01] [ 8.51857311e-02 9.96353282e-01 -4.85056751e-03 4.69667738e+00] [ 5.61289574e-02 6.17596669e-05 9.98423526e-01 4.26652224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.54, Y:4.70, Z:4.27 [[ 9.94759270e-01 -8.55983544e-02 -5.59188311e-02 7.75412762e+01] [ 8.54607079e-02 9.96329724e-01 -4.85262848e-03 4.70025403e+00] [ 5.61289706e-02 4.83342741e-05 9.98423526e-01 4.26876201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.60, Y:4.70, Z:4.27 [[ 9.94731926e-01 -8.59163477e-02 -5.59175911e-02 7.75993516e+01] [ 8.57784024e-02 9.96302353e-01 -4.86687510e-03 4.70300439e+00] [ 5.61289717e-02 4.47144091e-05 9.98423526e-01 4.27048032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.66, Y:4.70, Z:4.28 [[ 9.94959194e-01 -8.32434580e-02 -5.59171557e-02 7.76585159e+01] [ 8.31010131e-02 9.96529220e-01 -4.87187290e-03 4.69971136e+00] [ 5.61286311e-02 2.00542447e-04 9.98423526e-01 4.27559166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.72, Y:4.70, Z:4.28 [[ 9.95051823e-01 -8.21296547e-02 -5.59159099e-02 7.77165818e+01] [ 8.19846512e-02 9.96621615e-01 -4.88612905e-03 4.70131002e+00] [ 5.61283005e-02 2.77705243e-04 9.98423526e-01 4.27852564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.77, Y:4.70, Z:4.28 [[ 9.95052456e-01 -8.21229653e-02 -5.59144800e-02 7.77733184e+01] [ 8.19770349e-02 9.96622161e-01 -4.90243830e-03 4.70436449e+00] [ 5.61282126e-02 2.94479989e-04 9.98423526e-01 4.28112085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.83, Y:4.71, Z:4.28 [[ 9.95029059e-01 -8.24063739e-02 -5.59138651e-02 7.78313910e+01] [ 8.22604970e-02 9.96598770e-01 -4.90944167e-03 4.70953464e+00] [ 5.61282584e-02 2.85534800e-04 9.98423526e-01 4.28440064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.89, Y:4.71, Z:4.29 [[ 9.94879893e-01 -8.41890386e-02 -5.59124619e-02 7.78895742e+01] [ 8.40450793e-02 9.96449781e-01 -4.92536974e-03 4.71113015e+00] [ 5.61286226e-02 2.00984024e-04 9.98423526e-01 4.28793111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.95, Y:4.70, Z:4.29 [[ 9.93226483e-01 -1.01858278e-01 -5.59110475e-02 7.79492578e+01] [ 1.01741343e-01 9.94798614e-01 -4.94137457e-03 4.69949428e+00] [ 5.61235524e-02 -7.80560972e-04 9.98423526e-01 4.29102916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.01, Y:4.70, Z:4.29 [[ 9.92772376e-01 -1.06193706e-01 -5.59098118e-02 7.80079314e+01] [ 1.06082851e-01 9.94344947e-01 -4.95531609e-03 4.70054723e+00] [ 5.61198622e-02 -1.01157133e-03 9.98423526e-01 4.29435164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.07, Y:4.70, Z:4.30 [[ 9.92602678e-01 -1.07769008e-01 -5.59085299e-02 7.80668931e+01] [ 1.07659837e-01 9.94175367e-01 -4.96973726e-03 4.70168443e+00] [ 5.61184669e-02 -1.08612870e-03 9.98423526e-01 4.29753712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.13, Y:4.70, Z:4.30 [[ 9.93633707e-01 -9.78075846e-02 -5.59082594e-02 7.81254831e+01] [ 9.76824734e-02 9.95205208e-01 -4.97277841e-03 4.69748546e+00] [ 5.61265664e-02 -5.20136824e-04 9.98423526e-01 4.30105582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.18, Y:4.70, Z:4.30 [[ 9.93732787e-01 -9.67961158e-02 -5.59076097e-02 7.81831587e+01] [ 9.66689948e-02 9.95304127e-01 -4.98007188e-03 4.70142501e+00] [ 5.61271263e-02 -4.55671729e-04 9.98423526e-01 4.30474360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.24, Y:4.71, Z:4.31 [[ 9.93832074e-01 -9.57721595e-02 -5.59061954e-02 7.82410121e+01] [ 9.56425292e-02 9.95403209e-01 -4.99589857e-03 4.70554324e+00] [ 5.61276743e-02 -3.81925693e-04 9.98423527e-01 4.30916574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.30, Y:4.71, Z:4.31 [[ 9.94053818e-01 -9.34434011e-02 -5.59047245e-02 7.82982932e+01] [ 9.33091674e-02 9.95624566e-01 -5.01230459e-03 4.70890177e+00] [ 5.61284839e-02 -2.33922783e-04 9.98423527e-01 4.31381448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.36, Y:4.70, Z:4.32 [[ 9.94386440e-01 -8.98356003e-02 -5.59032533e-02 7.83573939e+01] [ 8.96947482e-02 9.95956608e-01 -5.02866023e-03 4.70421546e+00] [ 5.61289672e-02 -1.37966888e-05 9.98423527e-01 4.31545177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.42, Y:4.71, Z:4.32 [[ 9.94312275e-01 -9.06535734e-02 -5.59019577e-02 7.84156628e+01] [ 9.05132055e-02 9.95882487e-01 -5.04302249e-03 4.70704741e+00] [ 5.61289486e-02 -4.55262143e-05 9.98423527e-01 4.31795941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.47, Y:4.71, Z:4.32 [[ 9.94146826e-01 -9.24511960e-02 -5.59004894e-02 7.84735766e+01] [ 9.23127551e-02 9.95717208e-01 -5.05924569e-03 4.70949794e+00] [ 5.61288126e-02 -1.30695141e-04 9.98423527e-01 4.32169291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.53, Y:4.71, Z:4.32 [[ 9.93898135e-01 -9.50883872e-02 -5.58989845e-02 7.85309114e+01] [ 9.49531810e-02 9.95468799e-01 -5.07581853e-03 4.71119852e+00] [ 5.61283464e-02 -2.62939833e-04 9.98423527e-01 4.32382977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.59, Y:4.71, Z:4.33 [[ 9.92231695e-01 -1.11138117e-01 -5.58979569e-02 7.85891422e+01] [ 1.11027676e-01 9.93804295e-01 -5.08711041e-03 4.70574319e+00] [ 5.61170015e-02 -1.15862806e-03 9.98423527e-01 4.32654327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.65, Y:4.71, Z:4.33 [[ 9.91305133e-01 -1.19120605e-01 -5.58964666e-02 7.86479611e+01] [ 1.19021905e-01 9.92878513e-01 -5.10343295e-03 4.70720229e+00] [ 5.61063247e-02 -1.59384466e-03 9.98423527e-01 4.33208433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.71, Y:4.71, Z:4.33 [[ 9.90420027e-01 -1.26269167e-01 -5.58951437e-02 7.87059684e+01] [ 1.26181006e-01 9.91994033e-01 -5.11788119e-03 4.70917360e+00] [ 5.60938796e-02 -1.98405345e-03 9.98423527e-01 4.33497720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.76, Y:4.71, Z:4.34 [[ 9.86561065e-01 -1.53535558e-01 -5.58936285e-02 7.87641798e+01] [ 1.53489908e-01 9.88136876e-01 -5.13437626e-03 4.70535553e+00] [ 5.60188648e-02 -3.51373220e-03 9.98423528e-01 4.34077815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.82, Y:4.71, Z:4.34 [[ 9.86180188e-01 -1.55963806e-01 -5.58921045e-02 7.88227965e+01] [ 1.55921103e-01 9.87756082e-01 -5.15091316e-03 4.70975050e+00] [ 5.60111222e-02 -3.63503009e-03 9.98423528e-01 4.34347001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.88, Y:4.72, Z:4.35 [[ 9.85758268e-01 -1.58609136e-01 -5.58907781e-02 7.88809572e+01] [ 1.58569851e-01 9.87334251e-01 -5.16526589e-03 4.71525663e+00] [ 5.60021378e-02 -3.77088880e-03 9.98423528e-01 4.34675991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.94, Y:4.72, Z:4.35 [[ 9.86920438e-01 -1.51209460e-01 -5.58904986e-02 7.89402840e+01] [ 1.51158182e-01 9.88496076e-01 -5.16828776e-03 4.72344952e+00] [ 5.60290326e-02 -3.34761736e-03 9.98423528e-01 4.35262154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.00, Y:4.73, Z:4.36 [[ 9.87493675e-01 -1.47419522e-01 -5.58903080e-02 7.89992131e+01] [ 1.47362079e-01 9.89069100e-01 -5.17034836e-03 4.73135212e+00] [ 5.60415869e-02 -3.13042570e-03 9.98423528e-01 4.35740772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.06, Y:4.74, Z:4.36 [[ 9.88419248e-01 -1.41080422e-01 -5.58901174e-02 7.90571000e+01] [ 1.41012756e-01 9.89994267e-01 -5.17240826e-03 4.74151269e+00] [ 5.60606213e-02 -2.76871161e-03 9.98423528e-01 4.36142056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.12, Y:4.75, Z:4.36 [[ 9.89002953e-01 -1.36928761e-01 -5.58898360e-02 7.91162377e+01] [ 1.36854311e-01 9.90577666e-01 -5.17544680e-03 4.75034920e+00] [ 5.60718908e-02 -2.53023284e-03 9.98423528e-01 4.36404502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.18, Y:4.76, Z:4.37 [[ 9.89424806e-01 -1.33846559e-01 -5.58896472e-02 7.91752917e+01] [ 1.33767088e-01 9.90999273e-01 -5.17748466e-03 4.76176329e+00] [ 5.60795883e-02 -2.35346359e-03 9.98423528e-01 4.36746009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52509989299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:79.23, Y:4.77, Z:4.37 [[ 9.89723095e-01 -1.31622805e-01 -5.58894583e-02 7.92344060e+01] [ 1.31539681e-01 9.91297375e-01 -5.17952251e-03 4.77469286e+00] [ 5.60848166e-02 -2.22538846e-03 9.98423528e-01 4.36994730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.29, Y:4.79, Z:4.37 [[ 9.89942943e-01 -1.29958990e-01 -5.58894583e-02 7.92921356e+01] [ 1.29873220e-01 9.91517080e-01 -5.17952251e-03 4.78560784e+00] [ 5.60884780e-02 -2.13111215e-03 9.98423528e-01 4.37253239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.35, Y:4.80, Z:4.38 [[ 9.90163142e-01 -1.28270652e-01 -5.58891026e-02 7.93517915e+01] [ 1.28181982e-01 9.91737119e-01 -5.18335870e-03 4.79500363e+00] [ 5.60921703e-02 -2.03160520e-03 9.98423528e-01 4.37527028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.41, Y:4.80, Z:4.38 [[ 9.90571058e-01 -1.25081525e-01 -5.58891026e-02 7.94120661e+01] [ 1.24987786e-01 9.92144741e-01 -5.18335870e-03 4.80409631e+00] [ 5.60984216e-02 -1.85097008e-03 9.98423528e-01 4.37748916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.47, Y:4.81, Z:4.38 [[ 9.91194836e-01 -1.20038353e-01 -5.58891026e-02 7.94711546e+01] [ 1.19936606e-01 9.92768021e-01 -5.18335870e-03 4.81434583e+00] [ 5.61071156e-02 -1.56543090e-03 9.98423528e-01 4.38013518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82509989299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:79.53, Y:4.82, Z:4.38 [[ 9.91570074e-01 -1.16898318e-01 -5.58889141e-02 7.95307702e+01] [ 1.16791475e-01 9.93142922e-01 -5.18539001e-03 4.82428893e+00] [ 5.61118428e-02 -1.38567114e-03 9.98423528e-01 4.38309904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.59, Y:4.84, Z:4.39 [[ 9.91856146e-01 -1.14445685e-01 -5.58889141e-02 7.95898299e+01] [ 1.14334952e-01 9.93428724e-01 -5.18539001e-03 4.83652192e+00] [ 5.61150982e-02 -1.24689537e-03 9.98423528e-01 4.38504606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.65, Y:4.85, Z:4.39 [[ 9.91881773e-01 -1.14223415e-01 -5.58888208e-02 7.96491708e+01] [ 1.14112273e-01 9.93454322e-01 -5.18639589e-03 4.84737422e+00] [ 5.61153984e-02 -1.23330884e-03 9.98423528e-01 4.39245209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.71, Y:4.86, Z:4.40 [[ 9.92529730e-01 -1.08448953e-01 -5.58888208e-02 7.97077352e+01] [ 1.08328661e-01 9.94101606e-01 -5.18639589e-03 4.85587863e+00] [ 5.61216257e-02 -9.06708998e-04 9.98423528e-01 4.39675331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.77, Y:4.86, Z:4.40 [[ 9.93068194e-01 -1.03402238e-01 -5.58886348e-02 7.97671354e+01] [ 1.03273845e-01 9.94639429e-01 -5.18839921e-03 4.86154508e+00] [ 5.61255319e-02 -6.19399980e-04 9.98423528e-01 4.39913147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.83, Y:4.87, Z:4.40 [[ 9.93740736e-01 -9.67255431e-02 -5.58884466e-02 7.98268244e+01] [ 9.65864785e-02 9.95311063e-01 -5.19042575e-03 4.86740880e+00] [ 5.61284359e-02 -2.40130736e-04 9.98423528e-01 4.40187422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.88, Y:4.87, Z:4.40 [[ 9.93934149e-01 -9.47175294e-02 -5.58882601e-02 7.98848771e+01] [ 9.45751795e-02 9.95504181e-01 -5.19243265e-03 4.87307907e+00] [ 5.61288110e-02 -1.24706103e-04 9.98423528e-01 4.40459801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.94, Y:4.88, Z:4.41 [[ 9.94041162e-01 -9.35886796e-02 -5.58867366e-02 7.99435615e+01] [ 9.34436277e-02 9.95610947e-01 -5.20877927e-03 4.87778900e+00] [ 5.61289295e-02 -4.45184056e-05 9.98423528e-01 4.40723190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.00, Y:4.88, Z:4.41 [[ 9.94034301e-01 -9.36623237e-02 -5.58853997e-02 8.00011506e+01] [ 9.35165838e-02 9.95604022e-01 -5.22308397e-03 4.88237711e+00] [ 5.61289348e-02 -3.42870414e-05 9.98423528e-01 4.41032898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.06, Y:4.89, Z:4.41 [[ 9.93953679e-01 -9.45149540e-02 -5.58838697e-02 8.00587946e+01] [ 9.43696431e-02 9.95523440e-01 -5.23940282e-03 4.88681410e+00] [ 5.61289041e-02 -6.60171270e-05 9.98423528e-01 4.41351747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.12, Y:4.89, Z:4.42 [[ 9.93194678e-01 -1.02183058e-01 -5.58834005e-02 8.01177217e+01] [ 1.02049585e-01 9.94765489e-01 -5.24440231e-03 4.88730240e+00] [ 5.61267673e-02 -4.94165350e-04 9.98423528e-01 4.41945339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.18, Y:4.89, Z:4.42 [[ 9.91700184e-01 -1.15792650e-01 -5.58820758e-02 8.01756107e+01] [ 1.15679937e-01 9.93272622e-01 -5.25848031e-03 4.88502110e+00] [ 5.61150293e-02 -1.24959909e-03 9.98423528e-01 4.42282444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.24, Y:4.88, Z:4.42 [[ 9.89135084e-01 -1.35974807e-01 -5.58805708e-02 8.02357063e+01] [ 1.35893256e-01 9.90709444e-01 -5.27442492e-03 4.88290174e+00] [ 5.60785982e-02 -2.37667399e-03 9.98423528e-01 4.42436255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.30, Y:4.89, Z:4.43 [[ 9.87783208e-01 -1.45470679e-01 -5.58803765e-02 8.02958547e+01] [ 1.45404140e-01 9.89358274e-01 -5.27648246e-03 4.88749379e+00] [ 5.60532864e-02 -2.91321733e-03 9.98423528e-01 4.42803786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.36, Y:4.89, Z:4.43 [[ 9.87590030e-01 -1.46776382e-01 -5.58804727e-02 8.03565861e+01] [ 1.46711983e-01 9.89165185e-01 -5.27546434e-03 4.89342935e+00] [ 5.60493316e-02 -2.98833898e-03 9.98423528e-01 4.43125169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.42, Y:4.90, Z:4.43 [[ 9.87438972e-01 -1.47789132e-01 -5.58806635e-02 8.04170930e+01] [ 1.47726463e-01 9.89014198e-01 -5.27344182e-03 4.89956212e+00] [ 5.60461270e-02 -3.04785080e-03 9.98423528e-01 4.43414394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.48, Y:4.91, Z:4.44 [[ 9.87421192e-01 -1.47907807e-01 -5.58808567e-02 8.04770071e+01] [ 1.47845442e-01 9.88996430e-01 -5.27139384e-03 4.90712340e+00] [ 5.60456481e-02 -3.05664397e-03 9.98423529e-01 4.43560686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.54, Y:4.92, Z:4.44 [[ 9.87955243e-01 -1.44297457e-01 -5.58809518e-02 8.05376247e+01] [ 1.44229392e-01 9.89530245e-01 -5.27038595e-03 4.91774667e+00] [ 5.60563952e-02 -2.85277027e-03 9.98423529e-01 4.43849650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.60, Y:4.93, Z:4.44 [[ 9.88623759e-01 -1.39643654e-01 -5.58812325e-02 8.05985153e+01] [ 1.39568341e-01 9.90198431e-01 -5.26740729e-03 4.93038241e+00] [ 5.60690688e-02 -2.59176691e-03 9.98423529e-01 4.44405474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.66, Y:4.94, Z:4.45 [[ 9.89255529e-01 -1.35095308e-01 -5.58816175e-02 8.06600725e+01] [ 1.35012984e-01 9.90829850e-01 -5.26331968e-03 4.94048093e+00] [ 5.60802245e-02 -2.33797587e-03 9.98423529e-01 4.44769377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.72, Y:4.95, Z:4.45 [[ 9.90389196e-01 -1.26516567e-01 -5.58820001e-02 8.07213466e+01] [ 1.26420831e-01 9.91962758e-01 -5.25925517e-03 4.95261374e+00] [ 5.60982458e-02 -1.85593941e-03 9.98423529e-01 4.45140538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.78, Y:4.97, Z:4.46 [[ 9.91508413e-01 -1.17423278e-01 -5.58823836e-02 8.07817380e+01] [ 1.17313336e-01 9.93081046e-01 -5.25517713e-03 4.96561372e+00] [ 5.61128161e-02 -1.34519651e-03 9.98423529e-01 4.45521496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.84, Y:4.98, Z:4.46 [[ 9.92769224e-01 -1.06237500e-01 -5.58825722e-02 8.08409103e+01] [ 1.06109948e-01 9.94340527e-01 -5.25317010e-03 4.97911799e+00] [ 5.61243900e-02 -7.14511249e-04 9.98423529e-01 4.45658038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.90, Y:4.99, Z:4.46 [[ 9.93441026e-01 -9.97599854e-02 -5.58826648e-02 8.09004340e+01] [ 9.96222432e-02 9.95011469e-01 -5.25218480e-03 4.98976278e+00] [ 5.61278503e-02 -3.49420570e-04 9.98423529e-01 4.46092731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.96, Y:5.00, Z:4.46 [[ 9.93819546e-01 -9.59157802e-02 -5.58826648e-02 8.09601315e+01] [ 9.57719632e-02 9.95389444e-01 -5.25218480e-03 4.99988114e+00] [ 5.61287821e-02 -1.32268606e-04 9.98423529e-01 4.46498194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.02, Y:5.01, Z:4.47 [[ 9.93852904e-01 -9.55695240e-02 -5.58826648e-02 8.10190718e+01] [ 9.54251601e-02 9.95422751e-01 -5.25218480e-03 5.00943905e+00] [ 5.61288248e-02 -1.12713126e-04 9.98423529e-01 4.46553846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.08, Y:5.02, Z:4.47 [[ 9.93668884e-01 -9.74643451e-02 -5.58824751e-02 8.10778632e+01] [ 9.73228612e-02 9.95238993e-01 -5.25420254e-03 5.01714237e+00] [ 5.61285157e-02 -2.17704793e-04 9.98423529e-01 4.47098287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.14, Y:5.02, Z:4.47 [[ 9.93310791e-01 -1.01048615e-01 -5.58824733e-02 8.11383644e+01] [ 1.00912795e-01 9.94881400e-01 -5.25422160e-03 5.02310548e+00] [ 5.61273651e-02 -4.20181578e-04 9.98423529e-01 4.47461326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.20, Y:5.03, Z:4.48 [[ 9.92783204e-01 -1.06106829e-01 -5.58824733e-02 8.11998510e+01] [ 1.05979011e-01 9.94354485e-01 -5.25422160e-03 5.02829488e+00] [ 5.61244968e-02 -7.06066294e-04 9.98423529e-01 4.47838784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.26, Y:5.03, Z:4.48 [[ 9.92343226e-01 -1.10145587e-01 -5.58826645e-02 8.12611379e+01] [ 1.10024279e-01 9.93915023e-01 -5.25218757e-03 5.03215881e+00] [ 5.61211250e-02 -9.36477105e-04 9.98423529e-01 4.48040633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.32, Y:5.04, Z:4.49 [[ 9.92339514e-01 -1.10178925e-01 -5.58828529e-02 8.13225107e+01] [ 1.10057782e-01 9.93911324e-01 -5.25018223e-03 5.03797440e+00] [ 5.61210598e-02 -9.40379547e-04 9.98423529e-01 4.48518657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.38, Y:5.04, Z:4.49 [[ 9.92888199e-01 -1.05119506e-01 -5.58830391e-02 8.13844252e+01] [ 1.04990465e-01 9.94459380e-01 -5.24819962e-03 5.04387622e+00] [ 5.61251006e-02 -6.56310802e-04 9.98423529e-01 4.48966062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.45, Y:5.05, Z:4.49 [[ 9.93719525e-01 -9.69461159e-02 -5.58834225e-02 8.14457464e+01] [ 9.68043806e-02 9.95289612e-01 -5.24411408e-03 5.05021383e+00] [ 5.61285864e-02 -1.98581546e-04 9.98423529e-01 4.49350625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.51, Y:5.05, Z:4.50 [[ 9.93997308e-01 -9.40551581e-02 -5.58836109e-02 8.15056094e+01] [ 9.39089692e-02 9.95566987e-01 -5.24210511e-03 5.05363983e+00] [ 5.61289252e-02 -3.73339240e-05 9.98423529e-01 4.49563685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.56, Y:5.06, Z:4.50 [[ 9.93959194e-01 -9.44571513e-02 -5.58835181e-02 8.15645874e+01] [ 9.43115416e-02 9.95528926e-01 -5.24309418e-03 5.05773555e+00] [ 5.61289066e-02 -5.90390780e-05 9.98423529e-01 4.49898666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.62, Y:5.06, Z:4.50 [[ 9.93429125e-01 -9.98780649e-02 -5.58833293e-02 8.16232998e+01] [ 9.97409076e-02 9.94999618e-01 -5.24510577e-03 5.06048161e+00] [ 5.61277624e-02 -3.63213152e-04 9.98423529e-01 4.49960044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.68, Y:5.06, Z:4.51 [[ 9.91881867e-01 -1.14225925e-01 -5.58820186e-02 8.16833814e+01] [ 1.14110696e-01 9.93454122e-01 -5.25903398e-03 5.06400796e+00] [ 5.61169397e-02 -1.16039560e-03 9.98423529e-01 4.50730503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.74, Y:5.07, Z:4.51 [[ 9.91592049e-01 -1.16715075e-01 -5.58820186e-02 8.17446979e+01] [ 1.16603793e-01 9.93164588e-01 -5.25903398e-03 5.06969562e+00] [ 5.61138505e-02 -1.30123903e-03 9.98423529e-01 4.51100937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.81, Y:5.07, Z:4.51 [[ 9.90923958e-01 -1.22257423e-01 -5.58823127e-02 8.18072062e+01] [ 1.22155111e-01 9.92497105e-01 -5.25590693e-03 5.07432798e+00] [ 5.61056072e-02 -1.61810601e-03 9.98423529e-01 4.51336863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.87, Y:5.08, Z:4.52 [[ 9.90468541e-01 -1.25893536e-01 -5.58827984e-02 8.18685379e+01] [ 1.25797290e-01 9.92042071e-01 -5.25073754e-03 5.07934838e+00] [ 5.60991210e-02 -1.82921426e-03 9.98423529e-01 4.51587295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.93, Y:5.08, Z:4.52 [[ 9.88867829e-01 -1.37903945e-01 -5.58830859e-02 8.19304698e+01] [ 1.37826974e-01 9.90442420e-01 -5.24767614e-03 5.08413386e+00] [ 5.60726540e-02 -2.51293852e-03 9.98423529e-01 4.51793358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.99, Y:5.09, Z:4.52 [[ 9.87449715e-01 -1.47716275e-01 -5.58834687e-02 8.19928067e+01] [ 1.47655173e-01 9.89025002e-01 -5.24359583e-03 5.09015048e+00] [ 5.60447122e-02 -3.07369606e-03 9.98423529e-01 4.51990630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.05, Y:5.10, Z:4.52 [[ 9.86923819e-01 -1.51189851e-01 -5.58838476e-02 8.20542563e+01] [ 1.51134521e-01 9.88499319e-01 -5.23955488e-03 5.09752370e+00] [ 5.60333128e-02 -3.27493703e-03 9.98423529e-01 4.52194229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.11, Y:5.11, Z:4.53 [[ 9.87659307e-01 -1.46308056e-01 -5.58842215e-02 8.21141742e+01] [ 1.46245162e-01 9.89234523e-01 -5.23556344e-03 5.10925144e+00] [ 5.60486064e-02 -3.00184406e-03 9.98423529e-01 4.52708893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.17, Y:5.12, Z:4.53 [[ 9.89186211e-01 -1.35600607e-01 -5.58848379e-02 8.21745287e+01] [ 1.35521023e-01 9.90760672e-01 -5.22897565e-03 5.12346721e+00] [ 5.60775519e-02 -2.40113982e-03 9.98423529e-01 4.53494123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.24, Y:5.14, Z:4.54 [[ 9.90297299e-01 -1.27232478e-01 -5.58852138e-02 8.22351207e+01] [ 1.27139812e-01 9.91871044e-01 -5.22495551e-03 5.13522002e+00] [ 5.60957094e-02 -1.93097627e-03 9.98423529e-01 4.53897169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.30, Y:5.15, Z:4.54 [[ 9.91671994e-01 -1.16032093e-01 -5.58856770e-02 8.22959744e+01] [ 1.15921927e-01 9.93244612e-01 -5.21999599e-03 5.14967341e+00] [ 5.61138347e-02 -1.30185151e-03 9.98423529e-01 4.54212007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.36, Y:5.16, Z:4.54 [[ 9.92661413e-01 -1.07238375e-01 -5.58860528e-02 8.23575434e+01] [ 1.07114501e-01 9.94233010e-01 -5.21597027e-03 5.16143044e+00] [ 5.61231106e-02 -8.08514263e-04 9.98423529e-01 4.54460040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.42, Y:5.18, Z:4.55 [[ 9.93588338e-01 -9.82798105e-02 -5.58864349e-02 8.24190255e+01] [ 9.81419960e-02 9.95158774e-01 -5.21187308e-03 5.17565786e+00] [ 5.61280979e-02 -3.06349956e-04 9.98423529e-01 4.54691456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.48, Y:5.19, Z:4.55 [[ 9.93827853e-01 -9.58272579e-02 -5.58868104e-02 8.24806717e+01] [ 9.56857945e-02 9.95397964e-01 -5.20784347e-03 5.18583304e+00] [ 5.61286706e-02 -1.71873956e-04 9.98423529e-01 4.54903545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.54, Y:5.20, Z:4.56 [[ 9.93479319e-01 -9.93753715e-02 -5.58871840e-02 8.25416723e+01] [ 9.92397412e-02 9.95049945e-01 -5.20383039e-03 5.19704377e+00] [ 5.61276720e-02 -3.76331813e-04 9.98423529e-01 4.55509089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.60, Y:5.21, Z:4.56 [[ 9.92600615e-01 -1.07798887e-01 -5.58875537e-02 8.26036560e+01] [ 1.07676808e-01 9.94172353e-01 -5.19985703e-03 5.20558675e+00] [ 5.61223996e-02 -8.56412111e-04 9.98423529e-01 4.55962385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.66, Y:5.21, Z:4.56 [[ 9.91093984e-01 -1.20868750e-01 -5.58879315e-02 8.26649828e+01] [ 1.20767621e-01 9.92667208e-01 -5.19579337e-03 5.21255110e+00] [ 5.61061260e-02 -1.59993299e-03 9.98423529e-01 4.56436271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.73, Y:5.22, Z:4.57 [[ 9.89215401e-01 -1.35386071e-01 -5.58883083e-02 8.27267744e+01] [ 1.35308246e-01 9.90789950e-01 -5.19173748e-03 5.21853058e+00] [ 5.60764631e-02 -2.42640231e-03 9.98423529e-01 4.56569603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.79, Y:5.22, Z:4.57 [[ 9.88541827e-01 -1.40219510e-01 -5.58886825e-02 8.27880319e+01] [ 1.40149610e-01 9.90116748e-01 -5.18770603e-03 5.22376614e+00] [ 5.60637382e-02 -2.70451263e-03 9.98423529e-01 4.56626741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.85, Y:5.23, Z:4.57 [[ 9.89444480e-01 -1.33701325e-01 -5.58889595e-02 8.28481119e+01] [ 1.33621215e-01 9.91018915e-01 -5.18472043e-03 5.23270838e+00] [ 5.60802200e-02 -2.33795765e-03 9.98423529e-01 4.57260795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.91, Y:5.24, Z:4.58 [[ 9.90212073e-01 -1.27892318e-01 -5.58892287e-02 8.29096977e+01] [ 1.27803133e-01 9.91786019e-01 -5.18181645e-03 5.24254550e+00] [ 5.60928702e-02 -2.01172130e-03 9.98423529e-01 4.57884815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.97, Y:5.25, Z:4.58 [[ 9.90544555e-01 -1.25291010e-01 -5.58895947e-02 8.29730012e+01] [ 1.25197914e-01 9.92118275e-01 -5.17786601e-03 5.24788597e+00] [ 5.60978284e-02 -1.86835368e-03 9.98423529e-01 4.58060811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.03, Y:5.26, Z:4.58 [[ 9.91150264e-01 -1.20405338e-01 -5.58901526e-02 8.30345024e+01] [ 1.20304823e-01 9.92723527e-01 -5.17183674e-03 5.25661740e+00] [ 5.61061862e-02 -1.59778756e-03 9.98423529e-01 4.58410488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.10, Y:5.26, Z:4.59 [[ 9.91757679e-01 -1.15295081e-01 -5.58905217e-02 8.30960458e+01] [ 1.15186683e-01 9.93330419e-01 -5.16784528e-03 5.26227347e+00] [ 5.61135825e-02 -1.31259355e-03 9.98423529e-01 4.58649262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.16, Y:5.27, Z:4.59 [[ 9.92717964e-01 -1.06711070e-01 -5.58908890e-02 8.31569924e+01] [ 1.06589294e-01 9.94289725e-01 -5.16386960e-03 5.27314171e+00] [ 5.61227787e-02 -8.31104280e-04 9.98423529e-01 4.59011278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.22, Y:5.28, Z:4.60 [[ 9.94067503e-01 -9.33056736e-02 -5.58914249e-02 8.32179782e+01] [ 9.31630262e-02 9.95637507e-01 -5.15806274e-03 5.27897910e+00] [ 5.61288755e-02 -7.95517393e-05 9.98423529e-01 4.59710901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.28, Y:5.28, Z:4.60 [[ 9.94904060e-01 -8.39167684e-02 -5.58917473e-02 8.32801213e+01] [ 8.37595017e-02 9.96472667e-01 -5.15456713e-03 5.28201338e+00] [ 5.61271531e-02 4.46834863e-04 9.98423529e-01 4.60256850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.34, Y:5.29, Z:4.60 [[ 9.94780299e-01 -8.53711184e-02 -5.58921163e-02 8.33402378e+01] [ 8.52163699e-02 9.96349157e-01 -5.15056254e-03 5.28502614e+00] [ 5.61277723e-02 3.60754885e-04 9.98423529e-01 4.60329150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.40, Y:5.28, Z:4.61 [[ 9.94507870e-01 -8.84881696e-02 -5.58922178e-02 8.34015591e+01] [ 8.83384003e-02 9.96077211e-01 -5.14946086e-03 5.28227409e+00] [ 5.61286308e-02 1.83750242e-04 9.98423529e-01 4.60617681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.46, Y:5.28, Z:4.61 [[ 9.94241379e-01 -9.14337981e-02 -5.58922178e-02 8.34626021e+01] [ 9.12886784e-02 9.95811157e-01 -5.14946086e-03 5.28224206e+00] [ 5.61289289e-02 1.74803741e-05 9.98423529e-01 4.61020560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.52, Y:5.29, Z:4.62 [[ 9.94121569e-01 -9.27272684e-02 -5.58924020e-02 8.35245995e+01] [ 9.25843035e-02 9.95691544e-01 -5.14746085e-03 5.28518518e+00] [ 5.61289020e-02 -5.75572539e-05 9.98423529e-01 4.61565461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.59, Y:5.29, Z:4.62 [[ 9.93935745e-01 -9.46981135e-02 -5.58927776e-02 8.35865618e+01] [ 9.45584912e-02 9.95506021e-01 -5.14337987e-03 5.28621033e+00] [ 5.61286650e-02 -1.72947619e-04 9.98423529e-01 4.62137907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.65, Y:5.28, Z:4.62 [[ 9.93906959e-01 -9.49995426e-02 -5.58931495e-02 8.36479832e+01] [ 9.48606239e-02 9.95477297e-01 -5.13933482e-03 5.28342984e+00] [ 5.61285959e-02 -1.94038397e-04 9.98423529e-01 4.62399921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.71, Y:5.28, Z:4.63 [[ 9.94199311e-01 -9.18893589e-02 -5.58934241e-02 8.37097577e+01] [ 9.17456957e-02 9.95769223e-01 -5.13634617e-03 5.28376167e+00] [ 5.61289271e-02 -2.14292589e-05 9.98423529e-01 4.62750844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.77, Y:5.28, Z:4.63 [[ 9.94685107e-01 -8.64722017e-02 -5.58936127e-02 8.37701868e+01] [ 8.63201041e-02 9.96254224e-01 -5.13429376e-03 5.28167258e+00] [ 5.61282214e-02 2.82263078e-04 9.98423529e-01 4.62901612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.83, Y:5.28, Z:4.63 [[ 9.94814418e-01 -8.49716347e-02 -5.58936127e-02 8.38297560e+01] [ 8.48171702e-02 9.96383303e-01 -5.13429376e-03 5.27881269e+00] [ 5.61277318e-02 3.66931397e-04 9.98423529e-01 4.63034622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.89, Y:5.28, Z:4.63 [[ 9.94607004e-01 -8.73667709e-02 -5.58923442e-02 8.38883996e+01] [ 8.72153107e-02 9.96176183e-01 -5.14806563e-03 5.27728892e+00] [ 5.61283920e-02 2.45633971e-04 9.98423529e-01 4.63242181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.95, Y:5.28, Z:4.64 [[ 9.94182233e-01 -9.20754115e-02 -5.58910259e-02 8.39474973e+01] [ 9.19305809e-02 9.95752037e-01 -5.16233855e-03 5.27500820e+00] [ 5.61289273e-02 -5.78921378e-06 9.98423529e-01 4.63501697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.01, Y:5.27, Z:4.64 [[ 9.93328577e-01 -1.00869610e-01 -5.58897170e-02 8.40054636e+01] [ 1.00737882e-01 9.94899534e-01 -5.17647023e-03 5.27292609e+00] [ 5.61268020e-02 -4.88275884e-04 9.98423529e-01 4.64035716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.07, Y:5.27, Z:4.65 [[ 9.92412513e-01 -1.09516189e-01 -5.58892568e-02 8.40654585e+01] [ 1.09397867e-01 9.93984537e-01 -5.18143428e-03 5.27134397e+00] [ 5.61205080e-02 -9.72045264e-04 9.98423529e-01 4.64676730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.13, Y:5.27, Z:4.65 [[ 9.91491813e-01 -1.17560181e-01 -5.58890685e-02 8.41251453e+01] [ 1.17454496e-01 9.93064738e-01 -5.18346452e-03 5.26988090e+00] [ 5.61108322e-02 -1.42505974e-03 9.98423529e-01 4.65167054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.19, Y:5.27, Z:4.65 [[ 9.91105438e-01 -1.20774310e-01 -5.58889754e-02 8.41862747e+01] [ 1.20673669e-01 9.92678693e-01 -5.18446817e-03 5.27196087e+00] [ 5.61059456e-02 -1.60597312e-03 9.98423529e-01 4.65448975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.25, Y:5.27, Z:4.66 [[ 9.90466480e-01 -1.25906921e-01 -5.58891634e-02 8.42469828e+01] [ 1.25814545e-01 9.92040242e-01 -5.18244147e-03 5.27435801e+00] [ 5.60968044e-02 -1.89863510e-03 9.98423529e-01 4.65545212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.31, Y:5.28, Z:4.66 [[ 9.89815418e-01 -1.30926726e-01 -5.58894539e-02 8.43078884e+01] [ 1.30842507e-01 9.91389637e-01 -5.17930673e-03 5.28017972e+00] [ 5.60863351e-02 -2.18615858e-03 9.98423529e-01 4.65748944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.37, Y:5.29, Z:4.66 [[ 9.89293875e-01 -1.34810895e-01 -5.58896407e-02 8.43677740e+01] [ 1.34732969e-01 9.90868418e-01 -5.17729011e-03 5.28558451e+00] [ 5.60772350e-02 -2.40831585e-03 9.98423529e-01 4.65706629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.43, Y:5.29, Z:4.66 [[ 9.89005444e-01 -1.36910704e-01 -5.58899831e-02 8.44289958e+01] [ 1.36836330e-01 9.90580160e-01 -5.17359126e-03 5.29420507e+00] [ 5.60718284e-02 -2.53107025e-03 9.98423529e-01 4.66388323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.49, Y:5.30, Z:4.67 [[ 9.89534178e-01 -1.33035253e-01 -5.58903574e-02 8.44900916e+01] [ 1.32954938e-01 9.91108602e-01 -5.16954426e-03 5.30361566e+00] [ 5.60811456e-02 -2.31545829e-03 9.98423529e-01 4.66913274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.55, Y:5.31, Z:4.68 [[ 9.90977160e-01 -1.21821569e-01 -5.58907338e-02 8.45515103e+01] [ 1.21723661e-01 9.92550587e-01 -5.16547128e-03 5.31419246e+00] [ 5.61036465e-02 -1.68436066e-03 9.98423529e-01 4.67596501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.61, Y:5.32, Z:4.68 [[ 9.92311017e-01 -1.10431105e-01 -5.58911056e-02 8.46127706e+01] [ 1.10315357e-01 9.93883233e-01 -5.16144519e-03 5.32456932e+00] [ 5.61192169e-02 -1.04388836e-03 9.98423529e-01 4.68069393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.67, Y:5.33, Z:4.68 [[ 9.93661250e-01 -9.75369746e-02 -5.58914867e-02 8.46729648e+01] [ 9.74010546e-02 9.95231851e-01 -5.15731476e-03 5.33428490e+00] [ 5.61280167e-02 -3.19265923e-04 9.98423529e-01 4.68258835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.73, Y:5.34, Z:4.68 [[ 9.94968935e-01 -8.31440861e-02 -5.58916730e-02 8.47323712e+01] [ 8.29855603e-02 9.96537415e-01 -5.15529528e-03 5.34277561e+00] [ 5.61267757e-02 4.91156855e-04 9.98423529e-01 4.68494875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.79, Y:5.35, Z:4.69 [[ 9.95396278e-01 -7.78613623e-02 -5.58914845e-02 8.47903488e+01] [ 7.76943981e-02 9.96963882e-01 -5.15733780e-03 5.34810589e+00] [ 5.61233488e-02 7.91139596e-04 9.98423529e-01 4.68806892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.85, Y:5.35, Z:4.69 [[ 9.95254245e-01 -7.96566514e-02 -5.58910172e-02 8.48476450e+01] [ 7.94922310e-02 9.96822118e-01 -5.16239748e-03 5.35163764e+00] [ 5.61246214e-02 6.94996353e-04 9.98423529e-01 4.69221504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.91, Y:5.35, Z:4.70 [[ 9.94190846e-01 -9.19832744e-02 -5.58895319e-02 8.49055662e+01] [ 9.18373938e-02 9.95760552e-01 -5.17842787e-03 5.35078601e+00] [ 5.61289199e-02 1.55966297e-05 9.98423529e-01 4.69554793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.96, Y:5.35, Z:4.70 [[ 9.92655345e-01 -1.07293482e-01 -5.58880618e-02 8.49633461e+01] [ 1.07170919e-01 9.94227043e-01 -5.19424551e-03 5.34933541e+00] [ 5.61227312e-02 -8.33479361e-04 9.98423530e-01 4.69767383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.02, Y:5.35, Z:4.70 [[ 9.90974707e-01 -1.21843435e-01 -5.58865505e-02 8.50236636e+01] [ 1.21743027e-01 9.92547977e-01 -5.21045645e-03 5.34850517e+00] [ 5.61049425e-02 -1.64036727e-03 9.98423530e-01 4.70051549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.08, Y:5.35, Z:4.70 [[ 9.89629137e-01 -1.32328621e-01 -5.58865505e-02 8.50848450e+01] [ 1.32244876e-01 9.91203382e-01 -5.21045645e-03 5.34910217e+00] [ 5.60844303e-02 -2.23429040e-03 9.98423530e-01 4.70369120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.15, Y:5.35, Z:4.71 [[ 9.88880017e-01 -1.37815035e-01 -5.58867381e-02 8.51462166e+01] [ 1.37740136e-01 9.90454707e-01 -5.20844270e-03 5.35201638e+00] [ 5.60710846e-02 -2.54732198e-03 9.98423530e-01 4.70682349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.21, Y:5.36, Z:4.71 [[ 9.88612135e-01 -1.39723610e-01 -5.58870170e-02 8.52075813e+01] [ 1.39651918e-01 9.90186975e-01 -5.20544907e-03 5.35729230e+00] [ 5.60659204e-02 -2.65855901e-03 9.98423530e-01 4.71099721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.27, Y:5.36, Z:4.71 [[ 9.88519739e-01 -1.40375656e-01 -5.58873992e-02 8.52683969e+01] [ 1.40305236e-01 9.90094635e-01 -5.20134209e-03 5.36259654e+00] [ 5.60639559e-02 -2.69966538e-03 9.98423530e-01 4.71397874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.33, Y:5.37, Z:4.72 [[ 9.88299361e-01 -1.41918777e-01 -5.58876816e-02 8.53301816e+01] [ 1.41850986e-01 9.89874374e-01 -5.19830548e-03 5.36842766e+00] [ 5.60595210e-02 -2.79024077e-03 9.98423530e-01 4.71663483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.39, Y:5.38, Z:4.72 [[ 9.88113944e-01 -1.43203906e-01 -5.58880619e-02 8.53910912e+01] [ 1.43138394e-01 9.89689052e-01 -5.19421344e-03 5.37527816e+00] [ 5.60556347e-02 -2.86725272e-03 9.98423530e-01 4.71624320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.45, Y:5.38, Z:4.72 [[ 9.87826785e-01 -1.45171429e-01 -5.58882750e-02 8.54503641e+01] [ 1.45109184e-01 9.89402026e-01 -5.19192037e-03 5.38153795e+00] [ 5.60496910e-02 -2.98118396e-03 9.98423530e-01 4.71870976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.51, Y:5.39, Z:4.72 [[ 9.87771514e-01 -1.45547069e-01 -5.58881684e-02 8.55117783e+01] [ 1.45485358e-01 9.89346776e-01 -5.19306749e-03 5.39126338e+00] [ 5.60486149e-02 -3.00134604e-03 9.98423530e-01 4.72273648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.57, Y:5.40, Z:4.73 [[ 9.87972435e-01 -1.44176753e-01 -5.58885566e-02 8.55724119e+01] [ 1.44113093e-01 9.89547620e-01 -5.18888652e-03 5.40298218e+00] [ 5.60525049e-02 -2.92779588e-03 9.98423530e-01 4.72786003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.63, Y:5.41, Z:4.73 [[ 9.88462221e-01 -1.40779529e-01 -5.58888430e-02 8.56339420e+01] [ 1.40710628e-01 9.90037184e-01 -5.18579900e-03 5.41409889e+00] [ 5.60620871e-02 -2.73818781e-03 9.98423530e-01 4.73299008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.70, Y:5.43, Z:4.74 [[ 9.88573024e-01 -1.39999192e-01 -5.58892054e-02 8.56954636e+01] [ 1.39929269e-01 9.90147942e-01 -5.18189115e-03 5.42580658e+00] [ 5.60640423e-02 -2.69785783e-03 9.98423530e-01 4.73803232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.76, Y:5.44, Z:4.74 [[ 9.88224974e-01 -1.42435089e-01 -5.58895873e-02 8.57553958e+01] [ 1.42369280e-01 9.89800070e-01 -5.17776845e-03 5.43698491e+00] [ 5.60570133e-02 -2.84016021e-03 9.98423530e-01 4.74245804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.82, Y:5.45, Z:4.74 [[ 9.87525585e-01 -1.47205777e-01 -5.58898694e-02 8.58169820e+01] [ 1.47147747e-01 9.89100987e-01 -5.17472201e-03 5.44671756e+00] [ 5.60424739e-02 -3.11389797e-03 9.98423530e-01 4.74458638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.88, Y:5.46, Z:4.75 [[ 9.86797387e-01 -1.52010523e-01 -5.58902388e-02 8.58786312e+01] [ 1.51960386e-01 9.88373059e-01 -5.17072890e-03 5.45976004e+00] [ 5.60264115e-02 -3.39064051e-03 9.98423530e-01 4.74756773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.94, Y:5.47, Z:4.75 [[ 9.86654371e-01 -1.52935904e-01 -5.58906110e-02 8.59412829e+01] [ 1.52887473e-01 9.88230098e-01 -5.16670241e-03 5.47113267e+00] [ 5.60229583e-02 -3.44722476e-03 9.98423530e-01 4.75045084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.00, Y:5.48, Z:4.75 [[ 9.86814591e-01 -1.51898451e-01 -5.58911724e-02 8.60030515e+01] [ 1.51848706e-01 9.88390276e-01 -5.16062300e-03 5.48234882e+00] [ 5.60261819e-02 -3.39442412e-03 9.98423530e-01 4.75306340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.06, Y:5.49, Z:4.76 [[ 9.86983834e-01 -1.50794649e-01 -5.58917307e-02 8.60643139e+01] [ 1.50743483e-01 9.88559474e-01 -5.15456865e-03 5.49367990e+00] [ 5.60295813e-02 -3.33783825e-03 9.98423530e-01 4.75826097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.13, Y:5.50, Z:4.76 [[ 9.87065363e-01 -1.50259912e-01 -5.58921011e-02 8.61251489e+01] [ 1.50208120e-01 9.88640983e-01 -5.15054971e-03 5.50317313e+00] [ 5.60311429e-02 -3.31151819e-03 9.98423530e-01 4.75969777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.19, Y:5.51, Z:4.76 [[ 9.87238008e-01 -1.49121284e-01 -5.58923748e-02 8.61868451e+01] [ 1.49067842e-01 9.88813572e-01 -5.14757728e-03 5.51444743e+00] [ 5.60347521e-02 -3.24987176e-03 9.98423530e-01 4.76367804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.25, Y:5.53, Z:4.77 [[ 9.87917482e-01 -1.44551125e-01 -5.58929359e-02 8.62473716e+01] [ 1.44490737e-01 9.89492795e-01 -5.14147753e-03 5.52706625e+00] [ 5.60488638e-02 -2.99665595e-03 9.98423530e-01 4.76793653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.31, Y:5.54, Z:4.77 [[ 9.89101126e-01 -1.36216337e-01 -5.58933963e-02 8.63081790e+01] [ 1.36142951e-01 9.90675887e-01 -5.13646779e-03 5.53943727e+00] [ 5.60719108e-02 -2.52900582e-03 9.98423530e-01 4.77326965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.37, Y:5.55, Z:4.78 [[ 9.90073703e-01 -1.28957158e-01 -5.58937710e-02 8.63699946e+01] [ 1.28872452e-01 9.91647896e-01 -5.13238673e-03 5.55060723e+00] [ 5.60887985e-02 -2.12172622e-03 9.98423530e-01 4.77710823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.43, Y:5.56, Z:4.78 [[ 9.90893256e-01 -1.22500527e-01 -5.58943269e-02 8.64317530e+01] [ 1.22405903e-01 9.92466884e-01 -5.12632630e-03 5.55958851e+00] [ 5.61012461e-02 -1.76215340e-03 9.98423530e-01 4.77935116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.49, Y:5.57, Z:4.78 [[ 9.91682277e-01 -1.15939829e-01 -5.58947033e-02 8.64931861e+01] [ 1.15835023e-01 9.93255259e-01 -5.12221878e-03 5.56846904e+00] [ 5.61115772e-02 -1.39495068e-03 9.98423530e-01 4.78228153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.55, Y:5.58, Z:4.78 [[ 9.92244079e-01 -1.11028953e-01 -5.58950765e-02 8.65541560e+01] [ 1.10916591e-01 9.93816540e-01 -5.11814330e-03 5.57553176e+00] [ 5.61177136e-02 -1.12124394e-03 9.98423530e-01 4.78478702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.62, Y:5.58, Z:4.79 [[ 9.92440558e-01 -1.09258632e-01 -5.58953519e-02 8.66157018e+01] [ 1.09143634e-01 9.94012828e-01 -5.11513409e-03 5.58079150e+00] [ 5.61195693e-02 -1.02415530e-03 9.98423530e-01 4.78745064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.68, Y:5.59, Z:4.79 [[ 9.92648799e-01 -1.07350042e-01 -5.58957161e-02 8.66774963e+01] [ 1.07232246e-01 9.94220862e-01 -5.11115101e-03 5.58707520e+00] [ 5.61213693e-02 -9.20245243e-04 9.98423530e-01 4.79218962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.74, Y:5.59, Z:4.80 [[ 9.92774275e-01 -1.06183178e-01 -5.58960815e-02 8.67391330e+01] [ 1.06063759e-01 9.94346215e-01 -5.10715203e-03 5.59171844e+00] [ 5.61223507e-02 -8.58299349e-04 9.98423530e-01 4.79781672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.80, Y:5.60, Z:4.80 [[ 9.92643516e-01 -1.07398500e-01 -5.58964440e-02 8.68008328e+01] [ 1.07281229e-01 9.94215618e-01 -5.10318135e-03 5.59527926e+00] [ 5.61211916e-02 -9.30999342e-04 9.98423530e-01 4.80293898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.86, Y:5.60, Z:4.80 [[ 9.91873267e-01 -1.14293344e-01 -5.58968091e-02 8.68631234e+01] [ 1.14187225e-01 9.93446162e-01 -5.09917854e-03 5.59625225e+00] [ 5.61132726e-02 -1.32496265e-03 9.98423530e-01 4.80440250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.93, Y:5.60, Z:4.81 [[ 9.91352936e-01 -1.18721742e-01 -5.58972602e-02 8.69257077e+01] [ 1.18622927e-01 9.92926306e-01 -5.09422935e-03 5.59929728e+00] [ 5.61066559e-02 -1.58051739e-03 9.98423530e-01 4.80663780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.99, Y:5.60, Z:4.81 [[ 9.90879691e-01 -1.22608698e-01 -5.58976301e-02 8.69870220e+01] [ 1.22516284e-01 9.92453450e-01 -5.09016716e-03 5.60187191e+00] [ 5.60998946e-02 -1.80462664e-03 9.98423530e-01 4.80854447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.05, Y:5.60, Z:4.81 [[ 9.90392308e-01 -1.26485176e-01 -5.58979035e-02 8.70495565e+01] [ 1.26399089e-01 9.91966426e-01 -5.08716319e-03 5.60327932e+00] [ 5.60922943e-02 -2.02715681e-03 9.98423530e-01 4.80926969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.11, Y:5.61, Z:4.81 [[ 9.90589995e-01 -1.24927363e-01 -5.58982617e-02 8.71110298e+01] [ 1.24839023e-01 9.92163988e-01 -5.08322439e-03 5.60822072e+00] [ 5.60952760e-02 -1.94289315e-03 9.98423530e-01 4.81197893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.17, Y:5.61, Z:4.82 [[ 9.91277952e-01 -1.19345574e-01 -5.58986149e-02 8.71726688e+01] [ 1.19248588e-01 9.92851436e-01 -5.07933661e-03 5.61375042e+00] [ 5.61052165e-02 -1.63079652e-03 9.98423530e-01 4.81671550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.23, Y:5.62, Z:4.82 [[ 9.92205181e-01 -1.11374071e-01 -5.58989800e-02 8.72343579e+01] [ 1.11264667e-01 9.93777850e-01 -5.07531549e-03 5.62044116e+00] [ 5.61164267e-02 -1.18382710e-03 9.98423530e-01 4.82224642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.30, Y:5.63, Z:4.83 [[ 9.92994478e-01 -1.04102015e-01 -5.58993401e-02 8.72962055e+01] [ 1.03981316e-01 9.94566321e-01 -5.07134667e-03 5.62764651e+00] [ 5.61235384e-02 -7.76667727e-04 9.98423530e-01 4.82687701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.36, Y:5.63, Z:4.83 [[ 9.93200660e-01 -1.02115974e-01 -5.58996952e-02 8.73583221e+01] [ 1.01992353e-01 9.94772276e-01 -5.06742883e-03 5.63332171e+00] [ 5.61249325e-02 -6.68367775e-04 9.98423530e-01 4.83007818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.42, Y:5.64, Z:4.83 [[ 9.93586001e-01 -9.82956975e-02 -5.59000484e-02 8.74204836e+01] [ 9.81662526e-02 9.95157147e-01 -5.06353021e-03 5.63822635e+00] [ 5.61270559e-02 -4.56445542e-04 9.98423530e-01 4.83364579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.48, Y:5.64, Z:4.84 [[ 9.93869623e-01 -9.53850914e-02 -5.59004202e-02 8.74810526e+01] [ 9.52512762e-02 9.95440403e-01 -5.05942227e-03 5.64364025e+00] [ 5.61281303e-02 -2.96180262e-04 9.98423530e-01 4.83693457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.54, Y:5.65, Z:4.84 [[ 9.93980678e-01 -9.42206156e-02 -5.59006945e-02 8.75420349e+01] [ 9.40851308e-02 9.95551315e-01 -5.05638947e-03 5.64864475e+00] [ 5.61284261e-02 -2.33470720e-04 9.98423530e-01 4.84028867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.60, Y:5.65, Z:4.84 [[ 9.93783202e-01 -9.62810412e-02 -5.59008749e-02 8.76028699e+01] [ 9.61489250e-02 9.95354127e-01 -5.05439461e-03 5.65309758e+00] [ 5.61278089e-02 -3.51836564e-04 9.98423530e-01 4.84249313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.66, Y:5.66, Z:4.85 [[ 9.93208065e-01 -1.02043182e-01 -5.59010536e-02 8.76645505e+01] [ 1.01920290e-01 9.94779738e-01 -5.05241754e-03 5.65811970e+00] [ 5.61248002e-02 -6.79349739e-04 9.98423530e-01 4.84533664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.73, Y:5.66, Z:4.85 [[ 9.92212191e-01 -1.11310381e-01 -5.59014102e-02 8.77269820e+01] [ 1.11202388e-01 9.93784958e-01 -5.04846833e-03 5.66200993e+00] [ 5.61159275e-02 -1.20721851e-03 9.98423530e-01 4.84734121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.79, Y:5.67, Z:4.85 [[ 9.91230864e-01 -1.19734562e-01 -5.59017796e-02 8.77879536e+01] [ 1.19640164e-01 9.92804505e-01 -5.04437528e-03 5.66616060e+00] [ 5.61035247e-02 -1.68795759e-03 9.98423530e-01 4.85020547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.85, Y:5.67, Z:4.86 [[ 9.88998949e-01 -1.36952691e-01 -5.59020527e-02 8.78501893e+01] [ 1.36885841e-01 9.90574001e-01 -5.04134659e-03 5.67053761e+00] [ 5.60655460e-02 -2.66631304e-03 9.98423530e-01 4.85725245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.91, Y:5.68, Z:4.86 [[ 9.88235298e-01 -1.42358410e-01 -5.59024131e-02 8.79130817e+01] [ 1.42300400e-01 9.89810700e-01 -5.03734716e-03 5.67599819e+00] [ 5.60499154e-02 -2.97685145e-03 9.98423530e-01 4.86136957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.97, Y:5.68, Z:4.86 [[ 9.87597263e-01 -1.46719138e-01 -5.59029593e-02 8.79746962e+01] [ 1.46668424e-01 9.89172917e-01 -5.03127814e-03 5.68077360e+00] [ 5.60358781e-02 -3.23032244e-03 9.98423530e-01 4.86445946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.04, Y:5.69, Z:4.87 [[ 9.87652700e-01 -1.46345320e-01 -5.59034072e-02 8.80367302e+01] [ 1.46294291e-01 9.89228344e-01 -5.02629682e-03 5.68707651e+00] [ 5.60368099e-02 -3.21411370e-03 9.98423530e-01 4.86579242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.10, Y:5.69, Z:4.87 [[ 9.88030646e-01 -1.43771389e-01 -5.59037638e-02 8.80986814e+01] [ 1.43716479e-01 9.89606159e-01 -5.02232769e-03 5.69443744e+00] [ 5.60447760e-02 -3.07207842e-03 9.98423530e-01 4.86833581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.16, Y:5.71, Z:4.87 [[ 9.89556834e-01 -1.32860833e-01 -5.59041332e-02 8.81596723e+01] [ 1.32788774e-01 9.91131656e-01 -5.01821194e-03 5.70633905e+00] [ 5.60750799e-02 -2.45763537e-03 9.98423530e-01 4.87346815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.22, Y:5.72, Z:4.88 [[ 9.90555412e-01 -1.25198494e-01 -5.59044986e-02 8.82217202e+01] [ 1.25114479e-01 9.92129642e-01 -5.01413796e-03 5.71777634e+00] [ 5.60922727e-02 -2.02768072e-03 9.98423530e-01 4.87762935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.28, Y:5.73, Z:4.88 [[ 9.92967192e-01 -1.04358864e-01 -5.59051187e-02 8.82819771e+01] [ 1.04242182e-01 9.94539338e-01 -5.00721459e-03 5.73059556e+00] [ 5.61223870e-02 -8.55671747e-04 9.98423530e-01 4.88293130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.34, Y:5.74, Z:4.89 [[ 9.93940756e-01 -9.46380263e-02 -5.59054279e-02 8.83438711e+01] [ 9.45061611e-02 9.95511702e-01 -5.00376039e-03 5.73979029e+00] [ 5.61280536e-02 -3.09965990e-04 9.98423530e-01 4.88619157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.41, Y:5.75, Z:4.89 [[ 9.95190073e-01 -8.04441544e-02 -5.59057797e-02 8.84053273e+01] [ 8.02901051e-02 9.96758998e-01 -4.99982676e-03 5.75029310e+00] [ 5.61267958e-02 4.87097034e-04 9.98423530e-01 4.88935299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.46, Y:5.76, Z:4.89 [[ 9.95526290e-01 -7.61702649e-02 -5.59061378e-02 8.84649539e+01] [ 7.60097053e-02 9.97094562e-01 -4.99581949e-03 5.75576663e+00] [ 5.61242389e-02 7.24060581e-04 9.98423530e-01 4.89234650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.52, Y:5.76, Z:4.90 [[ 9.95524181e-01 -7.61977677e-02 -5.59062254e-02 8.85241573e+01] [ 7.60373065e-02 9.97092463e-01 -4.99483864e-03 5.75848880e+00] [ 5.61242715e-02 7.21523847e-04 9.98423530e-01 4.89563220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.58, Y:5.76, Z:4.90 [[ 9.95175307e-01 -8.06264406e-02 -5.59060492e-02 8.85835871e+01] [ 8.04728481e-02 9.96744276e-01 -4.99681044e-03 5.76044643e+00] [ 5.61269096e-02 4.73783354e-04 9.98423530e-01 4.90050146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.64, Y:5.76, Z:4.90 [[ 9.94476723e-01 -8.88289371e-02 -5.59058731e-02 8.86444052e+01] [ 8.86881753e-02 9.96046896e-01 -4.99877938e-03 5.76083831e+00] [ 5.61289077e-02 1.29798640e-05 9.98423530e-01 4.90295823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.71, Y:5.76, Z:4.91 [[ 9.93813924e-01 -9.59604962e-02 -5.59058731e-02 8.87062744e+01] [ 9.58310017e-02 9.95385067e-01 -4.99877938e-03 5.76202960e+00] [ 5.61275566e-02 -3.89659263e-04 9.98423530e-01 4.90590884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.77, Y:5.76, Z:4.91 [[ 9.93111622e-01 -1.02974850e-01 -5.59060491e-02 8.87688282e+01] [ 1.02856562e-01 9.94683648e-01 -4.99681093e-03 5.76384065e+00] [ 5.61233787e-02 -7.87913010e-04 9.98423530e-01 4.90861581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.83, Y:5.76, Z:4.91 [[ 9.92169359e-01 -1.11689017e-01 -5.59064067e-02 8.88316319e+01] [ 1.11584759e-01 9.93742378e-01 -4.99280575e-03 5.76183940e+00] [ 5.61142071e-02 -1.28459406e-03 9.98423530e-01 4.91065058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.89, Y:5.76, Z:4.92 [[ 9.92030056e-01 -1.12919451e-01 -5.59067632e-02 8.88935011e+01] [ 1.12817369e-01 9.93603217e-01 -4.98881145e-03 5.76427683e+00] [ 5.61124736e-02 -1.35820305e-03 9.98423530e-01 4.91573339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.95, Y:5.77, Z:4.92 [[ 9.92045698e-01 -1.12781766e-01 -5.59071254e-02 8.89541284e+01] [ 1.12679695e-01 9.93618860e-01 -4.98474857e-03 5.76539029e+00] [ 5.61125630e-02 -1.35449947e-03 9.98423530e-01 4.92177633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.02, Y:5.77, Z:4.92 [[ 9.91895056e-01 -1.14098913e-01 -5.59073933e-02 8.90164966e+01] [ 1.13999101e-01 9.93468362e-01 -4.98174283e-03 5.76736091e+00] [ 5.61106379e-02 -1.43202648e-03 9.98423530e-01 4.92361161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.08, Y:5.77, Z:4.92 [[ 9.91654972e-01 -1.16166855e-01 -5.59077623e-02 8.90777581e+01] [ 1.16070557e-01 9.93228498e-01 -4.97759772e-03 5.76954234e+00] [ 5.61074147e-02 -1.55318558e-03 9.98423530e-01 4.92381161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.14, Y:5.77, Z:4.92 [[ 9.91628940e-01 -1.16388730e-01 -5.59080347e-02 8.91398058e+01] [ 1.16292956e-01 9.93202498e-01 -4.97453626e-03 5.77348217e+00] [ 5.61069797e-02 -1.56881649e-03 9.98423530e-01 4.92377008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.20, Y:5.78, Z:4.93 [[ 9.91921073e-01 -1.13872021e-01 -5.59083923e-02 8.92011025e+01] [ 1.13772481e-01 9.93494397e-01 -4.97051402e-03 5.77918018e+00] [ 5.61106770e-02 -1.43047890e-03 9.98423530e-01 4.92807281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.26, Y:5.79, Z:4.94 [[ 9.92566665e-01 -1.08100081e-01 -5.59087481e-02 8.92628264e+01] [ 1.07991616e-01 9.94139399e-01 -4.96650823e-03 5.78597960e+00] [ 5.61179692e-02 -1.10808557e-03 9.98423530e-01 4.93604129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.32, Y:5.79, Z:4.94 [[ 9.92862646e-01 -1.05346747e-01 -5.59091076e-02 8.93241002e+01] [ 1.05234148e-01 9.94435090e-01 -4.96245860e-03 5.79212151e+00] [ 5.61207573e-02 -9.56507526e-04 9.98423530e-01 4.94005536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.39, Y:5.80, Z:4.94 [[ 9.93655662e-01 -9.75835905e-02 -5.59094699e-02 8.93852269e+01] [ 9.74589356e-02 9.95227195e-01 -4.95837290e-03 5.79835934e+00] [ 5.61264808e-02 -5.21962119e-04 9.98423530e-01 4.94453153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.45, Y:5.80, Z:4.95 [[ 9.94118381e-01 -9.27509888e-02 -5.59097373e-02 8.94460893e+01] [ 9.26188637e-02 9.95689304e-01 -4.95535593e-03 5.80171825e+00] [ 5.61283416e-02 -2.52085931e-04 9.98423530e-01 4.94794896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.51, Y:5.80, Z:4.95 [[ 9.94159578e-01 -9.23082554e-02 -5.59099186e-02 8.95070279e+01] [ 9.21755458e-02 9.95730452e-01 -4.95330954e-03 5.80392866e+00] [ 5.61284399e-02 -2.29147147e-04 9.98423530e-01 4.95029418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.57, Y:5.81, Z:4.95 [[ 9.94053108e-01 -9.34477344e-02 -5.59100989e-02 8.95675341e+01] [ 9.33169400e-02 9.95624143e-01 -4.95127363e-03 5.80627443e+00] [ 5.61281296e-02 -2.95530401e-04 9.98423530e-01 4.95206981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.63, Y:5.81, Z:4.96 [[ 9.94044498e-01 -9.35392307e-02 -5.59101876e-02 8.96286534e+01] [ 9.34086372e-02 9.95615549e-01 -4.95027210e-03 5.80923364e+00] [ 5.61280968e-02 -3.01703689e-04 9.98423530e-01 4.95504093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.69, Y:5.81, Z:4.96 [[ 9.94025020e-01 -9.37458775e-02 -5.59103689e-02 8.96885285e+01] [ 9.36157259e-02 9.95596108e-01 -4.94822393e-03 5.81245865e+00] [ 5.61280213e-02 -3.15431375e-04 9.98423530e-01 4.95889769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.75, Y:5.82, Z:4.96 [[ 9.93758923e-01 -9.65257652e-02 -5.59104581e-02 8.97493633e+01] [ 9.64000650e-02 9.95330374e-01 -4.94721603e-03 5.81528428e+00] [ 5.61269109e-02 -4.73431719e-04 9.98423530e-01 4.96218587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.81, Y:5.82, Z:4.97 [[ 9.93127729e-01 -1.02816991e-01 -5.59104581e-02 8.98100822e+01] [ 1.02701245e-01 9.94699944e-01 -4.94721603e-03 5.81706426e+00] [ 5.61227874e-02 -8.28856243e-04 9.98423530e-01 4.96570213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.87, Y:5.82, Z:4.97 [[ 9.92346585e-01 -1.10101206e-01 -5.59104581e-02 8.98720065e+01] [ 1.09996999e-01 9.93919607e-01 -4.94721603e-03 5.81832352e+00] [ 5.61151949e-02 -1.24062968e-03 9.98423530e-01 4.96847505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.93, Y:5.82, Z:4.97 [[ 9.91875499e-01 -1.14267166e-01 -5.59107252e-02 8.99330879e+01] [ 1.14169735e-01 9.93448955e-01 -4.94419523e-03 5.82088608e+00] [ 5.61094107e-02 -1.47928657e-03 9.98423530e-01 4.97246153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.99, Y:5.82, Z:4.98 [[ 9.91512480e-01 -1.17375352e-01 -5.59109013e-02 8.99946309e+01] [ 1.17282965e-01 9.93086240e-01 -4.94220271e-03 5.82286055e+00] [ 5.61044396e-02 -1.65714062e-03 9.98423530e-01 4.97688915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.06, Y:5.83, Z:4.98 [[ 9.91963518e-01 -1.13500311e-01 -5.59111625e-02 9.00569999e+01] [ 1.13401942e-01 9.93536916e-01 -4.93924650e-03 5.82746797e+00] [ 5.61104099e-02 -1.44088209e-03 9.98423530e-01 4.97781399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.12, Y:5.83, Z:4.98 [[ 9.92902120e-01 -1.04972776e-01 -5.59115145e-02 9.01182481e+01] [ 1.04861116e-01 9.94474630e-01 -4.93525854e-03 5.83451496e+00] [ 5.61206505e-02 -9.62715144e-04 9.98423530e-01 4.98237122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.18, Y:5.84, Z:4.99 [[ 9.94196611e-01 -9.19074567e-02 -5.59116903e-02 9.01788560e+01] [ 9.17752411e-02 9.95767527e-01 -4.93326580e-03 5.84290123e+00] [ 5.61284495e-02 -2.26672713e-04 9.98423530e-01 4.98630787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.24, Y:5.85, Z:4.99 [[ 9.94893471e-01 -8.40288339e-02 -5.59118684e-02 9.02382383e+01] [ 8.38842915e-02 9.96463300e-01 -4.93124666e-03 5.84975552e+00] [ 5.61284918e-02 2.15937636e-04 9.98423530e-01 4.98916427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.30, Y:5.85, Z:4.99 [[ 9.95171062e-01 -8.06749013e-02 -5.59116908e-02 9.02954345e+01] [ 8.05249553e-02 9.96740385e-01 -4.93325991e-03 5.85432102e+00] [ 5.61274304e-02 4.07151109e-04 9.98423530e-01 4.99214783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.35, Y:5.86, Z:5.00 [[ 9.95304838e-01 -7.90077933e-02 -5.59110734e-02 9.03527622e+01] [ 7.88548262e-02 9.96873869e-01 -4.94024681e-03 5.85793942e+00] [ 5.61266060e-02 5.08193570e-04 9.98423530e-01 4.99505947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.41, Y:5.86, Z:5.00 [[ 9.94993034e-01 -8.28430525e-02 -5.59096719e-02 9.04105123e+01] [ 8.26952451e-02 9.96562559e-01 -4.95605705e-03 5.86084880e+00] [ 5.61280606e-02 3.07778217e-04 9.98423530e-01 4.99943082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.47, Y:5.86, Z:5.00 [[ 9.94237292e-01 -9.14684228e-02 -5.59082682e-02 9.04680257e+01] [ 9.13333441e-02 9.95807964e-01 -4.97184172e-03 5.86112283e+00] [ 5.61286653e-02 -1.63098651e-04 9.98423531e-01 5.00234384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.53, Y:5.86, Z:5.01 [[ 9.93448063e-01 -9.96758731e-02 -5.59076639e-02 9.05269789e+01] [ 9.95533881e-02 9.95019767e-01 -4.97862841e-03 5.86279245e+00] [ 5.61254798e-02 -6.19788609e-04 9.98423531e-01 5.00529262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.59, Y:5.86, Z:5.01 [[ 9.91663687e-01 -1.16093100e-01 -5.59063909e-02 9.05858558e+01] [ 1.15995824e-01 9.93237152e-01 -4.99288213e-03 5.86140722e+00] [ 5.61079436e-02 -1.53364795e-03 9.98423531e-01 5.00732174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.65, Y:5.86, Z:5.01 [[ 9.90856611e-01 -1.22791244e-01 -5.59060573e-02 9.06466826e+01] [ 1.22704392e-01 9.92430686e-01 -4.99661413e-03 5.86404216e+00] [ 5.60964273e-02 -1.90899062e-03 9.98423531e-01 5.01093997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.71, Y:5.87, Z:5.01 [[ 9.90511121e-01 -1.25547650e-01 -5.59062367e-02 9.07074520e+01] [ 1.25465290e-01 9.92085437e-01 -4.99460710e-03 5.86814914e+00] [ 5.60908244e-02 -2.06707833e-03 9.98423531e-01 5.01498642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.77, Y:5.87, Z:5.02 [[ 9.90329839e-01 -1.26969615e-01 -5.59064136e-02 9.07689336e+01] [ 1.26889628e-01 9.91904278e-01 -4.99262553e-03 5.87255295e+00] [ 5.60877226e-02 -2.14959797e-03 9.98423531e-01 5.01880532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.83, Y:5.88, Z:5.02 [[ 9.90026132e-01 -1.29316242e-01 -5.59067720e-02 9.08308857e+01] [ 1.29240212e-01 9.91600767e-01 -4.98860891e-03 5.87751260e+00] [ 5.60823062e-02 -2.28654989e-03 9.98423531e-01 5.02186183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.89, Y:5.88, Z:5.02 [[ 9.89071642e-01 -1.36424630e-01 -5.59071305e-02 9.08909127e+01] [ 1.36360141e-01 9.90646792e-01 -4.98458845e-03 5.88317194e+00] [ 5.60642401e-02 -2.69338910e-03 9.98423531e-01 5.02238691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.95, Y:5.89, Z:5.02 [[ 9.88420566e-01 -1.41064410e-01 -5.59072185e-02 9.09531862e+01] [ 1.41007369e-01 9.89996003e-01 -4.98360098e-03 5.88873484e+00] [ 5.60509316e-02 -2.95743607e-03 9.98423531e-01 5.02499557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.02, Y:5.89, Z:5.03 [[ 9.87611806e-01 -1.46619454e-01 -5.59075748e-02 9.10152072e+01] [ 1.46571496e-01 9.89187545e-01 -4.97960118e-03 5.89492167e+00] [ 5.60331831e-02 -3.27654397e-03 9.98423531e-01 5.02794493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.08, Y:5.90, Z:5.03 [[ 9.87258040e-01 -1.48982764e-01 -5.59079421e-02 9.10755852e+01] [ 1.48938811e-01 9.88833897e-01 -4.97547356e-03 5.90363048e+00] [ 5.60249280e-02 -3.41478613e-03 9.98423531e-01 5.02984237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.14, Y:5.91, Z:5.03 [[ 9.87652115e-01 -1.46347435e-01 -5.59082136e-02 9.11365395e+01] [ 1.46299448e-01 9.89227854e-01 -4.97242059e-03 5.91358823e+00] [ 5.60336632e-02 -3.26831910e-03 9.98423531e-01 5.03405379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.20, Y:5.92, Z:5.04 [[ 9.88131918e-01 -1.43071822e-01 -5.59085620e-02 9.11973597e+01] [ 1.43018832e-01 9.89707496e-01 -4.96850052e-03 5.92375482e+00] [ 5.60439753e-02 -3.08644332e-03 9.98423531e-01 5.04074231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.26, Y:5.93, Z:5.05 [[ 9.88646094e-01 -1.39474343e-01 -5.59089278e-02 9.12586480e+01] [ 1.39415852e-01 9.90221478e-01 -4.96438041e-03 5.93325083e+00] [ 5.60546248e-02 -2.88657549e-03 9.98423531e-01 5.04626764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.32, Y:5.94, Z:5.05 [[ 9.88993682e-01 -1.36987767e-01 -5.59092900e-02 9.13199707e+01] [ 1.36925544e-01 9.90568923e-01 -4.96029822e-03 5.94279704e+00] [ 5.60615054e-02 -2.74970637e-03 9.98423531e-01 5.05126876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.38, Y:5.95, Z:5.05 [[ 9.88983674e-01 -1.37059853e-01 -5.59096500e-02 9.13814968e+01] [ 1.36997974e-01 9.90558928e-01 -4.95623733e-03 5.95086018e+00] [ 5.60611042e-02 -2.75787098e-03 9.98423531e-01 5.05395493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.44, Y:5.96, Z:5.06 [[ 9.88971513e-01 -1.37147429e-01 -5.59100095e-02 9.14435953e+01] [ 1.37085918e-01 9.90546782e-01 -4.95217814e-03 5.95882272e+00] [ 5.60606585e-02 -2.76691189e-03 9.98423531e-01 5.05629112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.50, Y:5.97, Z:5.06 [[ 9.89243474e-01 -1.35171666e-01 -5.59103654e-02 9.15047145e+01] [ 1.35107235e-01 9.90818627e-01 -4.94815744e-03 5.96855299e+00] [ 5.60658821e-02 -2.65896244e-03 9.98423531e-01 5.05811332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.57, Y:5.98, Z:5.06 [[ 9.90686800e-01 -1.24151736e-01 -5.59107311e-02 9.15663418e+01] [ 1.24070009e-01 9.92261150e-01 -4.94402155e-03 5.98174213e+00] [ 5.60918552e-02 -2.03886802e-03 9.98423531e-01 5.05919900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.63, Y:5.99, Z:5.06 [[ 9.91668926e-01 -1.16046071e-01 -5.59110928e-02 9.16274552e+01] [ 1.15951703e-01 9.93242568e-01 -4.93992782e-03 5.99289799e+00] [ 5.61065366e-02 -1.58421352e-03 9.98423531e-01 5.06316540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.69, Y:6.01, Z:5.07 [[ 9.93078226e-01 -1.03293500e-01 -5.59114476e-02 9.16881988e+01] [ 1.03179144e-01 9.94650542e-01 -4.93590918e-03 6.00550147e+00] [ 5.61221990e-02 -8.67151391e-04 9.98423531e-01 5.06949407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.75, Y:6.02, Z:5.07 [[ 9.94076915e-01 -9.31931197e-02 -5.59117980e-02 9.17482116e+01] [ 9.30630105e-02 9.95648006e-01 -4.93193618e-03 6.01577842e+00] [ 5.61280927e-02 -3.00596343e-04 9.98423531e-01 5.07497745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.81, Y:6.02, Z:5.08 [[ 9.94484662e-01 -8.87361718e-02 -5.59119723e-02 9.18093968e+01] [ 8.85991325e-02 9.96055164e-01 -4.92995955e-03 6.02420566e+00] [ 5.61288745e-02 -5.09830816e-05 9.98423531e-01 5.07834234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.87, Y:6.03, Z:5.08 [[ 9.94339973e-01 -9.03429579e-02 -5.59121488e-02 9.18704443e+01] [ 9.02085690e-02 9.95910703e-01 -4.92795695e-03 6.03012417e+00] [ 5.61287137e-02 -1.43690356e-04 9.98423531e-01 5.08004523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.93, Y:6.03, Z:5.08 [[ 9.93772316e-01 -9.63867039e-02 -5.59123237e-02 9.19313978e+01] [ 9.62619790e-02 9.95343843e-01 -4.92597165e-03 6.03385183e+00] [ 5.61267853e-02 -4.86936681e-04 9.98423531e-01 5.08091249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.99, Y:6.04, Z:5.08 [[ 9.93011983e-01 -1.03927833e-01 -5.59124979e-02 9.19925860e+01] [ 1.03815152e-01 9.94584420e-01 -4.92399418e-03 6.03736206e+00] [ 5.61214393e-02 -9.14979270e-04 9.98423531e-01 5.08343787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.05, Y:6.04, Z:5.09 [[ 9.92108664e-01 -1.12223762e-01 -5.59126695e-02 9.20548144e+01] [ 1.12124338e-01 9.93681995e-01 -4.92204401e-03 6.04193696e+00] [ 5.61117833e-02 -1.38596857e-03 9.98423531e-01 5.08886597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.12, Y:6.04, Z:5.09 [[ 9.91408942e-01 -1.18245695e-01 -5.59130181e-02 9.21171731e+01] [ 1.18156049e-01 9.92982860e-01 -4.91808166e-03 6.04493140e+00] [ 5.61022106e-02 -1.73063116e-03 9.98423531e-01 5.09358730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.18, Y:6.05, Z:5.10 [[ 9.90831435e-01 -1.22990906e-01 -5.59133660e-02 9.21789682e+01] [ 1.22909019e-01 9.92405776e-01 -4.91412258e-03 6.04805349e+00] [ 5.60931398e-02 -2.00318987e-03 9.98423531e-01 5.09691122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.24, Y:6.05, Z:5.10 [[ 9.90217628e-01 -1.27838592e-01 -5.59137172e-02 9.22414284e+01] [ 1.27764637e-01 9.91792361e-01 -4.91012358e-03 6.05069690e+00] [ 5.60825009e-02 -2.28170486e-03 9.98423531e-01 5.09773373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.30, Y:6.05, Z:5.10 [[ 9.90365939e-01 -1.26684347e-01 -5.59140687e-02 9.23032707e+01] [ 1.26608783e-01 9.91940596e-01 -4.90611742e-03 6.05493104e+00] [ 5.60849629e-02 -2.22036061e-03 9.98423531e-01 5.09811655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.37, Y:6.06, Z:5.10 [[ 9.91227805e-01 -1.19753984e-01 -5.59144146e-02 9.23650657e+01] [ 1.19667629e-01 9.92801907e-01 -4.90217218e-03 6.06230868e+00] [ 5.60989921e-02 -1.83197607e-03 9.98423531e-01 5.10220279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.43, Y:6.07, Z:5.10 [[ 9.92480311e-01 -1.08886964e-01 -5.59147722e-02 9.24260909e+01] [ 1.08783599e-01 9.94053388e-01 -4.89809003e-03 6.07128976e+00] [ 5.61156069e-02 -1.22135224e-03 9.98423531e-01 5.10453429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.49, Y:6.08, Z:5.11 [[ 9.93821601e-01 -9.58756224e-02 -5.59150363e-02 9.24872422e+01] [ 9.57518276e-02 9.95393202e-01 -4.89507311e-03 6.08186629e+00] [ 5.61267652e-02 -4.89137525e-04 9.98423531e-01 5.10933172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.55, Y:6.09, Z:5.11 [[ 9.94130492e-01 -9.26176839e-02 -5.59153853e-02 9.25485322e+01] [ 9.24889629e-02 9.95701697e-01 -4.89108320e-03 6.08861826e+00] [ 5.61280448e-02 -3.09181050e-04 9.98423531e-01 5.11233782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.61, Y:6.09, Z:5.12 [[ 9.94066619e-01 -9.33006218e-02 -5.59155618e-02 9.26094896e+01] [ 9.31730938e-02 9.95637922e-01 -4.88906499e-03 6.09486384e+00] [ 5.61278066e-02 -3.49769578e-04 9.98423531e-01 5.11689588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.67, Y:6.10, Z:5.12 [[ 9.93587006e-01 -9.82766095e-02 -5.59157377e-02 9.26705269e+01] [ 9.81570636e-02 9.95158936e-01 -4.88705231e-03 6.09986320e+00] [ 5.61253290e-02 -6.32812948e-04 9.98423531e-01 5.11940565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.73, Y:6.10, Z:5.12 [[ 9.92790419e-01 -1.06021668e-01 -5.59159134e-02 9.27327043e+01] [ 1.05914497e-01 9.94363241e-01 -4.88504133e-03 6.10495153e+00] [ 5.61186491e-02 -1.07248361e-03 9.98423531e-01 5.12283483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.79, Y:6.11, Z:5.13 [[ 9.91894077e-01 -1.14103073e-01 -5.59162693e-02 9.27932043e+01] [ 1.14008944e-01 9.93467733e-01 -4.88096431e-03 6.11068025e+00] [ 5.61079423e-02 -1.53355522e-03 9.98423531e-01 5.12758704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.86, Y:6.12, Z:5.13 [[ 9.91053148e-01 -1.21189781e-01 -5.59168540e-02 9.28559741e+01] [ 1.21107280e-01 9.92627457e-01 -4.87425649e-03 6.11774976e+00] [ 5.60953147e-02 -1.94129084e-03 9.98423531e-01 5.13162403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.92, Y:6.13, Z:5.14 [[ 9.90536217e-01 -1.25344524e-01 -5.59173848e-02 9.29185603e+01] [ 1.25268969e-01 9.92110874e-01 -4.86815994e-03 6.12611614e+00] [ 5.60864427e-02 -2.18262438e-03 9.98423531e-01 5.13585227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.98, Y:6.13, Z:5.14 [[ 9.91052859e-01 -1.21191655e-01 -5.59179171e-02 9.29798198e+01] [ 1.21109845e-01 9.92627204e-01 -4.86203789e-03 6.13348716e+00] [ 5.60948841e-02 -1.95367374e-03 9.98423531e-01 5.13984941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.04, Y:6.14, Z:5.14 [[ 9.91159789e-01 -1.20313798e-01 -5.59183549e-02 9.30423705e+01] [ 1.20230878e-01 9.92734076e-01 -4.85699775e-03 6.13935328e+00] [ 5.60964202e-02 -1.90905202e-03 9.98423531e-01 5.14365385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.10, Y:6.14, Z:5.15 [[ 9.91164257e-01 -1.20276745e-01 -5.59188725e-02 9.31039351e+01] [ 1.20194102e-01 9.92738558e-01 -4.85103084e-03 6.14499826e+00] [ 5.60962871e-02 -1.91295029e-03 9.98423531e-01 5.14628424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.17, Y:6.15, Z:5.15 [[ 9.91163445e-01 -1.20283273e-01 -5.59192265e-02 9.31653197e+01] [ 1.20200871e-01 9.92737759e-01 -4.84694617e-03 6.15034261e+00] [ 5.60961342e-02 -1.91742388e-03 9.98423531e-01 5.14901514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.23, Y:6.16, Z:5.15 [[ 9.91218079e-01 -1.19832007e-01 -5.59196650e-02 9.32271874e+01] [ 1.19749174e-01 9.92792371e-01 -4.84188291e-03 6.15678412e+00] [ 5.60968293e-02 -1.89697180e-03 9.98423531e-01 5.15353808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.29, Y:6.16, Z:5.16 [[ 9.91329363e-01 -1.18907716e-01 -5.59200190e-02 9.32894350e+01] [ 1.18823646e-01 9.92903589e-01 -4.83779074e-03 6.16286731e+00] [ 5.60984382e-02 -1.84877650e-03 9.98423531e-01 5.15785383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.35, Y:6.17, Z:5.16 [[ 9.91377521e-01 -1.18505377e-01 -5.59203653e-02 9.33507822e+01] [ 1.18420893e-01 9.92951724e-01 -4.83378456e-03 6.16760323e+00] [ 5.60990526e-02 -1.83003423e-03 9.98423531e-01 5.16340095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.41, Y:6.17, Z:5.17 [[ 9.91280347e-01 -1.19315332e-01 -5.59207091e-02 9.34125086e+01] [ 1.19232359e-01 9.92854631e-01 -4.82980345e-03 6.17061584e+00] [ 5.60974046e-02 -1.87986884e-03 9.98423531e-01 5.16855749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.47, Y:6.17, Z:5.17 [[ 9.91370824e-01 -1.18561061e-01 -5.59210525e-02 9.34745974e+01] [ 1.18477114e-01 9.92945056e-01 -4.82582440e-03 6.17383377e+00] [ 5.60986875e-02 -1.84118340e-03 9.98423531e-01 5.17159471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.54, Y:6.18, Z:5.17 [[ 9.91638168e-01 -1.16303663e-01 -5.59213928e-02 9.35371168e+01] [ 1.16216354e-01 9.93212217e-01 -4.82187746e-03 6.17789750e+00] [ 5.61026126e-02 -1.71742268e-03 9.98423531e-01 5.17394790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.60, Y:6.18, Z:5.18 [[ 9.92468554e-01 -1.08990498e-01 -5.59217325e-02 9.35995449e+01] [ 1.08891811e-01 9.94041931e-01 -4.81793538e-03 6.18265785e+00] [ 5.61136561e-02 -1.30776936e-03 9.98423531e-01 5.17697281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.66, Y:6.19, Z:5.18 [[ 9.93281517e-01 -1.01314065e-01 -5.59221701e-02 9.36612640e+01] [ 1.01203502e-01 9.94854104e-01 -4.81285066e-03 6.18895726e+00] [ 5.61220098e-02 -8.79003861e-04 9.98423531e-01 5.18055473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.72, Y:6.20, Z:5.18 [[ 9.94833839e-01 -8.47248751e-02 -5.59225152e-02 9.37224855e+01] [ 8.45883114e-02 9.96404382e-01 -4.80883672e-03 6.19661743e+00] [ 5.61288673e-02 5.36023675e-05 9.98423531e-01 5.18288314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.78, Y:6.20, Z:5.19 [[ 9.95524121e-01 -7.61863477e-02 -5.59228539e-02 9.37826652e+01] [ 7.60365356e-02 9.97093455e-01 -4.80489456e-03 6.20293264e+00] [ 5.61263790e-02 5.31208361e-04 9.98423531e-01 5.18847481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.84, Y:6.21, Z:5.19 [[ 9.95752456e-01 -7.31415088e-02 -5.59228539e-02 9.38411866e+01] [ 7.29868981e-02 9.97321325e-01 -4.80489456e-03 6.20827367e+00] [ 5.61244920e-02 7.02849920e-04 9.98423531e-01 5.19373262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.90, Y:6.21, Z:5.20 [[ 9.95432276e-01 -7.73779867e-02 -5.59216435e-02 9.38987294e+01] [ 7.72292642e-02 9.97001714e-01 -4.81894077e-03 6.21030934e+00] [ 5.61268544e-02 4.78141801e-04 9.98423531e-01 5.19714623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.96, Y:6.21, Z:5.20 [[ 9.94487914e-01 -8.86944881e-02 -5.59202684e-02 9.39572674e+01] [ 8.85627308e-02 9.96058867e-01 -4.83484551e-03 6.20968612e+00] [ 5.61287034e-02 -1.44256258e-04 9.98423531e-01 5.20040008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.02, Y:6.21, Z:5.20 [[ 9.93605857e-01 -9.80839452e-02 -5.59190621e-02 9.40180262e+01] [ 9.79662494e-02 9.95177926e-01 -4.84875779e-03 6.20997452e+00] [ 5.61250015e-02 -6.60426645e-04 9.98423531e-01 5.20404099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.08, Y:6.20, Z:5.21 [[ 9.91885245e-01 -1.14178457e-01 -5.59190621e-02 9.40804753e+01] [ 1.14086262e-01 9.93459015e-01 -4.84875779e-03 6.20468041e+00] [ 5.61069200e-02 -1.57018544e-03 9.98423531e-01 5.20687534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.14, Y:6.20, Z:5.21 [[ 9.90988298e-01 -1.21717758e-01 -5.59194095e-02 9.41433672e+01] [ 1.21637759e-01 9.92562736e-01 -4.84474745e-03 6.20387810e+00] [ 5.60932139e-02 -2.00082363e-03 9.98423531e-01 5.21013283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.21, Y:6.20, Z:5.21 [[ 9.90746819e-01 -1.23667790e-01 -5.59197542e-02 9.42061828e+01] [ 1.23591113e-01 9.92321422e-01 -4.84076641e-03 6.20388084e+00] [ 5.60890168e-02 -2.11521076e-03 9.98423531e-01 5.21292913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.27, Y:6.21, Z:5.21 [[ 9.91213039e-01 -1.19873491e-01 -5.59201059e-02 9.42670010e+01] [ 1.19791015e-01 9.92787348e-01 -4.83670041e-03 6.20593530e+00] [ 5.60965658e-02 -1.90452574e-03 9.98423531e-01 5.21487806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.33, Y:6.21, Z:5.22 [[ 9.92263160e-01 -1.10845539e-01 -5.59203656e-02 9.43293361e+01] [ 1.10748905e-01 9.93836664e-01 -4.83369523e-03 6.21091254e+00] [ 5.61115032e-02 -1.39682158e-03 9.98423531e-01 5.21738296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.39, Y:6.22, Z:5.22 [[ 9.93449342e-01 -9.96558016e-02 -5.59207041e-02 9.43904049e+01] [ 9.95416614e-02 9.95021674e-01 -4.82977591e-03 6.21701576e+00] [ 5.61236278e-02 -7.68302089e-04 9.98423531e-01 5.21995439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.45, Y:6.22, Z:5.22 [[ 9.94419800e-01 -8.94545555e-02 -5.59208795e-02 9.44509475e+01] [ 8.93243983e-02 9.95990886e-01 -4.82774418e-03 6.22268382e+00] [ 5.61285500e-02 -1.94294518e-04 9.98423531e-01 5.22328201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.51, Y:6.23, Z:5.23 [[ 9.94953533e-01 -8.33085967e-02 -5.59208795e-02 9.45088177e+01] [ 8.31687347e-02 9.96523785e-01 -4.82774418e-03 6.22850704e+00] [ 5.61286791e-02 1.52512332e-04 9.98423531e-01 5.22520963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.57, Y:6.23, Z:5.23 [[ 9.94879370e-01 -8.41898046e-02 -5.59206174e-02 9.45664832e+01] [ 8.40511628e-02 9.96449731e-01 -4.83077890e-03 6.23300157e+00] [ 5.61287864e-02 1.05849360e-04 9.98423531e-01 5.22842432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.63, Y:6.24, Z:5.23 [[ 9.94239849e-01 -9.14339146e-02 -5.59192435e-02 9.46250848e+01] [ 9.13058229e-02 9.95811105e-01 -4.84663068e-03 6.23641231e+00] [ 5.61281500e-02 -2.87039183e-04 9.98423532e-01 5.23403050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.68, Y:6.24, Z:5.24 [[ 9.93180254e-01 -1.02304252e-01 -5.59180039e-02 9.46846411e+01] [ 1.02192553e-01 9.94752760e-01 -4.86089065e-03 6.23931230e+00] [ 5.61218785e-02 -8.86662991e-04 9.98423532e-01 5.23892459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.75, Y:6.24, Z:5.24 [[ 9.91915042e-01 -1.13919910e-01 -5.59178279e-02 9.47458912e+01] [ 1.13826507e-01 9.93488741e-01 -4.86291438e-03 6.24123504e+00] [ 5.61077152e-02 -1.54133310e-03 9.98423532e-01 5.24181651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.81, Y:6.24, Z:5.24 [[ 9.90647898e-01 -1.24458506e-01 -5.59180036e-02 9.48069734e+01] [ 1.24381952e-01 9.92222506e-01 -4.86089309e-03 6.24391048e+00] [ 5.60880812e-02 -2.13975693e-03 9.98423532e-01 5.24373405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.87, Y:6.25, Z:5.25 [[ 9.89628388e-01 -1.32320687e-01 -5.59185887e-02 9.48687037e+01] [ 1.32257018e-01 9.91203571e-01 -4.85415301e-03 6.24861233e+00] [ 5.60690096e-02 -2.59181818e-03 9.98423532e-01 5.24759961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.93, Y:6.26, Z:5.25 [[ 9.89010058e-01 -1.36865543e-01 -5.59189452e-02 9.49305937e+01] [ 1.36809343e-01 9.90585524e-01 -4.85004194e-03 6.25550700e+00] [ 5.60563013e-02 -2.85349389e-03 9.98423532e-01 5.25125666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.99, Y:6.26, Z:5.25 [[ 9.88798092e-01 -1.38388460e-01 -5.59193017e-02 9.49917572e+01] [ 1.38334918e-01 9.90373650e-01 -4.84592908e-03 6.26170802e+00] [ 5.60516236e-02 -2.94394658e-03 9.98423532e-01 5.25455146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.05, Y:6.27, Z:5.26 [[ 9.88910078e-01 -1.37585704e-01 -5.59198627e-02 9.50538689e+01] [ 1.37531249e-01 9.90485606e-01 -4.83944668e-03 6.27053116e+00] [ 5.60536577e-02 -2.90495093e-03 9.98423532e-01 5.25849410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.11, Y:6.28, Z:5.26 [[ 9.89037414e-01 -1.36667120e-01 -5.59203991e-02 9.51143454e+01] [ 1.36611552e-01 9.90612903e-01 -4.83324061e-03 6.27697085e+00] [ 5.60560139e-02 -2.85911671e-03 9.98423532e-01 5.26187794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.18, Y:6.29, Z:5.26 [[ 9.89440104e-01 -1.33720452e-01 -5.59206626e-02 9.51756279e+01] [ 1.33660363e-01 9.91015427e-01 -4.83018990e-03 6.28574346e+00] [ 5.60641345e-02 -2.69519246e-03 9.98423532e-01 5.26477584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.24, Y:6.29, Z:5.27 [[ 9.89955624e-01 -1.29848770e-01 -5.59210106e-02 9.52370089e+01] [ 1.29782746e-01 9.91530709e-01 -4.82615738e-03 6.29486590e+00] [ 5.60740699e-02 -2.47990069e-03 9.98423532e-01 5.26747797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.30, Y:6.31, Z:5.27 [[ 9.90771167e-01 -1.23471842e-01 -5.59213683e-02 9.52980221e+01] [ 1.23395912e-01 9.92345805e-01 -4.82200900e-03 6.30504780e+00] [ 5.60887176e-02 -2.12296074e-03 9.98423532e-01 5.27011214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.36, Y:6.32, Z:5.27 [[ 9.91961915e-01 -1.13509116e-01 -5.59217230e-02 9.53587219e+01] [ 1.13417597e-01 9.93535725e-01 -4.81789196e-03 6.31663908e+00] [ 5.61071043e-02 -1.56334213e-03 9.98423532e-01 5.27384193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.42, Y:6.33, Z:5.28 [[ 9.93495322e-01 -9.91956495e-02 -5.59219849e-02 9.54202961e+01] [ 9.90816210e-02 9.95067661e-01 -4.81484961e-03 6.32836308e+00] [ 5.61237709e-02 -7.57310350e-04 9.98423532e-01 5.27872880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.48, Y:6.34, Z:5.28 [[ 9.94826972e-01 -8.48055892e-02 -5.59223428e-02 9.54801921e+01] [ 8.46690488e-02 9.96397516e-01 -4.81068985e-03 6.34000971e+00] [ 5.61288568e-02 5.09124498e-05 9.98423532e-01 5.28410696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.54, Y:6.35, Z:5.29 [[ 9.95744599e-01 -7.32485866e-02 -5.59226063e-02 9.55396925e+01] [ 7.30939914e-02 9.97313469e-01 -4.80762463e-03 6.34973625e+00] [ 5.61245202e-02 6.99559762e-04 9.98423532e-01 5.28604870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.60, Y:6.36, Z:5.29 [[ 9.95818680e-01 -7.22344688e-02 -5.59226063e-02 9.55974303e+01] [ 7.20782759e-02 9.97387392e-01 -4.80762463e-03 6.35525925e+00] [ 5.61237786e-02 7.56717374e-04 9.98423532e-01 5.28817824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.65, Y:6.36, Z:5.29 [[ 9.95621798e-01 -7.48995621e-02 -5.59221804e-02 9.56547958e+01] [ 7.47472905e-02 9.97190895e-01 -4.81257356e-03 6.36001913e+00] [ 5.61255488e-02 6.11471678e-04 9.98423532e-01 5.29141255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.71, Y:6.36, Z:5.30 [[ 9.95174350e-01 -8.06280270e-02 -5.59207843e-02 9.57136506e+01] [ 8.04838794e-02 9.96744214e-01 -4.82874151e-03 6.36455557e+00] [ 5.61280501e-02 3.04718034e-04 9.98423532e-01 5.29548168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.77, Y:6.37, Z:5.30 [[ 9.94552272e-01 -8.79703415e-02 -5.59195567e-02 9.57731391e+01] [ 8.78369867e-02 9.96123090e-01 -4.84291656e-03 6.36906628e+00] [ 5.61287946e-02 -9.52716819e-05 9.98423532e-01 5.29952400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.83, Y:6.37, Z:5.30 [[ 9.93838460e-01 -9.56981106e-02 -5.59194703e-02 9.58335388e+01] [ 9.55769133e-02 9.95410262e-01 -4.84391435e-03 6.37294166e+00] [ 5.61263680e-02 -5.30541977e-04 9.98423532e-01 5.30288779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.89, Y:6.37, Z:5.31 [[ 9.93155266e-01 -1.02545745e-01 -5.59194703e-02 9.58944986e+01] [ 1.02435384e-01 9.94727867e-01 -4.84391435e-03 6.37478657e+00] [ 5.61213782e-02 -9.17373376e-04 9.98423532e-01 5.30617019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.96, Y:6.38, Z:5.31 [[ 9.92542662e-01 -1.08314622e-01 -5.59196410e-02 9.59567608e+01] [ 1.08213512e-01 9.94115884e-01 -4.84194277e-03 6.37689318e+00] [ 5.61150565e-02 -1.24542595e-03 9.98423532e-01 5.30962861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.02, Y:6.38, Z:5.31 [[ 9.91939832e-01 -1.13702795e-01 -5.59199882e-02 9.60187926e+01] [ 1.13610455e-01 9.93513593e-01 -4.83792902e-03 6.37822369e+00] [ 5.61073545e-02 -1.55416079e-03 9.98423532e-01 5.30991251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.08, Y:6.38, Z:5.31 [[ 9.91918887e-01 -1.13885190e-01 -5.59203441e-02 9.60811876e+01] [ 1.13793371e-01 9.93492679e-01 -4.83381162e-03 6.38143775e+00] [ 5.61069521e-02 -1.56861545e-03 9.98423532e-01 5.31226145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.14, Y:6.39, Z:5.32 [[ 9.92544028e-01 -1.08301562e-01 -5.59206981e-02 9.61427883e+01] [ 1.08201119e-01 9.94117293e-01 -4.82971368e-03 6.38688513e+00] [ 5.61147985e-02 -1.25697865e-03 9.98423532e-01 5.31501397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.21, Y:6.39, Z:5.32 [[ 9.93189727e-01 -1.02210575e-01 -5.59210507e-02 9.62050245e+01] [ 1.02100713e-01 9.94762362e-01 -4.82562713e-03 6.39351677e+00] [ 5.61213866e-02 -9.16815838e-04 9.98423532e-01 5.31849495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.27, Y:6.40, Z:5.32 [[ 9.93843184e-01 -9.56479081e-02 -5.59214043e-02 9.62668894e+01] [ 9.55278910e-02 9.95415077e-01 -4.82152562e-03 6.40068734e+00] [ 5.61261778e-02 -5.50213443e-04 9.98423532e-01 5.32191457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.33, Y:6.41, Z:5.32 [[ 9.94611163e-01 -8.73005862e-02 -5.59217557e-02 9.63273697e+01] [ 8.71676056e-02 9.96182012e-01 -4.81744690e-03 6.40668145e+00] [ 5.61288130e-02 -8.30790803e-05 9.98423532e-01 5.32394318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.39, Y:6.41, Z:5.33 [[ 9.94991480e-01 -8.28535584e-02 -5.59217557e-02 9.63870503e+01] [ 8.27135570e-02 9.96561719e-01 -4.81744690e-03 6.41142956e+00] [ 5.61286236e-02 1.67831298e-04 9.98423532e-01 5.32639691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.45, Y:6.41, Z:5.33 [[ 9.94915636e-01 -8.37594383e-02 -5.59216698e-02 9.64453400e+01] [ 8.36208105e-02 9.96485997e-01 -4.81844431e-03 6.41476877e+00] [ 5.61287511e-02 1.17730236e-04 9.98423532e-01 5.32965310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.50, Y:6.42, Z:5.33 [[ 9.94664521e-01 -8.66913509e-02 -5.59204778e-02 9.65030894e+01] [ 8.65565765e-02 9.96235217e-01 -4.83223856e-03 6.41843794e+00] [ 5.61288626e-02 -3.38288547e-05 9.98423532e-01 5.33203179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.56, Y:6.42, Z:5.34 [[ 9.94222442e-01 -9.16224965e-02 -5.59200591e-02 9.65628979e+01] [ 9.14952401e-02 9.95793766e-01 -4.83707824e-03 6.42235124e+00] [ 5.61280315e-02 -3.07287501e-04 9.98423532e-01 5.33540039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.62, Y:6.43, Z:5.34 [[ 9.93334129e-01 -1.00798182e-01 -5.59198873e-02 9.66220962e+01] [ 1.00685327e-01 9.94906553e-01 -4.83906368e-03 6.42523442e+00] [ 5.61228311e-02 -8.23505044e-04 9.98423532e-01 5.33965134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.68, Y:6.43, Z:5.34 [[ 9.92002827e-01 -1.13151961e-01 -5.59198027e-02 9.66843739e+01] [ 1.13058628e-01 9.93576530e-01 -4.84004111e-03 6.42834390e+00] [ 5.61082637e-02 -1.52088171e-03 9.98423532e-01 5.34403983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.75, Y:6.43, Z:5.35 [[ 9.90507498e-01 -1.25570028e-01 -5.59201563e-02 9.67465979e+01] [ 1.25496646e-01 9.92082257e-01 -4.83595243e-03 6.43209456e+00] [ 5.60846456e-02 -2.22774495e-03 9.98423532e-01 5.34715538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.81, Y:6.44, Z:5.35 [[ 9.89906944e-01 -1.30219578e-01 -5.59205147e-02 9.68072936e+01] [ 1.30153826e-01 9.91482040e-01 -4.83180457e-03 6.43517876e+00] [ 5.60733816e-02 -2.49523203e-03 9.98423532e-01 5.34867396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.87, Y:6.44, Z:5.35 [[ 9.89779038e-01 -1.31188117e-01 -5.59207798e-02 9.68682732e+01] [ 1.31124079e-01 9.91354205e-01 -4.82873518e-03 6.44036100e+00] [ 5.60707728e-02 -2.55317991e-03 9.98423532e-01 5.35239738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.93, Y:6.45, Z:5.36 [[ 9.89683047e-01 -1.31910212e-01 -5.59210380e-02 9.69303171e+01] [ 1.31847492e-01 9.91258267e-01 -4.82574223e-03 6.44575153e+00] [ 5.60687559e-02 -2.59709337e-03 9.98423532e-01 5.35671549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.99, Y:6.45, Z:5.36 [[ 9.89605025e-01 -1.32494124e-01 -5.59213902e-02 9.69911515e+01] [ 1.32432563e-01 9.91180290e-01 -4.82165786e-03 6.44974210e+00] [ 5.60670211e-02 -2.63427621e-03 9.98423532e-01 5.35720674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.05, Y:6.46, Z:5.36 [[ 9.89686218e-01 -1.31886162e-01 -5.59216503e-02 9.70526583e+01] [ 1.31823805e-01 9.91261452e-01 -4.81863897e-03 6.45526185e+00] [ 5.60684881e-02 -2.60286413e-03 9.98423532e-01 5.35971867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.11, Y:6.46, Z:5.36 [[ 9.89984505e-01 -1.29627966e-01 -5.59220002e-02 9.71134425e+01] [ 1.29562244e-01 9.91559602e-01 -4.81457501e-03 6.46275517e+00] [ 5.60740999e-02 -2.47902517e-03 9.98423532e-01 5.36315118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.18, Y:6.47, Z:5.37 [[ 9.90591930e-01 -1.24901280e-01 -5.59222587e-02 9.71754799e+01] [ 1.24828210e-01 9.92166703e-01 -4.81157131e-03 6.47193128e+00] [ 5.60851744e-02 -2.21437175e-03 9.98423532e-01 5.36856000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.24, Y:6.48, Z:5.37 [[ 9.91136096e-01 -1.20506763e-01 -5.59227944e-02 9.72361548e+01] [ 1.20427061e-01 9.92710548e-01 -4.80533665e-03 6.48024002e+00] [ 5.60942234e-02 -1.97187516e-03 9.98423532e-01 5.37206847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.30, Y:6.49, Z:5.38 [[ 9.91615143e-01 -1.16499010e-01 -5.59230570e-02 9.72975580e+01] [ 1.16413116e-01 9.93189269e-01 -4.80227863e-03 6.48825387e+00] [ 5.61016408e-02 -1.74816510e-03 9.98423532e-01 5.37621011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.36, Y:6.50, Z:5.38 [[ 9.92304588e-01 -1.10472520e-01 -5.59233997e-02 9.73586883e+01] [ 1.10377289e-01 9.93878177e-01 -4.79828438e-03 6.49670862e+00] [ 5.61111251e-02 -1.41131366e-03 9.98423532e-01 5.38023844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.42, Y:6.50, Z:5.38 [[ 9.92852256e-01 -1.05436865e-01 -5.59237465e-02 9.74204231e+01] [ 1.05333880e-01 9.94425356e-01 -4.79423928e-03 6.50431334e+00] [ 5.61174811e-02 -1.13069393e-03 9.98423532e-01 5.38430271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.48, Y:6.51, Z:5.39 [[ 9.93600058e-01 -9.81397964e-02 -5.59240944e-02 9.74824891e+01] [ 9.80254854e-02 9.95172376e-01 -4.79017689e-03 6.51179286e+00] [ 5.61242209e-02 -7.22466465e-04 9.98423532e-01 5.38775911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.54, Y:6.52, Z:5.39 [[ 9.94117230e-01 -9.27544603e-02 -5.59244424e-02 9.75434199e+01] [ 9.26318600e-02 9.95688923e-01 -4.78611102e-03 6.51824368e+00] [ 5.61272810e-02 -4.22429688e-04 9.98423532e-01 5.39095156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.60, Y:6.52, Z:5.39 [[ 9.94126560e-01 -9.26542507e-02 -5.59246997e-02 9.76044078e+01] [ 9.25316612e-02 9.95698254e-01 -4.78310309e-03 6.52302145e+00] [ 5.61273007e-02 -4.19795536e-04 9.98423532e-01 5.39361523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.66, Y:6.53, Z:5.40 [[ 9.93700662e-01 -9.71154123e-02 -5.59248711e-02 9.76644021e+01] [ 9.69999914e-02 9.95272899e-01 -4.78109834e-03 6.52568471e+00] [ 5.61248269e-02 -6.73731422e-04 9.98423532e-01 5.39698789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.73, Y:6.53, Z:5.40 [[ 9.93273509e-01 -1.01390999e-01 -5.59249554e-02 9.77256577e+01] [ 1.01282401e-01 9.94846232e-01 -4.78011189e-03 6.52896804e+00] [ 5.61213915e-02 -9.16255259e-04 9.98423532e-01 5.40021099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.79, Y:6.53, Z:5.40 [[ 9.92515199e-01 -1.08563162e-01 -5.59251251e-02 9.77864060e+01] [ 1.08466040e-01 9.94088672e-01 -4.77812510e-03 6.53010911e+00] [ 5.61132617e-02 -1.32361505e-03 9.98423532e-01 5.40333450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.85, Y:6.53, Z:5.41 [[ 9.92225054e-01 -1.11183607e-01 -5.59253768e-02 9.78482992e+01] [ 1.11090806e-01 9.93798788e-01 -4.77517760e-03 6.53311966e+00] [ 5.61094931e-02 -1.47474431e-03 9.98423532e-01 5.40767637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.91, Y:6.54, Z:5.41 [[ 9.92095354e-01 -1.12334868e-01 -5.59257186e-02 9.79098310e+01] [ 1.12244118e-01 9.93669208e-01 -4.77117060e-03 6.53609453e+00] [ 5.61076333e-02 -1.54387676e-03 9.98423532e-01 5.41162777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.97, Y:6.54, Z:5.42 [[ 9.92369597e-01 -1.09885708e-01 -5.59259768e-02 9.79719140e+01] [ 1.09791244e-01 9.93943232e-01 -4.76814317e-03 6.54017599e+00] [ 5.61111969e-02 -1.40842223e-03 9.98423532e-01 5.41591655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.03, Y:6.55, Z:5.42 [[ 9.92782242e-01 -1.06092724e-01 -5.59263201e-02 9.80341446e+01] [ 1.05992474e-01 9.94355519e-01 -4.76411241e-03 6.54519149e+00] [ 5.61160827e-02 -1.19804283e-03 9.98423532e-01 5.41998183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.10, Y:6.55, Z:5.42 [[ 9.92943879e-01 -1.04568929e-01 -5.59266648e-02 9.80958510e+01] [ 1.04466493e-01 9.94517015e-01 -4.76006277e-03 6.54816939e+00] [ 5.61177744e-02 -1.11598735e-03 9.98423532e-01 5.42120981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.16, Y:6.55, Z:5.42 [[ 9.92901306e-01 -1.04972211e-01 -5.59270123e-02 9.81570531e+01] [ 1.04870644e-01 9.94474499e-01 -4.75597579e-03 6.54944984e+00] [ 5.61172329e-02 -1.14288724e-03 9.98423532e-01 5.42268607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.22, Y:6.55, Z:5.43 [[ 9.92997716e-01 -1.04056165e-01 -5.59271851e-02 9.82174471e+01] [ 1.03953262e-01 9.94570822e-01 -4.75394383e-03 6.55026304e+00] [ 5.61182236e-02 -1.09315793e-03 9.98423532e-01 5.42590004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.28, Y:6.55, Z:5.43 [[ 9.93308489e-01 -1.01046359e-01 -5.59274481e-02 9.82782034e+01] [ 1.00938863e-01 9.94881287e-01 -4.75084742e-03 6.55311592e+00] [ 5.61212274e-02 -9.26195922e-04 9.98423532e-01 5.43025169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.34, Y:6.55, Z:5.43 [[ 9.93621895e-01 -9.79165474e-02 -5.59274481e-02 9.83385541e+01] [ 9.78040964e-02 9.95194347e-01 -4.75084742e-03 6.55478439e+00] [ 5.61238668e-02 -7.49387508e-04 9.98423532e-01 5.43344456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.40, Y:6.56, Z:5.44 [[ 9.93855530e-01 -9.55159941e-02 -5.59274481e-02 9.83988880e+01] [ 9.53997450e-02 9.95427706e-01 -4.75084742e-03 6.55646081e+00] [ 5.61255133e-02 -6.13808302e-04 9.98423532e-01 5.43727161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.46, Y:6.56, Z:5.44 [[ 9.94225259e-01 -9.15874129e-02 -5.59274481e-02 9.84584023e+01] [ 9.14649513e-02 9.95796963e-01 -4.75084742e-03 6.55963654e+00] [ 5.61275008e-02 -3.91988804e-04 9.98423532e-01 5.44261627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.52, Y:6.56, Z:5.45 [[ 9.94585032e-01 -8.75942575e-02 -5.59272758e-02 9.85164799e+01] [ 8.74653715e-02 9.96156222e-01 -4.75287430e-03 6.56232335e+00] [ 5.61286283e-02 -1.64562326e-04 9.98423532e-01 5.44692887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.58, Y:6.56, Z:5.45 [[ 9.94729039e-01 -8.59442682e-02 -5.59260444e-02 9.85754564e+01] [ 8.58119638e-02 9.96299945e-01 -4.76732029e-03 6.56496305e+00] [ 5.61288388e-02 -5.69317752e-05 9.98423532e-01 5.44949566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.63, Y:6.56, Z:5.45 [[ 9.94678958e-01 -8.65227487e-02 -5.59248188e-02 9.86333465e+01] [ 8.63905520e-02 9.96249872e-01 -4.78165506e-03 6.56495119e+00] [ 5.61288155e-02 -7.51642940e-05 9.98423533e-01 5.44950167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.69, Y:6.56, Z:5.45 [[ 9.94433579e-01 -8.92996479e-02 -5.59234302e-02 9.86910001e+01] [ 8.91709277e-02 9.96004782e-01 -4.79784013e-03 6.56487234e+00] [ 5.61284494e-02 -2.15610817e-04 9.98423533e-01 5.45099423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.75, Y:6.57, Z:5.45 [[ 9.94197081e-01 -9.18954978e-02 -5.59230035e-02 9.87488090e+01] [ 9.17706004e-02 9.95768593e-01 -4.80280926e-03 6.56684763e+00] [ 5.61277270e-02 -3.57148663e-04 9.98423533e-01 5.45450671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.81, Y:6.57, Z:5.46 [[ 9.93790583e-01 -9.61927687e-02 -5.59216191e-02 9.88062754e+01] [ 9.60737625e-02 9.95362552e-01 -4.81887485e-03 6.56689755e+00] [ 5.61258264e-02 -5.83647903e-04 9.98423533e-01 5.45937777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.87, Y:6.57, Z:5.46 [[ 9.93248793e-01 -1.01635434e-01 -5.59202414e-02 9.88655392e+01] [ 1.01524145e-01 9.94821327e-01 -4.83480910e-03 6.56701373e+00] [ 5.61220367e-02 -8.75086371e-04 9.98423533e-01 5.46366154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.92, Y:6.57, Z:5.47 [[ 9.92332903e-01 -1.10220135e-01 -5.59189663e-02 9.89238443e+01] [ 1.10121619e-01 9.93906289e-01 -4.84951198e-03 6.56731304e+00] [ 5.61127262e-02 -1.34555679e-03 9.98423533e-01 5.46840181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.98, Y:6.57, Z:5.47 [[ 9.91968292e-01 -1.13454868e-01 -5.59186953e-02 9.89832668e+01] [ 1.13361307e-01 9.93541980e-01 -4.85263546e-03 6.57045595e+00] [ 5.61081264e-02 -1.52535585e-03 9.98423533e-01 5.47115952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.04, Y:6.57, Z:5.47 [[ 9.90797064e-01 -1.23265152e-01 -5.59185201e-02 9.90423751e+01] [ 1.23187053e-01 9.92371595e-01 -4.85465365e-03 6.57048163e+00] [ 5.60903606e-02 -2.07846110e-03 9.98423533e-01 5.47306032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.10, Y:6.57, Z:5.47 [[ 9.89805591e-01 -1.30988702e-01 -5.59182612e-02 9.91033103e+01] [ 1.30922718e-01 9.91380676e-01 -4.85763322e-03 6.57239979e+00] [ 5.60725787e-02 -2.51285821e-03 9.98423533e-01 5.47468007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.16, Y:6.58, Z:5.48 [[ 9.89230107e-01 -1.35266197e-01 -5.59182612e-02 9.91633892e+01] [ 1.35207022e-01 9.90805463e-01 -4.85763322e-03 6.57564571e+00] [ 5.60611923e-02 -2.75522455e-03 9.98423533e-01 5.47758960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.22, Y:6.58, Z:5.48 [[ 9.89015384e-01 -1.36827332e-01 -5.59182612e-02 9.92247950e+01] [ 1.36770644e-01 9.90590831e-01 -4.85763322e-03 6.58052912e+00] [ 5.60567739e-02 -2.84370259e-03 9.98423533e-01 5.48034220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.28, Y:6.59, Z:5.48 [[ 9.89304284e-01 -1.34722533e-01 -5.59184397e-02 9.92843334e+01] [ 1.34662607e-01 9.90879612e-01 -4.85557791e-03 6.58884581e+00] [ 5.60625976e-02 -2.72647886e-03 9.98423533e-01 5.48419711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.34, Y:6.60, Z:5.49 [[ 9.90202099e-01 -1.27956717e-01 -5.59185276e-02 9.93448197e+01] [ 1.27886082e-01 9.91776983e-01 -4.85456569e-03 6.59930109e+00] [ 5.60798828e-02 -2.34420025e-03 9.98423533e-01 5.48840714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.41, Y:6.61, Z:5.49 [[ 9.90951756e-01 -1.22015228e-01 -5.59187034e-02 9.94058054e+01] [ 1.21935262e-01 9.92526193e-01 -4.85253986e-03 6.60847764e+00] [ 5.60928616e-02 -2.00982886e-03 9.98423533e-01 5.49312635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.47, Y:6.62, Z:5.50 [[ 9.92164662e-01 -1.11724491e-01 -5.59188796e-02 9.94663359e+01] [ 1.11628305e-01 9.93738192e-01 -4.85050841e-03 6.61972559e+00] [ 5.61106469e-02 -1.42962669e-03 9.98423533e-01 5.49855228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.52, Y:6.63, Z:5.50 [[ 9.93380610e-01 -1.00339535e-01 -5.59190569e-02 9.95246042e+01] [ 1.00225425e-01 9.94952942e-01 -4.84846366e-03 6.63065544e+00] [ 5.61233227e-02 -7.88141477e-04 9.98423533e-01 5.50083191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.58, Y:6.64, Z:5.50 [[ 9.94131049e-01 -9.26095375e-02 -5.59189698e-02 9.95837717e+01] [ 9.24831443e-02 9.95702441e-01 -4.84946785e-03 6.63928272e+00] [ 5.61277617e-02 -3.50555592e-04 9.98423533e-01 5.50272794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.64, Y:6.65, Z:5.50 [[ 9.95132133e-01 -8.11487942e-02 -5.59187965e-02 9.96410208e+01] [ 8.10041913e-02 9.96701954e-01 -4.85146491e-03 6.64855530e+00] [ 5.61280643e-02 2.98191728e-04 9.98423533e-01 5.50486231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.70, Y:6.66, Z:5.51 [[ 9.95835948e-01 -7.20000787e-02 -5.59173783e-02 9.96978390e+01] [ 7.18401406e-02 9.97404281e-01 -4.86775650e-03 6.65732385e+00] [ 5.61227113e-02 8.30374590e-04 9.98423533e-01 5.50783080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.76, Y:6.66, Z:5.51 [[ 9.96076949e-01 -6.85865630e-02 -5.59159616e-02 9.97556316e+01] [ 6.84203404e-02 9.97644628e-01 -4.88397597e-03 6.66362444e+00] [ 5.61192339e-02 1.03902675e-03 9.98423533e-01 5.51076804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.81, Y:6.67, Z:5.51 [[ 9.95908548e-01 -7.09910252e-02 -5.59145558e-02 9.98133686e+01] [ 7.08276873e-02 9.97476530e-01 -4.90001756e-03 6.66758817e+00] [ 5.61213144e-02 9.19670695e-04 9.98423534e-01 5.51471092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.87, Y:6.67, Z:5.52 [[ 9.95499275e-01 -7.65174368e-02 -5.59131101e-02 9.98703369e+01] [ 7.63618806e-02 9.97068048e-01 -4.91645940e-03 6.67098756e+00] [ 5.61253704e-02 6.24701528e-04 9.98423534e-01 5.51839616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.93, Y:6.67, Z:5.52 [[ 9.94378556e-01 -8.99170759e-02 -5.59124878e-02 9.99283415e+01] [ 8.97822635e-02 9.95949248e-01 -4.92352643e-03 6.67328988e+00] [ 5.61287093e-02 -1.24100609e-04 9.98423534e-01 5.52209906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.99, Y:6.67, Z:5.52 [[ 9.92739233e-01 -1.06502431e-01 -5.59110661e-02 9.99856193e+01] [ 1.06392948e-01 9.94311893e-01 -4.93961911e-03 6.67296767e+00] [ 5.61191194e-02 -1.04478948e-03 9.98423534e-01 5.52415731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.05, Y:6.67, Z:5.53 [[ 9.90958741e-01 -1.21962269e-01 -5.59104526e-02 1.00045015e+02] [ 1.21876921e-01 9.92532895e-01 -4.94655288e-03 6.67427784e+00] [ 5.60962562e-02 -1.91236397e-03 9.98423534e-01 5.52716499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.10, Y:6.68, Z:5.53 [[ 9.89961024e-01 -1.29812219e-01 -5.59102783e-02 1.00104922e+02] [ 1.29739238e-01 9.91535800e-01 -4.94852199e-03 6.67746114e+00] [ 5.60794212e-02 -2.35491301e-03 9.98423534e-01 5.53035473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.17, Y:6.68, Z:5.53 [[ 9.88941174e-01 -1.37365812e-01 -5.59105435e-02 1.00166283e+02] [ 1.37305024e-01 9.90516467e-01 -4.94552432e-03 6.68114825e+00] [ 5.60596600e-02 -2.78596589e-03 9.98423534e-01 5.53180779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.23, Y:6.69, Z:5.54 [[ 9.88740315e-01 -1.38804111e-01 -5.59107214e-02 1.00227849e+02] [ 1.38745728e-01 9.90315700e-01 -4.94351247e-03 6.68858217e+00] [ 5.60554450e-02 -2.86952365e-03 9.98423534e-01 5.53552018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.29, Y:6.70, Z:5.54 [[ 9.89004368e-01 -1.36909870e-01 -5.59110766e-02 1.00289338e+02] [ 1.36848696e-01 9.90579646e-01 -4.93949216e-03 6.69617320e+00] [ 5.60606397e-02 -2.76617862e-03 9.98423534e-01 5.53777072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.35, Y:6.70, Z:5.54 [[ 9.89200977e-01 -1.35481875e-01 -5.59114374e-02 1.00350275e+02] [ 1.35418657e-01 9.90776175e-01 -4.93540412e-03 6.70314248e+00] [ 5.60643779e-02 -2.68934521e-03 9.98423534e-01 5.53996008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.41, Y:6.71, Z:5.54 [[ 9.89654708e-01 -1.32126604e-01 -5.59117042e-02 1.00412401e+02] [ 1.32058216e-01 9.91229690e-01 -4.93238034e-03 6.71224786e+00] [ 5.60730399e-02 -2.50224648e-03 9.98423534e-01 5.54067713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.47, Y:6.72, Z:5.54 [[ 9.90419446e-01 -1.26266242e-01 -5.59120513e-02 1.00474271e+02] [ 1.26188754e-01 9.91994006e-01 -4.92844262e-03 6.72322836e+00] [ 5.60867157e-02 -2.17424669e-03 9.98423534e-01 5.54237108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.54, Y:6.73, Z:5.55 [[ 9.91104389e-01 -1.20772065e-01 -5.59124164e-02 1.00535971e+02] [ 1.20686081e-01 9.92678509e-01 -4.92429716e-03 6.73304116e+00] [ 5.60977716e-02 -1.86735786e-03 9.98423534e-01 5.54557815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.60, Y:6.75, Z:5.55 [[ 9.92371473e-01 -1.09875480e-01 -5.59127759e-02 1.00597220e+02] [ 1.09772436e-01 9.93944568e-01 -4.92021122e-03 6.74695190e+00] [ 5.61148105e-02 -1.25500436e-03 9.98423534e-01 5.55016274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.66, Y:6.76, Z:5.55 [[ 9.93736389e-01 -9.67559313e-02 -5.59131323e-02 1.00657635e+02] [ 9.66323424e-02 9.95308003e-01 -4.91615741e-03 6.76125165e+00] [ 5.61264555e-02 -5.17652431e-04 9.98423534e-01 5.55478280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.72, Y:6.78, Z:5.56 [[ 9.94736164e-01 -8.58700514e-02 -5.59133122e-02 1.00716299e+02] [ 8.57293779e-02 9.96306341e-01 -4.91411111e-03 6.77535729e+00] [ 5.61287625e-02 9.48305681e-05 9.98423534e-01 5.55849902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.77, Y:6.79, Z:5.56 [[ 9.95146383e-01 -8.09776985e-02 -5.59132239e-02 1.00773872e+02] [ 8.08292493e-02 9.96715844e-01 -4.91511605e-03 6.78701993e+00] [ 5.61276109e-02 3.71836049e-04 9.98423534e-01 5.56210055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.83, Y:6.79, Z:5.57 [[ 9.95167008e-01 -8.07246996e-02 -5.59119821e-02 1.00832359e+02] [ 8.05750601e-02 9.96736356e-01 -4.92920158e-03 6.79381730e+00] [ 5.61274136e-02 4.00267471e-04 9.98423534e-01 5.56554055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.89, Y:6.80, Z:5.57 [[ 9.95008684e-01 -8.26541464e-02 -5.59107333e-02 1.00889988e+02] [ 8.25067565e-02 9.96578245e-01 -4.94332557e-03 6.80412114e+00] [ 5.61280068e-02 3.05638614e-04 9.98423534e-01 5.56909386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.95, Y:6.81, Z:5.57 [[ 9.94710905e-01 -8.61646438e-02 -5.59094685e-02 1.00949309e+02] [ 8.60219915e-02 9.96280904e-01 -4.95758993e-03 6.81146256e+00] [ 5.61287048e-02 1.21924944e-04 9.98423534e-01 5.57141443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.01, Y:6.82, Z:5.57 [[ 9.93933974e-01 -9.47069534e-02 -5.59092892e-02 1.01008451e+02] [ 9.45776804e-02 9.95505130e-01 -4.95961056e-03 6.81853941e+00] [ 5.61276939e-02 -3.58245450e-04 9.98423534e-01 5.57231053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.07, Y:6.82, Z:5.58 [[ 9.93320374e-01 -1.00939504e-01 -5.59093109e-02 1.01069752e+02] [ 1.00820103e-01 9.94892312e-01 -4.95936575e-03 6.82422411e+00] [ 5.61243395e-02 -7.10543423e-04 9.98423534e-01 5.57545655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.13, Y:6.83, Z:5.58 [[ 9.92522835e-01 -1.08501388e-01 -5.59094904e-02 1.01131167e+02] [ 1.08394075e-01 9.94095644e-01 -4.95734218e-03 6.83099834e+00] [ 5.61172593e-02 -1.13998217e-03 9.98423534e-01 5.57962494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.19, Y:6.84, Z:5.58 [[ 9.92173701e-01 -1.11648715e-01 -5.59098446e-02 1.01192725e+02] [ 1.11546616e-01 9.93746858e-01 -4.95334346e-03 6.83713835e+00] [ 5.61132668e-02 -1.32197686e-03 9.98423534e-01 5.58400350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.25, Y:6.84, Z:5.59 [[ 9.91922599e-01 -1.13857838e-01 -5.59102012e-02 1.01254649e+02] [ 1.13759470e-01 9.93495993e-01 -4.94931600e-03 6.84420473e+00] [ 5.61100792e-02 -1.45097645e-03 9.98423534e-01 5.58795065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.32, Y:6.85, Z:5.59 [[ 9.91788591e-01 -1.15019128e-01 -5.59105592e-02 1.01316095e+02] [ 1.14922830e-01 9.93362113e-01 -4.94526754e-03 6.85095919e+00] [ 5.61082316e-02 -1.52073974e-03 9.98423534e-01 5.59108344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.38, Y:6.86, Z:5.59 [[ 9.91611813e-01 -1.16533177e-01 -5.59109131e-02 1.01378105e+02] [ 1.16439507e-01 9.93185494e-01 -4.94126371e-03 6.85725230e+00] [ 5.61057290e-02 -1.61042368e-03 9.98423534e-01 5.59344184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.44, Y:6.86, Z:5.60 [[ 9.91536028e-01 -1.17176089e-01 -5.59112677e-02 1.01439931e+02] [ 1.17083666e-01 9.93109782e-01 -4.93724846e-03 6.86341524e+00] [ 5.61045543e-02 -1.65083644e-03 9.98423534e-01 5.59619420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.50, Y:6.87, Z:5.60 [[ 9.91509974e-01 -1.17396181e-01 -5.59116178e-02 1.01500900e+02] [ 1.17304330e-01 9.93083761e-01 -4.93328043e-03 6.87045375e+00] [ 5.61040680e-02 -1.66727812e-03 9.98423534e-01 5.59792640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.56, Y:6.88, Z:5.60 [[ 9.91502898e-01 -1.17455803e-01 -5.59118767e-02 1.01562453e+02] [ 1.17364212e-01 9.93076701e-01 -4.93034423e-03 6.87720265e+00] [ 5.61038796e-02 -1.67360274e-03 9.98423534e-01 5.60058965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.62, Y:6.88, Z:5.60 [[ 9.91544948e-01 -1.17100124e-01 -5.59122244e-02 1.01624529e+02] [ 1.17008191e-01 9.93118731e-01 -4.92639794e-03 6.88369637e+00] [ 5.61043591e-02 -1.65744322e-03 9.98423534e-01 5.60239633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.69, Y:6.89, Z:5.61 [[ 9.91921948e-01 -1.13862346e-01 -5.59125712e-02 1.01685997e+02] [ 1.13765497e-01 9.93495436e-01 -4.92245855e-03 6.89073975e+00] [ 5.61093670e-02 -1.47822678e-03 9.98423534e-01 5.60757063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.75, Y:6.90, Z:5.61 [[ 9.92270060e-01 -1.10787511e-01 -5.59129316e-02 1.01746683e+02] [ 1.10686017e-01 9.93843255e-01 -4.91836118e-03 6.89792683e+00] [ 5.61135830e-02 -1.30843715e-03 9.98423534e-01 5.61185215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.81, Y:6.90, Z:5.62 [[ 9.92627831e-01 -1.07534658e-01 -5.59131976e-02 1.01808242e+02] [ 1.07428179e-01 9.94200697e-01 -4.91533605e-03 6.90478022e+00] [ 5.61175090e-02 -1.12755362e-03 9.98423534e-01 5.61719769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.87, Y:6.91, Z:5.62 [[ 9.92843030e-01 -1.05529105e-01 -5.59135513e-02 1.01869931e+02] [ 1.05419675e-01 9.94415693e-01 -4.91130961e-03 6.91038580e+00] [ 5.61195989e-02 -1.01822887e-03 9.98423534e-01 5.62084462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.93, Y:6.92, Z:5.63 [[ 9.93082013e-01 -1.03255751e-01 -5.59139086e-02 1.01931785e+02] [ 1.03142950e-01 9.94654438e-01 -4.90723842e-03 6.91612167e+00] [ 5.61217179e-02 -8.93835273e-04 9.98423534e-01 5.62515548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.99, Y:6.92, Z:5.63 [[ 9.93609135e-01 -9.80534627e-02 -5.59142642e-02 1.01993106e+02] [ 9.79326561e-02 9.95180965e-01 -4.90318281e-03 6.92271479e+00] [ 5.61255855e-02 -6.03985180e-04 9.98423534e-01 5.63053124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.05, Y:6.93, Z:5.64 [[ 9.93966038e-01 -9.43666812e-02 -5.59146166e-02 1.02054592e+02] [ 9.42402705e-02 9.95537428e-01 -4.89916055e-03 6.92857447e+00] [ 5.61274111e-02 -3.99809390e-04 9.98423534e-01 5.63565644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.12, Y:6.93, Z:5.64 [[ 9.94230012e-01 -9.15434287e-02 -5.59149707e-02 1.02115525e+02] [ 9.14127833e-02 9.95801055e-01 -4.89511564e-03 6.93169268e+00] [ 5.61283025e-02 -2.44472223e-04 9.98423534e-01 5.64018408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.18, Y:6.93, Z:5.64 [[ 9.94280970e-01 -9.09881799e-02 -5.59151454e-02 1.02177132e+02] [ 9.08567694e-02 9.95851949e-01 -4.89311923e-03 6.93439012e+00] [ 5.61284226e-02 -2.15134145e-04 9.98423534e-01 5.64398473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.24, Y:6.94, Z:5.65 [[ 9.94191348e-01 -9.19621625e-02 -5.59153229e-02 1.02238505e+02] [ 9.18324051e-02 9.95762465e-01 -4.89109051e-03 6.93509621e+00] [ 5.61281750e-02 -2.72158721e-04 9.98423534e-01 5.64824453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.30, Y:6.94, Z:5.65 [[ 9.94038433e-01 -9.36004808e-02 -5.59154979e-02 1.02298898e+02] [ 9.34734254e-02 9.95609771e-01 -4.88908947e-03 6.93659149e+00] [ 5.61276371e-02 -3.66670282e-04 9.98423534e-01 5.65207071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.36, Y:6.94, Z:5.66 [[ 9.93727913e-01 -9.68415313e-02 -5.59155840e-02 1.02360387e+02] [ 9.67196562e-02 9.95299661e-01 -4.88810440e-03 6.93509941e+00] [ 5.61261333e-02 -5.50690268e-04 9.98423534e-01 5.65517661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.42, Y:6.93, Z:5.66 [[ 9.93309771e-01 -1.01040229e-01 -5.59157560e-02 1.02421831e+02] [ 1.00925108e-01 9.94882027e-01 -4.88613561e-03 6.93392248e+00] [ 5.61232770e-02 -7.89857493e-04 9.98423534e-01 5.65963864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.48, Y:6.93, Z:5.66 [[ 9.92918554e-01 -1.04814850e-01 -5.59159310e-02 1.02482901e+02] [ 1.04705819e-01 9.94491245e-01 -4.88413287e-03 6.93469563e+00] [ 5.61198335e-02 -1.00517717e-03 9.98423534e-01 5.66340755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.55, Y:6.93, Z:5.67 [[ 9.92243350e-01 -1.11024878e-01 -5.59161079e-02 1.02545798e+02] [ 1.10925802e-01 9.93816699e-01 -4.88210606e-03 6.93223067e+00] [ 5.61123970e-02 -1.35830186e-03 9.98423534e-01 5.66606054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.61, Y:6.93, Z:5.67 [[ 9.91540017e-01 -1.17139847e-01 -5.59164677e-02 1.02607442e+02] [ 1.17050705e-01 9.93113960e-01 -4.87798183e-03 6.93045717e+00] [ 5.61028307e-02 -1.70834777e-03 9.98423534e-01 5.66862015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.67, Y:6.93, Z:5.67 [[ 9.91179162e-01 -1.20154851e-01 -5.59167338e-02 1.02669846e+02] [ 1.20070668e-01 9.92753378e-01 -4.87492970e-03 6.93136603e+00] [ 5.60972728e-02 -1.88203083e-03 9.98423534e-01 5.67150754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.73, Y:6.93, Z:5.67 [[ 9.90642002e-01 -1.24505839e-01 -5.59170886e-02 1.02731010e+02] [ 1.24428799e-01 9.92216584e-01 -4.87085698e-03 6.93001171e+00] [ 5.60883127e-02 -2.13242065e-03 9.98423534e-01 5.67380432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.79, Y:6.93, Z:5.68 [[ 9.90465547e-01 -1.25901751e-01 -5.59173505e-02 1.02792826e+02] [ 1.25827099e-01 9.92040244e-01 -4.86784786e-03 6.93287625e+00] [ 5.60851326e-02 -2.21448244e-03 9.98423534e-01 5.67691742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.85, Y:6.93, Z:5.68 [[ 9.89811624e-01 -1.30943343e-01 -5.59177073e-02 1.02854545e+02] [ 1.30876942e-01 9.91386690e-01 -4.86374616e-03 6.93189125e+00] [ 5.60729460e-02 -2.50414604e-03 9.98423534e-01 5.67871513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.92, Y:6.93, Z:5.68 [[ 9.89618969e-01 -1.32391375e-01 -5.59179707e-02 1.02916501e+02] [ 1.32327449e-01 9.91194138e-01 -4.86071627e-03 6.93364349e+00] [ 5.60690817e-02 -2.58922539e-03 9.98423534e-01 5.67851576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.98, Y:6.94, Z:5.68 [[ 9.89713594e-01 -1.31681982e-01 -5.59183182e-02 1.02977114e+02] [ 1.31617152e-01 9.91288726e-01 -4.85671527e-03 6.93758717e+00] [ 5.60707402e-02 -2.55305267e-03 9.98423534e-01 5.68163641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.04, Y:6.94, Z:5.69 [[ 9.89891833e-01 -1.30335112e-01 -5.59188445e-02 1.03038742e+02] [ 1.30268482e-01 9.91466890e-01 -4.85064796e-03 6.94346570e+00] [ 5.60738926e-02 -2.48284615e-03 9.98423534e-01 5.68656319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.10, Y:6.95, Z:5.69 [[ 9.90254107e-01 -1.27553311e-01 -5.59191972e-02 1.03099776e+02] [ 1.27482485e-01 9.91828981e-01 -4.84657857e-03 6.94860208e+00] [ 5.60804775e-02 -2.32937387e-03 9.98423534e-01 5.68959429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.16, Y:6.95, Z:5.69 [[ 9.90488449e-01 -1.25720552e-01 -5.59193707e-02 1.03159324e+02] [ 1.25646924e-01 9.92063194e-01 -4.84457570e-03 6.95443598e+00] [ 5.60846122e-02 -2.22760066e-03 9.98423534e-01 5.69314868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.22, Y:6.96, Z:5.70 [[ 9.90673853e-01 -1.24251085e-01 -5.59194560e-02 1.03220400e+02] [ 1.24175176e-01 9.92248490e-01 -4.84359108e-03 6.96133806e+00] [ 5.60878172e-02 -2.14538927e-03 9.98423534e-01 5.69650130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.28, Y:6.97, Z:5.70 [[ 9.90851974e-01 -1.22822477e-01 -5.59196278e-02 1.03281201e+02] [ 1.22744410e-01 9.92426505e-01 -4.84160615e-03 6.96817269e+00] [ 5.60907789e-02 -2.06650674e-03 9.98423534e-01 5.69814203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.34, Y:6.98, Z:5.70 [[ 9.90921205e-01 -1.22262593e-01 -5.59197997e-02 1.03342230e+02] [ 1.22183748e-01 9.92495698e-01 -4.83962038e-03 6.97583052e+00] [ 5.60918651e-02 -2.03680827e-03 9.98423534e-01 5.70226346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.40, Y:6.98, Z:5.71 [[ 9.90844254e-01 -1.22884587e-01 -5.59199735e-02 1.03402280e+02] [ 1.22806844e-01 9.92418801e-01 -4.83761116e-03 6.98275174e+00] [ 5.60905009e-02 -2.07403622e-03 9.98423534e-01 5.70511652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.46, Y:6.99, Z:5.71 [[ 9.90535410e-01 -1.25349706e-01 -5.59200591e-02 1.03462961e+02] [ 1.25275937e-01 9.92110149e-01 -4.83662162e-03 6.98962227e+00] [ 5.60851272e-02 -2.21459281e-03 9.98423534e-01 5.70702729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.52, Y:7.00, Z:5.71 [[ 9.90260695e-01 -1.27501703e-01 -5.59202282e-02 1.03524735e+02] [ 1.27431466e-01 9.91835595e-01 -4.83466599e-03 6.99573007e+00] [ 5.60801009e-02 -2.33841695e-03 9.98423534e-01 5.70985808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.59, Y:7.00, Z:5.71 [[ 9.89902376e-01 -1.30254274e-01 -5.59205713e-02 1.03586700e+02] [ 1.30188640e-01 9.91477475e-01 -4.83069402e-03 7.00301417e+00] [ 5.60732053e-02 -2.49830763e-03 9.98423534e-01 5.71388179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.65, Y:7.01, Z:5.72 [[ 9.89684614e-01 -1.31898502e-01 -5.59209209e-02 1.03648604e+02] [ 1.31835712e-01 9.91259829e-01 -4.82664353e-03 7.00990670e+00] [ 5.60687895e-02 -2.59551958e-03 9.98423534e-01 5.71669459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.71, Y:7.02, Z:5.72 [[ 9.89748096e-01 -1.31421145e-01 -5.59212725e-02 1.03710849e+02] [ 1.31357826e-01 9.91323290e-01 -4.82256659e-03 7.01749410e+00] [ 5.60698470e-02 -2.57257067e-03 9.98423534e-01 5.71657573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.77, Y:7.03, Z:5.72 [[ 9.89616958e-01 -1.32404864e-01 -5.59216328e-02 1.03770963e+02] [ 1.32343346e-01 9.91192222e-01 -4.81838450e-03 7.02821458e+00] [ 5.60670651e-02 -2.63250100e-03 9.98423534e-01 5.72428827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.83, Y:7.04, Z:5.73 [[ 9.90068109e-01 -1.28987763e-01 -5.59222346e-02 1.03830882e+02] [ 1.28921202e-01 9.91643169e-01 -4.81139083e-03 7.03728090e+00] [ 5.60755124e-02 -2.44595706e-03 9.98423534e-01 5.73010549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.89, Y:7.05, Z:5.74 [[ 9.90463640e-01 -1.25914320e-01 -5.59228279e-02 1.03891699e+02] [ 1.25843260e-01 9.92038503e-01 -4.80448416e-03 7.04810853e+00] [ 5.60825518e-02 -2.27884412e-03 9.98423535e-01 5.73577853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.95, Y:7.06, Z:5.74 [[ 9.90585157e-01 -1.24954569e-01 -5.59231747e-02 1.03953072e+02] [ 1.24882211e-01 9.92159961e-01 -4.80044423e-03 7.05587819e+00] [ 5.60845723e-02 -2.22856089e-03 9.98423535e-01 5.73781952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.01, Y:7.06, Z:5.74 [[ 9.90530887e-01 -1.25383893e-01 -5.59235239e-02 1.04013655e+02] [ 1.25312447e-01 9.92105733e-01 -4.79637234e-03 7.06226658e+00] [ 5.60834366e-02 -2.25695869e-03 9.98423535e-01 5.73897827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.08, Y:7.07, Z:5.74 [[ 9.90201603e-01 -1.27958127e-01 -5.59240926e-02 1.04075848e+02] [ 1.27891148e-01 9.91776645e-01 -4.78973270e-03 7.06959541e+00] [ 5.60770941e-02 -2.40939543e-03 9.98423535e-01 5.73944580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.14, Y:7.08, Z:5.74 [[ 9.90060881e-01 -1.29042280e-01 -5.59244358e-02 1.04136981e+02] [ 1.28977252e-01 9.91636004e-01 -4.78572243e-03 7.07843605e+00] [ 5.60742446e-02 -2.47482351e-03 9.98423535e-01 5.74242057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.20, Y:7.09, Z:5.75 [[ 9.90321764e-01 -1.27024497e-01 -5.59247873e-02 1.04199228e+02] [ 1.26956492e-01 9.91896761e-01 -4.78161093e-03 7.08861240e+00] [ 5.60789972e-02 -2.36468143e-03 9.98423535e-01 5.74640034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.26, Y:7.10, Z:5.75 [[ 9.91113223e-01 -1.20693573e-01 -5.59253175e-02 1.04260632e+02] [ 1.20615854e-01 9.92687771e-01 -4.77540164e-03 7.10002630e+00] [ 5.60927391e-02 -2.01251622e-03 9.98423535e-01 5.75199978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.32, Y:7.11, Z:5.76 [[ 9.91945775e-01 -1.13648139e-01 -5.59256649e-02 1.04321697e+02] [ 1.13559463e-01 9.93519744e-01 -4.77133004e-03 7.10900459e+00] [ 5.61055051e-02 -1.61798782e-03 9.98423535e-01 5.75681912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.38, Y:7.12, Z:5.76 [[ 9.92382386e-01 -1.09770128e-01 -5.59260076e-02 1.04383026e+02] [ 1.09675527e-01 9.93956011e-01 -4.76731035e-03 7.11556799e+00] [ 5.61112996e-02 -1.40271955e-03 9.98423535e-01 5.76053610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.44, Y:7.12, Z:5.76 [[ 9.92342580e-01 -1.10129230e-01 -5.59263488e-02 1.04444393e+02] [ 1.10035425e-01 9.93916252e-01 -4.76330374e-03 7.12165446e+00] [ 5.61106860e-02 -1.42705041e-03 9.98423535e-01 5.76464401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.51, Y:7.13, Z:5.77 [[ 9.92089594e-01 -1.12385245e-01 -5.59266875e-02 1.04506603e+02] [ 1.12295242e-01 9.93663488e-01 -4.75932429e-03 7.12603076e+00] [ 5.61071852e-02 -1.55862480e-03 9.98423535e-01 5.76816723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.57, Y:7.13, Z:5.77 [[ 9.91548663e-01 -1.17061595e-01 -5.59270278e-02 1.04568297e+02] [ 1.16979240e-01 9.93122975e-01 -4.75532099e-03 7.12827654e+00] [ 5.60990818e-02 -1.82716902e-03 9.98423535e-01 5.77123134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.63, Y:7.13, Z:5.77 [[ 9.91392547e-01 -1.18376295e-01 -5.59273741e-02 1.04629035e+02] [ 1.18296257e-01 9.92966979e-01 -4.75124535e-03 7.13235729e+00] [ 5.60964705e-02 -1.90564981e-03 9.98423535e-01 5.77410520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.69, Y:7.14, Z:5.78 [[ 9.91308751e-01 -1.19075860e-01 -5.59276298e-02 1.04691406e+02] [ 1.18997102e-01 9.92883248e-01 -4.74823314e-03 7.13707883e+00] [ 5.60950067e-02 -1.94826082e-03 9.98423535e-01 5.77755499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.75, Y:7.14, Z:5.78 [[ 9.91625023e-01 -1.16412524e-01 -5.59279773e-02 1.04753484e+02] [ 1.16329768e-01 9.93199314e-01 -4.74413687e-03 7.14029749e+00] [ 5.60999056e-02 -1.80168382e-03 9.98423535e-01 5.77742237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.81, Y:7.15, Z:5.78 [[ 9.91512654e-01 -1.17365579e-01 -5.59283299e-02 1.04813876e+02] [ 1.17284571e-01 9.93087037e-01 -4.73997667e-03 7.14679698e+00] [ 5.60980095e-02 -1.85978331e-03 9.98423535e-01 5.78379309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.88, Y:7.15, Z:5.79 [[ 9.91454376e-01 -1.17856583e-01 -5.59289421e-02 1.04875863e+02] [ 1.17776762e-01 9.93028819e-01 -4.73274222e-03 7.15130978e+00] [ 5.60968361e-02 -1.89483174e-03 9.98423535e-01 5.78864134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.94, Y:7.15, Z:5.79 [[ 9.91287423e-01 -1.19252507e-01 -5.59292897e-02 1.04936367e+02] [ 1.19175135e-01 9.92861988e-01 -4.72862994e-03 7.15468071e+00] [ 5.60939668e-02 -1.97794926e-03 9.98423535e-01 5.79283886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.00, Y:7.16, Z:5.80 [[ 9.91193325e-01 -1.20031991e-01 -5.59295467e-02 1.04998130e+02] [ 1.19956029e-01 9.92767959e-01 -4.72558847e-03 7.15898762e+00] [ 5.60922837e-02 -2.02511458e-03 9.98423535e-01 5.79657791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.06, Y:7.16, Z:5.80 [[ 9.91126002e-01 -1.20586468e-01 -5.59298889e-02 1.05059926e+02] [ 1.20511615e-01 9.92700689e-01 -4.72153517e-03 7.16383080e+00] [ 5.60909925e-02 -2.06056497e-03 9.98423535e-01 5.80058431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.12, Y:7.17, Z:5.80 [[ 9.91059102e-01 -1.21134905e-01 -5.59302263e-02 1.05121969e+02] [ 1.21061149e-01 9.92633841e-01 -4.71753499e-03 7.16715917e+00] [ 5.60896935e-02 -2.09562146e-03 9.98423535e-01 5.80173393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.18, Y:7.17, Z:5.81 [[ 9.91155995e-01 -1.20339381e-01 -5.59305584e-02 1.05183957e+02] [ 1.20264583e-01 9.92730685e-01 -4.71359392e-03 7.17185624e+00] [ 5.60912125e-02 -2.05455840e-03 9.98423535e-01 5.80517714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.25, Y:7.18, Z:5.81 [[ 9.91584435e-01 -1.16756346e-01 -5.59308934e-02 1.05245361e+02] [ 1.16676081e-01 9.93158855e-01 -4.70961540e-03 7.17799613e+00] [ 5.60981396e-02 -1.85581615e-03 9.98423535e-01 5.80941262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.31, Y:7.19, Z:5.81 [[ 9.92319988e-01 -1.10330137e-01 -5.59312359e-02 1.05307191e+02] [ 1.10239904e-01 9.93893868e-01 -4.70554512e-03 7.18516819e+00] [ 5.61088758e-02 -1.49644758e-03 9.98423535e-01 5.81379692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.37, Y:7.19, Z:5.82 [[ 9.92658855e-01 -1.07238322e-01 -5.59315738e-02 1.05369282e+02] [ 1.07143412e-01 9.94232460e-01 -4.70152504e-03 7.19146192e+00] [ 5.61131699e-02 -1.32568919e-03 9.98423535e-01 5.81774525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.43, Y:7.20, Z:5.82 [[ 9.92730676e-01 -1.06571224e-01 -5.59319070e-02 1.05431401e+02] [ 1.06475481e-01 9.94304232e-01 -4.69755763e-03 7.19688383e+00] [ 5.61139563e-02 -1.29196711e-03 9.98423535e-01 5.82328220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.49, Y:7.20, Z:5.83 [[ 9.92365222e-01 -1.09922017e-01 -5.59322495e-02 1.05492235e+02] [ 1.09831816e-01 9.93939105e-01 -4.69347596e-03 7.20024946e+00] [ 5.61091663e-02 -1.48549821e-03 9.98423535e-01 5.82660248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.55, Y:7.20, Z:5.83 [[ 9.91683320e-01 -1.15912676e-01 -5.59325023e-02 1.05553982e+02] [ 1.15832151e-01 9.93257727e-01 -4.69046189e-03 7.20399847e+00] [ 5.60990741e-02 -1.82732924e-03 9.98423535e-01 5.83019646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.62, Y:7.21, Z:5.83 [[ 9.90749799e-01 -1.23637995e-01 -5.59328385e-02 1.05615176e+02] [ 1.23569969e-01 9.92324796e-01 -4.68644890e-03 7.20590156e+00] [ 5.60829657e-02 -2.26852079e-03 9.98423535e-01 5.83022736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.68, Y:7.21, Z:5.84 [[ 9.89911838e-01 -1.30176964e-01 -5.59330873e-02 1.05677481e+02] [ 1.30119506e-01 9.91487256e-01 -4.68347832e-03 7.20860712e+00] [ 5.60666242e-02 -2.64175507e-03 9.98423535e-01 5.83525798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.74, Y:7.21, Z:5.84 [[ 9.89633747e-01 -1.32274332e-01 -5.59334234e-02 1.05739087e+02] [ 1.32220439e-01 9.91209291e-01 -4.67945979e-03 7.21359354e+00] [ 5.60607014e-02 -2.76459047e-03 9.98423535e-01 5.84062712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.80, Y:7.22, Z:5.84 [[ 9.89685127e-01 -1.31889208e-01 -5.59337612e-02 1.05800625e+02] [ 1.31834930e-01 9.91260658e-01 -4.67541953e-03 7.21760641e+00] [ 5.60615743e-02 -2.74683029e-03 9.98423535e-01 5.84413746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.86, Y:7.22, Z:5.85 [[ 9.89614331e-01 -1.32419229e-01 -5.59340952e-02 1.05862587e+02] [ 1.32366020e-01 9.91189898e-01 -4.67141951e-03 7.22273027e+00] [ 5.60598959e-02 -2.78086989e-03 9.98423535e-01 5.84538999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.92, Y:7.23, Z:5.85 [[ 9.89689662e-01 -1.31854827e-01 -5.59345761e-02 1.05924213e+02] [ 1.31801045e-01 9.91265210e-01 -4.66565457e-03 7.22738022e+00] [ 5.60611884e-02 -2.75468547e-03 9.98423535e-01 5.85088705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.99, Y:7.23, Z:5.85 [[ 9.89576042e-01 -1.32704693e-01 -5.59349683e-02 1.05985894e+02] [ 1.32652529e-01 9.91151644e-01 -4.66094793e-03 7.22983266e+00] [ 5.60585655e-02 -2.80755259e-03 9.98423535e-01 5.85230090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.05, Y:7.23, Z:5.86 [[ 9.89643985e-01 -1.32196907e-01 -5.59353226e-02 1.06047843e+02] [ 1.32144174e-01 9.91219568e-01 -4.65669199e-03 7.23485350e+00] [ 5.60597866e-02 -2.78305979e-03 9.98423535e-01 5.85538834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.11, Y:7.24, Z:5.86 [[ 9.89867452e-01 -1.30512950e-01 -5.59356609e-02 1.06109031e+02] [ 1.30457766e-01 9.91442951e-01 -4.65262486e-03 7.24159401e+00] [ 5.60642445e-02 -2.69175944e-03 9.98423535e-01 5.85851931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.17, Y:7.25, Z:5.86 [[ 9.90238715e-01 -1.27665428e-01 -5.59359108e-02 1.06172027e+02] [ 1.27605883e-01 9.91814055e-01 -4.64961918e-03 7.24770634e+00] [ 5.60716181e-02 -2.53351836e-03 9.98423535e-01 5.86385914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.23, Y:7.25, Z:5.87 [[ 9.90956712e-01 -1.21966849e-01 -5.59364172e-02 1.06233198e+02] [ 1.21898586e-01 9.92531698e-01 -4.64351798e-03 7.25421162e+00] [ 5.60850225e-02 -2.21704488e-03 9.98423535e-01 5.86896907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.29, Y:7.26, Z:5.87 [[ 9.91486719e-01 -1.17580507e-01 -5.59366678e-02 1.06293897e+02] [ 1.17505446e-01 9.93061396e-01 -4.64049828e-03 7.26123205e+00] [ 5.60941775e-02 -1.97187066e-03 9.98423535e-01 5.87252454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.36, Y:7.27, Z:5.88 [[ 9.92250791e-01 -1.10947868e-01 -5.59369138e-02 1.06355218e+02] [ 1.10862446e-01 9.93824940e-01 -4.63753028e-03 7.26811612e+00] [ 5.61060241e-02 -1.59970998e-03 9.98423535e-01 5.87798051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.42, Y:7.27, Z:5.88 [[ 9.92761881e-01 -1.06277335e-01 -5.59372531e-02 1.06417384e+02] [ 1.06184736e-01 9.94335624e-01 -4.63343464e-03 7.27362568e+00] [ 5.61128325e-02 -1.33978518e-03 9.98423535e-01 5.88123648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.48, Y:7.28, Z:5.89 [[ 9.93054207e-01 -1.03510035e-01 -5.59375886e-02 1.06478404e+02] [ 1.03413279e-01 9.94627700e-01 -4.62938078e-03 7.28016845e+00] [ 5.61162625e-02 -1.18746342e-03 9.98423535e-01 5.88514549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.54, Y:7.29, Z:5.89 [[ 9.92998535e-01 -1.04042621e-01 -5.59378371e-02 1.06540148e+02] [ 1.03946878e-01 9.94572090e-01 -4.62637625e-03 7.28569635e+00] [ 5.61155519e-02 -1.22057869e-03 9.98423535e-01 5.89021045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.60, Y:7.29, Z:5.89 [[ 9.92693372e-01 -1.06914874e-01 -5.59381672e-02 1.06601505e+02] [ 1.06823909e-01 9.94267211e-01 -4.62238095e-03 7.29001513e+00] [ 5.61116868e-02 -1.38692672e-03 9.98423535e-01 5.89144206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.66, Y:7.29, Z:5.90 [[ 9.92452208e-01 -1.09130741e-01 -5.59383312e-02 1.06663604e+02] [ 1.09043401e-01 9.94026251e-01 -4.62039536e-03 7.29490421e+00] [ 5.61083969e-02 -1.51418431e-03 9.98423535e-01 5.89542711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.73, Y:7.30, Z:5.90 [[ 9.92277310e-01 -1.10709557e-01 -5.59386609e-02 1.06725442e+02] [ 1.10624946e-01 9.93851503e-01 -4.61640003e-03 7.30034582e+00] [ 5.61058019e-02 -1.60746236e-03 9.98423535e-01 5.90039028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.79, Y:7.31, Z:5.91 [[ 9.91833709e-01 -1.14615538e-01 -5.59389953e-02 1.06787512e+02] [ 1.14537355e-01 9.93408235e-01 -4.61234435e-03 7.30579483e+00] [ 5.60989049e-02 -1.83242594e-03 9.98423535e-01 5.90677124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.85, Y:7.31, Z:5.91 [[ 9.91157914e-01 -1.20319496e-01 -5.59393308e-02 1.06848940e+02] [ 1.20250602e-01 9.92732873e-01 -4.60827175e-03 7.30971973e+00] [ 5.60872775e-02 -2.15921318e-03 9.98423535e-01 5.90822191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.91, Y:7.31, Z:5.91 [[ 9.90214825e-01 -1.27848987e-01 -5.59395788e-02 1.06911160e+02] [ 1.27792234e-01 9.91790268e-01 -4.60526016e-03 7.31311643e+00] [ 5.60691077e-02 -2.58844684e-03 9.98423535e-01 5.91197268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.97, Y:7.32, Z:5.92 [[ 9.89378626e-01 -1.34166541e-01 -5.59399072e-02 1.06974317e+02] [ 1.34120070e-01 9.90954406e-01 -4.60126684e-03 7.31609306e+00] [ 5.60512336e-02 -2.95026923e-03 9.98423535e-01 5.91607393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.04, Y:7.32, Z:5.92 [[ 9.89013386e-01 -1.36832716e-01 -5.59404080e-02 1.07037342e+02] [ 1.36790836e-01 9.90589295e-01 -4.59517037e-03 7.31980041e+00] [ 5.60427390e-02 -3.10745017e-03 9.98423535e-01 5.91929358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.10, Y:7.32, Z:5.92 [[ 9.88904097e-01 -1.37620136e-01 -5.59409047e-02 1.07099222e+02] [ 1.37579852e-01 9.90480047e-01 -4.58911578e-03 7.32460320e+00] [ 5.60399047e-02 -3.15814598e-03 9.98423535e-01 5.92351795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.16, Y:7.33, Z:5.93 [[ 9.89295392e-01 -1.34778353e-01 -5.59412410e-02 1.07160100e+02] [ 1.34733773e-01 9.90871227e-01 -4.58501281e-03 7.33146112e+00] [ 5.60485266e-02 -3.00124242e-03 9.98423535e-01 5.92584116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.22, Y:7.34, Z:5.93 [[ 9.89957679e-01 -1.29824104e-01 -5.59418991e-02 1.07221633e+02] [ 1.29772089e-01 9.91533285e-01 -4.57696916e-03 7.34003936e+00] [ 5.60624559e-02 -2.72869135e-03 9.98423535e-01 5.93159455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.28, Y:7.35, Z:5.94 [[ 9.90713888e-01 -1.23921179e-01 -5.59422248e-02 1.07283650e+02] [ 1.23859998e-01 9.92289166e-01 -4.57298485e-03 7.34795423e+00] [ 5.60775533e-02 -2.39848427e-03 9.98423535e-01 5.93586144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.35, Y:7.36, Z:5.94 [[ 9.91350883e-01 -1.18717552e-01 -5.59425574e-02 1.07345323e+02] [ 1.18648331e-01 9.92925827e-01 -4.56891202e-03 7.35502471e+00] [ 5.60892202e-02 -2.10809609e-03 9.98423535e-01 5.93932781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.41, Y:7.36, Z:5.94 [[ 9.91832226e-01 -1.14626475e-01 -5.59428917e-02 1.07405619e+02] [ 1.14550986e-01 9.93406882e-01 -4.56481597e-03 7.36331108e+00] [ 5.60973024e-02 -1.88078184e-03 9.98423535e-01 5.94188957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.47, Y:7.37, Z:5.95 [[ 9.91872772e-01 -1.14274970e-01 -5.59431386e-02 1.07467403e+02] [ 1.14199094e-01 9.93447410e-01 -4.56178761e-03 7.36870142e+00] [ 5.60978643e-02 -1.86394283e-03 9.98423535e-01 5.94664348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.53, Y:7.37, Z:5.95 [[ 9.91361822e-01 -1.18625747e-01 -5.59434592e-02 1.07529482e+02] [ 1.18557003e-01 9.92936787e-01 -4.55785295e-03 7.37331747e+00] [ 5.60889973e-02 -2.11400745e-03 9.98423535e-01 5.95322891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.59, Y:7.38, Z:5.96 [[ 9.91157601e-01 -1.20320001e-01 -5.59437848e-02 1.07592351e+02] [ 1.20254174e-01 9.92732691e-01 -4.55385223e-03 7.37857034e+00] [ 5.60851436e-02 -2.21388837e-03 9.98423535e-01 5.95774813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.65, Y:7.38, Z:5.96 [[ 9.90744412e-01 -1.23675974e-01 -5.59442917e-02 1.07653039e+02] [ 1.23615833e-01 9.92319729e-01 -4.54761712e-03 7.38343651e+00] [ 5.60770554e-02 -2.41007397e-03 9.98423535e-01 5.95987493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.72, Y:7.39, Z:5.96 [[ 9.90496194e-01 -1.25648310e-01 -5.59445402e-02 1.07715462e+02] [ 1.25591478e-01 9.92071634e-01 -4.54455792e-03 7.38766142e+00] [ 5.60720074e-02 -2.52479015e-03 9.98423535e-01 5.96123007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.78, Y:7.39, Z:5.97 [[ 9.90510182e-01 -1.25537854e-01 -5.59448590e-02 1.07777520e+02] [ 1.25481068e-01 9.92085623e-01 -4.54063005e-03 7.39243840e+00] [ 5.60721113e-02 -2.52248034e-03 9.98423535e-01 5.96523408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.84, Y:7.40, Z:5.97 [[ 9.90564961e-01 -1.25104737e-01 -5.59451797e-02 1.07839474e+02] [ 1.25047484e-01 9.92140386e-01 -4.53667569e-03 7.39684870e+00] [ 5.60730317e-02 -2.50193200e-03 9.98423535e-01 5.97000304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.90, Y:7.40, Z:5.98 [[ 9.90710160e-01 -1.23949502e-01 -5.59455080e-02 1.07901439e+02] [ 1.23890641e-01 9.92285526e-01 -4.53262298e-03 7.39993842e+00] [ 5.60757342e-02 -2.44060924e-03 9.98423535e-01 5.97532379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.96, Y:7.40, Z:5.98 [[ 9.90888180e-01 -1.22518075e-01 -5.59458354e-02 1.07963135e+02] [ 1.22457166e-01 9.92463468e-01 -4.52857798e-03 7.40362554e+00] [ 5.60790305e-02 -2.36365407e-03 9.98423535e-01 5.98048202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.03, Y:7.41, Z:5.99 [[ 9.91162009e-01 -1.20282581e-01 -5.59461593e-02 1.08025881e+02] [ 1.20218344e-01 9.92737165e-01 -4.52457331e-03 7.40763766e+00] [ 5.60840589e-02 -2.24116947e-03 9.98423535e-01 5.98500893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.09, Y:7.41, Z:5.99 [[ 9.91517050e-01 -1.17319701e-01 -5.59466539e-02 1.08088170e+02] [ 1.17251102e-01 9.93092021e-01 -4.51844883e-03 7.41116537e+00] [ 5.60902787e-02 -2.07968779e-03 9.98423535e-01 5.98886109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.15, Y:7.41, Z:5.99 [[ 9.91802360e-01 -1.14882608e-01 -5.59469780e-02 1.08150422e+02] [ 1.14810365e-01 9.93377169e-01 -4.51443314e-03 7.41432894e+00] [ 5.60950804e-02 -1.94586752e-03 9.98423535e-01 5.99129702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.21, Y:7.42, Z:5.99 [[ 9.92041441e-01 -1.12799284e-01 -5.59473057e-02 1.08212994e+02] [ 1.12723962e-01 9.93616105e-01 -4.51036734e-03 7.41613079e+00] [ 5.60989102e-02 -1.83213068e-03 9.98423535e-01 5.99354084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.28, Y:7.42, Z:6.00 [[ 9.92439587e-01 -1.09240686e-01 -5.59476343e-02 1.08275031e+02] [ 1.09159948e-01 9.94013983e-01 -4.50628802e-03 7.41730525e+00] [ 5.61050008e-02 -1.63502220e-03 9.98423535e-01 5.99544821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.34, Y:7.42, Z:6.00 [[ 9.92975951e-01 -1.04252512e-01 -5.59479618e-02 1.08336803e+02] [ 1.04164092e-01 9.94549934e-01 -4.50221827e-03 7.41954624e+00] [ 5.61124093e-02 -1.35717420e-03 9.98423535e-01 5.99972867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.40, Y:7.42, Z:6.01 [[ 9.93640919e-01 -9.77113749e-02 -5.59482868e-02 1.08398407e+02] [ 9.76128201e-02 9.95214300e-01 -4.49817652e-03 7.42103268e+00] [ 5.61200581e-02 -9.91697802e-04 9.98423535e-01 6.00511693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.46, Y:7.42, Z:6.01 [[ 9.93711042e-01 -9.69954550e-02 -5.59486144e-02 1.08459588e+02] [ 9.68959963e-02 9.95284366e-01 -4.49409758e-03 7.42198302e+00] [ 5.61206883e-02 -9.55362343e-04 9.98423535e-01 6.00830228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.52, Y:7.42, Z:6.01 [[ 9.92876062e-01 -1.05199142e-01 -5.59487765e-02 1.08520062e+02] [ 1.05112794e-01 9.94450160e-01 -4.49207882e-03 7.41639995e+00] [ 5.61108326e-02 -1.42085471e-03 9.98423535e-01 6.01099520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.58, Y:7.42, Z:6.01 [[ 9.92547317e-01 -1.08256901e-01 -5.59487933e-02 1.08581689e+02] [ 1.08175414e-01 9.94121674e-01 -4.49186944e-03 7.41769240e+00] [ 5.61061839e-02 -1.59389094e-03 9.98423535e-01 6.01374489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.64, Y:7.42, Z:6.02 [[ 9.92386246e-01 -1.09723528e-01 -5.59489583e-02 1.08641438e+02] [ 1.09644483e-01 9.93960728e-01 -4.48981390e-03 7.42054629e+00] [ 5.61037055e-02 -1.67886507e-03 9.98423535e-01 6.01680884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.70, Y:7.42, Z:6.02 [[ 9.92262216e-01 -1.10839521e-01 -5.59490394e-02 1.08702604e+02] [ 1.10762304e-01 9.93836789e-01 -4.48880242e-03 7.42372116e+00] [ 5.61017504e-02 -1.74297550e-03 9.98423535e-01 6.02021095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.76, Y:7.43, Z:6.02 [[ 9.92173000e-01 -1.11635231e-01 -5.59491995e-02 1.08762681e+02] [ 1.11559389e-01 9.93747640e-01 -4.48680583e-03 7.42685261e+00] [ 5.61002706e-02 -1.78997091e-03 9.98423535e-01 6.02354771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.82, Y:7.43, Z:6.03 [[ 9.92125358e-01 -1.12057850e-01 -5.59491995e-02 1.08824168e+02] [ 1.11982679e-01 9.93700029e-01 -4.48680583e-03 7.42790227e+00] [ 5.60995030e-02 -1.81386739e-03 9.98423535e-01 6.02669994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.89, Y:7.43, Z:6.03 [[ 9.92290715e-01 -1.10583929e-01 -5.59493624e-02 1.08885025e+02] [ 1.10506533e-01 9.93865279e-01 -4.48477327e-03 7.42977331e+00] [ 5.61020726e-02 -1.73257122e-03 9.98423535e-01 6.02938816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.95, Y:7.43, Z:6.03 [[ 9.92427825e-01 -1.09346606e-01 -5.59493624e-02 1.08945076e+02] [ 1.09267247e-01 9.94002292e-01 -4.48477327e-03 7.43150483e+00] [ 5.61041892e-02 -1.66261902e-03 9.98423535e-01 6.03224316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.01, Y:7.43, Z:6.04 [[ 9.92393519e-01 -1.09657523e-01 -5.59493624e-02 1.09005230e+02] [ 1.09578657e-01 9.93968010e-01 -4.48477327e-03 7.43317939e+00] [ 5.61036656e-02 -1.68019609e-03 9.98423535e-01 6.03520719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.07, Y:7.44, Z:6.04 [[ 9.92304442e-01 -1.10460687e-01 -5.59493624e-02 1.09065189e+02] [ 1.10383096e-01 9.93878996e-01 -4.48477327e-03 7.43602775e+00] [ 5.61022873e-02 -1.72560343e-03 9.98423535e-01 6.03818060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.12, Y:7.44, Z:6.04 [[ 9.92367024e-01 -1.09897032e-01 -5.59493624e-02 1.09124374e+02] [ 1.09818546e-01 9.93941534e-01 -4.48477327e-03 7.43691849e+00] [ 5.61032584e-02 -1.69373655e-03 9.98423535e-01 6.03930844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.18, Y:7.44, Z:6.04 [[ 9.92466106e-01 -1.08998654e-01 -5.59492827e-02 1.09184877e+02] [ 1.08918687e-01 9.94040541e-01 -4.48576795e-03 7.44081694e+00] [ 5.61047979e-02 -1.64194978e-03 9.98423535e-01 6.04365563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.24, Y:7.45, Z:6.05 [[ 9.92412275e-01 -1.09487694e-01 -5.59492827e-02 1.09243618e+02] [ 1.09408503e-01 9.93986749e-01 -4.48576795e-03 7.44550482e+00] [ 5.61039820e-02 -1.66959612e-03 9.98423535e-01 6.04739167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.30, Y:7.45, Z:6.05 [[ 9.91997659e-01 -1.13182730e-01 -5.59492023e-02 1.09303344e+02] [ 1.13109347e-01 9.93572415e-01 -4.48677036e-03 7.44980129e+00] [ 5.60974090e-02 -1.87751201e-03 9.98423535e-01 6.05036614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.36, Y:7.45, Z:6.05 [[ 9.91570808e-01 -1.16863328e-01 -5.59490497e-02 1.09363327e+02] [ 1.16795682e-01 9.93145820e-01 -4.48867281e-03 7.45473776e+00] [ 5.60901261e-02 -2.08377047e-03 9.98423535e-01 6.05367770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.42, Y:7.46, Z:6.06 [[ 9.90815196e-01 -1.23105450e-01 -5.59490497e-02 1.09422333e+02] [ 1.23047724e-01 9.92390603e-01 -4.48867281e-03 7.45983827e+00] [ 5.60758913e-02 -2.43695800e-03 9.98423535e-01 6.05543437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.48, Y:7.46, Z:6.06 [[ 9.90237604e-01 -1.27668793e-01 -5.59478880e-02 1.09480664e+02] [ 1.27617512e-01 9.91813235e-01 -4.50310574e-03 7.46452524e+00] [ 5.60647619e-02 -2.68078562e-03 9.98423535e-01 6.06076562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.54, Y:7.47, Z:6.06 [[ 9.89915713e-01 -1.30141688e-01 -5.59466062e-02 1.09542123e+02] [ 1.30093448e-01 9.91491439e-01 -4.51897535e-03 7.47080189e+00] [ 5.60586882e-02 -2.80488220e-03 9.98423535e-01 6.06352868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.60, Y:7.48, Z:6.07 [[ 9.89760200e-01 -1.31319028e-01 -5.59469411e-02 1.09603862e+02] [ 1.31272896e-01 9.91335989e-01 -4.51482507e-03 7.47741766e+00] [ 5.60550986e-02 -2.87572283e-03 9.98423535e-01 6.06546709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.67, Y:7.48, Z:6.07 [[ 9.89748451e-01 -1.31407407e-01 -5.59472726e-02 1.09665469e+02] [ 1.31361647e-01 9.91324251e-01 -4.51071369e-03 7.48403843e+00] [ 5.60546293e-02 -2.88485400e-03 9.98423535e-01 6.06842079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.73, Y:7.50, Z:6.07 [[ 9.90012425e-01 -1.29403493e-01 -5.59475995e-02 1.09726843e+02] [ 1.29354773e-01 9.91588137e-01 -4.50665567e-03 7.49622743e+00] [ 5.60601529e-02 -2.77544391e-03 9.98423535e-01 6.07295952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.79, Y:7.51, Z:6.08 [[ 9.90284487e-01 -1.27304608e-01 -5.59479282e-02 1.09788016e+02] [ 1.27252778e-01 9.91860100e-01 -4.50257110e-03 7.50681176e+00] [ 5.60657157e-02 -2.66070296e-03 9.98423535e-01 6.07722230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.85, Y:7.52, Z:6.08 [[ 9.90528645e-01 -1.25390574e-01 -5.59482518e-02 1.09849965e+02] [ 1.25335926e-01 9.92104162e-01 -4.49854599e-03 7.51510086e+00] [ 5.60705688e-02 -2.55638728e-03 9.98423535e-01 6.08100788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.91, Y:7.53, Z:6.08 [[ 9.90935677e-01 -1.22132061e-01 -5.59485735e-02 1.09911495e+02] [ 1.22072457e-01 9.92511015e-01 -4.49454115e-03 7.52562941e+00] [ 5.60785031e-02 -2.37597867e-03 9.98423535e-01 6.08496188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.97, Y:7.54, Z:6.09 [[ 9.90967375e-01 -1.21874453e-01 -5.59488990e-02 1.09972083e+02] [ 1.21814668e-01 9.92542705e-01 -4.49048647e-03 7.53528060e+00] [ 5.60789471e-02 -2.36547097e-03 9.98423535e-01 6.08979929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.03, Y:7.54, Z:6.09 [[ 9.90620247e-01 -1.24664427e-01 -5.59491389e-02 1.10033701e+02] [ 1.24609246e-01 9.92195746e-01 -4.48749484e-03 7.54374918e+00] [ 5.60719286e-02 -2.52637677e-03 9.98423536e-01 6.08815742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.10, Y:7.55, Z:6.09 [[ 9.90444233e-01 -1.26055071e-01 -5.59494537e-02 1.10095405e+02] [ 1.26002324e-01 9.92019814e-01 -4.48356665e-03 7.55066044e+00] [ 5.60681430e-02 -2.60903844e-03 9.98423536e-01 6.08817598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.16, Y:7.56, Z:6.09 [[ 9.90350676e-01 -1.26787862e-01 -5.59497737e-02 1.10156902e+02] [ 1.26736506e-01 9.91926303e-01 -4.47957053e-03 7.55900032e+00] [ 5.60660073e-02 -2.65453312e-03 9.98423536e-01 6.09279250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.22, Y:7.57, Z:6.10 [[ 9.90757826e-01 -1.23565846e-01 -5.59500929e-02 1.10218468e+02] [ 1.23509590e-01 9.92333286e-01 -4.47558024e-03 7.56911684e+00] [ 5.60741684e-02 -2.47615688e-03 9.98423536e-01 6.09779986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.28, Y:7.58, Z:6.10 [[ 9.90879165e-01 -1.22588875e-01 -5.59504096e-02 1.10280287e+02] [ 1.22531289e-01 9.92454577e-01 -4.47161689e-03 7.57842202e+00] [ 5.60764106e-02 -2.42484379e-03 9.98423536e-01 6.10353458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.34, Y:7.59, Z:6.11 [[ 9.90914797e-01 -1.22300371e-01 -5.59507272e-02 1.10342097e+02] [ 1.22242550e-01 9.92490201e-01 -4.46763904e-03 7.58510236e+00] [ 5.60769424e-02 -2.41250995e-03 9.98423536e-01 6.10785321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.40, Y:7.59, Z:6.11 [[ 9.90764115e-01 -1.23514973e-01 -5.59510528e-02 1.10404206e+02] [ 1.23459314e-01 9.92339596e-01 -4.46355773e-03 7.59087936e+00] [ 5.60737614e-02 -2.48534575e-03 9.98423536e-01 6.11026012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.47, Y:7.60, Z:6.11 [[ 9.90599112e-01 -1.24831256e-01 -5.59513757e-02 1.10466168e+02] [ 1.24777918e-01 9.92174674e-01 -4.45950676e-03 7.59593486e+00] [ 5.60702238e-02 -2.56391276e-03 9.98423536e-01 6.10938128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.53, Y:7.60, Z:6.12 [[ 9.90146630e-01 -1.28370709e-01 -5.59518828e-02 1.10526636e+02] [ 1.28323361e-01 9.91722383e-01 -4.45313499e-03 7.60224852e+00] [ 5.60603867e-02 -2.77067707e-03 9.98423536e-01 6.11778283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.59, Y:7.61, Z:6.12 [[ 9.90055624e-01 -1.29070460e-01 -5.59524595e-02 1.10588959e+02] [ 1.29024635e-01 9.91631422e-01 -4.44587777e-03 7.60746620e+00] [ 5.60580485e-02 -2.81757939e-03 9.98423536e-01 6.12086970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.65, Y:7.61, Z:6.12 [[ 9.89990741e-01 -1.29566977e-01 -5.59529408e-02 1.10651578e+02] [ 1.29522285e-01 9.91566572e-01 -4.43981169e-03 7.61212861e+00] [ 5.60563187e-02 -2.85178029e-03 9.98423536e-01 6.12474167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.71, Y:7.62, Z:6.13 [[ 9.90058292e-01 -1.29049575e-01 -5.59534178e-02 1.10712610e+02] [ 1.29004398e-01 9.91634109e-01 -4.43379210e-03 7.61599438e+00] [ 5.60574966e-02 -2.82852437e-03 9.98423536e-01 6.12771684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.78, Y:7.62, Z:6.13 [[ 9.90377204e-01 -1.26578762e-01 -5.59536520e-02 1.10775671e+02] [ 1.26529821e-01 9.91952908e-01 -4.43083518e-03 7.62015927e+00] [ 5.60642374e-02 -2.69160740e-03 9.98423536e-01 6.12717828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.84, Y:7.63, Z:6.13 [[ 9.91445462e-01 -1.17919595e-01 -5.59541321e-02 1.10836093e+02] [ 1.17857229e-01 9.93020692e-01 -4.42476316e-03 7.62749638e+00] [ 5.60853773e-02 -2.20768760e-03 9.98423536e-01 6.12974949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.90, Y:7.63, Z:6.13 [[ 9.91453583e-01 -1.17851054e-01 -5.59546323e-02 1.10898500e+02] [ 1.17788935e-01 9.93028823e-01 -4.41842969e-03 7.63235697e+00] [ 5.60852792e-02 -2.21016861e-03 9.98423536e-01 6.13326626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.96, Y:7.64, Z:6.14 [[ 9.91627674e-01 -1.16376976e-01 -5.59549363e-02 1.10960336e+02] [ 1.16312733e-01 9.93202829e-01 -4.41457535e-03 7.63772058e+00] [ 5.60883560e-02 -2.13065646e-03 9.98423536e-01 6.13729540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.02, Y:7.64, Z:6.14 [[ 9.91782716e-01 -1.15048052e-01 -5.59552580e-02 1.11022614e+02] [ 1.14981928e-01 9.93357792e-01 -4.41049419e-03 7.64331535e+00] [ 5.60910104e-02 -2.05959153e-03 9.98423536e-01 6.14067841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.08, Y:7.65, Z:6.14 [[ 9.91946337e-01 -1.13628511e-01 -5.59555756e-02 1.11084228e+02] [ 1.13560360e-01 9.93521327e-01 -4.40646132e-03 7.64883181e+00] [ 5.60937574e-02 -1.98336214e-03 9.98423536e-01 6.14357819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.15, Y:7.65, Z:6.15 [[ 9.92237607e-01 -1.11056157e-01 -5.59558958e-02 1.11146140e+02] [ 1.10984151e-01 9.93812426e-01 -4.40239143e-03 7.65476869e+00] [ 5.60985772e-02 -1.84199927e-03 9.98423536e-01 6.14564642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.21, Y:7.66, Z:6.14 [[ 9.92507250e-01 -1.08619803e-01 -5.59562127e-02 1.11207774e+02] [ 1.08544159e-01 9.94081898e-01 -4.39836022e-03 7.66174093e+00] [ 5.61028071e-02 -1.70831562e-03 9.98423536e-01 6.14448459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.27, Y:7.67, Z:6.15 [[ 9.92500515e-01 -1.08681223e-01 -5.59564101e-02 1.11267913e+02] [ 1.08605817e-01 9.94075175e-01 -4.39584684e-03 7.66693794e+00] [ 5.61026242e-02 -1.71431141e-03 9.98423536e-01 6.15127700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14509989299998 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:111.33, Y:7.67, Z:6.15 [[ 9.92490709e-01 -1.08770572e-01 -5.59567230e-02 1.11329396e+02] [ 1.08695533e-01 9.94065387e-01 -4.39186006e-03 7.67314672e+00] [ 5.61023467e-02 -1.72336552e-03 9.98423536e-01 6.15080932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.39, Y:7.68, Z:6.15 [[ 9.92772848e-01 -1.06164477e-01 -5.59569063e-02 1.11390428e+02] [ 1.06085436e-01 9.94347330e-01 -4.38952397e-03 7.67770225e+00] [ 5.61066119e-02 -1.57841259e-03 9.98423536e-01 6.15429489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.45, Y:7.68, Z:6.16 [[ 9.93027875e-01 -1.03751834e-01 -5.59571003e-02 1.11451035e+02] [ 1.03669106e-01 9.94602167e-01 -4.38704999e-03 7.68438362e+00] [ 5.61102176e-02 -1.44455965e-03 9.98423536e-01 6.16121429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.51, Y:7.69, Z:6.16 [[ 9.93309596e-01 -1.01018915e-01 -5.59573612e-02 1.11512380e+02] [ 1.00932043e-01 9.94883664e-01 -4.38371974e-03 7.69036274e+00] [ 5.61139031e-02 -1.29349988e-03 9.98423536e-01 6.16465522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.57, Y:7.70, Z:6.17 [[ 9.93223026e-01 -1.01866382e-01 -5.59576704e-02 1.11574088e+02] [ 1.01781076e-01 9.94797180e-01 -4.37976819e-03 7.69509992e+00] [ 5.61126839e-02 -1.34534527e-03 9.98423536e-01 6.16905926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.64, Y:7.70, Z:6.17 [[ 9.92791519e-01 -1.05989170e-01 -5.59579832e-02 1.11635975e+02] [ 1.05910625e-01 9.94366025e-01 -4.37576813e-03 7.69853149e+00] [ 5.61065014e-02 -1.58231948e-03 9.98423536e-01 6.17252783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.70, Y:7.70, Z:6.17 [[ 9.92508222e-01 -1.08609847e-01 -5.59582940e-02 1.11697957e+02] [ 1.08535684e-01 9.94082941e-01 -4.37178975e-03 7.70112553e+00] [ 5.61020049e-02 -1.73443445e-03 9.98423536e-01 6.17122535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.76, Y:7.71, Z:6.18 [[ 9.91854647e-01 -1.14424565e-01 -5.59587219e-02 1.11759180e+02] [ 1.14359941e-01 9.93429786e-01 -4.36630617e-03 7.70546566e+00] [ 5.60906738e-02 -2.06869505e-03 9.98423536e-01 6.17838206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.82, Y:7.71, Z:6.18 [[ 9.91737673e-01 -1.15433838e-01 -5.59590642e-02 1.11821460e+02] [ 1.15371064e-01 9.93312887e-01 -4.36191461e-03 7.70573613e+00] [ 5.60883722e-02 -2.13018173e-03 9.98423536e-01 6.17652180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.88, Y:7.71, Z:6.19 [[ 9.91219263e-01 -1.19803621e-01 -5.59594996e-02 1.11882461e+02] [ 1.19748105e-01 9.92794749e-01 -4.35632226e-03 7.71090488e+00] [ 5.60782005e-02 -2.38297350e-03 9.98423536e-01 6.18563348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.94, Y:7.72, Z:6.19 [[ 9.91192484e-01 -1.20024853e-01 -5.59597614e-02 1.11944406e+02] [ 1.19969878e-01 9.92767989e-01 -4.35295622e-03 7.71534993e+00] [ 5.60775227e-02 -2.39886827e-03 9.98423536e-01 6.18970541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.01, Y:7.72, Z:6.19 [[ 9.91039743e-01 -1.21279418e-01 -5.59600854e-02 1.12006655e+02] [ 1.21226673e-01 9.92615324e-01 -4.34878774e-03 7.71822704e+00] [ 5.60742567e-02 -2.47403347e-03 9.98423536e-01 6.19263129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.07, Y:7.72, Z:6.20 [[ 9.90872079e-01 -1.22641576e-01 -5.59604060e-02 1.12068139e+02] [ 1.22591229e-01 9.92447739e-01 -4.34465803e-03 7.72157249e+00] [ 5.60706141e-02 -2.55525458e-03 9.98423536e-01 6.19622029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.13, Y:7.73, Z:6.20 [[ 9.90549888e-01 -1.25217112e-01 -5.59606429e-02 1.12129691e+02] [ 1.25171034e-01 9.92125679e-01 -4.34160480e-03 7.72556393e+00] [ 5.60636340e-02 -2.70407535e-03 9.98423536e-01 6.20052493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.19, Y:7.73, Z:6.20 [[ 9.90256113e-01 -1.27519420e-01 -5.59609536e-02 1.12191846e+02] [ 1.27477230e-01 9.91832012e-01 -4.33759528e-03 7.72982636e+00] [ 5.60569929e-02 -2.83841715e-03 9.98423536e-01 6.20306185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.25, Y:7.73, Z:6.21 [[ 9.90027668e-01 -1.29280911e-01 -5.59612696e-02 1.12254197e+02] [ 1.29241755e-01 9.91603645e-01 -4.33351497e-03 7.73326878e+00] [ 5.60516397e-02 -2.94223298e-03 9.98423536e-01 6.20525680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.32, Y:7.74, Z:6.21 [[ 9.89859017e-01 -1.30565797e-01 -5.59615826e-02 1.12316664e+02] [ 1.30528915e-01 9.91435050e-01 -4.32946884e-03 7.73646897e+00] [ 5.60475550e-02 -3.01904089e-03 9.98423536e-01 6.20971328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.38, Y:7.74, Z:6.21 [[ 9.90085948e-01 -1.28833539e-01 -5.59619003e-02 1.12378503e+02] [ 1.28794131e-01 9.91661920e-01 -4.32535861e-03 7.74139509e+00] [ 5.60525368e-02 -2.92508756e-03 9.98423536e-01 6.21401080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.44, Y:7.75, Z:6.22 [[ 9.90446067e-01 -1.26034989e-01 -5.59622197e-02 1.12441693e+02] [ 1.25991360e-01 9.92021927e-01 -4.32122295e-03 7.74529235e+00] [ 5.60603743e-02 -2.77081790e-03 9.98423536e-01 6.21664958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.50, Y:7.75, Z:6.22 [[ 9.90750315e-01 -1.23620344e-01 -5.59626996e-02 1.12502310e+02] [ 1.23573226e-01 9.92326075e-01 -4.31499804e-03 7.74924879e+00] [ 5.60666676e-02 -2.64040564e-03 9.98423536e-01 6.21956489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.56, Y:7.75, Z:6.22 [[ 9.90931531e-01 -1.22159117e-01 -5.59629354e-02 1.12564350e+02] [ 1.22109847e-01 9.92507225e-01 -4.31193784e-03 7.75470860e+00] [ 5.60703603e-02 -2.56079029e-03 9.98423536e-01 6.22455957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.63, Y:7.76, Z:6.23 [[ 9.91073449e-01 -1.21002200e-01 -5.59632517e-02 1.12626249e+02] [ 1.20951322e-01 9.92649092e-01 -4.30782927e-03 7.75974303e+00] [ 5.60731278e-02 -2.49945407e-03 9.98423536e-01 6.22829729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.69, Y:7.77, Z:6.23 [[ 9.91683742e-01 -1.15894066e-01 -5.59635689e-02 1.12688183e+02] [ 1.15835302e-01 9.93259111e-01 -4.30370514e-03 7.76513793e+00] [ 5.60850985e-02 -2.21464250e-03 9.98423536e-01 6.23179298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.75, Y:7.77, Z:6.24 [[ 9.92273434e-01 -1.10731552e-01 -5.59638826e-02 1.12749025e+02] [ 1.10664821e-01 9.93848485e-01 -4.29962115e-03 7.76987665e+00] [ 5.60957237e-02 -1.92683321e-03 9.98423536e-01 6.23535777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.81, Y:7.78, Z:6.24 [[ 9.93085119e-01 -1.03198666e-01 -5.59641135e-02 1.12810972e+02] [ 1.03120154e-01 9.94659627e-01 -4.29661395e-03 7.77594274e+00] [ 5.61086491e-02 -1.50412462e-03 9.98423536e-01 6.24121196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.87, Y:7.78, Z:6.25 [[ 9.93527915e-01 -9.88446499e-02 -5.59644260e-02 1.12873360e+02] [ 9.87594664e-02 9.95102076e-01 -4.29253953e-03 7.77986002e+00] [ 5.61146111e-02 -1.26225900e-03 9.98423536e-01 6.24548950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.93, Y:7.78, Z:6.25 [[ 9.93890865e-01 -9.51256847e-02 -5.59647395e-02 1.12934940e+02] [ 9.50348409e-02 9.95464710e-01 -4.28844804e-03 7.78325183e+00] [ 5.61188647e-02 -1.05635078e-03 9.98423536e-01 6.24822127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.99, Y:7.79, Z:6.25 [[ 9.94181854e-01 -9.20346254e-02 -5.59648964e-02 1.12993829e+02] [ 9.19390033e-02 9.95755415e-01 -4.28639985e-03 7.78716189e+00] [ 5.61218458e-02 -8.83895842e-04 9.98423536e-01 6.25193423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.05, Y:7.79, Z:6.26 [[ 9.94326750e-01 -9.04557535e-02 -5.59649027e-02 1.13054319e+02] [ 9.03576373e-02 9.95900158e-01 -4.28631747e-03 7.78979566e+00] [ 5.61231775e-02 -7.94856261e-04 9.98423536e-01 6.25559573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.11, Y:7.79, Z:6.26 [[ 9.94350160e-01 -9.01980548e-02 -5.59649027e-02 1.13113727e+02] [ 9.00995309e-02 9.95923542e-01 -4.28631747e-03 7.79311361e+00] [ 5.61233817e-02 -7.80311019e-04 9.98423536e-01 6.25955983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.17, Y:7.80, Z:6.26 [[ 9.94161637e-01 -9.22528412e-02 -5.59647514e-02 1.13171732e+02] [ 9.21574580e-02 9.95735213e-01 -4.28829216e-03 7.79571312e+00] [ 5.61216808e-02 -8.94313675e-04 9.98423536e-01 6.26399107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.23, Y:7.79, Z:6.27 [[ 9.93632393e-01 -9.77887454e-02 -5.59645279e-02 1.13231511e+02] [ 9.77019641e-02 9.95206467e-01 -4.29120735e-03 7.79392612e+00] [ 5.61158918e-02 -1.20396167e-03 9.98423536e-01 6.26755854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.29, Y:7.79, Z:6.27 [[ 9.93001326e-01 -1.04001707e-01 -5.59643703e-02 1.13292327e+02] [ 1.03924657e-01 9.94575906e-01 -4.29326112e-03 7.79362313e+00] [ 5.61073208e-02 -1.55286401e-03 9.98423536e-01 6.27043401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.35, Y:7.80, Z:6.27 [[ 9.92653023e-01 -1.07275189e-01 -5.59643703e-02 1.13353011e+02] [ 1.07203331e-01 9.94227848e-01 -4.29326112e-03 7.79558086e+00] [ 5.61018959e-02 -1.73784829e-03 9.98423536e-01 6.27244655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.41, Y:7.80, Z:6.27 [[ 9.92277414e-01 -1.10695591e-01 -5.59644483e-02 1.13413733e+02] [ 1.10629218e-01 9.93852480e-01 -4.29224429e-03 7.79635766e+00] [ 5.60955383e-02 -1.93220609e-03 9.98423536e-01 6.27397053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.48, Y:7.80, Z:6.28 [[ 9.92156721e-01 -1.11772186e-01 -5.59644483e-02 1.13475207e+02] [ 1.11707522e-01 9.93731858e-01 -4.29224429e-03 7.79810576e+00] [ 5.60934087e-02 -1.99307085e-03 9.98423536e-01 6.27777636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.54, Y:7.80, Z:6.28 [[ 9.92267214e-01 -1.10786903e-01 -5.59646059e-02 1.13535929e+02] [ 1.10720791e-01 9.93842292e-01 -4.29018838e-03 7.80164256e+00] [ 5.60952889e-02 -1.93943217e-03 9.98423536e-01 6.28060660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.59, Y:7.81, Z:6.28 [[ 9.92303695e-01 -1.10459600e-01 -5.59647613e-02 1.13594848e+02] [ 1.10393083e-01 9.93878755e-01 -4.28816002e-03 7.80573979e+00] [ 5.60958557e-02 -1.92296549e-03 9.98423536e-01 6.28318658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.66, Y:7.81, Z:6.29 [[ 9.92357908e-01 -1.09971530e-01 -5.59646848e-02 1.13655590e+02] [ 1.09904182e-01 9.93932932e-01 -4.28915809e-03 7.80949377e+00] [ 5.60968286e-02 -1.89437294e-03 9.98423536e-01 6.28691493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.72, Y:7.81, Z:6.29 [[ 9.92327715e-01 -1.10243638e-01 -5.59646848e-02 1.13716210e+02] [ 1.10176722e-01 9.93902758e-01 -4.28915809e-03 7.81311204e+00] [ 5.60963070e-02 -1.90975508e-03 9.98423536e-01 6.28940033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.78, Y:7.81, Z:6.29 [[ 9.92476566e-01 -1.08895453e-01 -5.59646848e-02 1.13776922e+02] [ 1.08826397e-01 9.94051517e-01 -4.28915809e-03 7.81482404e+00] [ 5.60988497e-02 -1.83354611e-03 9.98423536e-01 6.28732302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.84, Y:7.82, Z:6.30 [[ 9.91777024e-01 -1.15092521e-01 -5.59646848e-02 1.13837560e+02] [ 1.15033304e-01 9.93352376e-01 -4.28915809e-03 7.82315756e+00] [ 5.60863027e-02 -2.18391416e-03 9.98423536e-01 6.29785420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.90, Y:7.83, Z:6.30 [[ 9.91431797e-01 -1.18029354e-01 -5.59648409e-02 1.13898929e+02] [ 1.17974917e-01 9.93007321e-01 -4.28712107e-03 7.82903809e+00] [ 5.60795028e-02 -2.35205932e-03 9.98423536e-01 6.30231866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.96, Y:7.83, Z:6.31 [[ 9.91031784e-01 -1.21342172e-01 -5.59649968e-02 1.13960313e+02] [ 1.21293116e-01 9.92607484e-01 -4.28508491e-03 7.83484968e+00] [ 5.60712362e-02 -2.54151349e-03 9.98423536e-01 6.30685803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.02, Y:7.84, Z:6.31 [[ 9.90695135e-01 -1.24060606e-01 -5.59653086e-02 1.14022469e+02] [ 1.24016103e-01 9.92270971e-01 -4.28100824e-03 7.84195844e+00] [ 5.60638556e-02 -2.69942544e-03 9.98423536e-01 6.31152408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.08, Y:7.85, Z:6.31 [[ 9.90347575e-01 -1.26805086e-01 -5.59656234e-02 1.14083168e+02] [ 1.26765181e-01 9.91923534e-01 -4.27688974e-03 7.84977222e+00] [ 5.60559503e-02 -2.85888501e-03 9.98423536e-01 6.31427429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.14, Y:7.86, Z:6.32 [[ 9.89919700e-01 -1.30103073e-01 -5.59658558e-02 1.14144481e+02] [ 1.30068590e-01 9.91495787e-01 -4.27384630e-03 7.85690408e+00] [ 5.60459508e-02 -3.04863529e-03 9.98423536e-01 6.31739021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.21, Y:7.86, Z:6.32 [[ 9.89448802e-01 -1.33637033e-01 -5.59661599e-02 1.14206317e+02] [ 1.33608402e-01 9.91025006e-01 -4.26985986e-03 7.86393994e+00] [ 5.60344754e-02 -3.25274147e-03 9.98423536e-01 6.32054205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.27, Y:7.87, Z:6.32 [[ 9.89167640e-01 -1.35702374e-01 -5.59664731e-02 1.14266689e+02] [ 1.35677266e-01 9.90743904e-01 -4.26575106e-03 7.87123168e+00] [ 5.60273146e-02 -3.37383515e-03 9.98423536e-01 6.32435788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.33, Y:7.88, Z:6.33 [[ 9.89027903e-01 -1.36716990e-01 -5.59667050e-02 1.14328107e+02] [ 1.36693671e-01 9.90604194e-01 -4.26270629e-03 7.87713598e+00] [ 5.60236371e-02 -3.43435888e-03 9.98423536e-01 6.32847248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.39, Y:7.88, Z:6.33 [[ 9.89174270e-01 -1.35653817e-01 -5.59670098e-02 1.14389621e+02] [ 1.35629029e-01 9.90750539e-01 -4.25870012e-03 7.88348180e+00] [ 5.60270541e-02 -3.37815460e-03 9.98423536e-01 6.33090830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.45, Y:7.89, Z:6.33 [[ 9.89322130e-01 -1.34571111e-01 -5.59673100e-02 1.14451198e+02] [ 1.34544820e-01 9.90898374e-01 -4.25475115e-03 7.89226172e+00] [ 5.60304831e-02 -3.32079219e-03 9.98423536e-01 6.33497538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.51, Y:7.90, Z:6.34 [[ 9.89341754e-01 -1.34426629e-01 -5.59676182e-02 1.14513779e+02] [ 1.34400337e-01 9.90917999e-01 -4.25069340e-03 7.89915910e+00] [ 5.60307267e-02 -3.31667830e-03 9.98423536e-01 6.33858182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.58, Y:7.91, Z:6.34 [[ 9.89315359e-01 -1.34620559e-01 -5.59680785e-02 1.14575217e+02] [ 1.34594917e-01 9.90891614e-01 -4.24462497e-03 7.90633838e+00] [ 5.60297134e-02 -3.33374623e-03 9.98423536e-01 6.34080351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.64, Y:7.91, Z:6.34 [[ 9.89249222e-01 -1.35105579e-01 -5.59683815e-02 1.14635848e+02] [ 1.35080936e-01 9.90825493e-01 -4.24062584e-03 7.91424499e+00] [ 5.60278314e-02 -3.36522555e-03 9.98423536e-01 6.34365854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.70, Y:7.92, Z:6.35 [[ 9.89316808e-01 -1.34609692e-01 -5.59686054e-02 1.14698288e+02] [ 1.34584425e-01 9.90893069e-01 -4.23766813e-03 7.91968246e+00] [ 5.60293344e-02 -3.34010629e-03 9.98423536e-01 6.34813803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.76, Y:7.93, Z:6.35 [[ 9.89468447e-01 -1.33490278e-01 -5.59690732e-02 1.14759461e+02] [ 1.33463577e-01 9.91044685e-01 -4.23148092e-03 7.92614988e+00] [ 5.60327141e-02 -3.28291585e-03 9.98423536e-01 6.35230897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.82, Y:7.93, Z:6.36 [[ 9.89558825e-01 -1.32818560e-01 -5.59693023e-02 1.14820761e+02] [ 1.32790960e-01 9.91135047e-01 -4.22844825e-03 7.93229844e+00] [ 5.60347535e-02 -3.24791913e-03 9.98423536e-01 6.35808366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.88, Y:7.94, Z:6.36 [[ 9.89581986e-01 -1.32645756e-01 -5.59696047e-02 1.14883750e+02] [ 1.32618107e-01 9.91158207e-01 -4.22444190e-03 7.93712750e+00] [ 5.60350873e-02 -3.24215140e-03 9.98423536e-01 6.36146894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.95, Y:7.94, Z:6.36 [[ 9.89343973e-01 -1.34409286e-01 -5.59700575e-02 1.14945964e+02] [ 1.34384785e-01 9.90920246e-01 -4.21843376e-03 7.94075614e+00] [ 5.60288599e-02 -3.34804211e-03 9.98423536e-01 6.36348639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.01, Y:7.94, Z:6.36 [[ 9.89060424e-01 -1.36480018e-01 -5.59703629e-02 1.15008388e+02] [ 1.36459045e-01 9.90636749e-01 -4.21437752e-03 7.94483902e+00] [ 5.60214767e-02 -3.46938828e-03 9.98423536e-01 6.36468173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.07, Y:7.95, Z:6.37 [[ 9.89385705e-01 -1.34101499e-01 -5.59706674e-02 1.15069777e+02] [ 1.34076964e-01 9.90961977e-01 -4.21033074e-03 7.95049204e+00] [ 5.60294149e-02 -3.33873611e-03 9.98423536e-01 6.36767270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.13, Y:7.96, Z:6.37 [[ 9.90024194e-01 -1.29303281e-01 -5.59710440e-02 1.15131746e+02] [ 1.29271387e-01 9.91600335e-01 -4.20531821e-03 7.95659243e+00] [ 5.60446674e-02 -3.07208770e-03 9.98423536e-01 6.37337351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.19, Y:7.96, Z:6.38 [[ 9.91063202e-01 -1.21082357e-01 -5.59713520e-02 1.15193646e+02] [ 1.21037615e-01 9.92639031e-01 -4.20121480e-03 7.96411621e+00] [ 5.60680416e-02 -2.61096954e-03 9.98423536e-01 6.37983547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.25, Y:7.97, Z:6.38 [[ 9.91700143e-01 -1.15749724e-01 -5.59716643e-02 1.15254358e+02] [ 1.15696740e-01 9.93275717e-01 -4.19704909e-03 7.96986503e+00] [ 5.60811023e-02 -2.31352493e-03 9.98423536e-01 6.38438965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.32, Y:7.97, Z:6.39 [[ 9.91905963e-01 -1.13972402e-01 -5.59718946e-02 1.15315960e+02] [ 1.13916769e-01 9.93481444e-01 -4.19397557e-03 7.97322700e+00] [ 5.60850362e-02 -2.21610799e-03 9.98423536e-01 6.38803887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.38, Y:7.98, Z:6.40 [[ 9.91582816e-01 -1.16750299e-01 -5.59721924e-02 1.15376496e+02] [ 1.16699303e-01 9.93158455e-01 -4.18999828e-03 7.97784775e+00] [ 5.60784397e-02 -2.37718552e-03 9.98423536e-01 6.39753988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.44, Y:7.98, Z:6.39 [[ 9.91827078e-01 -1.14656630e-01 -5.59723518e-02 1.15438455e+02] [ 1.14602428e-01 9.93402610e-01 -4.18786793e-03 7.97629412e+00] [ 5.60832472e-02 -2.26092657e-03 9.98423536e-01 6.39303154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.50, Y:7.98, Z:6.39 [[ 9.91879261e-01 -1.14204110e-01 -5.59727855e-02 1.15501144e+02] [ 1.14149516e-01 9.93454779e-01 -4.18206261e-03 7.97772671e+00] [ 5.60840400e-02 -2.24116520e-03 9.98423536e-01 6.39334056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.56, Y:7.98, Z:6.40 [[ 9.92069969e-01 -1.12535284e-01 -5.59730848e-02 1.15563572e+02] [ 1.12478265e-01 9.93645401e-01 -4.17805265e-03 7.98012295e+00] [ 5.60875767e-02 -2.15083492e-03 9.98423536e-01 6.39624658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.63, Y:7.99, Z:6.40 [[ 9.92252948e-01 -1.10910178e-01 -5.59733787e-02 1.15625084e+02] [ 1.10850801e-01 9.93828293e-01 -4.17411223e-03 7.98559790e+00] [ 5.60908790e-02 -2.06291870e-03 9.98423536e-01 6.40317565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.69, Y:7.99, Z:6.41 [[ 9.92885366e-01 -1.05098026e-01 -5.59736933e-02 1.15687040e+02] [ 1.05029663e-01 9.94460347e-01 -4.16988874e-03 7.98837976e+00] [ 5.61018656e-02 -1.73867661e-03 9.98423536e-01 6.40799479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.75, Y:7.99, Z:6.41 [[ 9.92851898e-01 -1.05413556e-01 -5.59740144e-02 1.15746951e+02] [ 1.05345937e-01 9.94426911e-01 -4.16557401e-03 7.99358721e+00] [ 5.61011742e-02 -1.76083692e-03 9.98423536e-01 6.41014441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.81, Y:7.99, Z:6.42 [[ 9.92811696e-01 -1.05791477e-01 -5.59741020e-02 1.15807837e+02] [ 1.05724524e-01 9.94386737e-01 -4.16439658e-03 7.99408812e+00] [ 5.61004623e-02 -1.78337364e-03 9.98423536e-01 6.41709815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.87, Y:7.99, Z:6.42 [[ 9.92361977e-01 -1.09929961e-01 -5.59741877e-02 1.15869567e+02] [ 1.09869640e-01 9.93937287e-01 -4.16324480e-03 7.99467286e+00] [ 5.60924976e-02 -2.01841799e-03 9.98423536e-01 6.41717252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64509989299998 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:115.93, Y:8.00, Z:6.41 [[ 9.91873871e-01 -1.14250117e-01 -5.59744119e-02 1.15929879e+02] [ 1.14196826e-01 9.93449434e-01 -4.16022880e-03 7.99813052e+00] [ 5.60830544e-02 -2.26567792e-03 9.98423536e-01 6.41348976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.99, Y:8.00, Z:6.42 [[ 9.91130171e-01 -1.20531591e-01 -5.59742729e-02 1.15989927e+02] [ 1.20488177e-01 9.92706037e-01 -4.16209741e-03 7.99963616e+00] [ 5.60676629e-02 -2.61905780e-03 9.98423536e-01 6.42201400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.05, Y:8.00, Z:6.43 [[ 9.90711529e-01 -1.23925396e-01 -5.59746558e-02 1.16052294e+02] [ 1.23887671e-01 9.92287541e-01 -4.15694110e-03 8.00326970e+00] [ 5.60581042e-02 -2.81624026e-03 9.98423536e-01 6.42533051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.11, Y:8.01, Z:6.43 [[ 9.90366443e-01 -1.26653519e-01 -5.59749560e-02 1.16113538e+02] [ 1.26620362e-01 9.91942558e-01 -4.15289571e-03 8.00876820e+00] [ 5.60499199e-02 -2.97468062e-03 9.98423536e-01 6.43185379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.17, Y:8.01, Z:6.43 [[ 9.90478860e-01 -1.25771250e-01 -5.59751836e-02 1.16174695e+02] [ 1.25736862e-01 9.92054948e-01 -4.14982499e-03 8.01485030e+00] [ 5.60523866e-02 -2.92783003e-03 9.98423536e-01 6.43429586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.24, Y:8.02, Z:6.44 [[ 9.90123361e-01 -1.28539807e-01 -5.59754315e-02 1.16235799e+02] [ 1.28510014e-01 9.91699543e-01 -4.14647848e-03 8.01996734e+00] [ 5.60437974e-02 -3.08787830e-03 9.98423536e-01 6.44294427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.30, Y:8.02, Z:6.45 [[ 9.89691742e-01 -1.31821771e-01 -5.59756812e-02 1.16298039e+02] [ 1.31797394e-01 9.91268017e-01 -4.14310473e-03 8.02355904e+00] [ 5.60330540e-02 -3.27705240e-03 9.98423536e-01 6.44592556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.36, Y:8.03, Z:6.45 [[ 9.89393136e-01 -1.34044436e-01 -5.59759857e-02 1.16359110e+02] [ 1.34023832e-01 9.90969465e-01 -4.13898770e-03 8.02726273e+00] [ 5.60253009e-02 -3.40703007e-03 9.98423536e-01 6.44796612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.42, Y:8.03, Z:6.45 [[ 9.89402455e-01 -1.33975543e-01 -5.59762104e-02 1.16421179e+02] [ 1.33955000e-01 9.90978785e-01 -4.13594662e-03 8.03173175e+00] [ 5.60253526e-02 -3.40617754e-03 9.98423536e-01 6.45096879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.48, Y:8.04, Z:6.45 [[ 9.89558495e-01 -1.32817981e-01 -5.59765067e-02 1.16483286e+02] [ 1.32795820e-01 9.91134803e-01 -4.13193262e-03 8.03749221e+00] [ 5.60290588e-02 -3.34465711e-03 9.98423536e-01 6.45414482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.54, Y:8.04, Z:6.46 [[ 9.89822860e-01 -1.30833110e-01 -5.59768090e-02 1.16543979e+02] [ 1.30808019e-01 9.91399124e-01 -4.12783232e-03 8.04275376e+00] [ 5.60354166e-02 -3.23639269e-03 9.98423536e-01 6.45633439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.61, Y:8.05, Z:6.46 [[ 9.89874280e-01 -1.30443404e-01 -5.59770319e-02 1.16605869e+02] [ 1.30417863e-01 9.91450537e-01 -4.12480790e-03 8.04826065e+00] [ 5.60365123e-02 -3.21736365e-03 9.98423536e-01 6.46009922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.67, Y:8.06, Z:6.46 [[ 9.89985734e-01 -1.29594698e-01 -5.59773237e-02 1.16666948e+02] [ 1.29568029e-01 9.91561972e-01 -4.12084428e-03 8.05528481e+00] [ 5.60390250e-02 -3.17329447e-03 9.98423536e-01 6.46354820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.73, Y:8.06, Z:6.47 [[ 9.89824431e-01 -1.30820915e-01 -5.59775390e-02 1.16728477e+02] [ 1.30796364e-01 9.91400703e-01 -4.11791756e-03 8.06079383e+00] [ 5.60348812e-02 -3.24564316e-03 9.98423536e-01 6.46787149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.79, Y:8.07, Z:6.47 [[ 9.89610819e-01 -1.32426994e-01 -5.59778381e-02 1.16791359e+02] [ 1.32405230e-01 9.91187132e-01 -4.11384736e-03 8.06700219e+00] [ 5.60292973e-02 -3.34065069e-03 9.98423536e-01 6.47193263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.85, Y:8.07, Z:6.48 [[ 9.89684897e-01 -1.31872043e-01 -5.59782889e-02 1.16852694e+02] [ 1.31849742e-01 9.91261203e-01 -4.10770420e-03 8.07432837e+00] [ 5.60307973e-02 -3.31539011e-03 9.98423536e-01 6.47534695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.91, Y:8.08, Z:6.48 [[ 9.89874334e-01 -1.30442299e-01 -5.59786583e-02 1.16914645e+02] [ 1.30418005e-01 9.91450610e-01 -4.10266345e-03 8.08070283e+00] [ 5.60352358e-02 -3.23950367e-03 9.98423536e-01 6.48021963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.98, Y:8.09, Z:6.48 [[ 9.90151122e-01 -1.28324246e-01 -5.59789556e-02 1.16976666e+02] [ 1.28296808e-01 9.91727347e-01 -4.09860315e-03 8.08810876e+00] [ 5.60418113e-02 -3.12368481e-03 9.98423536e-01 6.48345016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.04, Y:8.09, Z:6.49 [[ 9.90014627e-01 -1.29372953e-01 -5.59792550e-02 1.17038756e+02] [ 1.29347416e-01 9.91590884e-01 -4.09451060e-03 8.09382748e+00] [ 5.60382378e-02 -3.18714658e-03 9.98423536e-01 6.48744477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.10, Y:8.10, Z:6.49 [[ 9.89646361e-01 -1.32160391e-01 -5.59795548e-02 1.17101050e+02] [ 1.32139523e-01 9.91222687e-01 -4.09040659e-03 8.09866280e+00] [ 5.60287945e-02 -3.34905570e-03 9.98423536e-01 6.49103037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84509989299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:117.16, Y:8.10, Z:6.48 [[ 9.89637293e-01 -1.32228087e-01 -5.59800066e-02 1.17163396e+02] [ 1.32207677e-01 9.91213625e-01 -4.08421477e-03 8.10046270e+00] [ 5.60281931e-02 -3.35909535e-03 9.98423536e-01 6.48454108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90509989299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:117.23, Y:8.11, Z:6.49 [[ 9.89683706e-01 -1.31880075e-01 -5.59804285e-02 1.17225095e+02] [ 1.31859436e-01 9.91260034e-01 -4.07842338e-03 8.10635432e+00] [ 5.60290243e-02 -3.34519857e-03 9.98423536e-01 6.48776144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.29, Y:8.11, Z:6.50 [[ 9.89603834e-01 -1.32477934e-01 -5.59807820e-02 1.17285711e+02] [ 1.32458522e-01 9.91180178e-01 -4.07356541e-03 8.11354542e+00] [ 5.60266990e-02 -3.38391568e-03 9.98423536e-01 6.49865597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.35, Y:8.12, Z:6.50 [[ 9.90041415e-01 -1.29167023e-01 -5.59810428e-02 1.17348262e+02] [ 1.29142540e-01 9.91617688e-01 -4.06997867e-03 8.11779117e+00] [ 5.60374993e-02 -3.20008663e-03 9.98423536e-01 6.49704599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.41, Y:8.12, Z:6.51 [[ 9.90051756e-01 -1.29087556e-01 -5.59814610e-02 1.17408666e+02] [ 1.29063271e-01 9.91628032e-01 -4.06421795e-03 8.12335016e+00] [ 5.60374260e-02 -3.20136436e-03 9.98423536e-01 6.50679405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.47, Y:8.12, Z:6.50 [[ 9.90170975e-01 -1.28169760e-01 -5.59817125e-02 1.17471120e+02] [ 1.28144210e-01 9.91747232e-01 -4.06075025e-03 8.12498708e+00] [ 5.60401738e-02 -3.15289528e-03 9.98423536e-01 6.50135495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.53, Y:8.13, Z:6.51 [[ 9.89560618e-01 -1.32799796e-01 -5.59821168e-02 1.17531629e+02] [ 1.32781934e-01 9.91136980e-01 -4.05517005e-03 8.12983904e+00] [ 5.60244719e-02 -3.42057712e-03 9.98423536e-01 6.51194631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.59, Y:8.13, Z:6.52 [[ 9.89534202e-01 -1.32996383e-01 -5.59823598e-02 1.17594473e+02] [ 1.32979023e-01 9.91110570e-01 -4.05181135e-03 8.13273754e+00] [ 5.60235848e-02 -3.43507360e-03 9.98423536e-01 6.51609884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.66, Y:8.14, Z:6.52 [[ 9.89670906e-01 -1.31975084e-01 -5.59828065e-02 1.17656234e+02] [ 1.31956445e-01 9.91247259e-01 -4.04563057e-03 8.13627463e+00] [ 5.60267260e-02 -3.38344926e-03 9.98423537e-01 6.52147975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.72, Y:8.14, Z:6.53 [[ 9.90187324e-01 -1.28042757e-01 -5.59831734e-02 1.17718462e+02] [ 1.28018143e-01 9.91763595e-01 -4.04054752e-03 8.14248432e+00] [ 5.60394361e-02 -3.16596294e-03 9.98423537e-01 6.52541035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.78, Y:8.15, Z:6.53 [[ 9.90464013e-01 -1.25884368e-01 -5.59836202e-02 1.17781865e+02] [ 1.25856668e-01 9.92040233e-01 -4.03434659e-03 8.14638886e+00] [ 5.60458648e-02 -3.05003678e-03 9.98423537e-01 6.52755995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.84, Y:8.15, Z:6.53 [[ 9.90834461e-01 -1.22934361e-01 -5.59840572e-02 1.17842974e+02] [ 1.22902310e-01 9.92410598e-01 -4.02827387e-03 8.15026394e+00] [ 5.60543850e-02 -2.88921737e-03 9.98423537e-01 6.53028646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.91, Y:8.15, Z:6.53 [[ 9.91356894e-01 -1.18647669e-01 -5.59842714e-02 1.17905752e+02] [ 1.18608969e-01 9.92932883e-01 -4.02529409e-03 8.15387000e+00] [ 5.60662158e-02 -2.64973365e-03 9.98423537e-01 6.52866371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.97, Y:8.16, Z:6.54 [[ 9.91199125e-01 -1.19958361e-01 -5.59846910e-02 1.17966409e+02] [ 1.19922074e-01 9.92775171e-01 -4.01945048e-03 8.15822250e+00] [ 5.60623779e-02 -2.72972444e-03 9.98423537e-01 6.53655971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.03, Y:8.16, Z:6.54 [[ 9.91018682e-01 -1.21439937e-01 -5.59849433e-02 1.18028265e+02] [ 1.21406204e-01 9.92594784e-01 -4.01593272e-03 8.16029127e+00] [ 5.60580574e-02 -2.81705511e-03 9.98423537e-01 6.54109049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.09, Y:8.16, Z:6.55 [[ 9.90755638e-01 -1.23567467e-01 -5.59852318e-02 1.18090164e+02] [ 1.23537345e-01 9.92331814e-01 -4.01190708e-03 8.16309205e+00] [ 5.60516678e-02 -2.94144733e-03 9.98423537e-01 6.54543008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.15, Y:8.17, Z:6.55 [[ 9.90549250e-01 -1.25211042e-01 -5.59855153e-02 1.18152178e+02] [ 1.25183759e-01 9.92125477e-01 -4.00794659e-03 8.16543626e+00] [ 5.60464953e-02 -3.03840874e-03 9.98423537e-01 6.54931424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86509989299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:118.21, Y:8.17, Z:6.55 [[ 9.90477862e-01 -1.25774373e-01 -5.59858110e-02 1.18214431e+02] [ 1.25748219e-01 9.92054109e-01 -4.00381277e-03 8.16806294e+00] [ 5.60445308e-02 -3.07442812e-03 9.98423537e-01 6.55301982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.28, Y:8.17, Z:6.56 [[ 9.90335747e-01 -1.26888203e-01 -5.59865374e-02 1.18275466e+02] [ 1.26864395e-01 9.91912030e-01 -3.99362870e-03 8.17007944e+00] [ 5.60404644e-02 -3.14766493e-03 9.98423537e-01 6.55572383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.34, Y:8.17, Z:6.56 [[ 9.90211254e-01 -1.27856001e-01 -5.59867476e-02 1.18337378e+02] [ 1.27833900e-01 9.91787562e-01 -3.99067918e-03 8.17162398e+00] [ 5.60371922e-02 -3.20538885e-03 9.98423537e-01 6.55826022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.40, Y:8.17, Z:6.56 [[ 9.90001830e-01 -1.29467482e-01 -5.59870367e-02 1.18399453e+02] [ 1.29448176e-01 9.91578175e-01 -3.98662001e-03 8.17364488e+00] [ 5.60316613e-02 -3.30065865e-03 9.98423537e-01 6.56043953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.46, Y:8.18, Z:6.56 [[ 9.89863704e-01 -1.30519224e-01 -5.59873229e-02 1.18462119e+02] [ 1.30501819e-01 9.91440071e-01 -3.98259592e-03 8.17521054e+00] [ 5.60278807e-02 -3.36422036e-03 9.98423537e-01 6.56229968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.52, Y:8.18, Z:6.57 [[ 9.89690116e-01 -1.31828911e-01 -5.59876111e-02 1.18524208e+02] [ 1.31813821e-01 9.91266507e-01 -3.97854015e-03 8.17737129e+00] [ 5.60231303e-02 -3.44241907e-03 9.98423537e-01 6.56537105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.59, Y:8.18, Z:6.57 [[ 9.89530630e-01 -1.33020625e-01 -5.59879002e-02 1.18585046e+02] [ 1.33007663e-01 9.91107040e-01 -3.97446794e-03 8.17962286e+00] [ 5.60186883e-02 -3.51396197e-03 9.98423537e-01 6.56843021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.65, Y:8.18, Z:6.57 [[ 9.89555599e-01 -1.32834664e-01 -5.59881141e-02 1.18647129e+02] [ 1.32821575e-01 9.91132008e-01 -3.97145247e-03 8.18119345e+00] [ 5.60191585e-02 -3.50645645e-03 9.98423537e-01 6.57102611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.71, Y:8.18, Z:6.58 [[ 9.90172154e-01 -1.28157733e-01 -5.59884015e-02 1.18708854e+02] [ 1.28137424e-01 9.91748486e-01 -3.96739710e-03 8.18350245e+00] [ 5.60348650e-02 -3.24580342e-03 9.98423537e-01 6.57562619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.77, Y:8.19, Z:6.58 [[ 9.90653844e-01 -1.24379375e-01 -5.59886894e-02 1.18770263e+02] [ 1.24353282e-01 9.92230091e-01 -3.96333047e-03 8.18778766e+00] [ 5.60466189e-02 -3.03608873e-03 9.98423537e-01 6.57955349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.83, Y:8.19, Z:6.58 [[ 9.91451662e-01 -1.17850943e-01 -5.59889018e-02 1.18832431e+02] [ 1.17814636e-01 9.93027707e-01 -3.96032730e-03 8.19199565e+00] [ 5.60652591e-02 -2.66983902e-03 9.98423537e-01 6.58366733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.89, Y:8.20, Z:6.59 [[ 9.92074800e-01 -1.12484666e-01 -5.59891977e-02 1.18893071e+02] [ 1.12440068e-01 9.93650633e-01 -3.95613880e-03 8.19645910e+00] [ 5.60787067e-02 -2.37064361e-03 9.98423537e-01 6.58702636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.95, Y:8.20, Z:6.59 [[ 9.92621397e-01 -1.07554269e-01 -5.59896584e-02 1.18954385e+02] [ 1.07502211e-01 9.94197000e-01 -3.94960865e-03 8.20155661e+00] [ 5.60895477e-02 -2.09854600e-03 9.98423537e-01 6.59117069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.01, Y:8.21, Z:6.59 [[ 9.93177143e-01 -1.02295191e-01 -5.59897974e-02 1.19014300e+02] [ 1.02234899e-01 9.94752452e-01 -3.94763744e-03 8.20578910e+00] [ 5.60998126e-02 -1.80340798e-03 9.98423537e-01 6.59394432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.07, Y:8.21, Z:6.59 [[ 9.93555820e-01 -9.85493527e-02 -5.59897974e-02 1.19073781e+02] [ 9.84831207e-02 9.95130891e-01 -3.94763744e-03 8.20923067e+00] [ 5.61062141e-02 -1.59185182e-03 9.98423537e-01 6.59493818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.13, Y:8.21, Z:6.60 [[ 9.93690802e-01 -9.71789118e-02 -5.59897280e-02 1.19133552e+02] [ 9.71104521e-02 9.95265778e-01 -3.94862134e-03 8.21339201e+00] [ 5.61083829e-02 -1.51347909e-03 9.98423537e-01 6.59853842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.19, Y:8.22, Z:6.60 [[ 9.93566426e-01 -9.84424854e-02 -5.59895903e-02 1.19193157e+02] [ 9.83759187e-02 9.95141483e-01 -3.95057326e-03 8.21696372e+00] [ 5.61064681e-02 -1.58287042e-03 9.98423537e-01 6.60332301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.25, Y:8.22, Z:6.61 [[ 9.92284053e-01 -1.10623414e-01 -5.59894483e-02 1.19253792e+02] [ 1.10576061e-01 9.93859805e-01 -3.95258380e-03 8.21767152e+00] [ 5.60829105e-02 -2.26900678e-03 9.98423537e-01 6.60887845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.31, Y:8.22, Z:6.61 [[ 9.91710482e-01 -1.15652504e-01 -5.59894483e-02 1.19313886e+02] [ 1.15613140e-01 9.93286454e-01 -3.95258380e-03 8.22055672e+00] [ 5.60706868e-02 -2.55329715e-03 9.98423537e-01 6.61120501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.38, Y:8.22, Z:6.61 [[ 9.90925520e-01 -1.22195696e-01 -5.59895183e-02 1.19375110e+02] [ 1.22166790e-01 9.92501718e-01 -3.95159210e-03 8.22253728e+00] [ 5.60525607e-02 -2.92432630e-03 9.98423537e-01 6.61393527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.44, Y:8.23, Z:6.62 [[ 9.90566896e-01 -1.25069512e-01 -5.59896578e-02 1.19437278e+02] [ 1.25045291e-01 9.92143173e-01 -3.94961539e-03 8.22598819e+00] [ 5.60437332e-02 -3.08888477e-03 9.98423537e-01 6.61728624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.50, Y:8.23, Z:6.62 [[ 9.90328183e-01 -1.26945717e-01 -5.59899458e-02 1.19499561e+02] [ 1.26924712e-01 9.91904507e-01 -3.94552731e-03 8.22957059e+00] [ 5.60375474e-02 -3.19914084e-03 9.98423537e-01 6.62050089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.56, Y:8.23, Z:6.62 [[ 9.90468498e-01 -1.25846130e-01 -5.59902331e-02 1.19561508e+02] [ 1.25823604e-01 9.92044800e-01 -3.94144708e-03 8.23414190e+00] [ 5.60408354e-02 -3.14101374e-03 9.98423537e-01 6.62285017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.62, Y:8.24, Z:6.63 [[ 9.90717229e-01 -1.23872649e-01 -5.59905190e-02 1.19622333e+02] [ 1.23847212e-01 9.92293487e-01 -3.93738031e-03 8.23902768e+00] [ 5.60467611e-02 -3.03343919e-03 9.98423537e-01 6.62615813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.68, Y:8.25, Z:6.63 [[ 9.91043119e-01 -1.21237677e-01 -5.59907298e-02 1.19682951e+02] [ 1.21208218e-01 9.92619307e-01 -3.93438113e-03 8.24516175e+00] [ 5.60544746e-02 -2.88739523e-03 9.98423537e-01 6.63075765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.74, Y:8.25, Z:6.64 [[ 9.91210273e-01 -1.19863333e-01 -5.59908666e-02 1.19744960e+02] [ 1.19831798e-01 9.92786420e-01 -3.93243323e-03 8.25079737e+00] [ 5.60583266e-02 -2.81161797e-03 9.98423537e-01 6.63573646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.80, Y:8.26, Z:6.64 [[ 9.91220023e-01 -1.19782543e-01 -5.59911434e-02 1.19804732e+02] [ 1.19751102e-01 9.92796173e-01 -3.92848831e-03 8.25525893e+00] [ 5.60583572e-02 -2.81100482e-03 9.98423537e-01 6.63837069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.87, Y:8.26, Z:6.64 [[ 9.91140442e-01 -1.20439231e-01 -5.59912114e-02 1.19866308e+02] [ 1.20408888e-01 9.92716613e-01 -3.92751934e-03 8.26079337e+00] [ 5.60564331e-02 -2.84911625e-03 9.98423537e-01 6.64217859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.93, Y:8.27, Z:6.65 [[ 9.91028526e-01 -1.21356557e-01 -5.59914946e-02 1.19927883e+02] [ 1.21327901e-01 9.92604728e-01 -3.92347662e-03 8.26752344e+00] [ 5.60535619e-02 -2.90505328e-03 9.98423537e-01 6.64674384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.99, Y:8.27, Z:6.65 [[ 9.90939039e-01 -1.22084972e-01 -5.59917849e-02 1.19988447e+02] [ 1.22057708e-01 9.92515267e-01 -3.91933068e-03 8.27247133e+00] [ 5.60511927e-02 -2.95041117e-03 9.98423537e-01 6.64957933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.05, Y:8.28, Z:6.65 [[ 9.90847910e-01 -1.22822288e-01 -5.59919991e-02 1.20050052e+02] [ 1.22796370e-01 9.92424161e-01 -3.91626758e-03 8.27753883e+00] [ 5.60488176e-02 -2.99518868e-03 9.98423537e-01 6.65281494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.11, Y:8.28, Z:6.66 [[ 9.90731246e-01 -1.23759693e-01 -5.59922820e-02 1.20110608e+02] [ 1.23735495e-01 9.92307524e-01 -3.91221878e-03 8.28291213e+00] [ 5.60457377e-02 -3.05227531e-03 9.98423537e-01 6.65555827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.17, Y:8.29, Z:6.66 [[ 9.90768916e-01 -1.23457666e-01 -5.59924906e-02 1.20172649e+02] [ 1.23433155e-01 9.92345189e-01 -3.90923015e-03 8.28989159e+00] [ 5.60465031e-02 -3.03818606e-03 9.98423537e-01 6.66107490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.23, Y:8.30, Z:6.67 [[ 9.90780998e-01 -1.23360547e-01 -5.59927642e-02 1.20234256e+02] [ 1.23336103e-01 9.92357272e-01 -3.90530780e-03 8.29520735e+00] [ 5.60465876e-02 -3.03662456e-03 9.98423537e-01 6.66564270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.30, Y:8.30, Z:6.67 [[ 9.90718353e-01 -1.23862524e-01 -5.59930442e-02 1.20296624e+02] [ 1.23839105e-01 9.92294642e-01 -3.90128881e-03 8.30009398e+00] [ 5.60448213e-02 -3.06905006e-03 9.98423537e-01 6.66901253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.36, Y:8.30, Z:6.67 [[ 9.90781529e-01 -1.23356025e-01 -5.59933268e-02 1.20358303e+02] [ 1.23332028e-01 9.92357810e-01 -3.89722874e-03 8.30467041e+00] [ 5.60461618e-02 -3.04446833e-03 9.98423537e-01 6.67263635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.42, Y:8.31, Z:6.68 [[ 9.91131078e-01 -1.20515151e-01 -5.59936143e-02 1.20420041e+02] [ 1.20486869e-01 9.92707287e-01 -3.89309480e-03 8.31057264e+00] [ 5.60544458e-02 -2.88792803e-03 9.98423537e-01 6.67614678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.48, Y:8.32, Z:6.68 [[ 9.91652652e-01 -1.16145172e-01 -5.59938974e-02 1.20481687e+02] [ 1.16110172e-01 9.93228727e-01 -3.88901778e-03 8.31907543e+00] [ 5.60664381e-02 -2.64490626e-03 9.98423537e-01 6.68025911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.54, Y:8.32, Z:6.68 [[ 9.92236339e-01 -1.11048105e-01 -5.59943411e-02 1.20541462e+02] [ 1.11005367e-01 9.93812223e-01 -3.88261916e-03 8.32181020e+00] [ 5.60790181e-02 -2.36319656e-03 9.98423537e-01 6.68369877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.60, Y:8.33, Z:6.69 [[ 9.92610575e-01 -1.07651459e-01 -5.59947307e-02 1.20603518e+02] [ 1.07603645e-01 9.94186313e-01 -3.87699266e-03 8.32635021e+00] [ 5.60865587e-02 -2.17689321e-03 9.98423537e-01 6.68888477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.67, Y:8.33, Z:6.69 [[ 9.92845522e-01 -1.05462449e-01 -5.59950165e-02 1.20665470e+02] [ 1.05411393e-01 9.94421158e-01 -3.87286040e-03 8.32950126e+00] [ 5.60910705e-02 -2.05736057e-03 9.98423537e-01 6.69181141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.73, Y:8.33, Z:6.70 [[ 9.93148999e-01 -1.02565060e-01 -5.59952997e-02 1.20726219e+02] [ 1.02509638e-01 9.94724488e-01 -3.86876096e-03 8.33372616e+00] [ 5.60966955e-02 -1.89780183e-03 9.98423537e-01 6.69591388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.79, Y:8.34, Z:6.70 [[ 9.93361072e-01 -1.00490220e-01 -5.59955087e-02 1.20787154e+02] [ 1.00431677e-01 9.94936447e-01 -3.86573393e-03 8.33823590e+00] [ 5.61004409e-02 -1.78365325e-03 9.98423537e-01 6.70077901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.85, Y:8.34, Z:6.70 [[ 9.93506358e-01 -9.90434418e-02 -5.59956481e-02 1.20847912e+02] [ 9.89827188e-02 9.95081651e-01 -3.86371348e-03 8.34185503e+00] [ 5.61029175e-02 -1.70397758e-03 9.98423537e-01 6.70440663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.91, Y:8.34, Z:6.71 [[ 9.93403503e-01 -1.00069737e-01 -5.59957892e-02 1.20907889e+02] [ 1.00010756e-01 9.94978862e-01 -3.86166681e-03 8.34370976e+00] [ 5.61010626e-02 -1.76398789e-03 9.98423537e-01 6.70618369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.97, Y:8.35, Z:6.71 [[ 9.93178708e-01 -1.02276749e-01 -5.59957197e-02 1.20967120e+02] [ 1.02221212e-01 9.94754193e-01 -3.86267461e-03 8.34543772e+00] [ 5.60970388e-02 -1.88762417e-03 9.98423537e-01 6.71007506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.03, Y:8.35, Z:6.72 [[ 9.92848879e-01 -1.05430498e-01 -5.59956524e-02 1.21028376e+02] [ 1.05379911e-01 9.94424530e-01 -3.86365027e-03 8.34694032e+00] [ 5.60907969e-02 -2.06479602e-03 9.98423537e-01 6.71512931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.09, Y:8.35, Z:6.72 [[ 9.92069363e-01 -1.12529334e-01 -5.59957896e-02 1.21089772e+02] [ 1.12490130e-01 9.93645338e-01 -3.86166097e-03 8.34721346e+00] [ 5.60745054e-02 -2.46793810e-03 9.98423537e-01 6.71956661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.15, Y:8.35, Z:6.72 [[ 9.91562930e-01 -1.16907701e-01 -5.59959318e-02 1.21151620e+02] [ 1.16875571e-01 9.93139066e-01 -3.85959814e-03 8.34870961e+00] [ 5.60629641e-02 -2.71752205e-03 9.98423537e-01 6.72242786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.21, Y:8.35, Z:6.73 [[ 9.91486018e-01 -1.17558070e-01 -5.59962125e-02 1.21212791e+02] [ 1.17527203e-01 9.93062179e-01 -3.85552095e-03 8.35107106e+00] [ 5.60609684e-02 -2.75838315e-03 9.98423537e-01 6.72932576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.27, Y:8.35, Z:6.73 [[ 9.91630530e-01 -1.16332715e-01 -5.59963518e-02 1.21274134e+02] [ 1.16300014e-01 9.93206654e-01 -3.85349683e-03 8.35486568e+00] [ 5.60642369e-02 -2.69113141e-03 9.98423537e-01 6.73108189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.34, Y:8.36, Z:6.73 [[ 9.91761377e-01 -1.15211793e-01 -5.59965582e-02 1.21335600e+02] [ 1.15177480e-01 9.93337466e-01 -3.85049450e-03 8.35837002e+00] [ 5.60671017e-02 -2.63077074e-03 9.98423537e-01 6.73425948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.40, Y:8.36, Z:6.74 [[ 9.91844937e-01 -1.14490137e-01 -5.59966928e-02 1.21397360e+02] [ 1.14454787e-01 9.93421004e-01 -3.84853620e-03 8.36206387e+00] [ 5.60689102e-02 -2.59193843e-03 9.98423537e-01 6.73864502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.46, Y:8.37, Z:6.74 [[ 9.92212931e-01 -1.11255734e-01 -5.59969747e-02 1.21459444e+02] [ 1.11215478e-01 9.93788880e-01 -3.84443045e-03 8.36524020e+00] [ 5.60768857e-02 -2.41323670e-03 9.98423537e-01 6.74198971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.52, Y:8.37, Z:6.74 [[ 9.92964772e-01 -1.04332496e-01 -5.59972563e-02 1.21519035e+02] [ 1.04281480e-01 9.94540409e-01 -3.84032468e-03 8.37063049e+00] [ 5.60922048e-02 -2.02616964e-03 9.98423537e-01 6.74499689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.58, Y:8.37, Z:6.75 [[ 9.93182303e-01 -1.02240951e-01 -5.59973253e-02 1.21579215e+02] [ 1.02186673e-01 9.94757832e-01 -3.83931884e-03 8.37498590e+00] [ 5.60963135e-02 -1.90903682e-03 9.98423537e-01 6.74937520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.64, Y:8.38, Z:6.75 [[ 9.93303408e-01 -1.01057601e-01 -5.59973253e-02 1.21638663e+02] [ 1.01001446e-01 9.94878871e-01 -3.83931884e-03 8.37911987e+00] [ 5.60985481e-02 -1.84220231e-03 9.98423537e-01 6.75258869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.70, Y:8.38, Z:6.76 [[ 9.93498972e-01 -9.91165594e-02 -5.59973168e-02 1.21697940e+02] [ 9.90573191e-02 9.95074322e-01 -3.83944149e-03 8.38291528e+00] [ 5.61020443e-02 -1.73246291e-03 9.98423537e-01 6.75509921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.76, Y:8.39, Z:6.76 [[ 9.93917915e-01 -9.48234857e-02 -5.59971843e-02 1.21757733e+02] [ 9.47573313e-02 9.95492989e-01 -3.84137294e-03 8.38733956e+00] [ 5.61090568e-02 -1.48813436e-03 9.98423537e-01 6.75851776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.82, Y:8.39, Z:6.76 [[ 9.94817433e-01 -8.48681671e-02 -5.59970537e-02 1.21816760e+02] [ 8.47861401e-02 9.96391760e-01 -3.84327702e-03 8.39347057e+00] [ 5.61211747e-02 -9.24415055e-04 9.98423537e-01 6.76117895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.88, Y:8.40, Z:6.77 [[ 9.95963341e-01 -7.01524689e-02 -5.59969149e-02 1.21875606e+02] [ 7.00470639e-02 9.97536276e-01 -3.84529804e-03 8.39779027e+00] [ 5.61287111e-02 -9.26435906e-05 9.98423537e-01 6.76510282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.93, Y:8.40, Z:6.77 [[ 9.96038895e-01 -6.90722257e-02 -5.59959526e-02 1.21934216e+02] [ 6.89643298e-02 9.97611662e-01 -3.85926104e-03 8.40177705e+00] [ 5.61287830e-02 -1.77492336e-05 9.98423537e-01 6.76907877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.99, Y:8.41, Z:6.77 [[ 9.96073691e-01 -6.85694061e-02 -5.59949931e-02 1.21992050e+02] [ 6.84599364e-02 9.97646348e-01 -3.87313269e-03 8.40564080e+00] [ 5.61287788e-02 2.45119110e-05 9.98423537e-01 6.77273318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.05, Y:8.41, Z:6.78 [[ 9.96102823e-01 -6.81458005e-02 -5.59938915e-02 1.22050891e+02] [ 6.80347704e-02 9.97675371e-01 -3.88899384e-03 8.40896522e+00] [ 5.61287450e-02 6.43061972e-05 9.98423537e-01 6.77782748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.11, Y:8.41, Z:6.78 [[ 9.96087257e-01 -6.83737697e-02 -5.59928923e-02 1.22108662e+02] [ 6.82622939e-02 9.97659773e-01 -3.90332605e-03 8.41265370e+00] [ 5.61287414e-02 6.58500675e-05 9.98423537e-01 6.78094973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.17, Y:8.42, Z:6.78 [[ 9.95832298e-01 -7.19921530e-02 -5.59925425e-02 1.22166222e+02] [ 7.18861091e-02 9.97405190e-01 -3.90833742e-03 8.41511151e+00] [ 5.61286221e-02 -1.33037395e-04 9.98423537e-01 6.78498604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.22, Y:8.42, Z:6.79 [[ 9.95193766e-01 -8.03382953e-02 -5.59922046e-02 1.22224323e+02] [ 8.02451697e-02 9.96767475e-01 -3.91317301e-03 8.41516014e+00] [ 5.61255861e-02 -5.98738576e-04 9.98423537e-01 6.78852583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.28, Y:8.42, Z:6.79 [[ 9.94898952e-01 -8.39111008e-02 -5.59910881e-02 1.22281528e+02] [ 8.38227311e-02 9.96472936e-01 -3.92908422e-03 8.41750626e+00] [ 5.61232977e-02 -7.84284146e-04 9.98423538e-01 6.79145549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.34, Y:8.42, Z:6.79 [[ 9.93917301e-01 -9.48338024e-02 -5.59906065e-02 1.22339124e+02] [ 9.47623405e-02 9.95492143e-01 -3.93593535e-03 8.41682308e+00] [ 5.61114685e-02 -1.39380668e-03 9.98423538e-01 6.79408195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.40, Y:8.41, Z:6.80 [[ 9.91897188e-01 -1.14040115e-01 -5.59894690e-02 1.22396928e+02] [ 1.13998219e-01 9.93473093e-01 -3.95205059e-03 8.41215937e+00] [ 5.60747232e-02 -2.46267189e-03 9.98423538e-01 6.79551530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.46, Y:8.41, Z:6.80 [[ 9.90003817e-01 -1.29451445e-01 -5.59889784e-02 1.22457715e+02] [ 1.29433670e-01 9.91580179e-01 -3.95898763e-03 8.41186901e+00] [ 5.60300579e-02 -3.32744608e-03 9.98423538e-01 6.80048420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.52, Y:8.42, Z:6.80 [[ 9.89715122e-01 -1.31640466e-01 -5.59889784e-02 1.22519220e+02] [ 1.31626177e-01 9.91291519e-01 -3.95898763e-03 8.41563372e+00] [ 5.60225625e-02 -3.45134526e-03 9.98423538e-01 6.80412770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.58, Y:8.42, Z:6.81 [[ 9.89406161e-01 -1.33942712e-01 -5.59892688e-02 1.22580744e+02] [ 1.33932322e-01 9.90982589e-01 -3.95487715e-03 8.41928602e+00] [ 5.60141175e-02 -3.58579296e-03 9.98423538e-01 6.80765896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.64, Y:8.42, Z:6.81 [[ 9.89105163e-01 -1.36147515e-01 -5.59895579e-02 1.22643002e+02] [ 1.36140870e-01 9.90681611e-01 -3.95077989e-03 8.42294667e+00] [ 5.60057143e-02 -3.71473032e-03 9.98423538e-01 6.81082913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.70, Y:8.43, Z:6.81 [[ 9.88685928e-01 -1.39159162e-01 -5.59898459e-02 1.22703864e+02] [ 1.39157548e-01 9.90262390e-01 -3.94669401e-03 8.42677255e+00] [ 5.59938572e-02 -3.88936884e-03 9.98423538e-01 6.81250406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.77, Y:8.43, Z:6.82 [[ 9.88867117e-01 -1.37865554e-01 -5.59903022e-02 1.22765299e+02] [ 1.37862243e-01 9.90443576e-01 -3.94020971e-03 8.43336518e+00] [ 5.59984544e-02 -3.82260481e-03 9.98423538e-01 6.81752762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.83, Y:8.44, Z:6.82 [[ 9.89458515e-01 -1.33554868e-01 -5.59905810e-02 1.22825714e+02] [ 1.33544910e-01 9.91034945e-01 -3.93624515e-03 8.44058181e+00] [ 5.60143270e-02 -3.58250583e-03 9.98423538e-01 6.82299668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.89, Y:8.45, Z:6.83 [[ 9.90670421e-01 -1.24246324e-01 -5.59907868e-02 1.22887712e+02] [ 1.24221710e-01 9.92246691e-01 -3.93331504e-03 8.44910482e+00] [ 5.60453729e-02 -3.05865244e-03 9.98423538e-01 6.82744834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.95, Y:8.46, Z:6.83 [[ 9.92295171e-01 -1.10522818e-01 -5.59910762e-02 1.22949177e+02] [ 1.10476622e-01 9.93870956e-01 -3.92919111e-03 8.45884365e+00] [ 5.60821697e-02 -2.28678762e-03 9.98423538e-01 6.83253718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.01, Y:8.47, Z:6.84 [[ 9.93021783e-01 -1.03791644e-01 -5.59913668e-02 1.23009728e+02] [ 1.03734998e-01 9.94597227e-01 -3.92504566e-03 8.46543437e+00] [ 5.60962451e-02 -1.91060849e-03 9.98423538e-01 6.83625323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.07, Y:8.47, Z:6.84 [[ 9.94008104e-01 -9.38767256e-02 -5.59915130e-02 1.23070256e+02] [ 9.38044779e-02 9.95582910e-01 -3.92295841e-03 8.47227659e+00] [ 5.61124680e-02 -1.35280220e-03 9.98423538e-01 6.83996054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.13, Y:8.48, Z:6.84 [[ 9.94958972e-01 -8.31961218e-02 -5.59915130e-02 1.23128306e+02] [ 8.31069656e-02 9.96532911e-01 -3.92295841e-03 8.47850352e+00] [ 5.61237604e-02 -7.50102083e-04 9.98423538e-01 6.84205632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.19, Y:8.48, Z:6.84 [[ 9.95878009e-01 -7.13580076e-02 -5.59912994e-02 1.23185270e+02] [ 7.12499688e-02 9.97450765e-01 -3.92600538e-03 8.48494766e+00] [ 5.61287163e-02 -7.95559131e-05 9.98423538e-01 6.84381412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.24, Y:8.49, Z:6.85 [[ 9.96199044e-01 -6.67274295e-02 -5.59903154e-02 1.23243323e+02] [ 6.66112942e-02 9.97771222e-01 -3.93998912e-03 8.48833023e+00] [ 5.61284307e-02 1.95426022e-04 9.98423538e-01 6.84844863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.30, Y:8.49, Z:6.85 [[ 9.96274247e-01 -6.55959185e-02 -5.59892840e-02 1.23300038e+02] [ 6.54771771e-02 9.97846231e-01 -3.95459190e-03 8.48935138e+00] [ 5.61281011e-02 2.73837809e-04 9.98423538e-01 6.85025342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.36, Y:8.49, Z:6.85 [[ 9.96058404e-01 -6.87961598e-02 -5.59887882e-02 1.23358450e+02] [ 6.86820752e-02 9.97630732e-01 -3.96159805e-03 8.48783690e+00] [ 5.61286785e-02 1.00556864e-04 9.98423538e-01 6.85483042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.42, Y:8.48, Z:6.86 [[ 9.95201108e-01 -8.02499167e-02 -5.59884327e-02 1.23417790e+02] [ 8.01536449e-02 9.96774628e-01 -3.96661590e-03 8.47940922e+00] [ 5.61261698e-02 -5.40096421e-04 9.98423538e-01 6.85855767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.48, Y:8.47, Z:6.86 [[ 9.94126479e-01 -9.26172208e-02 -5.59874475e-02 1.23476605e+02] [ 9.25397403e-02 9.95701036e-01 -3.98047317e-03 8.47114598e+00] [ 5.61154199e-02 -1.22397008e-03 9.98423538e-01 6.86137411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.54, Y:8.47, Z:6.86 [[ 9.93847706e-01 -9.55629153e-02 -5.59862978e-02 1.23535146e+02] [ 9.54891946e-02 9.95422444e-01 -3.99657940e-03 8.47048761e+00] [ 5.61119421e-02 -1.37409521e-03 9.98423538e-01 6.86371723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.59, Y:8.47, Z:6.87 [[ 9.93720304e-01 -9.68794191e-02 -5.59851413e-02 1.23592881e+02] [ 9.68068760e-02 9.95295095e-01 -4.01271554e-03 8.47234323e+00] [ 5.61104861e-02 -1.43222972e-03 9.98423538e-01 6.86676342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.65, Y:8.47, Z:6.87 [[ 9.93662998e-01 -9.74661099e-02 -5.59839655e-02 1.23650785e+02] [ 9.73935768e-02 9.95237790e-01 -4.02905339e-03 8.47450869e+00] [ 5.61100542e-02 -1.44895737e-03 9.98423539e-01 6.87006807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.71, Y:8.48, Z:6.87 [[ 9.93643556e-01 -9.76647864e-02 -5.59827894e-02 1.23707741e+02] [ 9.75916517e-02 9.95218320e-01 -4.04532900e-03 8.47584565e+00] [ 5.61101838e-02 -1.44383779e-03 9.98423539e-01 6.87308512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.77, Y:8.48, Z:6.88 [[ 9.93738739e-01 -9.66917884e-02 -5.59822835e-02 1.23766161e+02] [ 9.66167183e-02 9.95313412e-01 -4.05231822e-03 8.47585476e+00] [ 5.61117435e-02 -1.38187892e-03 9.98423539e-01 6.87501191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.82, Y:8.48, Z:6.88 [[ 9.93855801e-01 -9.54817185e-02 -5.59811462e-02 1.23823607e+02] [ 9.54038500e-02 9.95430338e-01 -4.06796828e-03 8.47760526e+00] [ 5.61137479e-02 -1.29784300e-03 9.98423539e-01 6.87818251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.88, Y:8.48, Z:6.88 [[ 9.93952274e-01 -9.44728564e-02 -5.59799616e-02 1.23881245e+02] [ 9.43924757e-02 9.95526685e-01 -4.08420632e-03 8.48051972e+00] [ 5.61153922e-02 -1.22458100e-03 9.98423539e-01 6.88215983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.94, Y:8.48, Z:6.89 [[ 9.94028654e-01 -9.36659983e-02 -5.59795979e-02 1.23938723e+02] [ 9.35840593e-02 9.95602984e-01 -4.08918463e-03 8.48170707e+00] [ 5.61164723e-02 -1.17403131e-03 9.98423539e-01 6.88501085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.00, Y:8.48, Z:6.89 [[ 9.93945090e-01 -9.45493283e-02 -5.59784077e-02 1.23996247e+02] [ 9.44678748e-02 9.95519445e-01 -4.10541398e-03 8.48449549e+00] [ 5.61157575e-02 -1.20760513e-03 9.98423539e-01 6.88853632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.05, Y:8.49, Z:6.89 [[ 9.93800085e-01 -9.60621767e-02 -5.59772171e-02 1.24052564e+02] [ 9.59822094e-02 9.95374516e-01 -4.12158414e-03 8.48799124e+00] [ 5.61142237e-02 -1.27678631e-03 9.98423539e-01 6.89251679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.11, Y:8.49, Z:6.90 [[ 9.93669142e-01 -9.74076191e-02 -5.59767044e-02 1.24110205e+02] [ 9.73293922e-02 9.95243661e-01 -4.12853552e-03 8.49104293e+00] [ 5.61126110e-02 -1.34578026e-03 9.98423539e-01 6.89605841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.17, Y:8.49, Z:6.90 [[ 9.93576358e-01 -9.83502074e-02 -5.59755054e-02 1.24167627e+02] [ 9.82725625e-02 9.95150905e-01 -4.14472748e-03 8.49405528e+00] [ 5.61117097e-02 -1.38275312e-03 9.98423539e-01 6.90004457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.23, Y:8.50, Z:6.90 [[ 9.93530330e-01 -9.88147752e-02 -5.59743045e-02 1.24225295e+02] [ 9.87369569e-02 9.95104869e-01 -4.16088269e-03 8.49782045e+00] [ 5.61114597e-02 -1.39276933e-03 9.98423540e-01 6.90368717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.28, Y:8.50, Z:6.91 [[ 9.93465308e-01 -9.94670486e-02 -5.59731042e-02 1.24283640e+02] [ 9.93893584e-02 9.95039853e-01 -4.17696711e-03 8.50031993e+00] [ 5.61109400e-02 -1.41345900e-03 9.98423540e-01 6.90670272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.34, Y:8.50, Z:6.91 [[ 9.93313242e-01 -1.00974747e-01 -5.59723478e-02 1.24341479e+02] [ 1.00898878e-01 9.94887876e-01 -4.18707915e-03 8.50248201e+00] [ 5.61089995e-02 -1.48846590e-03 9.98423540e-01 6.91092920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.40, Y:8.51, Z:6.91 [[ 9.93182025e-01 -1.02258011e-01 -5.59710967e-02 1.24399483e+02] [ 1.02183238e-01 9.94756711e-01 -4.20373771e-03 8.50561640e+00] [ 5.61074899e-02 -1.54423113e-03 9.98423540e-01 6.91428037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.46, Y:8.51, Z:6.92 [[ 9.93001415e-01 -1.03997917e-01 -5.59698448e-02 1.24457191e+02] [ 1.03924968e-01 9.94576186e-01 -4.22034016e-03 8.50872185e+00] [ 5.61051813e-02 -1.62586058e-03 9.98423540e-01 6.91626273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.51, Y:8.51, Z:6.92 [[ 9.92757975e-01 -1.06297313e-01 -5.59685997e-02 1.24514864e+02] [ 1.06227084e-01 9.94332870e-01 -4.23678794e-03 8.51177328e+00] [ 5.61017775e-02 -1.73927614e-03 9.98423540e-01 6.91783005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.57, Y:8.52, Z:6.92 [[ 9.92586017e-01 -1.07891419e-01 -5.59682173e-02 1.24572696e+02] [ 1.07823435e-01 9.94161010e-01 -4.24183370e-03 8.51615749e+00] [ 5.60990769e-02 -1.82430065e-03 9.98423540e-01 6.92188052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.63, Y:8.52, Z:6.93 [[ 9.92336734e-01 -1.10161245e-01 -5.59670087e-02 1.24631381e+02] [ 1.10095969e-01 9.93911842e-01 -4.25772048e-03 8.52092727e+00] [ 5.60953085e-02 -1.93664961e-03 9.98423540e-01 6.92680826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.69, Y:8.53, Z:6.93 [[ 9.92146387e-01 -1.11863138e-01 -5.59659203e-02 1.24689597e+02] [ 1.11799760e-01 9.93721573e-01 -4.27197942e-03 8.52569722e+00] [ 5.60924194e-02 -2.01854752e-03 9.98423540e-01 6.92857815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.75, Y:8.53, Z:6.93 [[ 9.91794228e-01 -1.14944139e-01 -5.59647623e-02 1.24746887e+02] [ 1.14884802e-01 9.93369570e-01 -4.28709656e-03 8.53233052e+00] [ 5.60864685e-02 -2.17758303e-03 9.98423540e-01 6.93162241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.80, Y:8.54, Z:6.93 [[ 9.91143962e-01 -1.20423131e-01 -5.59635280e-02 1.24804106e+02] [ 1.20371596e-01 9.92719579e-01 -4.30314818e-03 8.53730451e+00] [ 5.60742886e-02 -2.47137987e-03 9.98423541e-01 6.93436354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.86, Y:8.54, Z:6.94 [[ 9.90373985e-01 -1.26600126e-01 -5.59622883e-02 1.24861350e+02] [ 1.26557510e-01 9.91949868e-01 -4.31921151e-03 8.54375885e+00] [ 5.60585972e-02 -2.80481315e-03 9.98423541e-01 6.93555014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.92, Y:8.55, Z:6.94 [[ 9.89791517e-01 -1.31076380e-01 -5.59619063e-02 1.24919126e+02] [ 1.31040610e-01 9.91367571e-01 -4.32415472e-03 8.55187400e+00] [ 5.60456137e-02 -3.05327070e-03 9.98423541e-01 6.93940440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.98, Y:8.56, Z:6.94 [[ 9.89724047e-01 -1.31585374e-01 -5.59606960e-02 1.24976891e+02] [ 1.31549535e-01 9.91300099e-01 -4.33976129e-03 8.55854540e+00] [ 5.60448926e-02 -3.06643745e-03 9.98423541e-01 6.94295999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.04, Y:8.57, Z:6.95 [[ 9.90207606e-01 -1.27895816e-01 -5.59603243e-02 1.25035727e+02] [ 1.27853834e-01 9.91783506e-01 -4.34454996e-03 8.56818967e+00] [ 5.60561763e-02 -2.85273558e-03 9.98423541e-01 6.94879023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.09, Y:8.58, Z:6.95 [[ 9.91596095e-01 -1.16643232e-01 -5.59601710e-02 1.25094456e+02] [ 1.16583245e-01 9.93171413e-01 -4.34652265e-03 8.58250016e+00] [ 5.60850346e-02 -2.21402346e-03 9.98423541e-01 6.95334951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.15, Y:8.59, Z:6.96 [[ 9.92449537e-01 -1.09143908e-01 -5.59600198e-02 1.25153713e+02] [ 1.09071905e-01 9.94024351e-01 -4.34846818e-03 8.59285145e+00] [ 5.61002312e-02 -1.78803076e-03 9.98423541e-01 6.95715981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.21, Y:8.60, Z:6.96 [[ 9.92773031e-01 -1.06161210e-01 -5.59598583e-02 1.25211299e+02] [ 1.06084358e-01 9.94347616e-01 -4.35054594e-03 8.60222230e+00] [ 5.61054109e-02 -1.61736096e-03 9.98423541e-01 6.96002614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.27, Y:8.61, Z:6.96 [[ 9.92689742e-01 -1.06937352e-01 -5.59596204e-02 1.25269201e+02] [ 1.06861559e-01 9.94264378e-01 -4.35360388e-03 8.61066498e+00] [ 5.61042201e-02 -1.65815436e-03 9.98423541e-01 6.96035642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.33, Y:8.62, Z:6.96 [[ 9.92494069e-01 -1.08739002e-01 -5.59584927e-02 1.25328690e+02] [ 1.08665253e-01 9.94068802e-01 -4.36805152e-03 8.61857678e+00] [ 5.61015693e-02 -1.74547856e-03 9.98423541e-01 6.96207772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.39, Y:8.63, Z:6.97 [[ 9.92591246e-01 -1.07848427e-01 -5.59583338e-02 1.25388568e+02] [ 1.07773152e-01 9.94165907e-01 -4.37008514e-03 8.62643900e+00] [ 5.61031745e-02 -1.69309774e-03 9.98423541e-01 6.96803013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.45, Y:8.63, Z:6.97 [[ 9.92883719e-01 -1.05121768e-01 -5.59583338e-02 1.25448445e+02] [ 1.05042168e-01 9.94458167e-01 -4.37008514e-03 8.63399190e+00] [ 5.61076132e-02 -1.53899832e-03 9.98423541e-01 6.97304136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.51, Y:8.64, Z:6.98 [[ 9.93171440e-01 -1.02367750e-01 -5.59583338e-02 1.25508124e+02] [ 1.02283784e-01 9.94745661e-01 -4.37008514e-03 8.64126644e+00] [ 5.61116656e-02 -1.38338637e-03 9.98423541e-01 6.97714634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.57, Y:8.65, Z:6.98 [[ 9.93447536e-01 -9.96526863e-02 -5.59583338e-02 1.25567171e+02] [ 9.95644172e-02 9.95021522e-01 -4.37008514e-03 8.64760122e+00] [ 5.61152372e-02 -1.23000858e-03 9.98423541e-01 6.97980280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.63, Y:8.65, Z:6.98 [[ 9.93728182e-01 -9.68141647e-02 -5.59581736e-02 1.25626333e+02] [ 9.67212839e-02 9.95301903e-01 -4.37213602e-03 8.65226766e+00] [ 5.61185614e-02 -1.06763161e-03 9.98423541e-01 6.98338539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.68, Y:8.66, Z:6.98 [[ 9.94178885e-01 -9.20708746e-02 -5.59580132e-02 1.25683862e+02] [ 9.19703694e-02 9.95752137e-01 -4.37418757e-03 8.65676535e+00] [ 5.61230465e-02 -7.97754222e-04 9.98423541e-01 6.98468239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.74, Y:8.66, Z:6.99 [[ 9.94764234e-01 -8.55152842e-02 -5.59576184e-02 1.25741551e+02] [ 8.54041265e-02 9.96336769e-01 -4.37923289e-03 8.66169254e+00] [ 5.61271241e-02 -4.22707266e-04 9.98423541e-01 6.98721076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.80, Y:8.66, Z:6.99 [[ 9.95241942e-01 -7.97644583e-02 -5.59563114e-02 1.25798705e+02] [ 7.96432784e-02 9.96813736e-01 -4.39586975e-03 8.66498623e+00] [ 5.61286540e-02 -8.15901414e-05 9.98423541e-01 6.98970624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.86, Y:8.67, Z:6.99 [[ 9.95329049e-01 -7.86704466e-02 -5.59557505e-02 1.25856367e+02] [ 7.85471383e-02 9.96900677e-01 -4.40299813e-03 8.66910544e+00] [ 5.61287114e-02 -1.27321363e-05 9.98423541e-01 6.99211288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.91, Y:8.67, Z:6.99 [[ 9.94695585e-01 -8.63121578e-02 -5.59544882e-02 1.25914561e+02] [ 8.62000241e-02 9.96268051e-01 -4.41898158e-03 8.66964599e+00] [ 5.61270807e-02 -4.27736760e-04 9.98423541e-01 6.99420849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.97, Y:8.67, Z:7.00 [[ 9.94362981e-01 -9.00638610e-02 -5.59532248e-02 1.25971999e+02] [ 8.99567631e-02 9.95935797e-01 -4.43492126e-03 8.67224312e+00] [ 5.61252457e-02 -6.23449462e-04 9.98423541e-01 6.99677196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.03, Y:8.67, Z:7.00 [[ 9.92796195e-01 -1.05948538e-01 -5.59519583e-02 1.26030143e+02] [ 1.05865701e-01 9.94370476e-01 -4.45084292e-03 8.67159455e+00] [ 5.61085357e-02 -1.50461336e-03 9.98423542e-01 7.00026007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.09, Y:8.67, Z:7.00 [[ 9.92043897e-01 -1.12776017e-01 -5.59506665e-02 1.26088202e+02] [ 1.12703100e-01 9.93618668e-01 -4.46702360e-03 8.67484183e+00] [ 5.60973998e-02 -1.87433006e-03 9.98423542e-01 7.00432075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.15, Y:8.68, Z:7.01 [[ 9.91343933e-01 -1.18772279e-01 -5.59495456e-02 1.26147834e+02] [ 1.18708097e-01 9.92919084e-01 -4.48101936e-03 8.67748360e+00] [ 5.60855924e-02 -2.19943270e-03 9.98423542e-01 7.00872341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.21, Y:8.68, Z:7.01 [[ 9.90465651e-01 -1.25886700e-01 -5.59493854e-02 1.26208730e+02] [ 1.25833716e-01 9.92041218e-01 -4.48301771e-03 8.67947364e+00] [ 5.60684488e-02 -2.60004400e-03 9.98423542e-01 7.01167104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.27, Y:8.68, Z:7.02 [[ 9.89845817e-01 -1.30671056e-01 -5.59493854e-02 1.26268565e+02] [ 1.30625685e-01 9.91421622e-01 -4.48301771e-03 8.68423630e+00] [ 5.60552311e-02 -2.87093048e-03 9.98423542e-01 7.01536664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.33, Y:8.69, Z:7.02 [[ 9.89759373e-01 -1.31324179e-01 -5.59494665e-02 1.26329948e+02] [ 1.31279905e-01 9.91335210e-01 -4.48200633e-03 8.69010024e+00] [ 5.60532719e-02 -2.90893286e-03 9.98423542e-01 7.01815521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.39, Y:8.70, Z:7.02 [[ 9.90205929e-01 -1.27913474e-01 -5.59496288e-02 1.26390741e+02] [ 1.27863886e-01 9.91781607e-01 -4.47997917e-03 8.69812080e+00] [ 5.60628625e-02 -2.71783503e-03 9.98423542e-01 7.01870607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.45, Y:8.71, Z:7.02 [[ 9.90665968e-01 -1.24300283e-01 -5.59497940e-02 1.26451811e+02] [ 1.24245064e-01 9.92241459e-01 -4.47791513e-03 8.70647129e+00] [ 5.60723113e-02 -2.51536757e-03 9.98423542e-01 7.02304780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.51, Y:8.71, Z:7.03 [[ 9.90974270e-01 -1.21817891e-01 -5.59499582e-02 1.26512836e+02] [ 1.21758840e-01 9.92549622e-01 -4.47586243e-03 8.71373484e+00] [ 5.60783500e-02 -2.37693747e-03 9.98423542e-01 7.02692167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.57, Y:8.72, Z:7.03 [[ 9.91599272e-01 -1.16621046e-01 -5.59501201e-02 1.26573811e+02] [ 1.16553851e-01 9.93174297e-01 -4.47383805e-03 8.72383768e+00] [ 5.60899648e-02 -2.08494741e-03 9.98423542e-01 7.03102660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.63, Y:8.73, Z:7.04 [[ 9.92434485e-01 -1.09285671e-01 -5.59502843e-02 1.26633427e+02] [ 1.09206947e-01 9.94008977e-01 -4.47178246e-03 8.73406208e+00] [ 5.61037866e-02 -1.67220861e-03 9.98423542e-01 7.03524726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.69, Y:8.74, Z:7.04 [[ 9.93234043e-01 -1.01762925e-01 -5.59503651e-02 1.26692784e+02] [ 1.01672331e-01 9.94807896e-01 -4.47077246e-03 8.74275037e+00] [ 5.61148238e-02 -1.24808061e-03 9.98423542e-01 7.03876173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.75, Y:8.75, Z:7.04 [[ 9.94008489e-01 -9.38972806e-02 -5.59502044e-02 1.26751058e+02] [ 9.37941173e-02 9.95581568e-01 -4.47278158e-03 8.75280329e+00] [ 5.61229743e-02 -8.01817180e-04 9.98423542e-01 7.04263011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.81, Y:8.76, Z:7.05 [[ 9.94256884e-01 -9.12296491e-02 -5.59499676e-02 1.26809150e+02] [ 9.11220984e-02 9.95829670e-01 -4.47574278e-03 8.75828793e+00] [ 5.61249581e-02 -6.48240372e-04 9.98423542e-01 7.04618483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.87, Y:8.76, Z:7.05 [[ 9.94455390e-01 -8.90404603e-02 -5.59488416e-02 1.26866828e+02] [ 8.89286579e-02 9.96027879e-01 -4.48977345e-03 8.76445235e+00] [ 5.61263776e-02 -5.10575995e-04 9.98423542e-01 7.04920198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.92, Y:8.77, Z:7.05 [[ 9.94542796e-01 -8.80596267e-02 -5.59475584e-02 1.26922929e+02] [ 8.79453772e-02 9.96115108e-01 -4.50570754e-03 8.77167377e+00] [ 5.61269791e-02 -4.39210146e-04 9.98423542e-01 7.05164072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.98, Y:8.78, Z:7.06 [[ 9.94266682e-01 -9.11246312e-02 -5.59470067e-02 1.26981004e+02] [ 9.10148437e-02 9.95839312e-01 -4.51254704e-03 8.77570075e+00] [ 5.61254329e-02 -6.05332904e-04 9.98423542e-01 7.05602517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.04, Y:8.78, Z:7.06 [[ 9.93491019e-01 -9.92253757e-02 -5.59456942e-02 1.27039208e+02] [ 9.91274968e-02 9.95064435e-01 -4.52876092e-03 8.77971819e+00] [ 5.61189386e-02 -1.04647332e-03 9.98423542e-01 7.06121541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.10, Y:8.78, Z:7.06 [[ 9.92718031e-01 -1.06682329e-01 -5.59445474e-02 1.27098990e+02] [ 1.06595471e-01 9.94292094e-01 -4.54288380e-03 8.78219395e+00] [ 5.61098666e-02 -1.45363275e-03 9.98423542e-01 7.06387441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.16, Y:8.79, Z:7.07 [[ 9.92207514e-01 -1.11330481e-01 -5.59443809e-02 1.27159920e+02] [ 1.11250882e-01 9.93781960e-01 -4.54493417e-03 8.78730782e+00] [ 5.61025062e-02 -1.71434385e-03 9.98423542e-01 7.06568008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.22, Y:8.79, Z:7.07 [[ 9.92058244e-01 -1.12652782e-01 -5.59445461e-02 1.27220441e+02] [ 1.12575395e-01 9.93632801e-01 -4.54289897e-03 8.79298378e+00] [ 5.61001062e-02 -1.79115901e-03 9.98423542e-01 7.06944991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.28, Y:8.80, Z:7.07 [[ 9.91897679e-01 -1.14057809e-01 -5.59447090e-02 1.27281100e+02] [ 1.13982766e-01 9.93472350e-01 -4.54089246e-03 8.79870589e+00] [ 5.60974457e-02 -1.87263198e-03 9.98423542e-01 7.07196711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.34, Y:8.80, Z:7.07 [[ 9.91835142e-01 -1.14600268e-01 -5.59448755e-02 1.27341030e+02] [ 1.14526201e-01 9.93409859e-01 -4.53883994e-03 8.80482942e+00] [ 5.60963432e-02 -1.90537309e-03 9.98423542e-01 7.07284131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.40, Y:8.81, Z:7.08 [[ 9.91891845e-01 -1.14108413e-01 -5.59449574e-02 1.27401938e+02] [ 1.14033622e-01 9.93466527e-01 -4.53783003e-03 8.81331627e+00] [ 5.60972472e-02 -1.87856952e-03 9.98423542e-01 7.07746657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.46, Y:8.82, Z:7.08 [[ 9.92265248e-01 -1.10814359e-01 -5.59451194e-02 1.27464033e+02] [ 1.10734452e-01 9.93839679e-01 -4.53583255e-03 8.81857824e+00] [ 5.61031148e-02 -1.69430315e-03 9.98423542e-01 7.07660798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.52, Y:8.83, Z:7.09 [[ 9.91766351e-01 -1.15193798e-01 -5.59454618e-02 1.27524041e+02] [ 1.15121081e-01 9.93341130e-01 -4.53160511e-03 8.82858355e+00] [ 5.60949411e-02 -1.94620860e-03 9.98423542e-01 7.08621072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.59, Y:8.84, Z:7.09 [[ 9.91330883e-01 -1.18882959e-01 -5.59457158e-02 1.27585593e+02] [ 1.18816278e-01 9.92905930e-01 -4.52846732e-03 8.83549252e+00] [ 5.60871905e-02 -2.15805224e-03 9.98423542e-01 7.09043676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.65, Y:8.84, Z:7.10 [[ 9.90755642e-01 -1.23585186e-01 -5.59460453e-02 1.27646331e+02] [ 1.23526209e-01 9.92330996e-01 -4.52439204e-03 8.83992900e+00] [ 5.60761427e-02 -2.42823597e-03 9.98423542e-01 7.09507484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.71, Y:8.85, Z:7.10 [[ 9.90396850e-01 -1.26428084e-01 -5.59465757e-02 1.27708184e+02] [ 1.26373999e-01 9.91972379e-01 -4.51782423e-03 8.84587164e+00] [ 5.60686377e-02 -2.59575363e-03 9.98423542e-01 7.10061910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.77, Y:8.85, Z:7.11 [[ 9.90820982e-01 -1.23059847e-01 -5.59469049e-02 1.27769394e+02] [ 1.23000635e-01 9.92396327e-01 -4.51374368e-03 8.85188078e+00] [ 5.60769636e-02 -2.40919288e-03 9.98423542e-01 7.10696756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.83, Y:8.86, Z:7.11 [[ 9.91656714e-01 -1.16132978e-01 -5.59472381e-02 1.27829676e+02] [ 1.16062992e-01 9.93231617e-01 -4.50961091e-03 8.85817619e+00] [ 5.60922803e-02 -2.02141792e-03 9.98423542e-01 7.11056490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.89, Y:8.87, Z:7.11 [[ 9.92347246e-01 -1.10076442e-01 -5.59474843e-02 1.27890984e+02] [ 1.09997014e-01 9.93921701e-01 -4.50655415e-03 8.86532061e+00] [ 5.61034842e-02 -1.68198960e-03 9.98423542e-01 7.11405211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.95, Y:8.87, Z:7.12 [[ 9.93766743e-01 -9.64235610e-02 -5.59478060e-02 1.27952281e+02] [ 9.63227206e-02 9.95339972e-01 -4.50255650e-03 8.87189168e+00] [ 5.61212402e-02 -9.14553980e-04 9.98423542e-01 7.11658453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.01, Y:8.87, Z:7.12 [[ 9.95195604e-01 -8.03463412e-02 -5.59479712e-02 1.28011908e+02] [ 8.02201976e-02 9.96767007e-01 -4.50050319e-03 8.87466816e+00] [ 5.61286907e-02 -9.27630862e-06 9.98423542e-01 7.11682739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.07, Y:8.87, Z:7.12 [[ 9.94827048e-01 -8.47878433e-02 -5.59478902e-02 1.28069450e+02] [ 8.46686587e-02 9.96398994e-01 -4.50151014e-03 8.87452001e+00] [ 5.61280948e-02 -2.58808772e-04 9.98423542e-01 7.12004230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.825099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.13, Y:8.88, Z:7.12 [[ 9.94592792e-01 -8.74937574e-02 -5.59465863e-02 1.28128201e+02] [ 8.73779411e-02 9.96164989e-01 -4.51765735e-03 8.87784509e+00] [ 5.61272973e-02 -3.95268082e-04 9.98423543e-01 7.12326406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.19, Y:8.88, Z:7.13 [[ 9.94318657e-01 -9.05567183e-02 -5.59454197e-02 1.28186896e+02] [ 9.04449348e-02 9.95891146e-01 -4.53205774e-03 8.88082938e+00] [ 5.61259564e-02 -5.53670273e-04 9.98423543e-01 7.12626805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.25, Y:8.88, Z:7.13 [[ 9.93595673e-01 -9.81721764e-02 -5.59451743e-02 1.28245528e+02] [ 9.80722736e-02 9.95168962e-01 -4.53508544e-03 8.88100160e+00] [ 5.61201202e-02 -9.80629168e-04 9.98423543e-01 7.12894171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.31, Y:8.89, Z:7.13 [[ 9.93595659e-01 -9.81729749e-02 -5.59440174e-02 1.28306230e+02] [ 9.80722725e-02 9.95168897e-01 -4.54931251e-03 8.88594467e+00] [ 5.61203656e-02 -9.66379758e-04 9.98423543e-01 7.13236997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.37, Y:8.88, Z:7.14 [[ 9.92365042e-01 -1.09917649e-01 -5.59440174e-02 1.28366454e+02] [ 1.09835561e-01 9.93939361e-01 -4.54931251e-03 8.88398909e+00] [ 5.61050106e-02 -1.63006384e-03 9.98423543e-01 7.13597583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.43, Y:8.88, Z:7.14 [[ 9.91010939e-01 -1.21521952e-01 -5.59440328e-02 1.28427308e+02] [ 1.21458302e-01 9.92586110e-01 -4.54912259e-03 8.88141859e+00] [ 5.60820882e-02 -2.28663697e-03 9.98423543e-01 7.13536366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.49, Y:8.88, Z:7.14 [[ 9.90912481e-01 -1.22322196e-01 -5.59440328e-02 1.28488744e+02] [ 1.22259818e-01 9.92487704e-01 -4.54912259e-03 8.88386310e+00] [ 5.60802233e-02 -2.33192489e-03 9.98423543e-01 7.13687064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.55, Y:8.89, Z:7.14 [[ 9.91589043e-01 -1.16710824e-01 -5.59441979e-02 1.28549229e+02] [ 1.16639644e-01 9.93163893e-01 -4.54709109e-03 8.88853898e+00] [ 5.60924521e-02 -2.01646563e-03 9.98423543e-01 7.14414134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.61, Y:8.89, Z:7.15 [[ 9.91697085e-01 -1.15789118e-01 -5.59443610e-02 1.28610667e+02] [ 1.15716588e-01 9.93271873e-01 -4.54508374e-03 8.89365409e+00] [ 5.60942315e-02 -1.96634425e-03 9.98423543e-01 7.14798384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.67, Y:8.90, Z:7.15 [[ 9.91613105e-01 -1.16506053e-01 -5.59445284e-02 1.28671903e+02] [ 1.16434777e-01 9.93187950e-01 -4.54302191e-03 8.89843297e+00] [ 5.60927211e-02 -2.00896865e-03 9.98423543e-01 7.15297592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.73, Y:8.90, Z:7.15 [[ 9.91178066e-01 -1.20150875e-01 -5.59446937e-02 1.28732222e+02] [ 1.20085504e-01 9.92753167e-01 -4.54098562e-03 8.90125597e+00] [ 5.60848753e-02 -2.21722143e-03 9.98423543e-01 7.15175117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.79, Y:8.91, Z:7.16 [[ 9.91214209e-01 -1.19852302e-01 -5.59447751e-02 1.28793173e+02] [ 1.19786513e-01 9.92789293e-01 -4.53998304e-03 8.90710111e+00] [ 5.60855011e-02 -2.20133382e-03 9.98423543e-01 7.15553487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.85, Y:8.91, Z:7.16 [[ 9.91780558e-01 -1.15071671e-01 -5.59449399e-02 1.28853747e+02] [ 1.14998403e-01 9.93355311e-01 -4.53795151e-03 8.91436275e+00] [ 5.60953928e-02 -1.93292665e-03 9.98423543e-01 7.16132446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.91, Y:8.92, Z:7.16 [[ 9.92727654e-01 -1.06592447e-01 -5.59451050e-02 1.28914503e+02] [ 1.06505840e-01 9.94301731e-01 -4.53591520e-03 8.92220813e+00] [ 5.61098090e-02 -1.45555193e-03 9.98423543e-01 7.16474458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.97, Y:8.93, Z:7.17 [[ 9.94125594e-01 -9.26522026e-02 -5.59452720e-02 1.28974344e+02] [ 9.25436326e-02 9.95698308e-01 -4.53385424e-03 8.93066814e+00] [ 5.61246842e-02 -6.70158162e-04 9.98423543e-01 7.17046671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.03, Y:8.94, Z:7.17 [[ 9.95102899e-01 -8.14883267e-02 -5.59452720e-02 1.29032911e+02] [ 8.13621113e-02 9.96674295e-01 -4.53385424e-03 8.93753724e+00] [ 5.61286707e-02 -4.01739557e-05 9.98423543e-01 7.17395923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.09, Y:8.93, Z:7.17 [[ 9.94759254e-01 -8.55820219e-02 -5.59441149e-02 1.29091036e+02] [ 8.54614728e-02 9.96331095e-01 -4.54808786e-03 8.93396267e+00] [ 5.61280958e-02 -2.56813963e-04 9.98423543e-01 7.16945666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.15, Y:8.94, Z:7.17 [[ 9.94597788e-01 -8.74388881e-02 -5.59435469e-02 1.29148919e+02] [ 8.73208811e-02 9.96169822e-01 -4.55506345e-03 8.93768010e+00] [ 5.61275629e-02 -3.54583774e-04 9.98423543e-01 7.17335957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.21, Y:8.94, Z:7.18 [[ 9.94387916e-01 -8.97949930e-02 -5.59422206e-02 1.29206856e+02] [ 8.96797976e-02 9.95960158e-01 -4.57129464e-03 8.94139212e+00] [ 5.61267022e-02 -4.71246865e-04 9.98423543e-01 7.17714951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.26, Y:8.95, Z:7.18 [[ 9.94143005e-01 -9.24678447e-02 -5.59408847e-02 1.29264430e+02] [ 9.23559598e-02 9.95715487e-01 -4.58758479e-03 8.94518461e+00] [ 5.61254093e-02 -6.05758761e-04 9.98423543e-01 7.18085983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.32, Y:8.95, Z:7.18 [[ 9.93887035e-01 -9.51805123e-02 -5.59395380e-02 1.29322326e+02] [ 9.50719984e-02 9.95459752e-01 -4.60394686e-03 8.94916403e+00] [ 5.61237647e-02 -7.42480577e-04 9.98423543e-01 7.18453266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.38, Y:8.95, Z:7.19 [[ 9.92959487e-01 -1.04414437e-01 -5.59381967e-02 1.29379663e+02] [ 1.04319631e-01 9.94533091e-01 -4.62018700e-03 8.95191427e+00] [ 5.61148019e-02 -1.24779354e-03 9.98423543e-01 7.18809819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.44, Y:8.95, Z:7.19 [[ 9.89130465e-01 -1.35985270e-01 -5.59368348e-02 1.29437474e+02] [ 1.35939702e-01 9.90706263e-01 -4.63661701e-03 8.94961735e+00] [ 5.60474842e-02 -3.01781752e-03 9.98423544e-01 7.19131100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.50, Y:8.95, Z:7.19 [[ 9.88194243e-01 -1.42629784e-01 -5.59364156e-02 1.29499929e+02] [ 1.42594523e-01 9.89770305e-01 -4.64166951e-03 8.95467915e+00] [ 5.60262434e-02 -3.38935538e-03 9.98423544e-01 7.19359705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.56, Y:8.96, Z:7.20 [[ 9.87894118e-01 -1.44693785e-01 -5.59367492e-02 1.29560679e+02] [ 1.44662043e-01 9.89470255e-01 -4.63764567e-03 8.95963009e+00] [ 5.60187880e-02 -3.51042153e-03 9.98423544e-01 7.19640454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.325099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.62, Y:8.97, Z:7.20 [[ 9.87587792e-01 -1.46769940e-01 -5.59369132e-02 1.29622922e+02] [ 1.46741623e-01 9.89163994e-01 -4.63566651e-03 8.96561878e+00] [ 5.60111569e-02 -3.63014577e-03 9.98423544e-01 7.19948470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.68, Y:8.97, Z:7.20 [[ 9.87624819e-01 -1.46520449e-01 -5.59372404e-02 1.29684199e+02] [ 1.46491956e-01 9.89201018e-01 -4.63171476e-03 8.97198803e+00] [ 5.60118161e-02 -3.61995932e-03 9.98423544e-01 7.20305005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.74, Y:8.98, Z:7.21 [[ 9.88236707e-01 -1.42334806e-01 -5.59375811e-02 1.29744603e+02] [ 1.42299868e-01 9.89812777e-01 -4.62759655e-03 8.98300559e+00] [ 5.60264005e-02 -3.38674964e-03 9.98423544e-01 7.20663167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.81, Y:8.99, Z:7.21 [[ 9.88548123e-01 -1.40155383e-01 -5.59381483e-02 1.29806724e+02] [ 1.40117357e-01 9.90124121e-01 -4.62073053e-03 8.99007188e+00] [ 5.60333301e-02 -3.27009101e-03 9.98423544e-01 7.20999408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.87, Y:9.01, Z:7.21 [[ 9.90900043e-01 -1.22425447e-01 -5.59384930e-02 1.29866467e+02] [ 1.22359432e-01 9.92475116e-01 -4.61655361e-03 9.01016957e+00] [ 5.60827460e-02 -2.27005906e-03 9.98423544e-01 7.21285293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.93, Y:9.03, Z:7.22 [[ 9.92973686e-01 -1.04279031e-01 -5.59387475e-02 1.29927172e+02] [ 1.04184389e-01 9.94547299e-01 -4.61346767e-03 9.02913007e+00] [ 5.61148181e-02 -1.24689225e-03 9.98423544e-01 7.21589442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.99, Y:9.04, Z:7.22 [[ 9.93584354e-01 -9.82901386e-02 -5.59390806e-02 1.29987738e+02] [ 9.81862383e-02 9.95157382e-01 -4.60942488e-03 9.03876527e+00] [ 5.61212500e-02 -9.12595460e-04 9.98423544e-01 7.21889587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.05, Y:9.05, Z:7.22 [[ 9.94250605e-01 -9.13046231e-02 -5.59392485e-02 1.30046747e+02] [ 9.11897845e-02 9.95822873e-01 -4.60738595e-03 9.05079218e+00] [ 5.61262589e-02 -5.20191746e-04 9.98423544e-01 7.22211917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.11, Y:9.06, Z:7.22 [[ 9.94622783e-01 -8.71569203e-02 -5.59391659e-02 1.30106316e+02] [ 8.70354685e-02 9.96194554e-01 -4.60838861e-03 9.05945385e+00] [ 5.61279454e-02 -2.85083213e-04 9.98423544e-01 7.22498404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.16, Y:9.07, Z:7.23 [[ 9.94782598e-01 -8.53134982e-02 -5.59391659e-02 1.30164970e+02] [ 8.51891338e-02 9.96354141e-01 -4.60838861e-03 9.06603275e+00] [ 5.61283774e-02 -1.81064300e-04 9.98423544e-01 7.22799564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.22, Y:9.07, Z:7.23 [[ 9.95020140e-01 -8.24970172e-02 -5.59389165e-02 1.30223379e+02] [ 8.23680343e-02 9.96591311e-01 -4.61141469e-03 9.07422947e+00] [ 5.61286661e-02 -1.91281019e-05 9.98423544e-01 7.23034476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.28, Y:9.09, Z:7.23 [[ 9.94925669e-01 -8.36294039e-02 -5.59377837e-02 1.30281577e+02] [ 8.35014390e-02 9.96496923e-01 -4.62511493e-03 9.08575008e+00] [ 5.61286250e-02 -6.92398686e-05 9.98423544e-01 7.23343848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.34, Y:9.09, Z:7.24 [[ 9.94641382e-01 -8.69461275e-02 -5.59364994e-02 1.30338716e+02] [ 8.68225313e-02 9.96212986e-01 -4.64059578e-03 9.08985959e+00] [ 5.61281489e-02 -2.40819872e-04 9.98423544e-01 7.23680062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.40, Y:9.10, Z:7.24 [[ 9.94143820e-01 -9.24620409e-02 -5.59360053e-02 1.30399223e+02] [ 9.23468297e-02 9.95716060e-01 -4.64654425e-03 9.09547948e+00] [ 5.61260078e-02 -5.46179503e-04 9.98423544e-01 7.23970748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.46, Y:9.10, Z:7.24 [[ 9.93289988e-01 -1.01223329e-01 -5.59360053e-02 1.30459655e+02] [ 1.01121984e-01 9.94863184e-01 -4.64654425e-03 9.10073017e+00] [ 5.61190109e-02 -1.04099395e-03 9.98423544e-01 7.24369985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.52, Y:9.10, Z:7.25 [[ 9.92520922e-01 -1.08505174e-01 -5.59360892e-02 1.30521890e+02] [ 1.08415426e-01 9.94094822e-01 -4.64553300e-03 9.10356054e+00] [ 5.61098410e-02 -1.45354624e-03 9.98423544e-01 7.24704866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.58, Y:9.11, Z:7.25 [[ 9.92225700e-01 -1.11172286e-01 -5.59364259e-02 1.30583080e+02] [ 1.11086997e-01 9.93799847e-01 -4.64147534e-03 9.10853207e+00] [ 5.61056150e-02 -1.60841847e-03 9.98423544e-01 7.25059360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.65, Y:9.11, Z:7.25 [[ 9.92376736e-01 -1.09815765e-01 -5.59366750e-02 1.30645066e+02] [ 1.09728494e-01 9.93950775e-01 -4.63847213e-03 9.11404185e+00] [ 5.61076788e-02 -1.53473525e-03 9.98423544e-01 7.25370866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.71, Y:9.12, Z:7.26 [[ 9.92869633e-01 -1.05266058e-01 -5.59370078e-02 1.30706719e+02] [ 1.05171799e-01 9.94443269e-01 -4.63445503e-03 9.11979562e+00] [ 5.61140317e-02 -1.28158608e-03 9.98423544e-01 7.25704403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.77, Y:9.13, Z:7.26 [[ 9.93550635e-01 -9.86313838e-02 -5.59373373e-02 1.30768506e+02] [ 9.85268389e-02 9.95123621e-01 -4.63047440e-03 9.12811650e+00] [ 5.61212758e-02 -9.10718242e-04 9.98423544e-01 7.26025585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.83, Y:9.14, Z:7.26 [[ 9.94271609e-01 -9.10765816e-02 -5.59376754e-02 1.30829653e+02] [ 9.09603135e-02 9.95843772e-01 -4.62638664e-03 9.13786520e+00] [ 5.61265411e-02 -4.88223604e-04 9.98423544e-01 7.26156997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.89, Y:9.14, Z:7.26 [[ 9.94228791e-01 -9.15427161e-02 -5.59378411e-02 1.30890759e+02] [ 9.14272978e-02 9.95801016e-01 -4.62438227e-03 9.14392376e+00] [ 5.61262875e-02 -5.16551664e-04 9.98423544e-01 7.26285602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.95, Y:9.15, Z:7.27 [[ 9.93959100e-01 -9.44258862e-02 -5.59380047e-02 1.30951270e+02] [ 9.43151397e-02 9.95531661e-01 -4.62240205e-03 9.15034216e+00] [ 5.61245292e-02 -6.81322155e-04 9.98423544e-01 7.26553284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.01, Y:9.16, Z:7.27 [[ 9.93729451e-01 -9.68127069e-02 -5.59381692e-02 1.31011816e+02] [ 9.67058494e-02 9.95302281e-01 -4.62041127e-03 9.15575505e+00] [ 5.61227019e-02 -8.18109413e-04 9.98423544e-01 7.26922372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.07, Y:9.16, Z:7.27 [[ 9.93255962e-01 -1.01555392e-01 -5.59383336e-02 1.31073897e+02] [ 1.01456156e-01 9.94829291e-01 -4.61841965e-03 9.16231170e+00] [ 5.61181182e-02 -1.08801547e-03 9.98423544e-01 7.27236419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.825099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.13, Y:9.17, Z:7.28 [[ 9.92713788e-01 -1.06724881e-01 -5.59386730e-02 1.31134677e+02] [ 1.06634069e-01 9.94287626e-01 -4.61430491e-03 9.17039990e+00] [ 5.61115916e-02 -1.38428419e-03 9.98423544e-01 7.27710570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.20, Y:9.18, Z:7.28 [[ 9.92189366e-01 -1.11494684e-01 -5.59392249e-02 1.31196333e+02] [ 1.11411814e-01 9.93763643e-01 -4.60760531e-03 9.17820475e+00] [ 5.61040914e-02 -1.66067352e-03 9.98423544e-01 7.28032865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.26, Y:9.19, Z:7.28 [[ 9.91590227e-01 -1.16702990e-01 -5.59395573e-02 1.31256951e+02] [ 1.16628615e-01 9.93164928e-01 -4.60356590e-03 9.18665427e+00] [ 5.60944563e-02 -1.95930213e-03 9.98423544e-01 7.28456049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.32, Y:9.19, Z:7.29 [[ 9.91791852e-01 -1.14976783e-01 -5.59398027e-02 1.31318946e+02] [ 1.14899835e-01 9.93366429e-01 -4.60058164e-03 9.19295897e+00] [ 5.60976821e-02 -1.86465472e-03 9.98423544e-01 7.28792194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.38, Y:9.20, Z:7.29 [[ 9.92042382e-01 -1.12794568e-01 -5.59401345e-02 1.31381021e+02] [ 1.12714384e-01 9.93616797e-01 -4.59654434e-03 9.19920636e+00] [ 5.61015225e-02 -1.74529100e-03 9.98423544e-01 7.29139901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.44, Y:9.20, Z:7.29 [[ 9.92215504e-01 -1.11261212e-01 -5.59404688e-02 1.31441572e+02] [ 1.11178824e-01 9.93789806e-01 -4.59247166e-03 9.20485723e+00] [ 5.61040316e-02 -1.66267398e-03 9.98423544e-01 7.29433768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.50, Y:9.21, Z:7.30 [[ 9.92128225e-01 -1.12036696e-01 -5.59407156e-02 1.31503657e+02] [ 1.11955708e-01 9.93702600e-01 -4.58946413e-03 9.20896411e+00] [ 5.61026229e-02 -1.70954552e-03 9.98423544e-01 7.29633997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.57, Y:9.21, Z:7.30 [[ 9.92329114e-01 -1.10243048e-01 -5.59410435e-02 1.31565653e+02] [ 1.10159440e-01 9.93903351e-01 -4.58546361e-03 9.21454283e+00] [ 5.61055061e-02 -1.61214499e-03 9.98423544e-01 7.29983695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.63, Y:9.22, Z:7.31 [[ 9.93012198e-01 -1.03910242e-01 -5.59413685e-02 1.31626264e+02] [ 1.03816816e-01 9.94585883e-01 -4.58149553e-03 9.22116913e+00] [ 5.61145596e-02 -1.25817380e-03 9.98423544e-01 7.30647493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.69, Y:9.23, Z:7.31 [[ 9.93299179e-01 -1.01130000e-01 -5.59416090e-02 1.31688380e+02] [ 1.01032334e-01 9.94872607e-01 -4.57855626e-03 9.22669909e+00] [ 5.61178038e-02 -1.10403516e-03 9.98423544e-01 7.31068491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.75, Y:9.23, Z:7.31 [[ 9.94107896e-01 -9.28439085e-02 -5.59419247e-02 1.31749721e+02] [ 9.27333437e-02 9.95680470e-01 -4.57469579e-03 9.23271002e+00] [ 5.61250145e-02 -6.39940525e-04 9.98423544e-01 7.31422087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.81, Y:9.24, Z:7.32 [[ 9.94906070e-01 -8.38592684e-02 -5.59422446e-02 1.31809316e+02] [ 8.37347215e-02 9.96477599e-01 -4.57078061e-03 9.23851984e+00] [ 5.61284959e-02 -1.36810896e-04 9.98423544e-01 7.31772323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.87, Y:9.24, Z:7.32 [[ 9.95514638e-01 -7.62958871e-02 -5.59423231e-02 1.31869275e+02] [ 7.61594546e-02 9.97085179e-01 -4.56981970e-03 9.24237776e+00] [ 5.61279197e-02 2.88785591e-04 9.98423544e-01 7.32049653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.93, Y:9.24, Z:7.32 [[ 9.95768202e-01 -7.29118955e-02 -5.59423231e-02 1.31927826e+02] [ 7.27701259e-02 9.97338270e-01 -4.56981970e-03 9.24474584e+00] [ 5.61266140e-02 4.79551256e-04 9.98423544e-01 7.32404864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.99, Y:9.25, Z:7.33 [[ 9.95534343e-01 -7.60391540e-02 -5.59412126e-02 1.31986216e+02] [ 7.59015550e-02 9.97104782e-01 -4.58337310e-03 9.25022587e+00] [ 5.61277665e-02 3.16880299e-04 9.98423544e-01 7.32910665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.04, Y:9.24, Z:7.33 [[ 9.95272817e-01 -7.93897768e-02 -5.59399919e-02 1.32044737e+02] [ 7.92566301e-02 9.96843640e-01 -4.59822415e-03 9.24322648e+00] [ 5.61284772e-02 1.42872262e-04 9.98423544e-01 7.32995184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.10, Y:9.24, Z:7.33 [[ 9.94168541e-01 -9.21937151e-02 -5.59395223e-02 1.32103518e+02] [ 9.20804770e-02 9.95740925e-01 -4.60392948e-03 9.23941946e+00] [ 5.61257251e-02 -5.73856048e-04 9.98423544e-01 7.33444937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.16, Y:9.24, Z:7.34 [[ 9.93832016e-01 -9.57539826e-02 -5.59383427e-02 1.32163607e+02] [ 9.56455730e-02 9.95404740e-01 -4.61821777e-03 9.24191169e+00] [ 5.61235042e-02 -7.60522166e-04 9.98423544e-01 7.33738563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.23, Y:9.24, Z:7.34 [[ 9.93107180e-01 -1.03000107e-01 -5.59384257e-02 1.32225387e+02] [ 1.02903228e-01 9.94680656e-01 -4.61721256e-03 9.24164052e+00] [ 5.61164433e-02 -1.17085762e-03 9.98423544e-01 7.34042777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.29, Y:9.24, Z:7.34 [[ 9.92061788e-01 -1.12624523e-01 -5.59385869e-02 1.32287545e+02] [ 1.12543015e-01 9.93636135e-01 -4.61525889e-03 9.23838732e+00] [ 5.61023926e-02 -1.71687524e-03 9.98423544e-01 7.34394900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.35, Y:9.24, Z:7.35 [[ 9.91497814e-01 -1.17485919e-01 -5.59387511e-02 1.32350154e+02] [ 1.17412241e-01 9.93072547e-01 -4.61326726e-03 9.23680387e+00] [ 5.60932320e-02 -1.99384975e-03 9.98423544e-01 7.34659942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.41, Y:9.24, Z:7.35 [[ 9.91390662e-01 -1.18386550e-01 -5.59390781e-02 1.32412796e+02] [ 1.18314526e-01 9.92965471e-01 -4.60929935e-03 9.23741233e+00] [ 5.60912521e-02 -2.04878919e-03 9.98423544e-01 7.35083380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.47, Y:9.24, Z:7.35 [[ 9.91693936e-01 -1.15818478e-01 -5.59394146e-02 1.32474395e+02] [ 1.15742606e-01 9.93268565e-01 -4.60521146e-03 9.23956243e+00] [ 5.60962306e-02 -1.90761334e-03 9.98423544e-01 7.35352931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.54, Y:9.24, Z:7.35 [[ 9.91711510e-01 -1.15667783e-01 -5.59396630e-02 1.32535768e+02] [ 1.15591842e-01 9.93286135e-01 -4.60219287e-03 9.24460476e+00] [ 5.60964171e-02 -1.90212103e-03 9.98423544e-01 7.35405175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.60, Y:9.25, Z:7.36 [[ 9.91339372e-01 -1.18814871e-01 -5.59399380e-02 1.32595614e+02] [ 1.18744116e-01 9.92914239e-01 -4.59884698e-03 9.24710806e+00] [ 5.60899724e-02 -2.08352043e-03 9.98423544e-01 7.35742378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.325099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.66, Y:9.25, Z:7.36 [[ 9.91066687e-01 -1.21068310e-01 -5.59400298e-02 1.32656984e+02] [ 1.21001199e-01 9.92641713e-01 -4.59773049e-03 9.25262403e+00] [ 5.60850465e-02 -2.21215316e-03 9.98423544e-01 7.36133852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.72, Y:9.26, Z:7.36 [[ 9.90823096e-01 -1.23045797e-01 -5.59403671e-02 1.32717494e+02] [ 1.22982061e-01 9.92398262e-01 -4.59362315e-03 9.25857650e+00] [ 5.60803491e-02 -2.32819371e-03 9.98423544e-01 7.36379177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.78, Y:9.26, Z:7.37 [[ 9.90909194e-01 -1.22350240e-01 -5.59409283e-02 1.32778968e+02] [ 1.22285784e-01 9.92484332e-01 -4.58677840e-03 9.26486910e+00] [ 5.60816883e-02 -2.29569936e-03 9.98423544e-01 7.36791425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.84, Y:9.27, Z:7.37 [[ 9.91583729e-01 -1.16757370e-01 -5.59412544e-02 1.32840247e+02] [ 1.16684252e-01 9.93158489e-01 -4.58279749e-03 9.27335524e+00] [ 5.60936071e-02 -1.98323601e-03 9.98423544e-01 7.37303672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.90, Y:9.28, Z:7.38 [[ 9.92713846e-01 -1.06722811e-01 -5.59415882e-02 1.32901851e+02] [ 1.06633999e-01 9.94287798e-01 -4.57871906e-03 9.28372786e+00] [ 5.61106924e-02 -1.41991748e-03 9.98423544e-01 7.37714551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.96, Y:9.29, Z:7.38 [[ 9.93793841e-01 -9.61472391e-02 -5.59420252e-02 1.32961506e+02] [ 9.60419757e-02 9.95366778e-01 -4.57337360e-03 9.29180951e+00] [ 5.61225507e-02 -8.27792112e-04 9.98423544e-01 7.38225420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.02, Y:9.30, Z:7.39 [[ 9.94591666e-01 -8.75094213e-02 -5.59421125e-02 1.33021306e+02] [ 8.73905560e-02 9.96163634e-01 -4.57230643e-03 9.30056581e+00] [ 5.61276179e-02 -3.41234441e-04 9.98423544e-01 7.38559696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.08, Y:9.31, Z:7.39 [[ 9.94977063e-01 -8.30127963e-02 -5.59421125e-02 1.33079337e+02] [ 8.28868266e-02 9.96548477e-01 -4.57230643e-03 9.30647647e+00] [ 5.61285869e-02 -8.75241532e-05 9.98423544e-01 7.38836296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.14, Y:9.31, Z:7.39 [[ 9.95377866e-01 -7.80603049e-02 -5.59418688e-02 1.33137778e+02] [ 7.79263493e-02 9.96948620e-01 -4.57528602e-03 9.31222133e+00] [ 5.61283171e-02 1.94792829e-04 9.98423544e-01 7.38975581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.20, Y:9.32, Z:7.39 [[ 9.95613277e-01 -7.49989139e-02 -5.59407322e-02 1.33195514e+02] [ 7.48593500e-02 9.97183543e-01 -4.58914113e-03 9.31768267e+00] [ 5.61273581e-02 3.81322992e-04 9.98423545e-01 7.39254569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.25, Y:9.32, Z:7.39 [[ 9.95634117e-01 -7.47227415e-02 -5.59394043e-02 1.33251817e+02] [ 7.45818359e-02 9.97204263e-01 -4.60527000e-03 9.32165258e+00] [ 5.61271309e-02 4.13100459e-04 9.98423545e-01 7.39495657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.31, Y:9.32, Z:7.40 [[ 9.94938318e-01 -8.34783114e-02 -5.59384995e-02 1.33310071e+02] [ 8.33506071e-02 9.96509592e-01 -4.61623493e-03 9.32365096e+00] [ 5.61286068e-02 -6.96388753e-05 9.98423545e-01 7.40005840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.37, Y:9.32, Z:7.40 [[ 9.94157813e-01 -9.23106495e-02 -5.59373402e-02 1.33368396e+02] [ 9.21961161e-02 9.95730103e-01 -4.63024040e-03 9.32445729e+00] [ 5.61259140e-02 -5.54015839e-04 9.98423545e-01 7.40362252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.43, Y:9.32, Z:7.41 [[ 9.93610249e-01 -9.80296806e-02 -5.59361659e-02 1.33428250e+02] [ 9.79234002e-02 9.95183118e-01 -4.64438383e-03 9.32490209e+00] [ 5.61220154e-02 -8.62752182e-04 9.98423545e-01 7.40638924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.49, Y:9.33, Z:7.41 [[ 9.93561952e-01 -9.85180799e-02 -5.59359981e-02 1.33488460e+02] [ 9.84124591e-02 9.95134865e-01 -4.64640351e-03 9.32626084e+00] [ 5.61216166e-02 -8.88309384e-04 9.98423545e-01 7.40972490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.55, Y:9.33, Z:7.41 [[ 9.93718179e-01 -9.69295892e-02 -5.59359981e-02 1.33548613e+02] [ 9.68214539e-02 9.95290921e-01 -4.64640351e-03 9.32977741e+00] [ 5.61229650e-02 -7.98589029e-04 9.98423545e-01 7.41370657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.61, Y:9.33, Z:7.42 [[ 9.93820513e-01 -9.58746734e-02 -5.59359981e-02 1.33609412e+02] [ 9.57648687e-02 9.95393139e-01 -4.64640351e-03 9.33388647e+00] [ 5.61237811e-02 -7.39012395e-04 9.98423545e-01 7.41629289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.67, Y:9.34, Z:7.42 [[ 9.94372726e-01 -8.99669170e-02 -5.59359981e-02 1.33668617e+02] [ 8.98477685e-02 9.95944672e-01 -4.64640351e-03 9.33737885e+00] [ 5.61271819e-02 -4.05467684e-04 9.98423545e-01 7.41658904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.73, Y:9.34, Z:7.42 [[ 9.95243812e-01 -7.97554304e-02 -5.59359063e-02 1.33726204e+02] [ 7.96200907e-02 9.96814447e-01 -4.64750844e-03 9.33886773e+00] [ 5.61283835e-02 1.71782083e-04 9.98423545e-01 7.42209524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.78, Y:9.34, Z:7.42 [[ 9.95600777e-01 -7.51686028e-02 -5.59354463e-02 1.33783891e+02] [ 7.50257167e-02 9.97170743e-01 -4.65303798e-03 9.34034622e+00] [ 5.61269529e-02 4.35971282e-04 9.98423545e-01 7.42353419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.84, Y:9.34, Z:7.43 [[ 9.95646550e-01 -7.45608858e-02 -5.59340900e-02 1.33842202e+02] [ 7.44161287e-02 9.97216344e-01 -4.66928517e-03 9.34195514e+00] [ 5.61265348e-02 4.86559231e-04 9.98423545e-01 7.42504218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.90, Y:9.34, Z:7.43 [[ 9.95483583e-01 -7.67070262e-02 -5.59327188e-02 1.33899561e+02] [ 7.65647337e-02 9.97053602e-01 -4.68565361e-03 9.34355270e+00] [ 5.61273413e-02 3.82017521e-04 9.98423545e-01 7.42762322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.96, Y:9.34, Z:7.43 [[ 9.95027403e-01 -8.24142204e-02 -5.59317831e-02 1.33958375e+02] [ 8.22803070e-02 9.96598159e-01 -4.69679626e-03 9.34323380e+00] [ 5.61285949e-02 7.13566928e-05 9.98423545e-01 7.43176682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.02, Y:9.34, Z:7.44 [[ 9.93726108e-01 -9.68513753e-02 -5.59306193e-02 1.34016916e+02] [ 9.67395027e-02 9.95298588e-01 -4.71061466e-03 9.33919280e+00] [ 5.61238959e-02 -7.29639529e-04 9.98423545e-01 7.43675673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.07, Y:9.34, Z:7.44 [[ 9.92697131e-01 -1.06884627e-01 -5.59292639e-02 1.34074969e+02] [ 1.06787742e-01 9.94270605e-01 -4.72665243e-03 9.33785265e+00] [ 5.61140296e-02 -1.28042550e-03 9.98423545e-01 7.44023764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.825099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.13, Y:9.34, Z:7.44 [[ 9.92014290e-01 -1.13047423e-01 -5.59278875e-02 1.34133791e+02] [ 1.12959397e-01 9.93588285e-01 -4.74288358e-03 9.33918154e+00] [ 5.61054646e-02 -1.61257216e-03 9.98423546e-01 7.44358265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.19, Y:9.34, Z:7.45 [[ 9.91770799e-01 -1.15164612e-01 -5.59266938e-02 1.34193428e+02] [ 1.15079155e-01 9.93344935e-01 -4.75691821e-03 9.34307315e+00] [ 5.61023266e-02 -1.71822408e-03 9.98423546e-01 7.44808343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.25, Y:9.35, Z:7.45 [[ 9.91695590e-01 -1.15810536e-01 -5.59265225e-02 1.34252590e+02] [ 1.15725991e-01 9.93269776e-01 -4.75893030e-03 9.34730221e+00] [ 5.61012588e-02 -1.75274204e-03 9.98423546e-01 7.45189105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.31, Y:9.35, Z:7.45 [[ 9.91692399e-01 -1.15837942e-01 -5.59263530e-02 1.34312844e+02] [ 1.15753328e-01 9.93266581e-01 -4.76092136e-03 9.35199173e+00] [ 5.61012728e-02 -1.75229199e-03 9.98423546e-01 7.45431671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.37, Y:9.36, Z:7.45 [[ 9.91504544e-01 -1.17435013e-01 -5.59263530e-02 1.34372066e+02] [ 1.17352935e-01 9.93078860e-01 -4.76092136e-03 9.35760322e+00] [ 5.60983778e-02 -1.84264651e-03 9.98423546e-01 7.45492934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.43, Y:9.36, Z:7.46 [[ 9.90851468e-01 -1.22823534e-01 -5.59262669e-02 1.34432539e+02] [ 1.22749958e-01 9.92426205e-01 -4.76193261e-03 9.36398219e+00] [ 5.60875702e-02 -2.14657901e-03 9.98423546e-01 7.45622214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.49, Y:9.37, Z:7.46 [[ 9.90408782e-01 -1.26343571e-01 -5.59262669e-02 1.34492686e+02] [ 1.26275591e-01 9.91983770e-01 -4.76193261e-03 9.37090938e+00] [ 5.60795887e-02 -2.34586253e-03 9.98423546e-01 7.45927179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.55, Y:9.38, Z:7.46 [[ 9.89945087e-01 -1.29926816e-01 -5.59262669e-02 1.34552454e+02] [ 1.29864536e-01 9.91520311e-01 -4.76193261e-03 9.37824853e+00] [ 5.60707323e-02 -2.54878693e-03 9.98423546e-01 7.46391270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.61, Y:9.39, Z:7.47 [[ 9.89421011e-01 -1.33859310e-01 -5.59262669e-02 1.34613856e+02] [ 1.33803290e-01 9.90996470e-01 -4.76193261e-03 9.38741932e+00] [ 5.60601621e-02 -2.77156235e-03 9.98423546e-01 7.46959254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.67, Y:9.40, Z:7.47 [[ 9.89055748e-01 -1.36531831e-01 -5.59266192e-02 1.34674623e+02] [ 1.36480301e-01 9.90631360e-01 -4.75779149e-03 9.39711575e+00] [ 5.60522528e-02 -2.92716083e-03 9.98423546e-01 7.47445762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.74, Y:9.41, Z:7.48 [[ 9.88848990e-01 -1.38021225e-01 -5.59268790e-02 1.34736132e+02] [ 1.37972241e-01 9.90424683e-01 -4.75473586e-03 9.40779792e+00] [ 5.60476159e-02 -3.01464106e-03 9.98423546e-01 7.47921435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.80, Y:9.42, Z:7.48 [[ 9.88724597e-01 -1.38909386e-01 -5.59272222e-02 1.34797512e+02] [ 1.38862044e-01 9.90300340e-01 -4.75069608e-03 9.41784761e+00] [ 5.60446634e-02 -3.06903834e-03 9.98423546e-01 7.48144146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.86, Y:9.43, Z:7.48 [[ 9.88561992e-01 -1.40061757e-01 -5.59275629e-02 1.34859779e+02] [ 1.40016479e-01 9.90137796e-01 -4.74668178e-03 9.42721761e+00] [ 5.60408224e-02 -3.13839124e-03 9.98423546e-01 7.47984316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.92, Y:9.44, Z:7.49 [[ 9.88277590e-01 -1.42054457e-01 -5.59279554e-02 1.34920036e+02] [ 1.42012617e-01 9.89853489e-01 -4.74205288e-03 9.43686831e+00] [ 5.60341115e-02 -3.25601070e-03 9.98423546e-01 7.48536044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.98, Y:9.45, Z:7.49 [[ 9.88562485e-01 -1.40058003e-01 -5.59282500e-02 1.34981626e+02] [ 1.40013176e-01 9.90138302e-01 -4.73857542e-03 9.44788683e+00] [ 5.60403779e-02 -3.14631402e-03 9.98423546e-01 7.48744439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.04, Y:9.46, Z:7.49 [[ 9.89128515e-01 -1.36002840e-01 -5.59285966e-02 1.35043016e+02] [ 1.35951782e-01 9.90704142e-01 -4.73448087e-03 9.46050247e+00] [ 5.60525952e-02 -2.92058235e-03 9.98423546e-01 7.49245564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.10, Y:9.47, Z:7.50 [[ 9.89913082e-01 -1.30169283e-01 -5.59289454e-02 1.35102817e+02] [ 1.30109170e-01 9.91488390e-01 -4.73035704e-03 9.47287249e+00] [ 5.60686472e-02 -2.59422632e-03 9.98423546e-01 7.49620137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.16, Y:9.49, Z:7.50 [[ 9.90776365e-01 -1.23426413e-01 -5.59295630e-02 1.35163774e+02] [ 1.23355987e-01 9.92351245e-01 -4.72304314e-03 9.48603446e+00] [ 5.60847198e-02 -2.21976695e-03 9.98423546e-01 7.49580989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.23, Y:9.50, Z:7.50 [[ 9.91128523e-01 -1.20565707e-01 -5.59299600e-02 1.35225231e+02] [ 1.20491000e-01 9.92703206e-01 -4.71833693e-03 9.49699445e+00] [ 5.60907203e-02 -2.06257852e-03 9.98423546e-01 7.50065282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.29, Y:9.51, Z:7.50 [[ 9.91535253e-01 -1.17173526e-01 -5.59303682e-02 1.35286155e+02] [ 1.17093704e-01 9.93109685e-01 -4.71349380e-03 9.50785704e+00] [ 5.60972871e-02 -1.87549873e-03 9.98423546e-01 7.50204825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.35, Y:9.52, Z:7.51 [[ 9.91392419e-01 -1.18375803e-01 -5.59306746e-02 1.35347330e+02] [ 1.18298096e-01 9.92966957e-01 -4.70985512e-03 9.51879881e+00] [ 5.60948446e-02 -1.94717767e-03 9.98423546e-01 7.50859160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.41, Y:9.53, Z:7.51 [[ 9.91369049e-01 -1.18571183e-01 -5.59310568e-02 1.35408796e+02] [ 1.18494042e-01 9.92943615e-01 -4.70531201e-03 9.52876698e+00] [ 5.60943001e-02 -1.96279628e-03 9.98423546e-01 7.51165862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.47, Y:9.54, Z:7.51 [[ 9.91911526e-01 -1.13943860e-01 -5.59313953e-02 1.35471152e+02] [ 1.13859599e-01 9.93485727e-01 -4.70128472e-03 9.53533053e+00] [ 5.61027255e-02 -1.70506775e-03 9.98423546e-01 7.51466476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.53, Y:9.54, Z:7.52 [[ 9.92156501e-01 -1.11790427e-01 -5.59319063e-02 1.35531805e+02] [ 1.11703093e-01 9.93730534e-01 -4.69519761e-03 9.54103671e+00] [ 5.61061213e-02 -1.58939610e-03 9.98423546e-01 7.51777687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.59, Y:9.55, Z:7.52 [[ 9.92124112e-01 -1.12077384e-01 -5.59321571e-02 1.35593671e+02] [ 1.11990673e-01 9.93698180e-01 -4.69220813e-03 9.54713457e+00] [ 5.61055731e-02 -1.60862709e-03 9.98423546e-01 7.52297720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.325099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.66, Y:9.55, Z:7.53 [[ 9.91926390e-01 -1.13813854e-01 -5.59324981e-02 1.35655771e+02] [ 1.13730128e-01 9.93500619e-01 -4.68813950e-03 9.55184254e+00] [ 5.61025467e-02 -1.71092086e-03 9.98423546e-01 7.52567933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.72, Y:9.56, Z:7.53 [[ 9.91486875e-01 -1.17581008e-01 -5.59328396e-02 1.35718376e+02] [ 1.17503492e-01 9.93061423e-01 -4.68406172e-03 9.55574510e+00] [ 5.60955020e-02 -1.92811827e-03 9.98423546e-01 7.52596924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.78, Y:9.56, Z:7.53 [[ 9.91305522e-01 -1.19100068e-01 -5.59333151e-02 1.35779891e+02] [ 1.19025285e-01 9.92880201e-01 -4.67837734e-03 9.55839076e+00] [ 5.60922762e-02 -2.01977745e-03 9.98423546e-01 7.53105858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.84, Y:9.56, Z:7.53 [[ 9.91442613e-01 -1.17953241e-01 -5.59336955e-02 1.35841337e+02] [ 1.17876893e-01 9.93017217e-01 -4.67382480e-03 9.56192182e+00] [ 5.60944154e-02 -1.95946118e-03 9.98423546e-01 7.53492885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.90, Y:9.57, Z:7.54 [[ 9.91287793e-01 -1.19247110e-01 -5.59342253e-02 1.35903764e+02] [ 1.19173175e-01 9.92862513e-01 -4.66747489e-03 9.56541603e+00] [ 5.60915784e-02 -2.03904835e-03 9.98423546e-01 7.53977841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.96, Y:9.57, Z:7.54 [[ 9.90866797e-01 -1.22696026e-01 -5.59345612e-02 1.35964774e+02] [ 1.22627799e-01 9.92441774e-01 -4.66344694e-03 9.56900916e+00] [ 5.60839815e-02 -2.23827738e-03 9.98423546e-01 7.54231845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.03, Y:9.57, Z:7.54 [[ 9.90856420e-01 -1.22779562e-01 -5.59350949e-02 1.36027753e+02] [ 1.22711829e-01 9.92431418e-01 -4.65703595e-03 9.57077380e+00] [ 5.60835344e-02 -2.24944383e-03 9.98423546e-01 7.54164009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.09, Y:9.57, Z:7.55 [[ 9.90305696e-01 -1.27144932e-01 -5.59356214e-02 1.36088833e+02] [ 1.27084497e-01 9.91880992e-01 -4.65070388e-03 9.57438699e+00] [ 5.60727931e-02 -2.50293176e-03 9.98423546e-01 7.54615332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.15, Y:9.58, Z:7.55 [[ 9.90240006e-01 -1.27655424e-01 -5.59358806e-02 1.36152111e+02] [ 1.27595977e-01 9.91815339e-01 -4.64758444e-03 9.57813790e+00] [ 5.60713537e-02 -2.53496927e-03 9.98423546e-01 7.54932796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.21, Y:9.58, Z:7.55 [[ 9.90342111e-01 -1.26860654e-01 -5.59363764e-02 1.36214180e+02] [ 1.26800280e-01 9.91917408e-01 -4.64161003e-03 9.58386756e+00] [ 5.60731031e-02 -2.49596629e-03 9.98423546e-01 7.55410832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.28, Y:9.59, Z:7.56 [[ 9.90783453e-01 -1.23366264e-01 -5.59367059e-02 1.36275121e+02] [ 1.23300557e-01 9.92358537e-01 -4.63763526e-03 9.59034561e+00] [ 5.60813953e-02 -2.30213470e-03 9.98423546e-01 7.55919682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.34, Y:9.60, Z:7.56 [[ 9.91268046e-01 -1.19409880e-01 -5.59369493e-02 1.36337698e+02] [ 1.19338050e-01 9.92842862e-01 -4.63469775e-03 9.59604504e+00] [ 5.60900295e-02 -2.08117870e-03 9.98423546e-01 7.56228370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.40, Y:9.60, Z:7.57 [[ 9.91714263e-01 -1.15645243e-01 -5.59374530e-02 1.36399605e+02] [ 1.15567778e-01 9.93288812e-01 -4.62861003e-03 9.60164550e+00] [ 5.60973230e-02 -1.87430855e-03 9.98423546e-01 7.56600921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.46, Y:9.61, Z:7.57 [[ 9.91894723e-01 -1.14086914e-01 -5.59377830e-02 1.36461317e+02] [ 1.14007199e-01 9.93469160e-01 -4.62461853e-03 9.60644972e+00] [ 5.61000707e-02 -1.79017527e-03 9.98423546e-01 7.56978347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.52, Y:9.61, Z:7.57 [[ 9.92005623e-01 -1.13118393e-01 -5.59381133e-02 1.36522806e+02] [ 1.13037367e-01 9.93579994e-01 -4.62061989e-03 9.61088123e+00] [ 5.61016674e-02 -1.73941614e-03 9.98423546e-01 7.57149201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.58, Y:9.62, Z:7.58 [[ 9.92081082e-01 -1.12454552e-01 -5.59383576e-02 1.36584464e+02] [ 1.12372639e-01 9.93655407e-01 -4.61766102e-03 9.61535074e+00] [ 5.61027284e-02 -1.70484670e-03 9.98423546e-01 7.57546202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.65, Y:9.62, Z:7.58 [[ 9.92112673e-01 -1.12175339e-01 -5.59386858e-02 1.36646736e+02] [ 1.12093207e-01 9.93686986e-01 -4.61368195e-03 9.61933843e+00] [ 5.61030854e-02 -1.69305433e-03 9.98423546e-01 7.57880582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.71, Y:9.62, Z:7.58 [[ 9.92069526e-01 -1.12556134e-01 -5.59390119e-02 1.36708442e+02] [ 1.12474829e-01 9.93643882e-01 -4.60972475e-03 9.62434364e+00] [ 5.61023097e-02 -1.71856335e-03 9.98423546e-01 7.58221939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.77, Y:9.63, Z:7.59 [[ 9.91612660e-01 -1.16512327e-01 -5.59393381e-02 1.36770360e+02] [ 1.16437526e-01 9.93187339e-01 -4.60576218e-03 9.62975889e+00] [ 5.60948704e-02 -1.94630604e-03 9.98423546e-01 7.58686175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.83, Y:9.63, Z:7.59 [[ 9.91306613e-01 -1.19087996e-01 -5.59396753e-02 1.36831750e+02] [ 1.19017517e-01 9.92881491e-01 -4.60166284e-03 9.63450163e+00] [ 5.60894711e-02 -2.09614246e-03 9.98423546e-01 7.59039054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.89, Y:9.64, Z:7.59 [[ 9.90757311e-01 -1.23574575e-01 -5.59399248e-02 1.36894155e+02] [ 1.23511397e-01 9.92332498e-01 -4.59862758e-03 9.63838196e+00] [ 5.60792788e-02 -2.35309438e-03 9.98423546e-01 7.59492262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.96, Y:9.64, Z:7.60 [[ 9.90169880e-01 -1.28196320e-01 -5.59402512e-02 1.36955754e+02] [ 1.28140717e-01 9.91745353e-01 -4.59465379e-03 9.64301862e+00] [ 5.60675019e-02 -2.61873614e-03 9.98423546e-01 7.60065925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.02, Y:9.65, Z:7.60 [[ 9.89800498e-01 -1.31017651e-01 -5.59405842e-02 1.37018145e+02] [ 1.30966767e-01 9.91376131e-01 -4.59059627e-03 9.64840840e+00] [ 5.60596090e-02 -2.78258299e-03 9.98423546e-01 7.60262337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.08, Y:9.65, Z:7.61 [[ 9.89921419e-01 -1.30100723e-01 -5.59409122e-02 1.37080293e+02] [ 1.30048605e-01 9.91497011e-01 -4.58659576e-03 9.65384907e+00] [ 5.60619667e-02 -2.73466823e-03 9.98423546e-01 7.60517998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.14, Y:9.66, Z:7.61 [[ 9.89934332e-01 -1.30002291e-01 -5.59412428e-02 1.37141484e+02] [ 1.29950243e-01 9.91509927e-01 -4.58256052e-03 9.66176098e+00] [ 5.60620409e-02 -2.73314413e-03 9.98423546e-01 7.61326136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.20, Y:9.67, Z:7.62 [[ 9.90410763e-01 -1.26321260e-01 -5.59415843e-02 1.37201888e+02] [ 1.26263591e-01 9.91986161e-01 -4.57838702e-03 9.66695569e+00] [ 5.60716251e-02 -2.52890154e-03 9.98423546e-01 7.61550918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.26, Y:9.68, Z:7.62 [[ 9.90439498e-01 -1.26095495e-01 -5.59421718e-02 1.37263308e+02] [ 1.26037872e-01 9.92014899e-01 -4.57119736e-03 9.67719640e+00] [ 5.60718753e-02 -2.52333789e-03 9.98423546e-01 7.62367231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.33, Y:9.68, Z:7.62 [[ 9.90998933e-01 -1.21620522e-01 -5.59425078e-02 1.37325742e+02] [ 1.21556015e-01 9.92574066e-01 -4.56708233e-03 9.67929181e+00] [ 5.60825333e-02 -2.27417462e-03 9.98423546e-01 7.62293604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.39, Y:9.68, Z:7.63 [[ 9.91074996e-01 -1.20998971e-01 -5.59428383e-02 1.37388115e+02] [ 1.20933705e-01 9.92650098e-01 -4.56302981e-03 9.68442001e+00] [ 5.60837859e-02 -2.24306998e-03 9.98423546e-01 7.62596124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.45, Y:9.69, Z:7.63 [[ 9.90956072e-01 -1.21968956e-01 -5.59431670e-02 1.37450793e+02] [ 1.21905459e-01 9.92531246e-01 -4.55899614e-03 9.68863245e+00] [ 5.60813973e-02 -2.30201257e-03 9.98423546e-01 7.62986696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.51, Y:9.69, Z:7.63 [[ 9.90579589e-01 -1.24989536e-01 -5.59436702e-02 1.37513198e+02] [ 1.24931190e-01 9.92154962e-01 -4.55281365e-03 9.69487673e+00] [ 5.60738440e-02 -2.47918503e-03 9.98423546e-01 7.63091876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.57, Y:9.70, Z:7.64 [[ 9.90650412e-01 -1.24426784e-01 -5.59440433e-02 1.37574787e+02] [ 1.24367802e-01 9.92225762e-01 -4.54822408e-03 9.69593718e+00] [ 5.60750419e-02 -2.45193766e-03 9.98423546e-01 7.63729457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.64, Y:9.70, Z:7.64 [[ 9.90783385e-01 -1.23363303e-01 -5.59444245e-02 1.37636842e+02] [ 1.23302895e-01 9.92358681e-01 -4.54353001e-03 9.70142645e+00] [ 5.60774402e-02 -2.39645547e-03 9.98423546e-01 7.64146421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.70, Y:9.71, Z:7.65 [[ 9.90826519e-01 -1.23016233e-01 -5.59447566e-02 1.37699227e+02] [ 1.22955504e-01 9.92401803e-01 -4.53943778e-03 9.70705908e+00] [ 5.60781018e-02 -2.38092039e-03 9.98423546e-01 7.64605797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.76, Y:9.71, Z:7.65 [[ 9.90684889e-01 -1.24151439e-01 -5.59452508e-02 1.37760649e+02] [ 1.24092858e-01 9.92260254e-01 -4.53333891e-03 9.71113629e+00] [ 5.60750693e-02 -2.45129573e-03 9.98423546e-01 7.65014259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.82, Y:9.72, Z:7.65 [[ 9.90544717e-01 -1.25264706e-01 -5.59456565e-02 1.37822866e+02] [ 1.25208179e-01 9.92120157e-01 -4.52832657e-03 9.71532771e+00] [ 5.60720530e-02 -2.51934378e-03 9.98423546e-01 7.65367244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.88, Y:9.72, Z:7.66 [[ 9.90627377e-01 -1.24609180e-01 -5.59459761e-02 1.37884826e+02] [ 1.24551832e-01 9.92202787e-01 -4.52437421e-03 9.71846910e+00] [ 5.60735320e-02 -2.48620489e-03 9.98423546e-01 7.65655057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.95, Y:9.72, Z:7.66 [[ 9.90564230e-01 -1.25110019e-01 -5.59462997e-02 1.37946933e+02] [ 1.25053694e-01 9.92139678e-01 -4.52036953e-03 9.72163080e+00] [ 5.60720873e-02 -2.51857506e-03 9.98423546e-01 7.66104474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.01, Y:9.73, Z:7.67 [[ 9.90590249e-01 -1.24903699e-01 -5.59466241e-02 1.38008595e+02] [ 1.24847272e-01 9.92165692e-01 -4.51635049e-03 9.72622669e+00] [ 5.60724300e-02 -2.51093066e-03 9.98423546e-01 7.66526819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.07, Y:9.73, Z:7.67 [[ 9.90599912e-01 -1.24826897e-01 -5.59469404e-02 1.38071372e+02] [ 1.24770569e-01 9.92175359e-01 -4.51242975e-03 9.73062947e+00] [ 5.60724483e-02 -2.51051906e-03 9.98423546e-01 7.67012415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.13, Y:9.73, Z:7.67 [[ 9.90520182e-01 -1.25457783e-01 -5.59474267e-02 1.38134011e+02] [ 1.25402799e-01 9.92095676e-01 -4.50639177e-03 9.73359849e+00] [ 5.60705620e-02 -2.55229192e-03 9.98423546e-01 7.67218343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.20, Y:9.74, Z:7.68 [[ 9.90464277e-01 -1.25898199e-01 -5.59478352e-02 1.38195438e+02] [ 1.25844201e-01 9.92039805e-01 -4.50131447e-03 9.73751092e+00] [ 5.60691869e-02 -2.58231944e-03 9.98423546e-01 7.67518876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.26, Y:9.74, Z:7.68 [[ 9.90859547e-01 -1.22748163e-01 -5.59485988e-02 1.38257196e+02] [ 1.22689692e-01 9.92434916e-01 -4.49180386e-03 9.74154970e+00] [ 5.60767036e-02 -2.41356963e-03 9.98423546e-01 7.67829135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.32, Y:9.75, Z:7.68 [[ 9.91293488e-01 -1.19192865e-01 -5.59489212e-02 1.38317997e+02] [ 1.19128970e-01 9.92868646e-01 -4.48778421e-03 9.74602923e+00] [ 5.60848415e-02 -2.21642609e-03 9.98423546e-01 7.68074857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.38, Y:9.75, Z:7.69 [[ 9.91884960e-01 -1.14166186e-01 -5.59491594e-02 1.38380072e+02] [ 1.14094474e-01 9.93459782e-01 -4.48481278e-03 9.75090414e+00] [ 5.60952536e-02 -1.93507154e-03 9.98423546e-01 7.68568819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.44, Y:9.76, Z:7.69 [[ 9.92554467e-01 -1.08190970e-01 -5.59494771e-02 1.38442185e+02] [ 1.08109999e-01 9.94128840e-01 -4.48084578e-03 9.75561798e+00] [ 5.61057758e-02 -1.60121440e-03 9.98423546e-01 7.68916365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.50, Y:9.76, Z:7.69 [[ 9.93317127e-01 -1.00949019e-01 -5.59498008e-02 1.38503723e+02] [ 1.00856796e-01 9.94890881e-01 -4.47680006e-03 9.76129457e+00] [ 5.61158752e-02 -1.19603545e-03 9.98423546e-01 7.69272687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.57, Y:9.77, Z:7.70 [[ 9.93537389e-01 -9.87574813e-02 -5.59501254e-02 1.38565643e+02] [ 9.86620148e-02 9.95110949e-01 -4.47273968e-03 9.76630463e+00] [ 5.61182989e-02 -1.07631799e-03 9.98423546e-01 7.69565853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.63, Y:9.77, Z:7.70 [[ 9.93624657e-01 -9.78753671e-02 -5.59504516e-02 1.38625658e+02] [ 9.77787336e-02 9.95198146e-01 -4.46865494e-03 9.76993078e+00] [ 5.61191570e-02 -1.03059858e-03 9.98423546e-01 7.69883431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.69, Y:9.77, Z:7.70 [[ 9.93568365e-01 -9.84451244e-02 -5.59505316e-02 1.38687062e+02] [ 9.83494496e-02 9.95141912e-01 -4.46765404e-03 9.77450594e+00] [ 5.61185377e-02 -1.06378426e-03 9.98423546e-01 7.70269187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.75, Y:9.78, Z:7.71 [[ 9.93236073e-01 -1.01742928e-01 -5.59506923e-02 1.38748253e+02] [ 1.01652591e-01 9.94809936e-01 -4.46564011e-03 9.77762509e+00] [ 5.61146519e-02 -1.25209798e-03 9.98423546e-01 7.70579919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.81, Y:9.78, Z:7.71 [[ 9.92928100e-01 -1.04705735e-01 -5.59508510e-02 1.38809780e+02] [ 1.04620206e-01 9.94502231e-01 -4.46365055e-03 9.78107317e+00] [ 5.61106160e-02 -1.42150550e-03 9.98423546e-01 7.70928240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.87, Y:9.78, Z:7.71 [[ 9.92565505e-01 -1.08088785e-01 -5.59511697e-02 1.38871146e+02] [ 1.08008845e-01 9.94139930e-01 -4.45965265e-03 9.78434824e+00] [ 5.61053304e-02 -1.61672384e-03 9.98423546e-01 7.71277179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.93, Y:9.79, Z:7.72 [[ 9.91565704e-01 -1.16905534e-01 -5.59513276e-02 1.38932900e+02] [ 1.16839701e-01 9.93140782e-01 -4.45767031e-03 9.78574077e+00] [ 5.60886716e-02 -2.11726342e-03 9.98423546e-01 7.71598188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.00, Y:9.79, Z:7.72 [[ 9.90924763e-01 -1.22219175e-01 -5.59516488e-02 1.38995287e+02] [ 1.22162014e-01 9.92500180e-01 -4.45363558e-03 9.78866678e+00] [ 5.60763411e-02 -2.42194832e-03 9.98423546e-01 7.71912400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.06, Y:9.79, Z:7.72 [[ 9.89920399e-01 -1.30103730e-01 -5.59519666e-02 1.39057727e+02] [ 1.30059338e-01 9.91496228e-01 -4.44963930e-03 9.79061239e+00] [ 5.60550785e-02 -2.87228701e-03 9.98423546e-01 7.72306743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.12, Y:9.79, Z:7.72 [[ 9.89176325e-01 -1.35644900e-01 -5.59522868e-02 1.39119486e+02] [ 1.35609560e-01 9.90752383e-01 -4.44560881e-03 9.79311260e+00] [ 5.60378856e-02 -3.19017400e-03 9.98423546e-01 7.72420528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.18, Y:9.80, Z:7.73 [[ 9.89135675e-01 -1.35940878e-01 -5.59526035e-02 1.39181642e+02] [ 1.35906234e-01 9.90711748e-01 -4.44162001e-03 9.79843988e+00] [ 5.60366993e-02 -3.21094282e-03 9.98423546e-01 7.72935226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.24, Y:9.80, Z:7.73 [[ 9.89577313e-01 -1.32687579e-01 -5.59530886e-02 1.39243696e+02] [ 1.32648098e-01 9.91153272e-01 -4.43550002e-03 9.80478064e+00] [ 5.60466226e-02 -3.03280060e-03 9.98423547e-01 7.73274541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.30, Y:9.81, Z:7.73 [[ 9.89951233e-01 -1.29868288e-01 -5.59534114e-02 1.39304929e+02] [ 1.29824548e-01 9.91527079e-01 -4.43142421e-03 9.81088560e+00] [ 5.60548241e-02 -2.87723246e-03 9.98423547e-01 7.73499162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.37, Y:9.82, Z:7.74 [[ 9.90402722e-01 -1.26378947e-01 -5.59536487e-02 1.39366970e+02] [ 1.26329823e-01 9.91978409e-01 -4.42842544e-03 9.81825084e+00] [ 5.60644712e-02 -2.68268995e-03 9.98423547e-01 7.73845027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.43, Y:9.83, Z:7.74 [[ 9.90740959e-01 -1.23699252e-01 -5.59539718e-02 1.39427992e+02] [ 1.23646096e-01 9.92316516e-01 -4.42433998e-03 9.82526924e+00] [ 5.60713379e-02 -2.53511531e-03 9.98423547e-01 7.74128457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.49, Y:9.83, Z:7.74 [[ 9.91020134e-01 -1.21442249e-01 -5.59542101e-02 1.39489245e+02] [ 1.21385674e-01 9.92595572e-01 -4.42132348e-03 9.83235645e+00] [ 5.60768367e-02 -2.41041892e-03 9.98423547e-01 7.74449728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.55, Y:9.84, Z:7.75 [[ 9.91232470e-01 -1.19696624e-01 -5.59545235e-02 1.39551262e+02] [ 1.19637498e-01 9.92807814e-01 -4.41735404e-03 9.84104413e+00] [ 5.60808305e-02 -2.31563442e-03 9.98423547e-01 7.74746492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.61, Y:9.85, Z:7.75 [[ 9.91517148e-01 -1.17314966e-01 -5.59548328e-02 1.39613539e+02] [ 1.17252277e-01 9.93092355e-01 -4.41343234e-03 9.84700354e+00] [ 5.60860784e-02 -2.18483770e-03 9.98423547e-01 7.74863655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.67, Y:9.86, Z:7.75 [[ 9.91294660e-01 -1.19180188e-01 -5.59551656e-02 1.39673831e+02] [ 1.19120700e-01 9.92869990e-01 -4.40920977e-03 9.85699876e+00] [ 5.60816951e-02 -2.29459239e-03 9.98423547e-01 7.75455085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.74, Y:9.87, Z:7.76 [[ 9.91426719e-01 -1.18076337e-01 -5.59557011e-02 1.39735674e+02] [ 1.18015478e-01 9.93001997e-01 -4.40240345e-03 9.86619373e+00] [ 5.60839426e-02 -2.23897842e-03 9.98423547e-01 7.76013064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.80, Y:9.87, Z:7.76 [[ 9.91484092e-01 -1.17593450e-01 -5.59560201e-02 1.39797444e+02] [ 1.17532053e-01 9.93059349e-01 -4.39834437e-03 9.87385652e+00] [ 5.60848654e-02 -2.21573746e-03 9.98423547e-01 7.76478104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.86, Y:9.88, Z:7.77 [[ 9.91635756e-01 -1.16307415e-01 -5.59563388e-02 1.39858149e+02] [ 1.16244204e-01 9.93210942e-01 -4.39428571e-03 9.88159177e+00] [ 5.60875360e-02 -2.14706922e-03 9.98423547e-01 7.76711755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.92, Y:9.89, Z:7.77 [[ 9.92015637e-01 -1.13021405e-01 -5.59565742e-02 1.39920242e+02] [ 1.12953145e-01 9.93590612e-01 -4.39128711e-03 9.88942711e+00] [ 5.60942362e-02 -1.96424555e-03 9.98423547e-01 7.76950592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.98, Y:9.90, Z:7.77 [[ 9.92716104e-01 -1.06693783e-01 -5.59568909e-02 1.39981900e+02] [ 1.06615709e-01 9.94290623e-01 -4.38724689e-03 9.89775707e+00] [ 5.61055039e-02 -1.61059299e-03 9.98423547e-01 7.77395050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.04, Y:9.91, Z:7.77 [[ 9.93441389e-01 -9.97145804e-02 -5.59572058e-02 1.40043461e+02] [ 9.96256693e-02 9.95015333e-01 -4.38322709e-03 9.90507822e+00] [ 5.61153494e-02 -1.22029487e-03 9.98423547e-01 7.77453033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.10, Y:9.91, Z:7.78 [[ 9.93582795e-01 -9.82953212e-02 -5.59576558e-02 1.40103935e+02] [ 9.82044856e-02 9.95156629e-01 -4.37747437e-03 9.91046234e+00] [ 5.61169174e-02 -1.14590959e-03 9.98423547e-01 7.78160854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.17, Y:9.92, Z:7.78 [[ 9.93948908e-01 -9.45213115e-02 -5.59579265e-02 1.40165411e+02] [ 9.44246946e-02 9.95522398e-01 -4.37401148e-03 9.91632750e+00] [ 5.61208065e-02 -9.36266185e-04 9.98423547e-01 7.78483837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.23, Y:9.92, Z:7.79 [[ 9.94363132e-01 -9.00590758e-02 -5.59582426e-02 1.40226697e+02] [ 8.99556250e-02 9.95936187e-01 -4.36996388e-03 9.92280124e+00] [ 5.61243937e-02 -6.88427720e-04 9.98423547e-01 7.78783224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.29, Y:9.93, Z:7.79 [[ 9.94670398e-01 -8.65993512e-02 -5.59584760e-02 1.40287778e+02] [ 8.64905970e-02 9.96243096e-01 -4.36697300e-03 9.92613432e+00] [ 5.61264224e-02 -4.96183224e-04 9.98423547e-01 7.78948342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.35, Y:9.93, Z:7.79 [[ 9.94827861e-01 -8.47712075e-02 -5.59586312e-02 1.40349272e+02] [ 8.46596751e-02 9.96400364e-01 -4.36498419e-03 9.92957336e+00] [ 5.61272255e-02 -3.95031641e-04 9.98423547e-01 7.79322489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.41, Y:9.93, Z:7.80 [[ 9.94866190e-01 -8.43200904e-02 -5.59587884e-02 1.40409292e+02] [ 8.42079584e-02 9.96438651e-01 -4.36296720e-03 9.93316111e+00] [ 5.61273854e-02 -3.71606775e-04 9.98423547e-01 7.79910027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.47, Y:9.94, Z:7.80 [[ 9.94811453e-01 -8.49634470e-02 -5.59587884e-02 1.40470142e+02] [ 8.48523319e-02 9.96383985e-01 -4.36296720e-03 9.93565419e+00] [ 5.61271333e-02 -4.07903951e-04 9.98423547e-01 7.80263386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.53, Y:9.94, Z:7.81 [[ 9.94681102e-01 -8.64761174e-02 -5.59587884e-02 1.40530070e+02] [ 8.63673937e-02 9.96253802e-01 -4.36296720e-03 9.93657069e+00] [ 5.61264482e-02 -4.93253693e-04 9.98423547e-01 7.80528320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.59, Y:9.94, Z:7.81 [[ 9.94482083e-01 -8.87356149e-02 -5.59587103e-02 1.40590228e+02] [ 8.86304081e-02 9.96055022e-01 -4.36396841e-03 9.93830268e+00] [ 5.61251939e-02 -6.19754937e-04 9.98423547e-01 7.80887211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.65, Y:9.94, Z:7.81 [[ 9.94213819e-01 -9.16924523e-02 -5.59587103e-02 1.40650744e+02] [ 9.15919233e-02 9.95787063e-01 -4.36396841e-03 9.93712044e+00] [ 5.61231028e-02 -7.86648205e-04 9.98423547e-01 7.81047446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.71, Y:9.94, Z:7.81 [[ 9.94002916e-01 -9.39511831e-02 -5.59587103e-02 1.40711378e+02] [ 9.38542289e-02 9.95576386e-01 -4.36396841e-03 9.93846927e+00] [ 5.61211706e-02 -9.14164278e-04 9.98423547e-01 7.81311848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.77, Y:9.94, Z:7.82 [[ 9.93943669e-01 -9.45758805e-02 -5.59587877e-02 1.40772282e+02] [ 9.44799711e-02 9.95517202e-01 -4.36297550e-03 9.94205101e+00] [ 5.61205681e-02 -9.50432774e-04 9.98423547e-01 7.81610173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.83, Y:9.94, Z:7.82 [[ 9.93599799e-01 -9.81225528e-02 -5.59589414e-02 1.40833343e+02] [ 9.80323708e-02 9.95173671e-01 -4.36100437e-03 9.94327872e+00] [ 5.61167780e-02 -1.15269463e-03 9.98423547e-01 7.82099237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.89, Y:9.95, Z:7.82 [[ 9.93387164e-01 -1.00252289e-01 -5.59590978e-02 1.40894516e+02] [ 1.00165594e-01 9.94961232e-01 -4.35899649e-03 9.94597506e+00] [ 5.61141322e-02 -1.27500512e-03 9.98423547e-01 7.82424664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.96, Y:9.95, Z:7.83 [[ 9.92960575e-01 -1.04392804e-01 -5.59592550e-02 1.40955328e+02] [ 1.04312786e-01 9.94534997e-01 -4.35697735e-03 9.94876826e+00] [ 5.61082745e-02 -1.51095903e-03 9.98423547e-01 7.82785952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.02, Y:9.95, Z:7.83 [[ 9.92667893e-01 -1.07140087e-01 -5.59594144e-02 1.41017609e+02] [ 1.07064541e-01 9.94242535e-01 -4.35492827e-03 9.95252477e+00] [ 5.61038175e-02 -1.66827154e-03 9.98423547e-01 7.83159168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.08, Y:9.96, Z:7.83 [[ 9.92289843e-01 -1.10586509e-01 -5.59597334e-02 1.41079223e+02] [ 1.10516663e-01 9.93864748e-01 -4.35082571e-03 9.95514999e+00] [ 5.60975490e-02 -1.86720283e-03 9.98423547e-01 7.83422369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.14, Y:9.96, Z:7.84 [[ 9.92162947e-01 -1.11719111e-01 -5.59600467e-02 1.41140865e+02] [ 1.11651290e-01 9.93737941e-01 -4.34679252e-03 9.95923533e+00] [ 5.60952414e-02 -1.93528493e-03 9.98423547e-01 7.83862994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.20, Y:9.96, Z:7.84 [[ 9.91949053e-01 -1.13602440e-01 -5.59603564e-02 1.41202670e+02] [ 1.13537834e-01 9.93524182e-01 -4.34280150e-03 9.96409612e+00] [ 5.60913202e-02 -2.04577979e-03 9.98423547e-01 7.84211128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.26, Y:9.97, Z:7.84 [[ 9.91532647e-01 -1.17181114e-01 -5.59606736e-02 1.41263289e+02] [ 1.17122422e-01 9.93108007e-01 -4.33871031e-03 9.96916970e+00] [ 5.60834080e-02 -2.25227672e-03 9.98423547e-01 7.84386950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.32, Y:9.98, Z:7.85 [[ 9.90895757e-01 -1.22449887e-01 -5.59609080e-02 1.41324790e+02] [ 1.22399740e-01 9.92471413e-01 -4.33568515e-03 9.97504265e+00] [ 5.60705056e-02 -2.55338859e-03 9.98423547e-01 7.84994294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.39, Y:9.98, Z:7.85 [[ 9.90831224e-01 -1.22970843e-01 -5.59612125e-02 1.41386822e+02] [ 1.22921747e-01 9.92406913e-01 -4.33175087e-03 9.98011950e+00] [ 5.60689732e-02 -2.58681600e-03 9.98423547e-01 7.85351566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.45, Y:9.99, Z:7.86 [[ 9.90760317e-01 -1.23540698e-01 -5.59615151e-02 1.41449183e+02] [ 1.23492728e-01 9.92336040e-01 -4.32783796e-03 9.98519468e+00] [ 5.60672924e-02 -2.62299006e-03 9.98423547e-01 7.85729922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.51, Y:9.99, Z:7.86 [[ 9.90641384e-01 -1.24490653e-01 -5.59618236e-02 1.41511493e+02] [ 1.24444419e-01 9.92217159e-01 -4.32384518e-03 9.99138061e+00] [ 5.60645600e-02 -2.68075667e-03 9.98423547e-01 7.85948662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.57, Y:10.00, Z:7.86 [[ 9.90551804e-01 -1.25201288e-01 -5.59621349e-02 1.41573000e+02] [ 1.25156412e-01 9.92127619e-01 -4.31981353e-03 9.99656819e+00] [ 5.60624258e-02 -2.72502091e-03 9.98423547e-01 7.86217341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.63, Y:10.00, Z:7.87 [[ 9.90353105e-01 -1.26763291e-01 -5.59624419e-02 1.41634899e+02] [ 1.26721125e-01 9.91928994e-01 -4.31583277e-03 1.00015587e+01] [ 5.60578578e-02 -2.81742520e-03 9.98423547e-01 7.86656639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.70, Y:10.01, Z:7.87 [[ 9.90134205e-01 -1.28461769e-01 -5.59627565e-02 1.41696193e+02] [ 1.28422535e-01 9.91710170e-01 -4.31174887e-03 1.00066502e+01] [ 5.60527297e-02 -2.91766904e-03 9.98423547e-01 7.87042119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.76, Y:10.01, Z:7.88 [[ 9.90028010e-01 -1.29277431e-01 -5.59632520e-02 1.41759013e+02] [ 1.29239859e-01 9.91604015e-01 -4.30530868e-03 1.00121259e+01] [ 5.60499646e-02 -2.97030664e-03 9.98423547e-01 7.87519304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.82, Y:10.02, Z:7.88 [[ 9.89907526e-01 -1.30196587e-01 -5.59637183e-02 1.41821170e+02] [ 1.30160821e-01 9.91483574e-01 -4.29923817e-03 1.00179899e+01] [ 5.60468536e-02 -3.02843530e-03 9.98423547e-01 7.87989321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.88, Y:10.02, Z:7.88 [[ 9.89984875e-01 -1.29607007e-01 -5.59640229e-02 1.41884305e+02] [ 1.29570526e-01 9.91560906e-01 -4.29527013e-03 1.00239438e+01] [ 5.60484343e-02 -2.99903540e-03 9.98423547e-01 7.88334513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.94, Y:10.03, Z:7.89 [[ 9.89930832e-01 -1.30018941e-01 -5.59644851e-02 1.41944839e+02] [ 1.29983455e-01 9.91506885e-01 -4.28923859e-03 1.00297673e+01] [ 5.60468546e-02 -3.02840762e-03 9.98423547e-01 7.88655728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.01, Y:10.04, Z:7.89 [[ 9.90157691e-01 -1.28279765e-01 -5.59647119e-02 1.42007075e+02] [ 1.28241678e-01 9.91733684e-01 -4.28627710e-03 1.00371774e+01] [ 5.60519326e-02 -2.93291834e-03 9.98423547e-01 7.89141843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.07, Y:10.04, Z:7.89 [[ 9.90578970e-01 -1.24984813e-01 -5.59651697e-02 1.42068896e+02] [ 1.24941821e-01 9.92154837e-01 -4.28029218e-03 1.00424981e+01] [ 5.60610853e-02 -2.75242276e-03 9.98423547e-01 7.89312320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.13, Y:10.05, Z:7.90 [[ 9.90814659e-01 -1.23102295e-01 -5.59654950e-02 1.42130712e+02] [ 1.23056548e-01 9.92390448e-01 -4.27603394e-03 1.00480119e+01] [ 5.60660123e-02 -2.65016350e-03 9.98423547e-01 7.90095282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.19, Y:10.05, Z:7.90 [[ 9.91077459e-01 -1.20968163e-01 -5.59658278e-02 1.42192968e+02] [ 1.20919268e-01 9.92653154e-01 -4.27167447e-03 1.00530283e+01] [ 5.60713921e-02 -2.53378665e-03 9.98423547e-01 7.90493075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.26, Y:10.06, Z:7.91 [[ 9.91035229e-01 -1.21313436e-01 -5.59662877e-02 1.42255157e+02] [ 1.21265430e-01 9.92610951e-01 -4.26564021e-03 1.00580107e+01] [ 5.60702295e-02 -2.55937623e-03 9.98423547e-01 7.90831741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.32, Y:10.06, Z:7.91 [[ 9.91016499e-01 -1.21466203e-01 -5.59665913e-02 1.42317157e+02] [ 1.21418664e-01 9.92592236e-01 -4.26165374e-03 1.00615836e+01] [ 5.60696508e-02 -2.57201958e-03 9.98423547e-01 7.90936247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.38, Y:10.06, Z:7.91 [[ 9.91087312e-01 -1.20886915e-01 -5.59668927e-02 1.42378871e+02] [ 1.20838679e-01 9.92663027e-01 -4.25769087e-03 1.00647569e+01] [ 5.60709643e-02 -2.54322198e-03 9.98423547e-01 7.91167333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.44, Y:10.07, Z:7.91 [[ 9.91605266e-01 -1.16561872e-01 -5.59671941e-02 1.42440685e+02] [ 1.16506985e-01 9.93180763e-01 -4.25372632e-03 1.00705114e+01] [ 5.60813628e-02 -2.30255163e-03 9.98423547e-01 7.91075609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.50, Y:10.07, Z:7.92 [[ 9.92034995e-01 -1.12845866e-01 -5.59676627e-02 1.42501378e+02] [ 1.12785425e-01 9.93610289e-01 -4.24755073e-03 1.00749136e+01] [ 5.60893641e-02 -2.09861766e-03 9.98423547e-01 7.91824554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.56, Y:10.08, Z:7.92 [[ 9.93316931e-01 -1.00940711e-01 -5.59682732e-02 1.42562398e+02] [ 1.00861836e-01 9.94891410e-01 -4.23949227e-03 1.00817866e+01] [ 5.61102915e-02 -1.43390334e-03 9.98423547e-01 7.92417818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.62, Y:10.09, Z:7.93 [[ 9.93970174e-01 -9.42910031e-02 -5.59687319e-02 1.42623548e+02] [ 9.42019344e-02 9.95544109e-01 -4.23342711e-03 1.00888020e+01] [ 5.61185155e-02 -1.06446253e-03 9.98423547e-01 7.92830686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.68, Y:10.09, Z:7.93 [[ 9.94270328e-01 -9.10713748e-02 -5.59689071e-02 1.42682790e+02] [ 9.09773396e-02 9.95843974e-01 -4.23110934e-03 1.00900326e+01] [ 5.61216319e-02 -8.85035796e-04 9.98423547e-01 7.93323936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.74, Y:10.09, Z:7.93 [[ 9.94043846e-01 -9.35110225e-02 -5.59689287e-02 1.42744146e+02] [ 9.34208653e-02 9.95617719e-01 -4.23082378e-03 1.00914390e+01] [ 5.61192858e-02 -1.02304140e-03 9.98423547e-01 7.93465638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.80, Y:10.09, Z:7.94 [[ 9.93816605e-01 -9.58958650e-02 -5.59690820e-02 1.42804069e+02] [ 9.58095986e-02 9.95390696e-01 -4.22879505e-03 1.00936395e+01] [ 5.61166275e-02 -1.15972853e-03 9.98423547e-01 7.93597320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.86, Y:10.10, Z:7.94 [[ 9.93343728e-01 -1.00676170e-01 -5.59691575e-02 1.42864237e+02] [ 1.00597534e-01 9.94918219e-01 -4.22779562e-03 1.00958666e+01] [ 5.61103728e-02 -1.43070496e-03 9.98423547e-01 7.93784970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.93, Y:10.10, Z:7.94 [[ 9.93350403e-01 -1.00610134e-01 -5.59694285e-02 1.42925288e+02] [ 1.00531596e-01 9.94924899e-01 -4.22420477e-03 1.00995089e+01] [ 5.61103758e-02 -1.43058044e-03 9.98423547e-01 7.94228941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.99, Y:10.10, Z:7.95 [[ 9.93623597e-01 -9.78751928e-02 -5.59695813e-02 1.42986697e+02] [ 9.77924343e-02 9.95197876e-01 -4.22217989e-03 1.01040655e+01] [ 5.61140551e-02 -1.27814403e-03 9.98423547e-01 7.94675449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.05, Y:10.11, Z:7.95 [[ 9.94488821e-01 -8.86531139e-02 -5.59697347e-02 1.43047172e+02] [ 8.85558689e-02 9.96062271e-01 -4.22014464e-03 1.01091967e+01] [ 5.61234701e-02 -7.59561825e-04 9.98423547e-01 7.95372045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.11, Y:10.11, Z:7.96 [[ 9.94912941e-01 -8.37592448e-02 -5.59698859e-02 1.43107291e+02] [ 8.36543726e-02 9.96485902e-01 -4.21813807e-03 1.01123581e+01] [ 5.61265104e-02 -4.85445536e-04 9.98423547e-01 7.95746934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.17, Y:10.11, Z:7.96 [[ 9.95445475e-01 -7.71730345e-02 -5.59698859e-02 1.43166370e+02] [ 7.70577547e-02 9.97017708e-01 -4.21813807e-03 1.01130568e+01] [ 5.61284939e-02 -1.13987279e-04 9.98423547e-01 7.95961645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.23, Y:10.11, Z:7.96 [[ 9.95566272e-01 -7.55989103e-02 -5.59696591e-02 1.43225017e+02] [ 7.54809755e-02 9.97138307e-01 -4.22114640e-03 1.01135481e+01] [ 5.61286052e-02 -2.22134754e-05 9.98423547e-01 7.96100774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.28, Y:10.11, Z:7.96 [[ 9.95442956e-01 -7.72064495e-02 -5.59686052e-02 1.43284034e+02] [ 7.70902703e-02 9.97015122e-01 -4.23507414e-03 1.01111663e+01] [ 5.61285208e-02 -9.88601752e-05 9.98423547e-01 7.96272511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.34, Y:10.11, Z:7.97 [[ 9.95363205e-01 -7.82286656e-02 -5.59675435e-02 1.43341808e+02] [ 7.81133146e-02 9.96935432e-01 -4.24905850e-03 1.01139769e+01] [ 5.61284253e-02 -1.42453844e-04 9.98423547e-01 7.96677055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.40, Y:10.11, Z:7.97 [[ 9.95086452e-01 -8.16745128e-02 -5.59663091e-02 1.43400262e+02] [ 8.15636952e-02 9.96659004e-01 -4.26525598e-03 1.01139882e+01] [ 5.61276886e-02 -3.20520532e-04 9.98423547e-01 7.97276005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.46, Y:10.11, Z:7.98 [[ 9.94579085e-01 -8.76375371e-02 -5.59652228e-02 1.43459455e+02] [ 8.75353479e-02 9.96152222e-01 -4.27946223e-03 1.01130949e+01] [ 5.61249225e-02 -6.42671615e-04 9.98423547e-01 7.97887704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.52, Y:10.11, Z:7.98 [[ 9.94006281e-01 -9.39123455e-02 -5.59641416e-02 1.43518742e+02] [ 9.38192929e-02 9.95579985e-01 -4.29355449e-03 1.01127309e+01] [ 5.61199970e-02 -9.82696059e-04 9.98423548e-01 7.98244468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.58, Y:10.11, Z:7.98 [[ 9.92780628e-01 -1.06088465e-01 -5.59630428e-02 1.43577262e+02] [ 1.06013904e-01 9.94355316e-01 -4.30782923e-03 1.01097822e+01] [ 5.61041601e-02 -1.65613122e-03 9.98423548e-01 7.98481934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.64, Y:10.11, Z:7.99 [[ 9.91800202e-01 -1.14893602e-01 -5.59626563e-02 1.43638015e+02] [ 1.14832734e-01 9.93375479e-01 -4.31284477e-03 1.01090787e+01] [ 5.60874488e-02 -2.14886452e-03 9.98423548e-01 7.98748180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.70, Y:10.11, Z:7.99 [[ 9.90375783e-01 -1.26585901e-01 -5.59626563e-02 1.43699594e+02] [ 1.26543621e-01 9.91951668e-01 -4.31284477e-03 1.01062145e+01] [ 5.60581956e-02 -2.81038013e-03 9.98423548e-01 7.98818461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.76, Y:10.11, Z:7.99 [[ 9.89447708e-01 -1.33646540e-01 -5.59628133e-02 1.43761319e+02] [ 1.33615616e-01 9.91023857e-01 -4.31080694e-03 1.01060920e+01] [ 5.60366074e-02 -3.21218770e-03 9.98423548e-01 7.98987285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.82, Y:10.11, Z:7.99 [[ 9.89267846e-01 -1.34971385e-01 -5.59629682e-02 1.43822991e+02] [ 1.34942685e-01 9.90844037e-01 -4.30879512e-03 1.01095573e+01] [ 5.60321373e-02 -3.28924072e-03 9.98423548e-01 7.99460594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.88, Y:10.11, Z:8.00 [[ 9.89468293e-01 -1.33493845e-01 -5.59632888e-02 1.43884024e+02] [ 1.33463026e-01 9.91044445e-01 -4.30462641e-03 1.01144550e+01] [ 5.60367476e-02 -3.20973850e-03 9.98423548e-01 7.99853324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.95, Y:10.12, Z:8.00 [[ 9.89744100e-01 -1.31433147e-01 -5.59637787e-02 1.43945452e+02] [ 1.31399405e-01 9.91320191e-01 -4.29824804e-03 1.01217425e+01] [ 5.60429561e-02 -3.09944160e-03 9.98423548e-01 8.00342939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.01, Y:10.13, Z:8.01 [[ 9.89703809e-01 -1.31736062e-01 -5.59640996e-02 1.44006487e+02] [ 1.31703038e-01 9.91279915e-01 -4.29406508e-03 1.01280837e+01] [ 5.60417712e-02 -3.12078940e-03 9.98423548e-01 8.00560802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54509989299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.07, Y:10.13, Z:8.01 [[ 9.89587157e-01 -1.32609279e-01 -5.59646139e-02 1.44068488e+02] [ 1.32578025e-01 9.91163299e-01 -4.28735244e-03 1.01339007e+01] [ 5.60386141e-02 -3.17696906e-03 9.98423548e-01 8.00829993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.13, Y:10.14, Z:8.01 [[ 9.89633856e-01 -1.32260195e-01 -5.59649258e-02 1.44129880e+02] [ 1.32228614e-01 9.91209991e-01 -4.28327753e-03 1.01413993e+01] [ 5.60395007e-02 -3.16128811e-03 9.98423548e-01 8.01186788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.19, Y:10.15, Z:8.02 [[ 9.89962395e-01 -1.29778072e-01 -5.59652395e-02 1.44191112e+02] [ 1.29742770e-01 9.91538452e-01 -4.27917457e-03 1.01497214e+01] [ 5.60470300e-02 -3.02486331e-03 9.98423548e-01 8.01626696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.25, Y:10.16, Z:8.02 [[ 9.90645676e-01 -1.24454814e-01 -5.59655515e-02 1.44251274e+02] [ 1.24411271e-01 9.92221527e-01 -4.27509046e-03 1.01589429e+01] [ 5.60622805e-02 -2.72764553e-03 9.98423548e-01 8.01960394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.31, Y:10.17, Z:8.03 [[ 9.91784169e-01 -1.15030406e-01 -5.59657817e-02 1.44312785e+02] [ 1.14972052e-01 9.93359540e-01 -4.27207460e-03 1.01702057e+01] [ 5.60855616e-02 -2.19752481e-03 9.98423548e-01 8.02514942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.37, Y:10.18, Z:8.03 [[ 9.92978246e-01 -1.04220915e-01 -5.59660959e-02 1.44372268e+02] [ 1.04145638e-01 9.94552900e-01 -4.26795383e-03 1.01799247e+01] [ 5.61060530e-02 -1.59063944e-03 9.98423548e-01 8.02955579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.43, Y:10.19, Z:8.03 [[ 9.93889483e-01 -9.51392826e-02 -5.59661728e-02 1.44432387e+02] [ 9.50496705e-02 9.95463386e-01 -4.26694482e-03 1.01883913e+01] [ 5.61182300e-02 -1.07869470e-03 9.98423548e-01 8.03273453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.49, Y:10.19, Z:8.04 [[ 9.94290714e-01 -9.08502270e-02 -5.59661728e-02 1.44492713e+02] [ 9.07538251e-02 9.95864216e-01 -4.26694482e-03 1.01946646e+01] [ 5.61223617e-02 -8.36560645e-04 9.98423548e-01 8.03602004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.55, Y:10.20, Z:8.04 [[ 9.94764642e-01 -8.55049348e-02 -5.59661728e-02 1.44551529e+02] [ 8.54000772e-02 9.96337603e-01 -4.26694482e-03 1.01988323e+01] [ 5.61260474e-02 -5.34909641e-04 9.98423548e-01 8.03833931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.61, Y:10.20, Z:8.04 [[ 9.94754060e-01 -8.56286672e-02 -5.59650966e-02 1.44610007e+02] [ 8.55232137e-02 9.96326981e-01 -4.28101483e-03 1.02031658e+01] [ 5.61261133e-02 -5.27758038e-04 9.98423548e-01 8.04086643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.67, Y:10.21, Z:8.04 [[ 9.94214324e-01 -9.16837283e-02 -5.59640150e-02 1.44667959e+02] [ 9.15870606e-02 9.95787810e-01 -4.29510706e-03 1.02069089e+01] [ 5.61220754e-02 -8.55322677e-04 9.98423548e-01 8.04480244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.73, Y:10.21, Z:8.05 [[ 9.93536236e-01 -9.87619118e-02 -5.59627866e-02 1.44726825e+02] [ 9.86755546e-02 9.95110320e-01 -4.31105343e-03 1.02095543e+01] [ 5.61149144e-02 -1.23897121e-03 9.98423548e-01 8.04777587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.79, Y:10.21, Z:8.05 [[ 9.92255501e-01 -1.10893217e-01 -5.59617241e-02 1.44787220e+02] [ 1.10825324e-01 9.93830490e-01 -4.32480242e-03 1.02114801e+01] [ 5.60960590e-02 -1.91066719e-03 9.98423548e-01 8.05040670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.85, Y:10.21, Z:8.05 [[ 9.90921655e-01 -1.22239763e-01 -5.59617241e-02 1.44848072e+02] [ 1.22189895e-01 9.92497318e-01 -4.32480242e-03 1.02133452e+01] [ 5.60705239e-02 -2.55241684e-03 9.98423548e-01 8.05344288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.91, Y:10.22, Z:8.06 [[ 9.90558319e-01 -1.25149846e-01 -5.59618803e-02 1.44909684e+02] [ 1.25104721e-01 9.92134125e-01 -4.32277975e-03 1.02170574e+01] [ 5.60626864e-02 -2.71912999e-03 9.98423548e-01 8.05694117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.97, Y:10.22, Z:8.06 [[ 9.89725225e-01 -1.31575879e-01 -5.59621952e-02 1.44972093e+02] [ 1.31541212e-01 9.91301295e-01 -4.31869937e-03 1.02188309e+01] [ 5.60436333e-02 -3.08700928e-03 9.98423548e-01 8.06104821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.03, Y:10.22, Z:8.06 [[ 9.89550597e-01 -1.32882705e-01 -5.59625178e-02 1.45033273e+02] [ 1.32850355e-01 9.91126716e-01 -4.31451470e-03 1.02226438e+01] [ 5.60392709e-02 -3.16520976e-03 9.98423548e-01 8.06478066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.10, Y:10.23, Z:8.07 [[ 9.89606076e-01 -1.32468805e-01 -5.59627564e-02 1.45095499e+02] [ 1.32435971e-01 9.91182186e-01 -4.31141875e-03 1.02268117e+01] [ 5.60404157e-02 -3.14487577e-03 9.98423548e-01 8.06764262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.16, Y:10.23, Z:8.07 [[ 9.89885953e-01 -1.30360786e-01 -5.59630723e-02 1.45156937e+02] [ 1.30324825e-01 9.91461995e-01 -4.30731373e-03 1.02308803e+01] [ 5.60467641e-02 -3.02962828e-03 9.98423548e-01 8.06965524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.22, Y:10.24, Z:8.07 [[ 9.90318442e-01 -1.27033424e-01 -5.59633054e-02 1.45218953e+02] [ 1.26992339e-01 9.91894359e-01 -4.30428300e-03 1.02367415e+01] [ 5.60564748e-02 -2.84430020e-03 9.98423548e-01 8.07096515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.28, Y:10.24, Z:8.07 [[ 9.90535009e-01 -1.25333435e-01 -5.59636197e-02 1.45279871e+02] [ 1.25289875e-01 9.92110859e-01 -4.30019334e-03 1.02423109e+01] [ 5.60610728e-02 -2.75218284e-03 9.98423548e-01 8.07364448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.34, Y:10.25, Z:8.08 [[ 9.91084360e-01 -1.20912523e-01 -5.59638512e-02 1.45341293e+02] [ 1.20862102e-01 9.92660005e-01 -4.29717792e-03 1.02497015e+01] [ 5.60726595e-02 -2.50504289e-03 9.98423548e-01 8.07814513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.40, Y:10.26, Z:8.08 [[ 9.91767194e-01 -1.15177453e-01 -5.59641665e-02 1.45402272e+02] [ 1.15118150e-01 9.93342530e-01 -4.29306707e-03 1.02576073e+01] [ 5.60860513e-02 -2.18476824e-03 9.98423548e-01 8.08178103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.46, Y:10.27, Z:8.09 [[ 9.92864767e-01 -1.05297393e-01 -5.59643993e-02 1.45462947e+02] [ 1.05222579e-01 9.94439442e-01 -4.29003048e-03 1.02675072e+01] [ 5.61049351e-02 -1.62929832e-03 9.98423548e-01 8.08627693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.52, Y:10.28, Z:8.09 [[ 9.93715870e-01 -9.69367785e-02 -5.59645526e-02 1.45523245e+02] [ 9.68488262e-02 9.95289866e-01 -4.28803042e-03 1.02771483e+01] [ 5.61166199e-02 -1.15901735e-03 9.98423548e-01 8.08981409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.58, Y:10.29, Z:8.09 [[ 9.94228648e-01 -9.15279404e-02 -5.59645526e-02 1.45583380e+02] [ 9.14314244e-02 9.95802143e-01 -4.28803042e-03 1.02857396e+01] [ 5.61220960e-02 -8.53636072e-04 9.98423548e-01 8.09476081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.64, Y:10.29, Z:8.09 [[ 9.94298677e-01 -9.07640307e-02 -5.59645526e-02 1.45642038e+02] [ 9.06663058e-02 9.95872097e-01 -4.28803042e-03 1.02931361e+01] [ 5.61227353e-02 -8.10516266e-04 9.98423548e-01 8.09444374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.70, Y:10.30, Z:8.10 [[ 9.94488360e-01 -8.86622696e-02 -5.59634171e-02 1.45700350e+02] [ 8.85603883e-02 9.96061516e-01 -4.30279922e-03 1.02989066e+01] [ 5.61245020e-02 -6.77058203e-04 9.98423548e-01 8.10054480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.76, Y:10.30, Z:8.10 [[ 9.94571161e-01 -8.77287314e-02 -5.59631551e-02 1.45759672e+02] [ 8.76251819e-02 9.96144208e-01 -4.30620418e-03 1.03049261e+01] [ 5.61251506e-02 -6.20955153e-04 9.98423548e-01 8.10353626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.82, Y:10.31, Z:8.11 [[ 9.94690842e-01 -8.63612849e-02 -5.59630017e-02 1.45817833e+02] [ 8.62554608e-02 9.96263738e-01 -4.30819655e-03 1.03103565e+01] [ 5.61259706e-02 -5.41790848e-04 9.98423548e-01 8.10738754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.88, Y:10.32, Z:8.11 [[ 9.94851144e-01 -8.44953504e-02 -5.59619307e-02 1.45876155e+02] [ 8.43857961e-02 9.96423784e-01 -4.32206311e-03 1.03158845e+01] [ 5.61269930e-02 -4.22582652e-04 9.98423548e-01 8.11076768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.94, Y:10.32, Z:8.11 [[ 9.95101003e-01 -8.15007809e-02 -5.59608530e-02 1.45935076e+02] [ 8.13857117e-02 9.96673249e-01 -4.33597318e-03 1.03212980e+01] [ 5.61280703e-02 -2.39682587e-04 9.98423549e-01 8.11317451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.99, Y:10.33, Z:8.11 [[ 9.95520337e-01 -7.62086832e-02 -5.59597591e-02 1.45993697e+02] [ 7.60844650e-02 9.97091887e-01 -4.35004503e-03 1.03266354e+01] [ 5.61285330e-02 7.28899679e-05 9.98423549e-01 8.11078819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.05, Y:10.33, Z:8.12 [[ 9.95649323e-01 -7.45055443e-02 -5.59584641e-02 1.46051141e+02] [ 7.43777051e-02 9.97220582e-01 -4.36664041e-03 1.03306839e+01] [ 5.61282711e-02 1.85580422e-04 9.98423549e-01 8.12037046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.11, Y:10.33, Z:8.12 [[ 9.95648379e-01 -7.45185093e-02 -5.59580018e-02 1.46108730e+02] [ 7.43903581e-02 9.97219612e-01 -4.37255650e-03 1.03343596e+01] [ 5.61282533e-02 1.90792991e-04 9.98423549e-01 8.12387569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.17, Y:10.34, Z:8.13 [[ 9.95387000e-01 -7.79330768e-02 -5.59567281e-02 1.46166639e+02] [ 7.78094027e-02 9.96958593e-01 -4.38879602e-03 1.03356128e+01] [ 5.61285733e-02 1.45909140e-05 9.98423549e-01 8.12662798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.22, Y:10.34, Z:8.13 [[ 9.95050129e-01 -8.21226519e-02 -5.59563369e-02 1.46224208e+02] [ 8.20053146e-02 9.96622207e-01 -4.39377903e-03 1.03370939e+01] [ 5.61281567e-02 -2.16686619e-04 9.98423549e-01 8.13064146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.28, Y:10.34, Z:8.13 [[ 9.94625220e-01 -8.71188978e-02 -5.59550731e-02 1.46281965e+02] [ 8.70085551e-02 9.96197804e-01 -4.40981433e-03 1.03387863e+01] [ 5.61264991e-02 -4.82457516e-04 9.98423549e-01 8.13465714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.34, Y:10.34, Z:8.14 [[ 9.94084418e-01 -9.30878114e-02 -5.59538206e-02 1.46340751e+02] [ 9.29860193e-02 9.95657579e-01 -4.42565058e-03 1.03405671e+01] [ 5.61228196e-02 -8.03452756e-04 9.98423549e-01 8.13849439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.40, Y:10.34, Z:8.14 [[ 9.93123852e-01 -1.02831468e-01 -5.59526949e-02 1.46399564e+02] [ 1.02744308e-01 9.94697891e-01 -4.43983728e-03 1.03398102e+01] [ 5.61125826e-02 -1.33951262e-03 9.98423549e-01 8.14158258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.46, Y:10.34, Z:8.14 [[ 9.92396385e-01 -1.09630005e-01 -5.59524575e-02 1.46459016e+02] [ 1.09553458e-01 9.93970976e-01 -4.44282708e-03 1.03406161e+01] [ 5.61021859e-02 -1.72073967e-03 9.98423549e-01 8.14303094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.52, Y:10.34, Z:8.15 [[ 9.91651292e-01 -1.16176748e-01 -5.59524694e-02 1.46520521e+02] [ 1.16110603e-01 9.93226354e-01 -4.44267620e-03 1.03422946e+01] [ 5.60896029e-02 -2.09108935e-03 9.98423549e-01 8.14555905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.58, Y:10.34, Z:8.15 [[ 9.90485641e-01 -1.25727875e-01 -5.59526281e-02 1.46583192e+02] [ 1.25677025e-01 9.92061271e-01 -4.44067656e-03 1.03427965e+01] [ 5.60667522e-02 -2.63353345e-03 9.98423549e-01 8.14822925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.64, Y:10.35, Z:8.15 [[ 9.89912802e-01 -1.30161101e-01 -5.59529527e-02 1.46644090e+02] [ 1.30117536e-01 9.91488650e-01 -4.43658373e-03 1.03453661e+01] [ 5.60541881e-02 -2.88862927e-03 9.98423549e-01 8.15043611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.70, Y:10.35, Z:8.15 [[ 9.89383702e-01 -1.34123446e-01 -5.59534782e-02 1.46704652e+02] [ 1.34086565e-01 9.90959721e-01 -4.42994567e-03 1.03481293e+01] [ 5.60418027e-02 -3.11969363e-03 9.98423549e-01 8.15369373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.77, Y:10.35, Z:8.16 [[ 9.89292125e-01 -1.34797192e-01 -5.59536344e-02 1.46766746e+02] [ 1.34761496e-01 9.90868171e-01 -4.42797199e-03 1.03526475e+01] [ 5.60395536e-02 -3.15983764e-03 9.98423549e-01 8.15801954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.83, Y:10.36, Z:8.16 [[ 9.89432495e-01 -1.33762825e-01 -5.59539423e-02 1.46828186e+02] [ 1.33725700e-01 9.91008509e-01 -4.42407838e-03 1.03573434e+01] [ 5.60426101e-02 -3.10515321e-03 9.98423549e-01 8.16258583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.89, Y:10.36, Z:8.17 [[ 9.89645065e-01 -1.32180810e-01 -5.59542629e-02 1.46890509e+02] [ 1.32141395e-01 9.91221022e-01 -4.42001942e-03 1.03627305e+01] [ 5.60472834e-02 -3.01962394e-03 9.98423549e-01 8.16594552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.95, Y:10.37, Z:8.17 [[ 9.90072230e-01 -1.28942095e-01 -5.59545816e-02 1.46952503e+02] [ 1.28897751e-01 9.91648057e-01 -4.41598107e-03 1.03696163e+01] [ 5.60566580e-02 -2.84027948e-03 9.98423549e-01 8.16860975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.01, Y:10.38, Z:8.17 [[ 9.90455920e-01 -1.25960786e-01 -5.59548976e-02 1.47013928e+02] [ 1.25911924e-01 9.92031613e-01 -4.41197367e-03 1.03767278e+01] [ 5.60647630e-02 -2.67552335e-03 9.98423549e-01 8.17123476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.07, Y:10.38, Z:8.17 [[ 9.90854577e-01 -1.22785270e-01 -5.59552094e-02 1.47074545e+02] [ 1.22731581e-01 9.92430113e-01 -4.40801532e-03 1.03842769e+01] [ 5.60728741e-02 -2.49976914e-03 9.98423549e-01 8.17451621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.14, Y:10.39, Z:8.18 [[ 9.91115448e-01 -1.20661331e-01 -5.59554397e-02 1.47135668e+02] [ 1.20604429e-01 9.92690872e-01 -4.40508975e-03 1.03906746e+01] [ 5.60779782e-02 -2.38252137e-03 9.98423549e-01 8.17822214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.20, Y:10.40, Z:8.18 [[ 9.91706566e-01 -1.15702458e-01 -5.59555897e-02 1.47197591e+02] [ 1.15637785e-01 9.93281689e-01 -4.40318373e-03 1.03983646e+01] [ 5.60891219e-02 -2.10391423e-03 9.98423549e-01 8.18232121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.26, Y:10.41, Z:8.19 [[ 9.92260753e-01 -1.10849151e-01 -5.59559116e-02 1.47258544e+02] [ 1.10777002e-01 9.93835552e-01 -4.39908893e-03 1.04059659e+01] [ 5.60986096e-02 -1.83358487e-03 9.98423549e-01 8.18644708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.32, Y:10.41, Z:8.19 [[ 9.92844745e-01 -1.05490248e-01 -5.59564107e-02 1.47320718e+02] [ 1.05409956e-01 9.94419150e-01 -4.39273147e-03 1.04138368e+01] [ 5.61075167e-02 -1.53706245e-03 9.98423549e-01 8.18974493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.38, Y:10.42, Z:8.19 [[ 9.93160227e-01 -1.02477350e-01 -5.59567310e-02 1.47380643e+02] [ 1.02392512e-01 9.94734393e-01 -4.38864801e-03 1.04193997e+01] [ 5.61118219e-02 -1.37091959e-03 9.98423549e-01 8.19173689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.44, Y:10.42, Z:8.19 [[ 9.93421462e-01 -9.99131824e-02 -5.59567310e-02 1.47440834e+02] [ 9.98242807e-02 9.94995403e-01 -4.38864801e-03 1.04249489e+01] [ 5.61151739e-02 -1.22606330e-03 9.98423549e-01 8.19427655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.50, Y:10.43, Z:8.20 [[ 9.93986426e-01 -9.41266705e-02 -5.59567310e-02 1.47500915e+02] [ 9.40286050e-02 9.95559823e-01 -4.38864801e-03 1.04314446e+01] [ 5.61213620e-02 -8.99276808e-04 9.98423549e-01 8.19806784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.56, Y:10.44, Z:8.20 [[ 9.94378849e-01 -8.98863164e-02 -5.59567310e-02 1.47560082e+02] [ 8.97815410e-02 9.95951813e-01 -4.38864801e-03 1.04368307e+01] [ 5.61246871e-02 -6.59902783e-04 9.98423549e-01 8.20211721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.62, Y:10.44, Z:8.21 [[ 9.94983090e-01 -8.29307658e-02 -5.59565735e-02 1.47618190e+02] [ 8.28148810e-02 9.96555276e-01 -4.39065482e-03 1.04414650e+01] [ 5.61279389e-02 -2.65409676e-04 9.98423549e-01 8.20583909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.68, Y:10.44, Z:8.20 [[ 9.95335475e-01 -7.85893111e-02 -5.59554515e-02 1.47676390e+02] [ 7.84657674e-02 9.96907077e-01 -4.40490781e-03 1.04442876e+01] [ 5.61285643e-02 -6.22643533e-06 9.98423550e-01 8.20444454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.73, Y:10.45, Z:8.21 [[ 9.95489292e-01 -7.66172673e-02 -5.59541264e-02 1.47732446e+02] [ 7.64896677e-02 9.97060570e-01 -4.42167593e-03 1.04511072e+01] [ 5.61284299e-02 1.21818497e-04 9.98423550e-01 8.21166898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.79, Y:10.46, Z:8.21 [[ 9.95448548e-01 -7.71452416e-02 -5.59535513e-02 1.47790366e+02] [ 7.70180670e-02 9.97019860e-01 -4.42894213e-03 1.04550661e+01] [ 5.61284737e-02 9.93496457e-05 9.98423550e-01 8.21493964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.85, Y:10.46, Z:8.22 [[ 9.95023854e-01 -8.24431556e-02 -5.59522743e-02 1.47847792e+02] [ 8.23234433e-02 9.96595752e-01 -4.44501652e-03 1.04563448e+01] [ 5.61282601e-02 -1.83286413e-04 9.98423550e-01 8.21771231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.91, Y:10.46, Z:8.22 [[ 9.94450726e-01 -8.90911987e-02 -5.59509859e-02 1.47906084e+02] [ 8.89810853e-02 9.96023325e-01 -4.46117502e-03 1.04581654e+01] [ 5.61259385e-02 -5.42160721e-04 9.98423550e-01 8.22099470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.96, Y:10.46, Z:8.22 [[ 9.93673363e-01 -9.73800825e-02 -5.59496766e-02 1.47964289e+02] [ 9.72821647e-02 9.95246769e-01 -4.47753587e-03 1.04592240e+01] [ 5.61197577e-02 -9.93697532e-04 9.98423550e-01 8.22483888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.02, Y:10.46, Z:8.23 [[ 9.92343574e-01 -1.10108624e-01 -5.59492741e-02 1.48024044e+02] [ 1.10030598e-01 9.93918092e-01 -4.48255970e-03 1.04571730e+01] [ 5.61025643e-02 -1.70789279e-03 9.98423550e-01 8.22641824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.08, Y:10.46, Z:8.23 [[ 9.91034871e-01 -1.21324285e-01 -5.59491100e-02 1.48084828e+02] [ 1.21263956e-01 9.92610166e-01 -4.48460718e-03 1.04571790e+01] [ 5.60797471e-02 -2.34020831e-03 9.98423550e-01 8.22919086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.15, Y:10.46, Z:8.23 [[ 9.90243046e-01 -1.27626011e-01 -5.59491908e-02 1.48145541e+02] [ 1.27575761e-01 9.91818694e-01 -4.48359848e-03 1.04603577e+01] [ 5.60636772e-02 -2.69790839e-03 9.98423550e-01 8.23314360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.21, Y:10.46, Z:8.24 [[ 9.89543982e-01 -1.32937500e-01 -5.59493498e-02 1.48207728e+02] [ 1.32895817e-01 9.91119880e-01 -4.48161352e-03 1.04634484e+01] [ 5.60482874e-02 -3.00068084e-03 9.98423550e-01 8.23622783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.27, Y:10.47, Z:8.24 [[ 9.88988894e-01 -1.37005844e-01 -5.59496806e-02 1.48270100e+02] [ 1.36970875e-01 9.90564956e-01 -4.47748058e-03 1.04665957e+01] [ 5.60352339e-02 -3.23529813e-03 9.98423550e-01 8.23858187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.33, Y:10.47, Z:8.24 [[ 9.88564679e-01 -1.40033826e-01 -5.59500105e-02 1.48331432e+02] [ 1.40003916e-01 9.90140845e-01 -4.47335388e-03 1.04702373e+01] [ 5.60248115e-02 -3.41102093e-03 9.98423550e-01 8.24118981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.39, Y:10.48, Z:8.25 [[ 9.88437157e-01 -1.40930920e-01 -5.59505311e-02 1.48393546e+02] [ 1.40902809e-01 9.90013356e-01 -4.46683367e-03 1.04750298e+01] [ 5.60212880e-02 -3.46840260e-03 9.98423550e-01 8.24568739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.46, Y:10.48, Z:8.24 [[ 9.89105208e-01 -1.36163100e-01 -5.59508567e-02 1.48455539e+02] [ 1.36127618e-01 9.90681258e-01 -4.46275064e-03 1.04786950e+01] [ 5.60371271e-02 -3.20232697e-03 9.98423550e-01 8.24310655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.52, Y:10.49, Z:8.25 [[ 9.89245380e-01 -1.35140830e-01 -5.59511870e-02 1.48516815e+02] [ 1.35103953e-01 9.90821398e-01 -4.45860591e-03 1.04866193e+01] [ 5.60401730e-02 -3.14857125e-03 9.98423550e-01 8.25250032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.58, Y:10.49, Z:8.26 [[ 9.89960223e-01 -1.29800559e-01 -5.59515208e-02 1.48577365e+02] [ 1.29755414e-01 9.91536026e-01 -4.45441377e-03 1.04940641e+01] [ 5.60561339e-02 -2.85032031e-03 9.98423550e-01 8.25704203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.64, Y:10.50, Z:8.26 [[ 9.90465976e-01 -1.25883080e-01 -5.59517643e-02 1.48638535e+02] [ 1.25831875e-01 9.92041594e-01 -4.45135287e-03 1.05014492e+01] [ 5.60668274e-02 -2.63160181e-03 9.98423550e-01 8.26054215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.70, Y:10.51, Z:8.26 [[ 9.91021544e-01 -1.21431802e-01 -5.59519203e-02 1.48699337e+02] [ 1.21373629e-01 9.92596920e-01 -4.44939090e-03 1.05092024e+01] [ 5.60780013e-02 -2.38164536e-03 9.98423550e-01 8.26346449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.76, Y:10.52, Z:8.27 [[ 9.91914341e-01 -1.13909201e-01 -5.59520738e-02 1.48760075e+02] [ 1.13839185e-01 9.93489235e-01 -4.44745913e-03 1.05192560e+01] [ 5.60943896e-02 -1.95804001e-03 9.98423550e-01 8.26800437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.82, Y:10.53, Z:8.27 [[ 9.92580755e-01 -1.07948099e-01 -5.59522345e-02 1.48821276e+02] [ 1.07868737e-01 9.94155206e-01 -4.44543746e-03 1.05276160e+01] [ 5.61050817e-02 -1.62304122e-03 9.98423550e-01 8.27126377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.88, Y:10.54, Z:8.27 [[ 9.93230414e-01 -1.01797222e-01 -5.59523930e-02 1.48880963e+02] [ 1.01708221e-01 9.94804349e-01 -4.44344159e-03 1.05362099e+01] [ 5.61140139e-02 -1.27745701e-03 9.98423550e-01 8.27469728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.94, Y:10.54, Z:8.28 [[ 9.93818518e-01 -9.58857791e-02 -5.59523930e-02 1.48940932e+02] [ 9.57874144e-02 9.95391896e-01 -4.44344159e-03 1.05441355e+01] [ 5.61206214e-02 -9.43560514e-04 9.98423550e-01 8.27889418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.00, Y:10.55, Z:8.28 [[ 9.94586675e-01 -8.75595582e-02 -5.59523930e-02 1.49000420e+02] [ 8.74480205e-02 9.96159174e-01 -4.44344159e-03 1.05522690e+01] [ 5.61265553e-02 -4.73538210e-04 9.98423550e-01 8.28223577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.06, Y:10.56, Z:8.29 [[ 9.94792984e-01 -8.51836227e-02 -5.59523930e-02 1.49059018e+02] [ 8.50683292e-02 9.96365212e-01 -4.44344159e-03 1.05579732e+01] [ 5.61275263e-02 -3.39472067e-04 9.98423550e-01 8.28600300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.12, Y:10.56, Z:8.29 [[ 9.95205318e-01 -8.02236416e-02 -5.59512546e-02 1.49116551e+02] [ 8.00997089e-02 9.96776888e-01 -4.45772989e-03 1.05647034e+01] [ 5.61285328e-02 -4.53227181e-05 9.98423550e-01 8.28899374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.18, Y:10.57, Z:8.29 [[ 9.95616178e-01 -7.49528330e-02 -5.59508550e-02 1.49175059e+02] [ 7.48202989e-02 9.97187047e-01 -4.46274014e-03 1.05698999e+01] [ 5.61279629e-02 2.56916590e-04 9.98423550e-01 8.28757218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.23, Y:10.58, Z:8.30 [[ 9.95620345e-01 -7.48982732e-02 -5.59497682e-02 1.49232237e+02] [ 7.47648897e-02 9.97191142e-01 -4.47632416e-03 1.05753788e+01] [ 5.61278822e-02 2.73641159e-04 9.98423550e-01 8.29539699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.29, Y:10.58, Z:8.29 [[ 9.95713068e-01 -7.36556606e-02 -5.59493501e-02 1.49290851e+02] [ 7.35200235e-02 9.97283672e-01 -4.48154325e-03 1.05783234e+01] [ 5.61274644e-02 3.48933639e-04 9.98423550e-01 8.29406263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.35, Y:10.58, Z:8.30 [[ 9.95081763e-01 -8.17440090e-02 -5.59482089e-02 1.49348173e+02] [ 8.16203400e-02 9.96653354e-01 -4.49574518e-03 1.05821109e+01] [ 5.61284703e-02 -9.28777978e-05 9.98423551e-01 8.30261908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.41, Y:10.58, Z:8.31 [[ 9.94241349e-01 -9.14001258e-02 -5.59478086e-02 1.49405866e+02] [ 9.12914393e-02 9.95814047e-01 -4.50072117e-03 1.05839568e+01] [ 5.61249802e-02 -6.32752890e-04 9.98423551e-01 8.30507893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.47, Y:10.59, Z:8.31 [[ 9.93641476e-01 -9.77067330e-02 -5.59465071e-02 1.49465275e+02] [ 9.76071200e-02 9.95214775e-01 -4.51684211e-03 1.05858856e+01] [ 5.61201164e-02 -9.72655770e-04 9.98423551e-01 8.30840487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.52, Y:10.59, Z:8.31 [[ 9.92915902e-01 -1.04823750e-01 -5.59463423e-02 1.49524482e+02] [ 1.04735298e-01 9.94489868e-01 -4.51888291e-03 1.05867185e+01] [ 5.61117568e-02 -1.37268611e-03 9.98423551e-01 8.31358672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.59, Y:10.59, Z:8.31 [[ 9.92748026e-01 -1.06401985e-01 -5.59461799e-02 1.49585088e+02] [ 1.06315921e-01 9.94322124e-01 -4.52089295e-03 1.05886135e+01] [ 5.61095564e-02 -1.45986210e-03 9.98423551e-01 8.31352112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.64, Y:10.59, Z:8.32 [[ 9.92289111e-01 -1.10599892e-01 -5.59462682e-02 1.49644440e+02] [ 1.10520549e-01 9.93863562e-01 -4.51980006e-03 1.05924469e+01] [ 5.61028467e-02 -1.69826386e-03 9.98423551e-01 8.32109337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.71, Y:10.59, Z:8.32 [[ 9.92439217e-01 -1.09244799e-01 -5.59461797e-02 1.49706191e+02] [ 1.09163244e-01 9.94013555e-01 -4.52089409e-03 1.05939325e+01] [ 5.61051452e-02 -1.62055390e-03 9.98423551e-01 8.32022218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.77, Y:10.60, Z:8.33 [[ 9.91642878e-01 -1.16251491e-01 -5.59463504e-02 1.49766243e+02] [ 1.16181177e-01 9.93217758e-01 -4.51878148e-03 1.05968264e+01] [ 5.60922238e-02 -2.01889534e-03 9.98423551e-01 8.32546525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.83, Y:10.60, Z:8.33 [[ 9.91019074e-01 -1.21454383e-01 -5.59466483e-02 1.49827457e+02] [ 1.21392543e-01 9.92594310e-01 -4.51508953e-03 1.05999030e+01] [ 5.60807022e-02 -2.31696607e-03 9.98423551e-01 8.32704971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.89, Y:10.60, Z:8.33 [[ 9.90626701e-01 -1.24614179e-01 -5.59468103e-02 1.49888961e+02] [ 1.24557476e-01 9.92202130e-01 -4.51308190e-03 1.06044609e+01] [ 5.60729383e-02 -2.49781402e-03 9.98423551e-01 8.32985798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.95, Y:10.61, Z:8.33 [[ 9.90276194e-01 -1.27369526e-01 -5.59469716e-02 1.49950888e+02] [ 1.27317318e-01 9.91851779e-01 -4.51108182e-03 1.06089358e+01] [ 5.60656776e-02 -2.65580143e-03 9.98423551e-01 8.33347060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.01, Y:10.61, Z:8.34 [[ 9.89879855e-01 -1.30413848e-01 -5.59473040e-02 1.50012872e+02] [ 1.30366718e-01 9.91455600e-01 -4.50695533e-03 1.06133007e+01] [ 5.60570372e-02 -2.83232209e-03 9.98423551e-01 8.33705344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.07, Y:10.62, Z:8.34 [[ 9.89684257e-01 -1.31889857e-01 -5.59476310e-02 1.50074846e+02] [ 1.31845306e-01 9.91260076e-01 -4.50289168e-03 1.06184682e+01] [ 5.60525388e-02 -2.91999154e-03 9.98423551e-01 8.34170979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.14, Y:10.62, Z:8.35 [[ 9.89562431e-01 -1.32800682e-01 -5.59479600e-02 1.50135633e+02] [ 1.32757812e-01 9.91138297e-01 -4.49880097e-03 1.06239183e+01] [ 5.60496096e-02 -2.97568434e-03 9.98423551e-01 8.34520257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.20, Y:10.63, Z:8.35 [[ 9.89424490e-01 -1.33824429e-01 -5.59482030e-02 1.50197162e+02] [ 1.33783360e-01 9.91000404e-01 -4.49577649e-03 1.06302385e+01] [ 5.60463365e-02 -3.03670720e-03 9.98423551e-01 8.35123642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.26, Y:10.64, Z:8.36 [[ 9.89357245e-01 -1.34320531e-01 -5.59485200e-02 1.50258694e+02] [ 1.34280475e-01 9.90933185e-01 -4.49182764e-03 1.06357488e+01] [ 5.60445898e-02 -3.06877161e-03 9.98423551e-01 8.35603858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.32, Y:10.64, Z:8.36 [[ 9.89318642e-01 -1.34604425e-01 -5.59488445e-02 1.50320759e+02] [ 1.34565049e-01 9.90894600e-01 -4.48778243e-03 1.06418682e+01] [ 5.60434833e-02 -3.08891218e-03 9.98423551e-01 8.36011072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.38, Y:10.65, Z:8.36 [[ 9.89292144e-01 -1.34798902e-01 -5.59491668e-02 1.50382446e+02] [ 1.34760062e-01 9.90868115e-01 -4.48376108e-03 1.06474729e+01] [ 5.60426515e-02 -3.10396359e-03 9.98423551e-01 8.36303937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.44, Y:10.65, Z:8.36 [[ 9.89252484e-01 -1.35089518e-01 -5.59494872e-02 1.50444737e+02] [ 1.35051367e-01 9.90828472e-01 -4.47975952e-03 1.06541143e+01] [ 5.60415134e-02 -3.12444150e-03 9.98423551e-01 8.36493509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.51, Y:10.66, Z:8.36 [[ 9.89355369e-01 -1.34333807e-01 -5.59498140e-02 1.50507429e+02] [ 1.34294682e-01 9.90931333e-01 -4.47567437e-03 1.06594647e+01] [ 5.60436581e-02 -3.08573001e-03 9.98423551e-01 8.36160730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.57, Y:10.67, Z:8.37 [[ 9.89254930e-01 -1.35071275e-01 -5.59502829e-02 1.50568457e+02] [ 1.35033656e-01 9.90830930e-01 -4.46980412e-03 1.06655393e+01] [ 5.60410130e-02 -3.13339551e-03 9.98423551e-01 8.36845979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.63, Y:10.67, Z:8.37 [[ 9.89349173e-01 -1.34378974e-01 -5.59509229e-02 1.50630372e+02] [ 1.34340705e-01 9.90925157e-01 -4.46177847e-03 1.06730102e+01] [ 5.60427463e-02 -3.10222958e-03 9.98423551e-01 8.36667111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.69, Y:10.68, Z:8.37 [[ 9.89397897e-01 -1.34019562e-01 -5.59513970e-02 1.50690907e+02] [ 1.33981056e-01 9.90973876e-01 -4.45582570e-03 1.06778404e+01] [ 5.60435406e-02 -3.08784268e-03 9.98423551e-01 8.37497920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.75, Y:10.68, Z:8.37 [[ 9.89542929e-01 -1.32944205e-01 -5.59520370e-02 1.50752850e+02] [ 1.32904440e-01 9.91118876e-01 -4.44777444e-03 1.06836797e+01] [ 5.60464259e-02 -3.03501040e-03 9.98423551e-01 8.37417853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.81, Y:10.69, Z:8.38 [[ 9.89492601e-01 -1.33318090e-01 -5.59524742e-02 1.50814723e+02] [ 1.33279232e-01 9.91068571e-01 -4.44226742e-03 1.06905792e+01] [ 5.60449733e-02 -3.06171203e-03 9.98423551e-01 8.37908655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.88, Y:10.70, Z:8.39 [[ 9.89378238e-01 -1.34164014e-01 -5.59528423e-02 1.50875504e+02] [ 1.34126764e-01 9.90954247e-01 -4.43762631e-03 1.06970779e+01] [ 5.60420765e-02 -3.11428278e-03 9.98423551e-01 8.38872537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.94, Y:10.70, Z:8.39 [[ 9.89295729e-01 -1.34770798e-01 -5.59534778e-02 1.50936819e+02] [ 1.34734967e-01 9.90871771e-01 -4.42959917e-03 1.07042539e+01] [ 5.60397023e-02 -3.15670645e-03 9.98423551e-01 8.39325677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.00, Y:10.71, Z:8.40 [[ 9.89229121e-01 -1.35258710e-01 -5.59538024e-02 1.50998450e+02] [ 1.35223888e-01 9.90805185e-01 -4.42549483e-03 1.07094521e+01] [ 5.60379043e-02 -3.18846234e-03 9.98423551e-01 8.39637393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.06, Y:10.72, Z:8.40 [[ 9.89058091e-01 -1.36503588e-01 -5.59541235e-02 1.51060771e+02] [ 1.36470979e-01 9.90634202e-01 -4.42143199e-03 1.07153049e+01] [ 5.60336098e-02 -3.26306091e-03 9.98423551e-01 8.39881519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.12, Y:10.72, Z:8.40 [[ 9.88783152e-01 -1.38480972e-01 -5.59544408e-02 1.51122898e+02] [ 1.38451741e-01 9.90359330e-01 -4.41741195e-03 1.07205420e+01] [ 5.60267300e-02 -3.37912721e-03 9.98423551e-01 8.40191058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.18, Y:10.73, Z:8.41 [[ 9.88303902e-01 -1.41860716e-01 -5.59547584e-02 1.51183776e+02] [ 1.41837101e-01 9.89880174e-01 -4.41338637e-03 1.07258399e+01] [ 5.60145921e-02 -3.57469376e-03 9.98423551e-01 8.40580471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.25, Y:10.73, Z:8.41 [[ 9.88152989e-01 -1.42907935e-01 -5.59552797e-02 1.51246624e+02] [ 1.42886364e-01 9.89729290e-01 -4.40676651e-03 1.07309079e+01] [ 5.60103412e-02 -3.64068694e-03 9.98423551e-01 8.41025935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.31, Y:10.74, Z:8.41 [[ 9.88451985e-01 -1.40824802e-01 -5.59557690e-02 1.51308328e+02] [ 1.40800259e-01 9.90028243e-01 -4.40054506e-03 1.07372364e+01] [ 5.60174976e-02 -3.52885925e-03 9.98423551e-01 8.41240135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.37, Y:10.74, Z:8.42 [[ 9.88687646e-01 -1.39160489e-01 -5.59562025e-02 1.51369340e+02] [ 1.39133603e-01 9.90263866e-01 -4.39502619e-03 1.07428568e+01] [ 5.60230194e-02 -3.44007996e-03 9.98423551e-01 8.41867516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.43, Y:10.75, Z:8.42 [[ 9.89017520e-01 -1.36796267e-01 -5.59564632e-02 1.51431100e+02] [ 1.36765800e-01 9.90593675e-01 -4.39170451e-03 1.07482975e+01] [ 5.60308873e-02 -3.30945776e-03 9.98423551e-01 8.42362153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.49, Y:10.75, Z:8.43 [[ 9.89509504e-01 -1.33190768e-01 -5.59567751e-02 1.51492583e+02] [ 1.33154781e-01 9.91085542e-01 -4.38772623e-03 1.07540678e+01] [ 5.60423554e-02 -3.10921533e-03 9.98423551e-01 8.42544135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.55, Y:10.76, Z:8.43 [[ 9.89958543e-01 -1.29810942e-01 -5.59571422e-02 1.51553768e+02] [ 1.29769838e-01 9.91534456e-01 -4.38304029e-03 1.07575327e+01] [ 5.60524011e-02 -2.92252108e-03 9.98423551e-01 8.42800238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.61, Y:10.76, Z:8.43 [[ 9.90222749e-01 -1.27779635e-01 -5.59577662e-02 1.51614498e+02] [ 1.27735748e-01 9.91798587e-01 -4.37505896e-03 1.07622236e+01] [ 5.60578769e-02 -2.81552420e-03 9.98423551e-01 8.43054905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.68, Y:10.77, Z:8.43 [[ 9.90806334e-01 -1.23172688e-01 -5.59580014e-02 1.51676769e+02] [ 1.23121641e-01 9.92381956e-01 -4.37204797e-03 1.07674492e+01] [ 5.60702278e-02 -2.55778814e-03 9.98423551e-01 8.43388711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.74, Y:10.77, Z:8.44 [[ 9.92039815e-01 -1.12808124e-01 -5.59583192e-02 1.51737979e+02] [ 1.12740837e-01 9.93614827e-01 -4.36797746e-03 1.07737908e+01] [ 5.60937589e-02 -1.97558021e-03 9.98423551e-01 8.43976850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22509989299996 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:151.80, Y:10.78, Z:8.45 [[ 9.92728325e-01 -1.06579103e-01 -5.59586314e-02 1.51798140e+02] [ 1.06502157e-01 9.94302895e-01 -4.36397358e-03 1.07823179e+01] [ 5.61049376e-02 -1.62747480e-03 9.98423551e-01 8.44576673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.86, Y:10.78, Z:8.45 [[ 9.93697167e-01 -9.71315625e-02 -5.59589037e-02 1.51857398e+02] [ 9.70398403e-02 9.95270946e-01 -4.36047981e-03 1.07843670e+01] [ 5.61178112e-02 -1.09724664e-03 9.98423551e-01 8.44977996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.92, Y:10.79, Z:8.45 [[ 9.94353111e-01 -9.01692931e-02 -5.59588128e-02 1.51918138e+02] [ 9.00664847e-02 9.95926204e-01 -4.36164593e-03 1.07883200e+01] [ 5.61241345e-02 -7.02997349e-04 9.98423551e-01 8.45321424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.98, Y:10.79, Z:8.46 [[ 9.94751302e-01 -8.56648005e-02 -5.59588128e-02 1.51977750e+02] [ 8.55548684e-02 9.96323913e-01 -4.36164593e-03 1.07918512e+01] [ 5.61267428e-02 -4.48795887e-04 9.98423551e-01 8.45641679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.04, Y:10.80, Z:8.46 [[ 9.94782213e-01 -8.53052071e-02 -5.59586553e-02 1.52036639e+02] [ 8.51945929e-02 9.96354776e-01 -4.36366578e-03 1.07963462e+01] [ 5.61269168e-02 -4.26477757e-04 9.98423551e-01 8.46157605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.10, Y:10.80, Z:8.46 [[ 9.94865300e-01 -8.43313749e-02 -5.59576173e-02 1.52095394e+02] [ 8.42184750e-02 9.96437700e-01 -4.37693617e-03 1.07953910e+01] [ 5.61273925e-02 -3.58203278e-04 9.98423551e-01 8.46143497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.15, Y:10.80, Z:8.46 [[ 9.94806476e-01 -8.50232024e-02 -5.59565065e-02 1.52154229e+02] [ 8.49105999e-02 9.96378898e-01 -4.39109120e-03 1.07966017e+01] [ 5.61272269e-02 -3.83014566e-04 9.98423551e-01 8.46304250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.21, Y:10.80, Z:8.47 [[ 9.94545475e-01 -8.80244023e-02 -5.59553720e-02 1.52212556e+02] [ 8.79157340e-02 9.96118173e-01 -4.40550085e-03 1.07963777e+01] [ 5.61259545e-02 -5.37886667e-04 9.98423551e-01 8.46762984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.27, Y:10.80, Z:8.47 [[ 9.94004415e-01 -9.39375586e-02 -5.59549560e-02 1.52270375e+02] [ 9.38379483e-02 9.95577714e-01 -4.41077822e-03 1.07961886e+01] [ 5.61218449e-02 -8.66365240e-04 9.98423551e-01 8.47345862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.33, Y:10.80, Z:8.48 [[ 9.93308644e-01 -1.01029828e-01 -5.59545477e-02 1.52329135e+02] [ 1.00941159e-01 9.94882597e-01 -4.41595135e-03 1.07950974e+01] [ 5.61143485e-02 -1.26171424e-03 9.98423551e-01 8.47664958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.39, Y:10.80, Z:8.48 [[ 9.92726648e-01 -1.06597440e-01 -5.59534416e-02 1.52388681e+02] [ 1.06516810e-01 9.94301033e-01 -4.42992273e-03 1.07966273e+01] [ 5.61067832e-02 -1.56227975e-03 9.98423551e-01 8.47944089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.45, Y:10.80, Z:8.48 [[ 9.92425790e-01 -1.09363075e-01 -5.59532830e-02 1.52449450e+02] [ 1.09286719e-01 9.94000388e-01 -4.43192479e-03 1.07995606e+01] [ 5.61022739e-02 -1.71659424e-03 9.98423551e-01 8.48246535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.51, Y:10.80, Z:8.48 [[ 9.91611168e-01 -1.16518334e-01 -5.59532830e-02 1.52509934e+02] [ 1.16453337e-01 9.93186276e-01 -4.43192479e-03 1.08006115e+01] [ 5.60884333e-02 -2.12120042e-03 9.98423551e-01 8.48410968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.57, Y:10.80, Z:8.48 [[ 9.90362749e-01 -1.26691973e-01 -5.59532830e-02 1.52569539e+02] [ 1.26643149e-01 9.91938441e-01 -4.43192479e-03 1.08004834e+01] [ 5.60637016e-02 -2.69688674e-03 9.98423551e-01 8.48451078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.63, Y:10.80, Z:8.49 [[ 9.89686961e-01 -1.31867200e-01 -5.59532054e-02 1.52630708e+02] [ 1.31826559e-01 9.91262885e-01 -4.43290401e-03 1.08034160e+01] [ 5.60488905e-02 -2.98893122e-03 9.98423551e-01 8.48945669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.69, Y:10.81, Z:8.49 [[ 9.89703657e-01 -1.31741767e-01 -5.59533622e-02 1.52692951e+02] [ 1.31701037e-01 9.91279579e-01 -4.43092427e-03 1.08088169e+01] [ 5.60491631e-02 -2.98381387e-03 9.98423551e-01 8.49444278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.75, Y:10.82, Z:8.50 [[ 9.90028948e-01 -1.29274382e-01 -5.59536901e-02 1.52753213e+02] [ 1.29229958e-01 9.91604771e-01 -4.42677981e-03 1.08159789e+01] [ 5.60562153e-02 -2.84825286e-03 9.98423552e-01 8.49852865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.81, Y:10.82, Z:8.50 [[ 9.90292507e-01 -1.27239569e-01 -5.59539323e-02 1.52814595e+02] [ 1.27192079e-01 9.91868240e-01 -4.42371584e-03 1.08226546e+01] [ 5.60618001e-02 -2.73612434e-03 9.98423552e-01 8.50151740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.88, Y:10.83, Z:8.50 [[ 9.90362081e-01 -1.26696766e-01 -5.59542536e-02 1.52876495e+02] [ 1.26648642e-01 9.91937795e-01 -4.41964780e-03 1.08284834e+01] [ 5.60630940e-02 -2.70947862e-03 9.98423552e-01 8.50477296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.94, Y:10.83, Z:8.51 [[ 9.90431625e-01 -1.26151821e-01 -5.59545797e-02 1.52936857e+02] [ 1.26103062e-01 9.92007319e-01 -4.41551628e-03 1.08340732e+01] [ 5.60643780e-02 -2.68277689e-03 9.98423552e-01 8.50792548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.00, Y:10.84, Z:8.51 [[ 9.90613841e-01 -1.24712773e-01 -5.59548206e-02 1.52997329e+02] [ 1.24661897e-01 9.92189469e-01 -4.41246077e-03 1.08408817e+01] [ 5.60680740e-02 -2.60438940e-03 9.98423552e-01 8.51087222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.06, Y:10.85, Z:8.51 [[ 9.90842569e-01 -1.22882238e-01 -5.59549754e-02 1.53057942e+02] [ 1.22828562e-01 9.92418103e-01 -4.41049687e-03 1.08484775e+01] [ 5.60727023e-02 -2.50276113e-03 9.98423552e-01 8.51385805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.12, Y:10.86, Z:8.52 [[ 9.91176741e-01 -1.20156949e-01 -5.59551313e-02 1.53119633e+02] [ 1.20099052e-01 9.92752125e-01 -4.40851789e-03 1.08566343e+01] [ 5.60792896e-02 -2.35053784e-03 9.98423552e-01 8.51849886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.18, Y:10.86, Z:8.52 [[ 9.91735369e-01 -1.15455379e-01 -5.59554575e-02 1.53180427e+02] [ 1.15390245e-01 9.93310471e-01 -4.40437464e-03 1.08643854e+01] [ 5.60896506e-02 -2.08873987e-03 9.98423552e-01 8.51707185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.24, Y:10.88, Z:8.53 [[ 9.92218301e-01 -1.11228598e-01 -5.59557235e-02 1.53238780e+02] [ 1.11156945e-01 9.93793120e-01 -4.40099179e-03 1.08756679e+01] [ 5.60979292e-02 -1.85312268e-03 9.98423552e-01 8.52560188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.30, Y:10.88, Z:8.53 [[ 9.92697686e-01 -1.06865669e-01 -5.59556347e-02 1.53299418e+02] [ 1.06787030e-01 9.94272172e-01 -4.40212085e-03 1.08836138e+01] [ 5.61055660e-02 -1.60536087e-03 9.98423552e-01 8.52917711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.36, Y:10.89, Z:8.53 [[ 9.93451711e-01 -9.96124893e-02 -5.59557927e-02 1.53359867e+02] [ 9.95224658e-02 9.95025587e-01 -4.40011204e-03 1.08940277e+01] [ 5.61157515e-02 -1.19755963e-03 9.98423552e-01 8.53399886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.42, Y:10.90, Z:8.54 [[ 9.94140703e-01 -9.24834838e-02 -5.59559499e-02 1.53420055e+02] [ 9.23822850e-02 9.95713900e-01 -4.39811164e-03 1.09025760e+01] [ 5.61228698e-02 -7.96996714e-04 9.98423552e-01 8.53706393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.48, Y:10.91, Z:8.54 [[ 9.94500885e-01 -8.85263919e-02 -5.59559499e-02 1.53479540e+02] [ 8.84189332e-02 9.96073666e-01 -4.39811164e-03 1.09085818e+01] [ 5.61255971e-02 -5.73639476e-04 9.98423552e-01 8.53963572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.54, Y:10.91, Z:8.54 [[ 9.94771761e-01 -8.54288266e-02 -5.59558725e-02 1.53537838e+02] [ 8.53164150e-02 9.96344196e-01 -4.39909576e-03 1.09142418e+01] [ 5.61271184e-02 -3.97858208e-04 9.98423552e-01 8.54227201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.60, Y:10.92, Z:8.55 [[ 9.95113758e-01 -8.13490534e-02 -5.59547975e-02 1.53596015e+02] [ 8.12294284e-02 9.96685661e-01 -4.41272741e-03 1.09208339e+01] [ 5.61283156e-02 -1.54010466e-04 9.98423552e-01 8.54583005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.65, Y:10.93, Z:8.55 [[ 9.95153331e-01 -8.08642860e-02 -5.59536871e-02 1.53654516e+02] [ 8.07431062e-02 9.96725115e-01 -4.42676246e-03 1.09267031e+01] [ 5.61284122e-02 -1.12567100e-04 9.98423552e-01 8.55181929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.71, Y:10.93, Z:8.55 [[ 9.95300962e-01 -7.90272566e-02 -5.59525435e-02 1.53712545e+02] [ 7.89023657e-02 9.96872456e-01 -4.44117137e-03 1.09281334e+01] [ 5.61285230e-02 5.51409672e-06 9.98423552e-01 8.55219742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.77, Y:10.93, Z:8.56 [[ 9.95182748e-01 -8.05025190e-02 -5.59521372e-02 1.53770734e+02] [ 8.03796703e-02 9.96754403e-01 -4.44628383e-03 1.09307259e+01] [ 5.61284761e-02 -7.25493759e-05 9.98423552e-01 8.55505130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.83, Y:10.93, Z:8.56 [[ 9.94894549e-01 -8.39901094e-02 -5.59508488e-02 1.53828227e+02] [ 8.38718615e-02 9.96466556e-01 -4.46243821e-03 1.09335887e+01] [ 5.61279503e-02 -2.53046387e-04 9.98423552e-01 8.55747779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.89, Y:10.93, Z:8.56 [[ 9.94241260e-01 -9.14000075e-02 -5.59495751e-02 1.53885261e+02] [ 9.12925794e-02 9.95814044e-01 -4.47835128e-03 1.09337330e+01] [ 5.61246939e-02 -6.55219409e-04 9.98423552e-01 8.56063320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.94, Y:10.93, Z:8.56 [[ 9.93670644e-01 -9.74083833e-02 -5.59487037e-02 1.53944036e+02] [ 9.73098531e-02 9.95244010e-01 -4.48921094e-03 1.09344380e+01] [ 5.61198990e-02 -9.83563010e-04 9.98423552e-01 8.56484114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.00, Y:10.94, Z:8.57 [[ 9.93074879e-01 -1.03306119e-01 -5.59475705e-02 1.54003173e+02] [ 1.03216139e-01 9.94648757e-01 -4.50328932e-03 1.09361194e+01] [ 5.61133988e-02 -1.30258873e-03 9.98423552e-01 8.56915599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.06, Y:10.94, Z:8.57 [[ 9.92281441e-01 -1.10668103e-01 -5.59474088e-02 1.54063207e+02] [ 1.10589684e-01 9.93855937e-01 -4.50529769e-03 1.09370779e+01] [ 5.61022572e-02 -1.71668299e-03 9.98423552e-01 8.57320634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.12, Y:10.94, Z:8.58 [[ 9.91855463e-01 -1.14423020e-01 -5.59474088e-02 1.54123276e+02] [ 1.14350562e-01 9.93430245e-01 -4.50529769e-03 1.09384530e+01] [ 5.60953578e-02 -1.92901349e-03 9.98423552e-01 8.57516000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.18, Y:10.94, Z:8.58 [[ 9.91217850e-01 -1.19820957e-01 -5.59474088e-02 1.54184325e+02] [ 1.19757073e-01 9.92793003e-01 -4.50529769e-03 1.09392308e+01] [ 5.60840251e-02 -2.23436641e-03 9.98423552e-01 8.57735419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.25, Y:10.94, Z:8.58 [[ 9.90984977e-01 -1.21731852e-01 -5.59475698e-02 1.54245089e+02] [ 1.21671118e-01 9.92560255e-01 -4.50329760e-03 1.09434825e+01] [ 5.60795289e-02 -2.34450308e-03 9.98423552e-01 8.58107104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.31, Y:10.95, Z:8.58 [[ 9.90505926e-01 -1.25570144e-01 -5.59477336e-02 1.54305875e+02] [ 1.25515627e-01 9.92081431e-01 -4.50126141e-03 1.09464792e+01] [ 5.60699317e-02 -2.56378878e-03 9.98423552e-01 8.58345148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.37, Y:10.95, Z:8.59 [[ 9.90373440e-01 -1.26610755e-01 -5.59478962e-02 1.54367485e+02] [ 1.26558007e-01 9.91949005e-01 -4.49923924e-03 1.09510110e+01] [ 5.60671121e-02 -2.62472722e-03 9.98423552e-01 8.58709501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.43, Y:10.96, Z:8.59 [[ 9.90512530e-01 -1.25517818e-01 -5.59482311e-02 1.54429213e+02] [ 1.25463567e-01 9.92088044e-01 -4.49507165e-03 1.09565761e+01] [ 5.60697827e-02 -2.56703986e-03 9.98423552e-01 8.59081678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.49, Y:10.96, Z:8.59 [[ 9.90623646e-01 -1.24637673e-01 -5.59485634e-02 1.54490121e+02] [ 1.24582256e-01 9.92199120e-01 -4.49093116e-03 1.09619086e+01] [ 5.60718546e-02 -2.52137562e-03 9.98423552e-01 8.59458392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.55, Y:10.97, Z:8.60 [[ 9.91032543e-01 -1.21343312e-01 -5.59490832e-02 1.54551189e+02] [ 1.21283022e-01 9.92607837e-01 -4.48444628e-03 1.09690750e+01] [ 5.60796560e-02 -2.34144171e-03 9.98423552e-01 8.59906196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.61, Y:10.98, Z:8.60 [[ 9.91306710e-01 -1.19082702e-01 -5.59492427e-02 1.54613348e+02] [ 1.19018932e-01 9.92881867e-01 -4.48245595e-03 1.09766842e+01] [ 5.60847715e-02 -2.21553043e-03 9.98423552e-01 8.60251260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.67, Y:10.98, Z:8.61 [[ 9.91494358e-01 -1.17509931e-01 -5.59495757e-02 1.54674316e+02] [ 1.17443896e-01 9.93069422e-01 -4.47829550e-03 1.09833869e+01] [ 5.60880569e-02 -2.13073144e-03 9.98423552e-01 8.60573476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.73, Y:10.99, Z:8.61 [[ 9.91723431e-01 -1.15560604e-01 -5.59498212e-02 1.54734851e+02] [ 1.15491646e-01 9.93298370e-01 -4.47522582e-03 1.09901739e+01] [ 5.60920260e-02 -2.02355062e-03 9.98423552e-01 8.60892531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.79, Y:11.00, Z:8.61 [[ 9.91979448e-01 -1.13341850e-01 -5.59499826e-02 1.54794407e+02] [ 1.13269483e-01 9.93554233e-01 -4.47320702e-03 1.09964919e+01] [ 5.60963436e-02 -1.90009617e-03 9.98423552e-01 8.61185207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.85, Y:11.00, Z:8.62 [[ 9.92256601e-01 -1.10889258e-01 -5.59500619e-02 1.54854888e+02] [ 1.10813054e-01 9.93831206e-01 -4.47221561e-03 1.10028425e+01] [ 5.61008381e-02 -1.76241178e-03 9.98423552e-01 8.61573868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.92, Y:11.01, Z:8.62 [[ 9.92588618e-01 -1.07876819e-01 -5.59502220e-02 1.54915670e+02] [ 1.07795949e-01 9.94162990e-01 -4.47021164e-03 1.10092264e+01] [ 5.61058722e-02 -1.59412605e-03 9.98423552e-01 8.61918416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.98, Y:11.02, Z:8.62 [[ 9.93258461e-01 -1.01524305e-01 -5.59503831e-02 1.54975433e+02] [ 1.01433477e-01 9.94832290e-01 -4.46819389e-03 1.10164298e+01] [ 5.61148780e-02 -1.23717053e-03 9.98423552e-01 8.62105016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.04, Y:11.02, Z:8.63 [[ 9.93542338e-01 -9.87074842e-02 -5.59504624e-02 1.55035585e+02] [ 9.86122502e-02 9.95115907e-01 -4.46720071e-03 1.10219961e+01] [ 5.61181413e-02 -1.07904796e-03 9.98423552e-01 8.62501927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.09, Y:11.03, Z:8.63 [[ 9.94520949e-01 -8.83041781e-02 -5.59504624e-02 1.55094314e+02] [ 8.81924812e-02 9.96093435e-01 -4.46720071e-03 1.10290590e+01] [ 5.61263607e-02 -4.91685412e-04 9.98423552e-01 8.62820729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.15, Y:11.04, Z:8.64 [[ 9.94785089e-01 -8.52770889e-02 -5.59503822e-02 1.55152783e+02] [ 8.51605503e-02 9.96357223e-01 -4.46820547e-03 1.10403945e+01] [ 5.61276029e-02 -3.19861164e-04 9.98423552e-01 8.64021455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.21, Y:11.04, Z:8.63 [[ 9.95603180e-01 -7.51257606e-02 -5.59502201e-02 1.55211590e+02] [ 7.49930782e-02 9.97174035e-01 -4.47023338e-03 1.10411145e+01] [ 5.61279364e-02 2.54699335e-04 9.98423552e-01 8.63497558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.27, Y:11.05, Z:8.64 [[ 9.95986513e-01 -6.98603870e-02 -5.59499033e-02 1.55267943e+02] [ 6.97191780e-02 9.97556624e-01 -4.47419585e-03 1.10450809e+01] [ 5.61257657e-02 5.55457461e-04 9.98423552e-01 8.63799562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.33, Y:11.05, Z:8.64 [[ 9.95987734e-01 -6.98434155e-02 -5.59493622e-02 1.55325980e+02] [ 6.97018002e-02 9.97557808e-01 -4.48095185e-03 1.10480892e+01] [ 5.61256881e-02 5.63201814e-04 9.98423552e-01 8.64096726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.38, Y:11.05, Z:8.65 [[ 9.95631425e-01 -7.47520821e-02 -5.59481234e-02 1.55384465e+02] [ 7.46173417e-02 9.97202103e-01 -4.49636669e-03 1.10539268e+01] [ 5.61276991e-02 3.02023740e-04 9.98423552e-01 8.64957034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.44, Y:11.05, Z:8.65 [[ 9.95496908e-01 -7.65234779e-02 -5.59469661e-02 1.55443471e+02] [ 7.63907257e-02 9.97067756e-01 -4.51072043e-03 1.10511679e+01] [ 5.61280920e-02 2.16578898e-04 9.98423553e-01 8.64856809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.50, Y:11.06, Z:8.66 [[ 9.94436888e-01 -8.92487564e-02 -5.59458170e-02 1.55501738e+02] [ 8.91353056e-02 9.96009248e-01 -4.52492826e-03 1.10553180e+01] [ 5.61263953e-02 -4.86991913e-04 9.98423553e-01 8.65970312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.56, Y:11.05, Z:8.66 [[ 9.94010334e-01 -9.38810684e-02 -5.59446239e-02 1.55559693e+02] [ 9.37741175e-02 9.95583149e-01 -4.53963078e-03 1.10546039e+01] [ 5.61237102e-02 -7.33717826e-04 9.98423553e-01 8.66055941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.62, Y:11.05, Z:8.66 [[ 9.93440895e-01 -9.97267946e-02 -5.59442038e-02 1.55619307e+02] [ 9.96288065e-02 9.95014294e-01 -4.54480241e-03 1.10482197e+01] [ 5.61185210e-02 -1.05866168e-03 9.98423553e-01 8.65898275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.68, Y:11.05, Z:8.66 [[ 9.92965239e-01 -1.04357125e-01 -5.59430455e-02 1.55678530e+02] [ 1.04265673e-01 9.94539031e-01 -4.55901606e-03 1.10491703e+01] [ 5.61133081e-02 -1.30599481e-03 9.98423553e-01 8.66236070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.74, Y:11.05, Z:8.67 [[ 9.92562609e-01 -1.08120168e-01 -5.59418997e-02 1.55736369e+02] [ 1.08033893e-01 9.94136694e-01 -4.57303217e-03 1.10495015e+01] [ 5.61083322e-02 -1.50460045e-03 9.98423553e-01 8.66581417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.80, Y:11.05, Z:8.67 [[ 9.92488648e-01 -1.08797211e-01 -5.59414969e-02 1.55795780e+02] [ 1.08711732e-01 9.94062776e-01 -4.57795417e-03 1.10518267e+01] [ 5.61074283e-02 -1.53792946e-03 9.98423553e-01 8.66963793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.85, Y:11.05, Z:8.67 [[ 9.92534459e-01 -1.08378573e-01 -5.59413324e-02 1.55854965e+02] [ 1.08292317e-01 9.94108544e-01 -4.57996318e-03 1.10543239e+01] [ 5.61081264e-02 -1.51224520e-03 9.98423553e-01 8.67343698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.91, Y:11.06, Z:8.68 [[ 9.92573431e-01 -1.08021158e-01 -5.59411651e-02 1.55913233e+02] [ 1.07934220e-01 9.94147479e-01 -4.58200575e-03 1.10584153e+01] [ 5.61087219e-02 -1.48998884e-03 9.98423553e-01 8.67522544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.97, Y:11.06, Z:8.68 [[ 9.92614376e-01 -1.07644389e-01 -5.59409181e-02 1.55971804e+02] [ 1.07556684e-01 9.94188381e-01 -4.58501950e-03 1.10630226e+01] [ 5.61093625e-02 -1.46566340e-03 9.98423553e-01 8.67824244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.03, Y:11.07, Z:8.68 [[ 9.92634822e-01 -1.07456278e-01 -5.59397706e-02 1.56030301e+02] [ 1.07367489e-01 9.94208767e-01 -4.59897792e-03 1.10686648e+01] [ 5.61099994e-02 -1.44100707e-03 9.98423553e-01 8.68101675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.09, Y:11.08, Z:8.68 [[ 9.92789949e-01 -1.06014086e-01 -5.59386350e-02 1.56089267e+02] [ 1.05922235e-01 9.94363718e-01 -4.61274883e-03 1.10763013e+01] [ 5.61123654e-02 -1.34565456e-03 9.98423553e-01 8.68414270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.15, Y:11.08, Z:8.69 [[ 9.92970469e-01 -1.04309804e-01 -5.59384707e-02 1.56148196e+02] [ 1.04215140e-01 9.94544071e-01 -4.61474033e-03 1.10834235e+01] [ 5.61146371e-02 -1.24733467e-03 9.98423553e-01 8.68835983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.21, Y:11.09, Z:8.69 [[ 9.93233764e-01 -1.01772276e-01 -5.59383043e-02 1.56206878e+02] [ 1.01673477e-01 9.94807112e-01 -4.61675666e-03 1.10907547e+01] [ 5.61176808e-02 -1.10192330e-03 9.98423553e-01 8.69290142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.26, Y:11.10, Z:8.70 [[ 9.93734255e-01 -9.67633940e-02 -5.59381367e-02 1.56264527e+02] [ 9.66565498e-02 9.95307077e-01 -4.61878694e-03 1.11001835e+01] [ 5.61225528e-02 -8.16940494e-04 9.98423553e-01 8.69734622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.32, Y:11.11, Z:8.70 [[ 9.94032363e-01 -9.36515544e-02 -5.59378891e-02 1.56321436e+02] [ 9.35396176e-02 9.95604831e-01 -4.62178380e-03 1.11074647e+01] [ 5.61248698e-02 -6.38206077e-04 9.98423553e-01 8.70129969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.38, Y:11.11, Z:8.71 [[ 9.94371890e-01 -8.99757892e-02 -5.59365818e-02 1.56379800e+02] [ 8.98571525e-02 9.95943867e-01 -4.63755135e-03 1.11135334e+01] [ 5.61269629e-02 -4.14851261e-04 9.98423553e-01 8.70596778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.44, Y:11.12, Z:8.71 [[ 9.94450576e-01 -8.91026539e-02 -5.59354021e-02 1.56437434e+02] [ 8.89818391e-02 9.96022386e-01 -4.65173691e-03 1.11197891e+01] [ 5.61273948e-02 -3.51312500e-04 9.98423553e-01 8.70976182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.49, Y:11.12, Z:8.71 [[ 9.94303665e-01 -9.07281772e-02 -5.59340691e-02 1.56494638e+02] [ 9.06090335e-02 9.95875602e-01 -4.66771055e-03 1.11237372e+01] [ 5.61268677e-02 -4.27010241e-04 9.98423554e-01 8.71296531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.55, Y:11.13, Z:8.71 [[ 9.94057360e-01 -9.33889701e-02 -5.59326914e-02 1.56551847e+02] [ 9.32731083e-02 9.95629542e-01 -4.68416238e-03 1.11263664e+01] [ 5.61256890e-02 -5.60689897e-04 9.98423554e-01 8.71452781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.61, Y:11.13, Z:8.72 [[ 9.93500521e-01 -9.91380584e-02 -5.59317500e-02 1.56609762e+02] [ 9.90306625e-02 9.95073305e-01 -4.69537556e-03 1.11333950e+01] [ 5.61216817e-02 -8.74100193e-04 9.98423554e-01 8.72300444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.67, Y:11.14, Z:8.73 [[ 9.93280246e-01 -1.01321425e-01 -5.59314083e-02 1.56669414e+02] [ 1.01217257e-01 9.94853246e-01 -4.69944319e-03 1.11378324e+01] [ 5.61196974e-02 -9.93359657e-04 9.98423554e-01 8.72661307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.73, Y:11.14, Z:8.72 [[ 9.92881559e-01 -1.05156581e-01 -5.59312373e-02 1.56728907e+02] [ 1.05058374e-01 9.94454943e-01 -4.70147690e-03 1.11352494e+01] [ 5.61154867e-02 -1.20803513e-03 9.98423554e-01 8.72441108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.79, Y:11.14, Z:8.73 [[ 9.92292903e-01 -1.10574065e-01 -5.59300462e-02 1.56787359e+02] [ 1.10483652e-01 9.93866755e-01 -4.71560402e-03 1.11374378e+01] [ 5.61084370e-02 -1.50009533e-03 9.98423554e-01 8.72724874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.85, Y:11.14, Z:8.73 [[ 9.91710944e-01 -1.15677399e-01 -5.59297941e-02 1.56847094e+02] [ 1.15594915e-01 9.93285231e-01 -4.71859231e-03 1.11400820e+01] [ 5.61000730e-02 -1.78572017e-03 9.98423554e-01 8.73089263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.91, Y:11.14, Z:8.74 [[ 9.91123285e-01 -1.20608913e-01 -5.59296277e-02 1.56908151e+02] [ 1.20534149e-01 9.92697958e-01 -4.72056393e-03 1.11437108e+01] [ 5.60905693e-02 -2.06276925e-03 9.98423554e-01 8.73543575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.97, Y:11.15, Z:8.74 [[ 9.90388550e-01 -1.26500503e-01 -5.59298005e-02 1.56969582e+02] [ 1.26435220e-01 9.91963644e-01 -4.71851593e-03 1.11452576e+01] [ 5.60772233e-02 -2.39833246e-03 9.98423554e-01 8.73882636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.03, Y:11.15, Z:8.74 [[ 9.90059358e-01 -1.29051565e-01 -5.59299723e-02 1.57028887e+02] [ 1.28990455e-01 9.91634619e-01 -4.71647843e-03 1.11481911e+01] [ 5.60707657e-02 -2.54483899e-03 9.98423554e-01 8.74157806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.09, Y:11.15, Z:8.74 [[ 9.89763981e-01 -1.31297793e-01 -5.59298877e-02 1.57089744e+02] [ 1.31240201e-01 9.91339374e-01 -4.71748186e-03 1.11520893e+01] [ 5.60648948e-02 -2.67105604e-03 9.98423554e-01 8.74479268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.15, Y:11.16, Z:8.75 [[ 9.89399642e-01 -1.34015587e-01 -5.59300607e-02 1.57150196e+02] [ 1.33962438e-01 9.90975191e-01 -4.71542901e-03 1.11554225e+01] [ 5.60572436e-02 -2.82708352e-03 9.98423554e-01 8.74655194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.21, Y:11.16, Z:8.75 [[ 9.89228139e-01 -1.35275676e-01 -5.59301460e-02 1.57210507e+02] [ 1.35224590e-01 9.90803757e-01 -4.71441787e-03 1.11595774e+01] [ 5.60535448e-02 -2.89949625e-03 9.98423554e-01 8.74869464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.27, Y:11.16, Z:8.75 [[ 9.88903971e-01 -1.37625416e-01 -5.59301460e-02 1.57272057e+02] [ 1.37578074e-01 9.90479706e-01 -4.71441787e-03 1.11640651e+01] [ 5.60464983e-02 -3.03265521e-03 9.98423554e-01 8.75124439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.33, Y:11.17, Z:8.75 [[ 9.88757608e-01 -1.38672968e-01 -5.59303188e-02 1.57331757e+02] [ 1.38627411e-01 9.90333396e-01 -4.71236610e-03 1.11698936e+01] [ 5.60431404e-02 -3.09408747e-03 9.98423554e-01 8.75406481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.39, Y:11.18, Z:8.76 [[ 9.88626315e-01 -1.39605872e-01 -5.59304039e-02 1.57392450e+02] [ 1.39561859e-01 9.90202146e-01 -4.71135635e-03 1.11756484e+01] [ 5.60401390e-02 -3.14798028e-03 9.98423554e-01 8.75720015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.45, Y:11.18, Z:8.76 [[ 9.88604162e-01 -1.39762594e-01 -5.59305707e-02 1.57453658e+02] [ 1.39718942e-01 9.90180003e-01 -4.70937557e-03 1.11827687e+01] [ 5.60395272e-02 -3.15885190e-03 9.98423554e-01 8.76161554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.51, Y:11.19, Z:8.77 [[ 9.88676998e-01 -1.39246353e-01 -5.59307373e-02 1.57514028e+02] [ 1.39201990e-01 9.90252819e-01 -4.70739561e-03 1.11897308e+01] [ 5.60410580e-02 -3.13157618e-03 9.98423554e-01 8.76605441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.57, Y:11.20, Z:8.77 [[ 9.88768078e-01 -1.38598060e-01 -5.59309076e-02 1.57573419e+02] [ 1.38552777e-01 9.90343873e-01 -4.70537213e-03 1.11967367e+01] [ 5.60429871e-02 -3.09686084e-03 9.98423554e-01 8.77009329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.63, Y:11.20, Z:8.77 [[ 9.88658018e-01 -1.39380944e-01 -5.59309913e-02 1.57633798e+02] [ 1.39336966e-01 9.90233851e-01 -4.70437619e-03 1.12039163e+01] [ 5.60404613e-02 -3.14223541e-03 9.98423554e-01 8.77418244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.69, Y:11.21, Z:8.77 [[ 9.88270466e-01 -1.42102751e-01 -5.59311601e-02 1.57693943e+02] [ 1.42063225e-01 9.89846416e-01 -4.70236911e-03 1.12105544e+01] [ 5.60314779e-02 -3.29854847e-03 9.98423554e-01 8.77466558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.76, Y:11.22, Z:8.78 [[ 9.87934850e-01 -1.44417546e-01 -5.59312432e-02 1.57755451e+02] [ 1.44381768e-01 9.89510890e-01 -4.70138070e-03 1.12168442e+01] [ 5.60235361e-02 -3.43079392e-03 9.98423554e-01 8.77776090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.82, Y:11.22, Z:8.78 [[ 9.87639352e-01 -1.46424612e-01 -5.59315941e-02 1.57816950e+02] [ 1.46392272e-01 9.89215466e-01 -4.69720200e-03 1.12246533e+01] [ 5.60161839e-02 -3.54881160e-03 9.98423554e-01 8.78087580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.88, Y:11.23, Z:8.78 [[ 9.87716041e-01 -1.45906268e-01 -5.59319437e-02 1.57878598e+02] [ 1.45873337e-01 9.89292143e-01 -4.69303515e-03 1.12323095e+01] [ 5.60177757e-02 -3.52359315e-03 9.98423554e-01 8.78455641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.94, Y:11.24, Z:8.79 [[ 9.87973087e-01 -1.44155327e-01 -5.59322918e-02 1.57940197e+02] [ 1.44119836e-01 9.89549133e-01 -4.68888235e-03 1.12405548e+01] [ 5.60236783e-02 -3.42846314e-03 9.98423554e-01 8.78835635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.00, Y:11.25, Z:8.79 [[ 9.88342458e-01 -1.41600589e-01 -5.59326369e-02 1.58001905e+02] [ 1.41561255e-01 9.89918413e-01 -4.68476273e-03 1.12497388e+01] [ 5.60321123e-02 -3.28774438e-03 9.98423554e-01 8.79241493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.06, Y:11.26, Z:8.79 [[ 9.88494598e-01 -1.40534450e-01 -5.59329783e-02 1.58063620e+02] [ 1.40493647e-01 9.90070516e-01 -4.68068274e-03 1.12583010e+01] [ 5.60353899e-02 -3.23139850e-03 9.98423554e-01 8.79480478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.13, Y:11.27, Z:8.80 [[ 9.88467711e-01 -1.40723305e-01 -5.59333166e-02 1.58125381e+02] [ 1.40683031e-01 9.90043642e-01 -4.67663694e-03 1.12664786e+01] [ 5.60345363e-02 -3.24616391e-03 9.98423554e-01 8.79779197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.19, Y:11.28, Z:8.80 [[ 9.88294443e-01 -1.41934912e-01 -5.59336587e-02 1.58185527e+02] [ 1.41896801e-01 9.89870428e-01 -4.67254202e-03 1.12756474e+01] [ 5.60302715e-02 -3.31895992e-03 9.98423554e-01 8.80102386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.25, Y:11.28, Z:8.80 [[ 9.88116763e-01 -1.43166545e-01 -5.59339113e-02 1.58247080e+02] [ 1.43130569e-01 9.89692799e-01 -4.66951577e-03 1.12829147e+01] [ 5.60259077e-02 -3.39182573e-03 9.98423554e-01 8.80372513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.31, Y:11.29, Z:8.81 [[ 9.87794431e-01 -1.45373733e-01 -5.59342505e-02 1.58309921e+02] [ 1.45341507e-01 9.89370547e-01 -4.66544874e-03 1.12922228e+01] [ 5.60179338e-02 -3.52106398e-03 9.98423554e-01 8.80771279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.37, Y:11.30, Z:8.81 [[ 9.87911721e-01 -1.44574316e-01 -5.59347712e-02 1.58370416e+02] [ 1.44541167e-01 9.89487818e-01 -4.65919773e-03 1.13016924e+01] [ 5.60203751e-02 -3.48200107e-03 9.98423554e-01 8.81200920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.43, Y:11.31, Z:8.81 [[ 9.88206370e-01 -1.42546283e-01 -5.59350266e-02 1.58431967e+02] [ 1.42510072e-01 9.89782400e-01 -4.65613052e-03 1.13117967e+01] [ 5.60272189e-02 -3.37008683e-03 9.98423554e-01 8.81442976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.49, Y:11.32, Z:8.82 [[ 9.88540315e-01 -1.40211507e-01 -5.59354939e-02 1.58492774e+02] [ 1.40171891e-01 9.90116263e-01 -4.65050960e-03 1.13181600e+01] [ 5.60346971e-02 -3.24336770e-03 9.98423554e-01 8.81819607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.55, Y:11.33, Z:8.82 [[ 9.88793660e-01 -1.38413462e-01 -5.59357750e-02 1.58554421e+02] [ 1.38371170e-01 9.90369539e-01 -4.64712631e-03 1.13258824e+01] [ 5.60403125e-02 -3.14484959e-03 9.98423554e-01 8.81933850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.61, Y:11.33, Z:8.82 [[ 9.88837141e-01 -1.38102353e-01 -5.59361122e-02 1.58614946e+02] [ 1.38059794e-01 9.90413012e-01 -4.64306305e-03 1.13315164e+01] [ 5.60410714e-02 -3.13129495e-03 9.98423554e-01 8.82178313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.68, Y:11.34, Z:8.83 [[ 9.89200014e-01 -1.35478620e-01 -5.59363612e-02 1.58676524e+02] [ 1.35432051e-01 9.90775772e-01 -4.64006145e-03 1.13378271e+01] [ 5.60490206e-02 -2.98562727e-03 9.98423554e-01 8.82529543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.74, Y:11.35, Z:8.83 [[ 9.89936454e-01 -1.29988086e-01 -5.59366955e-02 1.58738347e+02] [ 1.29933002e-01 9.91511938e-01 -4.63602780e-03 1.13458418e+01] [ 5.60645298e-02 -2.67864984e-03 9.98423554e-01 8.82981501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.80, Y:11.35, Z:8.83 [[ 9.90593889e-01 -1.24879088e-01 -5.59371080e-02 1.58799703e+02] [ 1.24816157e-01 9.92169078e-01 -4.63104554e-03 1.13525979e+01] [ 5.60773897e-02 -2.39436947e-03 9.98423554e-01 8.83332619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.86, Y:11.36, Z:8.84 [[ 9.91261169e-01 -1.19466719e-01 -5.59374412e-02 1.58861658e+02] [ 1.19395412e-01 9.92836002e-01 -4.62701781e-03 1.13589291e+01] [ 5.60894801e-02 -2.09209077e-03 9.98423554e-01 8.83592208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.92, Y:11.37, Z:8.84 [[ 9.92337160e-01 -1.10172262e-01 -5.59377742e-02 1.58923315e+02] [ 1.10086427e-01 9.93911267e-01 -4.62298837e-03 1.13667262e+01] [ 5.61065091e-02 -1.57042656e-03 9.98423554e-01 8.83817016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.98, Y:11.37, Z:8.84 [[ 9.93292809e-01 -1.01194483e-01 -5.59381062e-02 1.58983999e+02] [ 1.01094644e-01 9.94866090e-01 -4.61896781e-03 1.13746036e+01] [ 5.61183391e-02 -1.06705545e-03 9.98423554e-01 8.84121719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.04, Y:11.38, Z:8.84 [[ 9.93774490e-01 -9.63492236e-02 -5.59382688e-02 1.59044466e+02] [ 9.62418245e-02 9.95347273e-01 -4.61699760e-03 1.13807196e+01] [ 5.61228475e-02 -7.95346620e-04 9.98423554e-01 8.84464494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.10, Y:11.39, Z:8.85 [[ 9.94330687e-01 -9.04288487e-02 -5.59384325e-02 1.59104465e+02] [ 9.03121961e-02 9.95902811e-01 -4.61501303e-03 1.13864043e+01] [ 5.61265725e-02 -4.63073617e-04 9.98423554e-01 8.84698899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.16, Y:11.39, Z:8.85 [[ 9.94798944e-01 -8.51231644e-02 -5.59384325e-02 1.59164384e+02] [ 8.49981268e-02 9.96370423e-01 -4.61501303e-03 1.13923151e+01] [ 5.61282442e-02 -1.63651896e-04 9.98423554e-01 8.85081622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.22, Y:11.40, Z:8.85 [[ 9.94992663e-01 -8.28280927e-02 -5.59384325e-02 1.59222986e+02] [ 8.26994302e-02 9.96563849e-01 -4.61501303e-03 1.13973061e+01] [ 5.61284724e-02 -3.41723977e-05 9.98423554e-01 8.85483370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.28, Y:11.40, Z:8.86 [[ 9.95085540e-01 -8.17055184e-02 -5.59372473e-02 1.59281668e+02] [ 8.15742784e-02 9.96656514e-01 -4.62933430e-03 1.14010624e+01] [ 5.61284641e-02 4.35430346e-05 9.98423554e-01 8.85798153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.34, Y:11.40, Z:8.86 [[ 9.94920256e-01 -8.36949298e-02 -5.59360645e-02 1.59340516e+02] [ 8.35660300e-02 9.96491423e-01 -4.64358235e-03 1.14048811e+01] [ 5.61284528e-02 -5.43607019e-05 9.98423554e-01 8.86108718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.40, Y:11.41, Z:8.86 [[ 9.94159980e-01 -9.22887967e-02 -5.59348895e-02 1.59399079e+02] [ 9.21726842e-02 9.95732144e-01 -4.65769302e-03 1.14065133e+01] [ 5.61260203e-02 -5.25176904e-04 9.98423554e-01 8.86389266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.46, Y:11.41, Z:8.87 [[ 9.93596282e-01 -9.81725486e-02 -5.59336948e-02 1.59458743e+02] [ 9.80649401e-02 9.95169051e-01 -4.67199674e-03 1.14085496e+01] [ 5.61221438e-02 -8.43055841e-04 9.98423555e-01 8.86670051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.52, Y:11.41, Z:8.87 [[ 9.92338753e-01 -1.10160065e-01 -5.59335267e-02 1.59519582e+02] [ 1.10071337e-01 9.93912700e-01 -4.67400802e-03 1.14084706e+01] [ 5.61079316e-02 -1.51847878e-03 9.98423555e-01 8.86988758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.58, Y:11.41, Z:8.87 [[ 9.91709624e-01 -1.15686914e-01 -5.59335267e-02 1.59581404e+02] [ 1.15606957e-01 9.93284041e-01 -4.67400802e-03 1.14115711e+01] [ 5.60986010e-02 -1.83104608e-03 9.98423555e-01 8.87303774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.64, Y:11.41, Z:8.88 [[ 9.91100013e-01 -1.20798041e-01 -5.59338653e-02 1.59643422e+02] [ 1.20726430e-01 9.92674831e-01 -4.66995271e-03 1.14144301e+01] [ 5.60882614e-02 -2.12430568e-03 9.98423555e-01 8.87600789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.71, Y:11.42, Z:8.88 [[ 9.90589785e-01 -1.24912941e-01 -5.59342018e-02 1.59705235e+02] [ 1.24848098e-01 9.92164896e-01 -4.66591924e-03 1.14174555e+01] [ 5.60787852e-02 -2.36126677e-03 9.98423555e-01 8.87928797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.77, Y:11.42, Z:8.88 [[ 9.89988774e-01 -1.29589951e-01 -5.59345387e-02 1.59767573e+02] [ 1.29532776e-01 9.91564182e-01 -4.66187677e-03 1.14206085e+01] [ 5.60668175e-02 -2.63015040e-03 9.98423555e-01 8.88162149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.83, Y:11.43, Z:8.88 [[ 9.90038735e-01 -1.29207558e-01 -5.59348781e-02 1.59829289e+02] [ 1.29150004e-01 9.91614129e-01 -4.65780058e-03 1.14255312e+01] [ 5.60676385e-02 -2.61258675e-03 9.98423555e-01 8.88377344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.89, Y:11.43, Z:8.89 [[ 9.90311129e-01 -1.27102789e-01 -5.59352223e-02 1.59889713e+02] [ 1.27042120e-01 9.91886406e-01 -4.65366334e-03 1.14322070e+01] [ 5.60728802e-02 -2.49755463e-03 9.98423555e-01 8.88654657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.95, Y:11.44, Z:8.89 [[ 9.90531119e-01 -1.25376732e-01 -5.59354762e-02 1.59951652e+02] [ 1.25313490e-01 9.92106295e-01 -4.65061018e-03 1.14383883e+01] [ 5.60770163e-02 -2.40289563e-03 9.98423555e-01 8.89016731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.01, Y:11.44, Z:8.89 [[ 9.90947813e-01 -1.22039407e-01 -5.59358055e-02 1.60013061e+02] [ 1.21971082e-01 9.92522777e-01 -4.64664579e-03 1.14448810e+01] [ 5.60846349e-02 -2.21796724e-03 9.98423555e-01 8.89372589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.07, Y:11.45, Z:8.90 [[ 9.91310391e-01 -1.19058203e-01 -5.59361432e-02 1.60074392e+02] [ 1.18985371e-01 9.92885153e-01 -4.64257734e-03 1.14513463e+01] [ 5.60909030e-02 -2.05334757e-03 9.98423555e-01 8.89768466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.13, Y:11.46, Z:8.90 [[ 9.92041647e-01 -1.12802837e-01 -5.59364861e-02 1.60134700e+02] [ 1.12720306e-01 9.93615931e-01 -4.63844133e-03 1.14601363e+01] [ 5.61026131e-02 -1.70365084e-03 9.98423555e-01 8.90111755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.20, Y:11.47, Z:8.91 [[ 9.92972812e-01 -1.04288426e-01 -5.59367392e-02 1.60195843e+02] [ 1.04192564e-01 9.94546340e-01 -4.63538810e-03 1.14687165e+01] [ 5.61150965e-02 -1.22537793e-03 9.98423555e-01 8.90523847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.26, Y:11.48, Z:8.91 [[ 9.93588084e-01 -9.82535682e-02 -5.59370725e-02 1.60256127e+02] [ 9.81483751e-02 9.95161016e-01 -4.63136210e-03 1.14766391e+01] [ 5.61214417e-02 -8.88466576e-04 9.98423555e-01 8.90912934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.32, Y:11.48, Z:8.91 [[ 9.94122902e-01 -9.26859261e-02 -5.59372390e-02 1.60315830e+02] [ 9.25720362e-02 9.95695228e-01 -4.62935035e-03 1.14840201e+01] [ 5.61255176e-02 -5.76080905e-04 9.98423555e-01 8.91254399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.38, Y:11.49, Z:8.92 [[ 9.94920537e-01 -8.36907972e-02 -5.59372390e-02 1.60375295e+02] [ 8.35626910e-02 9.96491769e-01 -4.62935035e-03 1.14920653e+01] [ 5.61284323e-02 -6.84304759e-05 9.98423555e-01 8.91589486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.43, Y:11.50, Z:8.92 [[ 9.95626072e-01 -7.48314766e-02 -5.59372390e-02 1.60433478e+02] [ 7.46893896e-02 9.97196101e-01 -4.62935035e-03 1.15002710e+01] [ 5.61268177e-02 4.31183672e-04 9.98423555e-01 8.91873218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.49, Y:11.51, Z:8.92 [[ 9.96006236e-01 -6.95890730e-02 -5.59369161e-02 1.60490552e+02] [ 6.94385039e-02 9.97575474e-01 -4.63324907e-03 1.15056893e+01] [ 5.61237191e-02 7.30569207e-04 9.98423555e-01 8.92228589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.55, Y:11.51, Z:8.92 [[ 9.96035806e-01 -6.91656322e-02 -5.59355718e-02 1.60548452e+02] [ 6.90134879e-02 9.97604892e-01 -4.64942130e-03 1.15102395e+01] [ 5.61231803e-02 7.70681185e-04 9.98423555e-01 8.92469781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.61, Y:11.51, Z:8.93 [[ 9.95782413e-01 -7.27230601e-02 -5.59351592e-02 1.60606907e+02] [ 7.25762431e-02 9.97352007e-01 -4.65438013e-03 1.15125687e+01] [ 5.61255240e-02 5.75186170e-04 9.98423555e-01 8.92719685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.66, Y:11.51, Z:8.93 [[ 9.95111801e-01 -8.13872952e-02 -5.59339930e-02 1.60664585e+02] [ 8.12533596e-02 9.96682546e-01 -4.66835295e-03 1.15138590e+01] [ 5.61283792e-02 1.00708273e-04 9.98423555e-01 8.92976230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.72, Y:11.52, Z:8.93 [[ 9.94451191e-01 -8.90975147e-02 -5.59326491e-02 1.60722899e+02] [ 8.89748547e-02 9.96022857e-01 -4.68439973e-03 1.15154293e+01] [ 5.61275653e-02 -3.18192430e-04 9.98423555e-01 8.93276329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.78, Y:11.52, Z:8.94 [[ 9.93357187e-01 -1.00564358e-01 -5.59312806e-02 1.60781984e+02] [ 1.00458921e-01 9.94930102e-01 -4.70068294e-03 1.15160060e+01] [ 5.61204359e-02 -9.49338936e-04 9.98423555e-01 8.93739700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.84, Y:11.52, Z:8.94 [[ 9.92763786e-01 -1.06263305e-01 -5.59300915e-02 1.60843385e+02] [ 1.06166103e-01 9.94337231e-01 -4.71478919e-03 1.15187722e+01] [ 5.61143814e-02 -1.25720786e-03 9.98423555e-01 8.94225348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.90, Y:11.53, Z:8.95 [[ 9.91946320e-01 -1.13641121e-01 -5.59302632e-02 1.60902950e+02] [ 1.13555734e-01 9.93520450e-01 -4.71275081e-03 1.15273427e+01] [ 5.61034226e-02 -1.67640627e-03 9.98423555e-01 8.94750353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.96, Y:11.52, Z:8.95 [[ 9.91981001e-01 -1.13337985e-01 -5.59302632e-02 1.60962617e+02] [ 1.13252116e-01 9.93555106e-01 -4.71275081e-03 1.15239747e+01] [ 5.61039323e-02 -1.65926142e-03 9.98423555e-01 8.94918397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.02, Y:11.53, Z:8.95 [[ 9.91910705e-01 -1.13951612e-01 -5.59301683e-02 1.61024900e+02] [ 1.13866654e-01 9.93484859e-01 -4.71387642e-03 1.15265825e+01] [ 5.61029292e-02 -1.69283666e-03 9.98423555e-01 8.95358736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.09, Y:11.53, Z:8.96 [[ 9.92107072e-01 -1.12228941e-01 -5.59305100e-02 1.61086199e+02] [ 1.12141478e-01 9.93681089e-01 -4.70981963e-03 1.15337335e+01] [ 5.61056681e-02 -1.59948468e-03 9.98423555e-01 8.95742094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.15, Y:11.54, Z:8.96 [[ 9.92506783e-01 -1.08637120e-01 -5.59308635e-02 1.61148436e+02] [ 1.08544198e-01 9.94080487e-01 -4.70561752e-03 1.15380970e+01] [ 5.61109847e-02 -1.40061340e-03 9.98423555e-01 8.96231785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.21, Y:11.54, Z:8.96 [[ 9.93004899e-01 -1.03985427e-01 -5.59312248e-02 1.61209388e+02] [ 1.03885374e-01 9.94578165e-01 -4.70131872e-03 1.15379401e+01] [ 5.61168436e-02 -1.14200368e-03 9.98423555e-01 8.96193008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.27, Y:11.54, Z:8.96 [[ 9.93124736e-01 -1.02834564e-01 -5.59313132e-02 1.61269691e+02] [ 1.02732746e-01 9.94697889e-01 -4.70026706e-03 1.15446537e+01] [ 5.61181091e-02 -1.07802592e-03 9.98423555e-01 8.96456414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.33, Y:11.55, Z:8.97 [[ 9.93110304e-01 -1.02973846e-01 -5.59313132e-02 1.61330276e+02] [ 1.02872249e-01 9.94683471e-01 -4.70026706e-03 1.15497198e+01] [ 5.61179573e-02 -1.08589633e-03 9.98423555e-01 8.97042846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.39, Y:11.55, Z:8.97 [[ 9.93532589e-01 -9.88163043e-02 -5.59314953e-02 1.61390885e+02] [ 9.87082457e-02 9.95105326e-01 -4.69809905e-03 1.15508995e+01] [ 5.61219777e-02 -8.53185274e-04 9.98423555e-01 8.96987842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.45, Y:11.56, Z:8.98 [[ 9.93501678e-01 -9.91265586e-02 -5.59315849e-02 1.61450574e+02] [ 9.90190512e-02 9.95074452e-01 -4.69703196e-03 1.15576863e+01] [ 5.61216918e-02 -8.71783338e-04 9.98423555e-01 8.97647884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.51, Y:11.56, Z:8.98 [[ 9.93824050e-01 -9.58405696e-02 -5.59315849e-02 1.61510303e+02] [ 9.57278618e-02 9.95396461e-01 -4.69703196e-03 1.15603558e+01] [ 5.61242679e-02 -6.86187699e-04 9.98423555e-01 8.97988148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.57, Y:11.57, Z:8.98 [[ 9.94068889e-01 -9.32668818e-02 -5.59314996e-02 1.61569368e+02] [ 9.31500457e-02 9.95640998e-01 -4.69804741e-03 1.15651417e+01] [ 5.61258664e-02 -5.39838983e-04 9.98423555e-01 8.98450910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.63, Y:11.57, Z:8.99 [[ 9.94115039e-01 -9.27737887e-02 -5.59313286e-02 1.61628285e+02] [ 9.26560583e-02 9.95687081e-01 -4.70008308e-03 1.15697732e+01] [ 5.61261458e-02 -5.09953169e-04 9.98423555e-01 8.98807966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.69, Y:11.57, Z:8.99 [[ 9.93857493e-01 -9.54939965e-02 -5.59301302e-02 1.61686428e+02] [ 9.53797688e-02 9.95429794e-01 -4.71430008e-03 1.15731883e+01] [ 5.61247054e-02 -6.49260425e-04 9.98423555e-01 8.99073357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.74, Y:11.58, Z:8.99 [[ 9.93513497e-01 -9.90095267e-02 -5.59289294e-02 1.61744057e+02] [ 9.89000628e-02 9.95086136e-01 -4.72850363e-03 1.15762207e+01] [ 5.61222692e-02 -8.33542455e-04 9.98423555e-01 8.99182949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.80, Y:11.58, Z:9.00 [[ 9.92728010e-01 -1.06597848e-01 -5.59285073e-02 1.61803317e+02] [ 1.06500122e-01 9.94301422e-01 -4.73349093e-03 1.15813675e+01] [ 5.61143743e-02 -1.25732384e-03 9.98423555e-01 9.00030566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.86, Y:11.58, Z:9.00 [[ 9.92498008e-01 -1.08718565e-01 -5.59283316e-02 1.61862651e+02] [ 1.08624084e-01 9.94071619e-01 -4.73556572e-03 1.15831326e+01] [ 5.61116111e-02 -1.37512428e-03 9.98423555e-01 8.99675789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.92, Y:11.59, Z:9.00 [[ 9.91871515e-01 -1.14293079e-01 -5.59284407e-02 1.61923086e+02] [ 1.14207514e-01 9.93445635e-01 -4.73427744e-03 1.15871097e+01] [ 5.61029604e-02 -1.69165322e-03 9.98423555e-01 9.00123875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.98, Y:11.59, Z:9.01 [[ 9.91258315e-01 -1.19494610e-01 -5.59284407e-02 1.61984067e+02] [ 1.19417304e-01 9.92832863e-01 -4.73427744e-03 1.15914811e+01] [ 5.60933145e-02 -1.98593172e-03 9.98423555e-01 9.00517443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.04, Y:11.60, Z:9.01 [[ 9.90923085e-01 -1.22243327e-01 -5.59286072e-02 1.62044558e+02] [ 1.22170499e-01 9.92497846e-01 -4.73230920e-03 1.15967822e+01] [ 5.60875154e-02 -2.14347143e-03 9.98423555e-01 9.00984467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.11, Y:11.60, Z:9.01 [[ 9.90440525e-01 -1.26093374e-01 -5.59287713e-02 1.62105184e+02] [ 1.26026775e-01 9.92015562e-01 -4.73036959e-03 1.16033881e+01] [ 5.60786797e-02 -2.36337294e-03 9.98423555e-01 9.01381385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.17, Y:11.61, Z:9.02 [[ 9.90223076e-01 -1.27789722e-01 -5.59289379e-02 1.62166847e+02] [ 1.27725933e-01 9.91798230e-01 -4.72839869e-03 1.16093659e+01] [ 5.60744623e-02 -2.46140626e-03 9.98423555e-01 9.01700542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.23, Y:11.62, Z:9.02 [[ 9.89976442e-01 -1.29686388e-01 -5.59292793e-02 1.62228293e+02] [ 1.29625844e-01 9.91551724e-01 -4.72435660e-03 1.16161564e+01] [ 5.60694581e-02 -2.57287827e-03 9.98423555e-01 9.02113937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.29, Y:11.62, Z:9.02 [[ 9.90035432e-01 -1.29235137e-01 -5.59296310e-02 1.62288883e+02] [ 1.29174109e-01 9.91610694e-01 -4.72018992e-03 1.16238946e+01] [ 5.60704346e-02 -2.55150501e-03 9.98423556e-01 9.02415923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.35, Y:11.63, Z:9.03 [[ 9.90638733e-01 -1.24526097e-01 -5.59298908e-02 1.62349631e+02] [ 1.24457753e-01 9.92213695e-01 -4.71710879e-03 1.16326524e+01] [ 5.60818068e-02 -2.28795788e-03 9.98423556e-01 9.02699849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.41, Y:11.64, Z:9.03 [[ 9.90933001e-01 -1.22162216e-01 -5.59301460e-02 1.62410731e+02] [ 1.22090286e-01 9.92507803e-01 -4.71408114e-03 1.16393610e+01] [ 5.60869890e-02 -2.15718896e-03 9.98423556e-01 9.02917293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.47, Y:11.65, Z:9.03 [[ 9.92006000e-01 -1.13118904e-01 -5.59303959e-02 1.62472007e+02] [ 1.13032780e-01 9.93580090e-01 -4.71111471e-03 1.16494194e+01] [ 5.61042439e-02 -1.64851408e-03 9.98423556e-01 9.03236863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.53, Y:11.66, Z:9.03 [[ 9.92703685e-01 -1.06822967e-01 -5.59307334e-02 1.62532907e+02] [ 1.06727085e-01 9.94277211e-01 -4.70710399e-03 1.16574807e+01] [ 5.61134805e-02 -1.29656466e-03 9.98423556e-01 9.03387787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.59, Y:11.67, Z:9.04 [[ 9.93276598e-01 -1.01357402e-01 -5.59309944e-02 1.62592964e+02] [ 1.01253034e-01 9.94849584e-01 -4.70400078e-03 1.16665657e+01] [ 5.61197119e-02 -9.90809003e-04 9.98423556e-01 9.03990786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.65, Y:11.68, Z:9.04 [[ 9.93662724e-01 -9.74993080e-02 -5.59309944e-02 1.62652508e+02] [ 9.73888328e-02 9.95235293e-01 -4.70400078e-03 1.16761836e+01] [ 5.61231364e-02 -7.72864041e-04 9.98423556e-01 9.04276364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.71, Y:11.68, Z:9.05 [[ 9.94022306e-01 -9.37623507e-02 -5.59309944e-02 1.62711955e+02] [ 9.36459633e-02 9.95594449e-01 -4.70400078e-03 1.16849922e+01] [ 5.61256457e-02 -5.61830150e-04 9.98423556e-01 9.04663803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.77, Y:11.69, Z:9.05 [[ 9.94201053e-01 -9.18476483e-02 -5.59309944e-02 1.62772026e+02] [ 9.17282331e-02 9.95772968e-01 -4.70400078e-03 1.16920889e+01] [ 5.61266237e-02 -4.53728768e-04 9.98423556e-01 9.05113225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.83, Y:11.70, Z:9.06 [[ 9.94497191e-01 -8.85836343e-02 -5.59309944e-02 1.62831835e+02] [ 8.84590599e-02 9.96068706e-01 -4.70400078e-03 1.17007872e+01] [ 5.61278107e-02 -2.69487625e-04 9.98423556e-01 9.05787602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.89, Y:11.71, Z:9.06 [[ 9.94524847e-01 -8.82726020e-02 -5.59309944e-02 1.62891007e+02] [ 8.81475361e-02 9.96096323e-01 -4.70400078e-03 1.17061118e+01] [ 5.61278923e-02 -2.51933695e-04 9.98423556e-01 9.06092236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.95, Y:11.71, Z:9.06 [[ 9.94386229e-01 -8.98207667e-02 -5.59308294e-02 1.62949974e+02] [ 8.96980371e-02 9.95957889e-01 -4.70596270e-03 1.17104277e+01] [ 5.61274439e-02 -3.37341105e-04 9.98423556e-01 9.06408159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.01, Y:11.71, Z:9.07 [[ 9.93694570e-01 -9.71743923e-02 -5.59306580e-02 1.63008956e+02] [ 9.70631779e-02 9.95267087e-01 -4.70799834e-03 1.17124607e+01] [ 5.61234399e-02 -7.50495019e-04 9.98423556e-01 9.06644174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.07, Y:11.72, Z:9.07 [[ 9.93313539e-01 -1.00995066e-01 -5.59304048e-02 1.63070104e+02] [ 1.00889731e-01 9.94886460e-01 -4.71100456e-03 1.17159653e+01] [ 5.61201907e-02 -9.63298866e-04 9.98423556e-01 9.06954450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.13, Y:11.72, Z:9.07 [[ 9.92778652e-01 -1.06124072e-01 -5.59305722e-02 1.63131175e+02] [ 1.06026974e-01 9.94352104e-01 -4.70901675e-03 1.17188614e+01] [ 5.61144221e-02 -1.25513801e-03 9.98423556e-01 9.07167675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.19, Y:11.72, Z:9.07 [[ 9.92419018e-01 -1.09436028e-01 -5.59307447e-02 1.63192670e+02] [ 1.09344296e-01 9.93992791e-01 -4.70696695e-03 1.17222750e+01] [ 5.61098688e-02 -1.44442436e-03 9.98423556e-01 9.07362850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.25, Y:11.73, Z:9.08 [[ 9.92000357e-01 -1.13168080e-01 -5.59310002e-02 1.63254929e+02] [ 1.13082440e-01 9.93574474e-01 -4.70392798e-03 1.17252802e+01] [ 5.61039486e-02 -1.65851572e-03 9.98423556e-01 9.07776647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.32, Y:11.73, Z:9.08 [[ 9.91748509e-01 -1.15354149e-01 -5.59313396e-02 1.63316710e+02] [ 1.15272205e-01 9.93322823e-01 -4.69988961e-03 1.17297454e+01] [ 5.61000279e-02 -1.78622032e-03 9.98423556e-01 9.08171518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.38, Y:11.73, Z:9.09 [[ 9.91122724e-01 -1.20612576e-01 -5.59316746e-02 1.63378417e+02] [ 1.20539208e-01 9.92697460e-01 -4.69589897e-03 1.17336474e+01] [ 5.60896158e-02 -2.08774760e-03 9.98423556e-01 9.08663664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.44, Y:11.74, Z:9.09 [[ 9.90588858e-01 -1.24921266e-01 -5.59320192e-02 1.63439418e+02] [ 1.24854978e-01 9.92163909e-01 -4.69179094e-03 1.17379043e+01] [ 5.60798353e-02 -2.33575523e-03 9.98423556e-01 9.09020843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.50, Y:11.74, Z:9.09 [[ 9.89750450e-01 -1.31398736e-01 -5.59322737e-02 1.63501006e+02] [ 1.31342924e-01 9.91325906e-01 -4.68875481e-03 1.17411712e+01] [ 5.60632084e-02 -2.70561123e-03 9.98423556e-01 9.09255971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.56, Y:11.75, Z:9.10 [[ 9.89118186e-01 -1.36076295e-01 -5.59326061e-02 1.63562661e+02] [ 1.36028156e-01 9.90693895e-01 -4.68478735e-03 1.17453185e+01] [ 5.60495799e-02 -2.97460088e-03 9.98423556e-01 9.09611916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.62, Y:11.75, Z:9.10 [[ 9.88360992e-01 -1.41471037e-01 -5.59329460e-02 1.63624441e+02] [ 1.41431724e-01 9.89936947e-01 -4.68072477e-03 1.17488040e+01] [ 5.60322768e-02 -3.28444721e-03 9.98423556e-01 9.09776348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.69, Y:11.76, Z:9.10 [[ 9.88157496e-01 -1.42885380e-01 -5.59332823e-02 1.63686248e+02] [ 1.42848550e-01 9.89733510e-01 -4.67670243e-03 1.17552131e+01] [ 5.60272762e-02 -3.36866974e-03 9.98423556e-01 9.10120861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.75, Y:11.76, Z:9.11 [[ 9.88357457e-01 -1.41495470e-01 -5.59336142e-02 1.63747567e+02] [ 1.41456648e-01 9.89933423e-01 -4.67272953e-03 1.17632724e+01] [ 5.60317243e-02 -3.29385449e-03 9.98423556e-01 9.10624123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.81, Y:11.77, Z:9.11 [[ 9.89098591e-01 -1.36218103e-01 -5.59339441e-02 1.63809448e+02] [ 1.36171092e-01 9.90674334e-01 -4.66877760e-03 1.17723488e+01] [ 5.60482949e-02 -2.99870489e-03 9.98423556e-01 9.11088251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.87, Y:11.78, Z:9.12 [[ 9.89953926e-01 -1.29856004e-01 -5.59342728e-02 1.63870899e+02] [ 1.29799085e-01 9.91529342e-01 -4.66483668e-03 1.17810721e+01] [ 5.60662298e-02 -2.64224405e-03 9.98423556e-01 9.11616988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.93, Y:11.79, Z:9.12 [[ 9.90601535e-01 -1.24819544e-01 -5.59346128e-02 1.63932662e+02] [ 1.24754843e-01 9.92176651e-01 -4.66075658e-03 1.17895833e+01] [ 5.60787703e-02 -2.36116122e-03 9.98423556e-01 9.11900187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.99, Y:11.80, Z:9.12 [[ 9.90829521e-01 -1.22996471e-01 -5.59350326e-02 1.63994495e+02] [ 1.22929157e-01 9.92404528e-01 -4.65571282e-03 1.17969392e+01] [ 5.60828158e-02 -2.26302869e-03 9.98423556e-01 9.12269882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.06, Y:11.80, Z:9.13 [[ 9.90992283e-01 -1.21677969e-01 -5.59353739e-02 1.64056790e+02] [ 1.21608790e-01 9.92567209e-01 -4.65160807e-03 1.18036260e+01] [ 5.60856162e-02 -2.19252545e-03 9.98423556e-01 9.12548750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.12, Y:11.81, Z:9.13 [[ 9.91090749e-01 -1.20873132e-01 -5.59357958e-02 1.64117822e+02] [ 1.20802961e-01 9.92665631e-01 -4.64652916e-03 1.18099227e+01] [ 5.60871826e-02 -2.15207769e-03 9.98423556e-01 9.12860086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.18, Y:11.82, Z:9.13 [[ 9.91181796e-01 -1.20124130e-01 -5.59360451e-02 1.64179319e+02] [ 1.20052937e-01 9.92756632e-01 -4.64352598e-03 1.18159726e+01] [ 5.60886793e-02 -2.11270809e-03 9.98423556e-01 9.13408376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.24, Y:11.82, Z:9.14 [[ 9.91257244e-01 -1.19499779e-01 -5.59363854e-02 1.64240569e+02] [ 1.19427825e-01 9.92832045e-01 -4.63942337e-03 1.18225183e+01] [ 5.60898460e-02 -2.08149885e-03 9.98423556e-01 9.13884233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.30, Y:11.83, Z:9.14 [[ 9.91214094e-01 -1.19857009e-01 -5.59367206e-02 1.64301278e+02] [ 1.19785851e-01 9.92788932e-01 -4.63537904e-03 1.18284307e+01] [ 5.60889397e-02 -2.10577463e-03 9.98423556e-01 9.14225334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.36, Y:11.83, Z:9.14 [[ 9.91007935e-01 -1.21549556e-01 -5.59372627e-02 1.64363233e+02] [ 1.21481457e-01 9.92582908e-01 -4.62882730e-03 1.18339975e+01] [ 5.60850028e-02 -2.20813559e-03 9.98423556e-01 9.14463413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.43, Y:11.84, Z:9.15 [[ 9.90437762e-01 -1.26111163e-01 -5.59375869e-02 1.64425633e+02] [ 1.26050537e-01 9.92013040e-01 -4.62490680e-03 1.18387207e+01] [ 5.60740680e-02 -2.47028052e-03 9.98423556e-01 9.14661785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.49, Y:11.84, Z:9.15 [[ 9.90030856e-01 -1.29266601e-01 -5.59379093e-02 1.64488723e+02] [ 1.29211215e-01 9.91606327e-01 -4.62100394e-03 1.18430290e+01] [ 5.60657262e-02 -2.65286873e-03 9.98423556e-01 9.15028862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.55, Y:11.85, Z:9.15 [[ 9.89917641e-01 -1.30130540e-01 -5.59384138e-02 1.64550325e+02] [ 1.30076874e-01 9.91493172e-01 -4.61488887e-03 1.18470529e+01] [ 5.60630933e-02 -2.70793411e-03 9.98423556e-01 9.15383224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.61, Y:11.85, Z:9.16 [[ 9.89900813e-01 -1.30258342e-01 -5.59387529e-02 1.64610764e+02] [ 1.30205111e-01 9.91476359e-01 -4.61077412e-03 1.18513873e+01] [ 5.60625428e-02 -2.71930249e-03 9.98423556e-01 9.15740437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.67, Y:11.85, Z:9.16 [[ 9.89783710e-01 -1.31145128e-01 -5.59389204e-02 1.64672615e+02] [ 1.31093424e-01 9.91359306e-01 -4.60874165e-03 1.18542657e+01] [ 5.60599833e-02 -2.77156718e-03 9.98423556e-01 9.16086546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.74, Y:11.86, Z:9.16 [[ 9.89534164e-01 -1.33014618e-01 -5.59396927e-02 1.64735982e+02] [ 1.32966419e-01 9.91109871e-01 -4.59934830e-03 1.18562886e+01] [ 5.60541622e-02 -2.88688835e-03 9.98423556e-01 9.16454439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.80, Y:11.86, Z:9.17 [[ 9.89342803e-01 -1.34430332e-01 -5.59401862e-02 1.64798298e+02] [ 1.34384727e-01 9.90918587e-01 -4.59333836e-03 1.18597681e+01] [ 5.60496543e-02 -2.97312041e-03 9.98423556e-01 9.16693423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.86, Y:11.86, Z:9.17 [[ 9.89145539e-01 -1.35874066e-01 -5.59405100e-02 1.64860229e+02] [ 1.35830984e-01 9.90721394e-01 -4.58939170e-03 1.18616736e+01] [ 5.60450394e-02 -3.05887817e-03 9.98423556e-01 9.16805604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.92, Y:11.87, Z:9.17 [[ 9.89222448e-01 -1.35312862e-01 -5.59408361e-02 1.64922181e+02] [ 1.35269109e-01 9.90798285e-01 -4.58541247e-03 1.18661052e+01] [ 5.60465498e-02 -3.03107413e-03 9.98423556e-01 9.17183891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.98, Y:11.87, Z:9.18 [[ 9.89394642e-01 -1.34047860e-01 -5.59411644e-02 1.64984259e+02] [ 1.34002319e-01 9.90970428e-01 -4.58140436e-03 1.18711692e+01] [ 5.60501671e-02 -2.96342881e-03 9.98423556e-01 9.17562177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.05, Y:11.88, Z:9.18 [[ 9.89873535e-01 -1.30464267e-01 -5.59415696e-02 1.65045736e+02] [ 1.30413299e-01 9.91449155e-01 -4.57645068e-03 1.18752882e+01] [ 5.60602853e-02 -2.76541725e-03 9.98423556e-01 9.17929970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.11, Y:11.88, Z:9.18 [[ 9.90422318e-01 -1.26230492e-01 -5.59418933e-02 1.65107625e+02] [ 1.26173010e-01 9.91997714e-01 -4.57249121e-03 1.18804549e+01] [ 5.60714180e-02 -2.52965974e-03 9.98423556e-01 9.18349019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.17, Y:11.89, Z:9.19 [[ 9.91044138e-01 -1.21251738e-01 -5.59422221e-02 1.65169033e+02] [ 1.21186568e-01 9.92619235e-01 -4.56846484e-03 1.18853137e+01] [ 5.60832600e-02 -2.25189559e-03 9.98423556e-01 9.18654800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.23, Y:11.89, Z:9.19 [[ 9.91442273e-01 -1.17951937e-01 -5.59424646e-02 1.65230997e+02] [ 1.17881691e-01 9.93017152e-01 -4.56549376e-03 1.18896732e+01] [ 5.60903356e-02 -2.06816880e-03 9.98423556e-01 9.18937393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.29, Y:11.89, Z:9.19 [[ 9.91940232e-01 -1.13688089e-01 -5.59427824e-02 1.65292551e+02] [ 1.13611291e-01 9.93514804e-01 -4.56159575e-03 1.18935258e+01] [ 5.60985816e-02 -1.83090140e-03 9.98423556e-01 9.19292733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.35, Y:11.90, Z:9.20 [[ 9.92294414e-01 -1.10553896e-01 -5.59431161e-02 1.65354598e+02] [ 1.10472356e-01 9.93868748e-01 -4.55749968e-03 1.18976779e+01] [ 5.61039641e-02 -1.65778636e-03 9.98423556e-01 9.19656840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.42, Y:11.90, Z:9.20 [[ 9.92842833e-01 -1.05515116e-01 -5.59434452e-02 1.65416226e+02] [ 1.05425813e-01 9.94416746e-01 -4.55345657e-03 1.19011467e+01] [ 5.61115572e-02 -1.37701646e-03 9.98423556e-01 9.20017790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.48, Y:11.91, Z:9.21 [[ 9.93236694e-01 -1.01740668e-01 -5.59437717e-02 1.65477093e+02] [ 1.01645609e-01 9.94810270e-01 -4.54944111e-03 1.19066872e+01] [ 5.61163018e-02 -1.16776691e-03 9.98423556e-01 9.21065133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.54, Y:11.91, Z:9.21 [[ 9.93733230e-01 -9.67705739e-02 -5.59439377e-02 1.65537521e+02] [ 9.66677588e-02 9.95306317e-01 -4.54739897e-03 1.19094594e+01] [ 5.61214091e-02 -8.89073618e-04 9.98423556e-01 9.20984605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.60, Y:11.91, Z:9.21 [[ 9.94055614e-01 -9.34008116e-02 -5.59439377e-02 1.65598068e+02] [ 9.32926636e-02 9.95628344e-01 -4.54739897e-03 1.19126181e+01] [ 5.61241009e-02 -6.98791489e-04 9.98423556e-01 9.21459930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.66, Y:11.91, Z:9.22 [[ 9.94132216e-01 -9.25819245e-02 -5.59439377e-02 1.65658040e+02] [ 9.24724810e-02 9.95704857e-01 -4.54739897e-03 1.19142591e+01] [ 5.61246574e-02 -6.52558907e-04 9.98423556e-01 9.21839447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.72, Y:11.92, Z:9.22 [[ 9.94020641e-01 -9.37723804e-02 -5.59437732e-02 1.65717660e+02] [ 9.36647064e-02 9.95593404e-01 -4.54942192e-03 1.19168366e+01] [ 5.61238617e-02 -7.17737805e-04 9.98423556e-01 9.22244285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.78, Y:11.92, Z:9.23 [[ 9.93608708e-01 -9.80410525e-02 -5.59436090e-02 1.65776946e+02] [ 9.79400212e-02 9.95181911e-01 -4.55144101e-03 1.19170404e+01] [ 5.61202957e-02 -9.56766825e-04 9.98423556e-01 9.22591175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.84, Y:11.92, Z:9.23 [[ 9.93259801e-01 -1.01515555e-01 -5.59424659e-02 1.65836170e+02] [ 1.01419238e-01 9.94833300e-01 -4.56544776e-03 1.19182949e+01] [ 5.61168919e-02 -1.13896654e-03 9.98423556e-01 9.22909686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.90, Y:11.92, Z:9.23 [[ 9.92606557e-01 -1.07715747e-01 -5.59423035e-02 1.65896768e+02] [ 1.07629145e-01 9.94180620e-01 -4.56743586e-03 1.19173778e+01] [ 5.61087388e-02 -1.48735551e-03 9.98423556e-01 9.23259987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.96, Y:11.92, Z:9.23 [[ 9.91851762e-01 -1.14457596e-01 -5.59423035e-02 1.65957240e+02] [ 1.14381692e-01 9.93426377e-01 -4.56743586e-03 1.19166197e+01] [ 5.60973377e-02 -1.86855601e-03 9.98423556e-01 9.23460240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.02, Y:11.92, Z:9.24 [[ 9.91340031e-01 -1.18808215e-01 -5.59423855e-02 1.66018530e+02] [ 1.18739276e-01 9.92914967e-01 -4.56643143e-03 1.19178993e+01] [ 5.60885615e-02 -2.11567208e-03 9.98423556e-01 9.23793168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.08, Y:11.92, Z:9.24 [[ 9.90641898e-01 -1.24495224e-01 -5.59425514e-02 1.66078688e+02] [ 1.24435439e-01 9.92217208e-01 -4.56439912e-03 1.19179885e+01] [ 5.60754080e-02 -2.43955091e-03 9.98423556e-01 9.24010221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.14, Y:11.92, Z:9.24 [[ 9.90247134e-01 -1.27597079e-01 -5.59428150e-02 1.66139864e+02] [ 1.27542410e-01 9.91822630e-01 -4.56116566e-03 1.19195423e+01] [ 5.60673413e-02 -2.61840020e-03 9.98423556e-01 9.24395067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.20, Y:11.92, Z:9.25 [[ 9.90191546e-01 -1.28027677e-01 -5.59429757e-02 1.66201706e+02] [ 1.27973804e-01 9.91767069e-01 -4.55919326e-03 1.19223680e+01] [ 5.60661040e-02 -2.64476078e-03 9.98423556e-01 9.24907968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.26, Y:11.93, Z:9.25 [[ 9.90349697e-01 -1.26798361e-01 -5.59433065e-02 1.66262093e+02] [ 1.26742762e-01 9.91925160e-01 -4.55513120e-03 1.19261625e+01] [ 5.60691564e-02 -2.57923637e-03 9.98423556e-01 9.25244435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.32, Y:11.93, Z:9.26 [[ 9.90435690e-01 -1.26124862e-01 -5.59433876e-02 1.66323150e+02] [ 1.26068248e-01 9.92011117e-01 -4.55413452e-03 1.19306730e+01] [ 5.60708520e-02 -2.54210748e-03 9.98423556e-01 9.25650897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.38, Y:11.94, Z:9.26 [[ 9.90656345e-01 -1.24379761e-01 -5.59435522e-02 1.66383064e+02] [ 1.24320485e-01 9.92231674e-01 -4.55211145e-03 1.19350074e+01] [ 5.60751550e-02 -2.44535145e-03 9.98423556e-01 9.26092450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.44, Y:11.94, Z:9.26 [[ 9.90660391e-01 -1.24347496e-01 -5.59436331e-02 1.66444232e+02] [ 1.24288225e-01 9.92235720e-01 -4.55111705e-03 1.19391458e+01] [ 5.60751911e-02 -2.44452344e-03 9.98423556e-01 9.26350594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.51, Y:11.94, Z:9.27 [[ 9.90387416e-01 -1.26503194e-01 -5.59437968e-02 1.66505207e+02] [ 1.26447465e-01 9.91962874e-01 -4.54910421e-03 1.19426680e+01] [ 5.60696457e-02 -2.56857570e-03 9.98423556e-01 9.26697112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.57, Y:11.95, Z:9.27 [[ 9.90017048e-01 -1.29369690e-01 -5.59439646e-02 1.66565696e+02] [ 1.29318638e-01 9.91592666e-01 -4.54703928e-03 1.19473133e+01] [ 5.60618741e-02 -2.73295091e-03 9.98423556e-01 9.26906044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.63, Y:11.95, Z:9.27 [[ 9.89757805e-01 -1.31338306e-01 -5.59440472e-02 1.66626215e+02] [ 1.31290445e-01 9.91333522e-01 -4.54602379e-03 1.19528264e+01] [ 5.60562764e-02 -2.84545633e-03 9.98423556e-01 9.27379861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.69, Y:11.96, Z:9.28 [[ 9.89996258e-01 -1.29528584e-01 -5.59442097e-02 1.66687868e+02] [ 1.29477955e-01 9.91571889e-01 -4.54402278e-03 1.19561503e+01] [ 5.60612865e-02 -2.74497630e-03 9.98423556e-01 9.27537832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.75, Y:11.97, Z:9.28 [[ 9.90016802e-01 -1.29371401e-01 -5.59443759e-02 1.66748423e+02] [ 1.29320638e-01 9.91592428e-01 -4.54197513e-03 1.19663231e+01] [ 5.60616213e-02 -2.73813069e-03 9.98423556e-01 9.28405974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.81, Y:11.97, Z:9.29 [[ 9.90351367e-01 -1.26784774e-01 -5.59445397e-02 1.66809986e+02] [ 1.26730008e-01 9.91926859e-01 -4.53995672e-03 1.19726659e+01] [ 5.60684890e-02 -2.59369962e-03 9.98423556e-01 9.28770308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.87, Y:11.98, Z:9.29 [[ 9.90703428e-01 -1.24003583e-01 -5.59448745e-02 1.66870449e+02] [ 1.23944626e-01 9.92278769e-01 -4.53582816e-03 1.19794950e+01] [ 5.60753701e-02 -2.44040604e-03 9.98423556e-01 9.29072076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.93, Y:11.99, Z:9.29 [[ 9.90778197e-01 -1.23404647e-01 -5.59451213e-02 1.66931958e+02] [ 1.23344910e-01 9.92353509e-01 -4.53278164e-03 1.19856748e+01] [ 5.60767038e-02 -2.40956471e-03 9.98423556e-01 9.29379746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.99, Y:11.99, Z:9.29 [[ 9.90699585e-01 -1.24034020e-01 -5.59454560e-02 1.66991747e+02] [ 1.23975516e-01 9.92274943e-01 -4.52864722e-03 1.19916928e+01] [ 5.60749805e-02 -2.44933787e-03 9.98423556e-01 9.29491731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.05, Y:12.00, Z:9.30 [[ 9.90642337e-01 -1.24490390e-01 -5.59455380e-02 1.67053393e+02] [ 1.24432669e-01 9.92217724e-01 -4.52763311e-03 1.19976781e+01] [ 5.60738012e-02 -2.47618759e-03 9.98423556e-01 9.29855648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.11, Y:12.01, Z:9.30 [[ 9.90586184e-01 -1.24936269e-01 -5.59458715e-02 1.67114992e+02] [ 1.24879490e-01 9.92161605e-01 -4.52350850e-03 1.20056265e+01] [ 5.60724960e-02 -2.50556690e-03 9.98423556e-01 9.30243052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.18, Y:12.01, Z:9.31 [[ 9.90613688e-01 -1.24717858e-01 -5.59462063e-02 1.67175605e+02] [ 1.24660965e-01 9.92189105e-01 -4.51936460e-03 1.20125859e+01] [ 5.60728618e-02 -2.49736364e-03 9.98423556e-01 9.30541604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.24, Y:12.02, Z:9.31 [[ 9.90550031e-01 -1.25222201e-01 -5.59467276e-02 1.67237235e+02] [ 1.25166475e-01 9.92125490e-01 -4.51290134e-03 1.20209758e+01] [ 5.60712900e-02 -2.53240010e-03 9.98423556e-01 9.31172510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64509989299998 meters Centerline goodness : 0.998514 with order 1 Centerline is valid? [True, True] Translation: X:167.30, Y:12.03, Z:9.31 [[ 9.90212116e-01 -1.27866695e-01 -5.59470579e-02 1.67296078e+02] [ 1.27815407e-01 9.91787726e-01 -4.50880323e-03 1.20291825e+01] [ 5.60641311e-02 -2.68622438e-03 9.98423556e-01 9.31220698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.36, Y:12.04, Z:9.32 [[ 9.89703622e-01 -1.31744703e-01 -5.59470579e-02 1.67356209e+02] [ 1.31699588e-01 9.91279420e-01 -4.50880323e-03 1.20361516e+01] [ 5.60531781e-02 -2.90582557e-03 9.98423556e-01 9.31775224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.42, Y:12.04, Z:9.32 [[ 9.89265599e-01 -1.34994447e-01 -5.59470579e-02 1.67417732e+02] [ 1.34954507e-01 9.90841537e-01 -4.50880323e-03 1.20435975e+01] [ 5.60433323e-02 -3.08990367e-03 9.98423556e-01 9.31946660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.48, Y:12.05, Z:9.32 [[ 9.89101695e-01 -1.36190042e-01 -5.59473841e-02 1.67479845e+02] [ 1.36152235e-01 9.90677685e-01 -4.50475254e-03 1.20510906e+01] [ 5.60393274e-02 -3.16170299e-03 9.98423556e-01 9.32350914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.54, Y:12.06, Z:9.33 [[ 9.89054140e-01 -1.36534836e-01 -5.59477110e-02 1.67541639e+02] [ 1.36497807e-01 9.90630149e-01 -4.50068844e-03 1.20583616e+01] [ 5.60379900e-02 -3.18531534e-03 9.98423556e-01 9.32686296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.60, Y:12.07, Z:9.33 [[ 9.89186067e-01 -1.35575595e-01 -5.59480358e-02 1.67601915e+02] [ 1.35537266e-01 9.90762045e-01 -4.49664715e-03 1.20663195e+01] [ 5.60408260e-02 -3.13502310e-03 9.98423556e-01 9.33033003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.66, Y:12.08, Z:9.34 [[ 9.88989885e-01 -1.36999142e-01 -5.59485627e-02 1.67663284e+02] [ 1.36963452e-01 9.90565925e-01 -4.49008139e-03 1.20765319e+01] [ 5.60358771e-02 -3.22226319e-03 9.98423556e-01 9.33548112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.72, Y:12.08, Z:9.34 [[ 9.89233367e-01 -1.35229623e-01 -5.59490298e-02 1.67723963e+02] [ 1.35191441e-01 9.90809349e-01 -4.48425363e-03 1.20805444e+01] [ 5.60412257e-02 -3.12785666e-03 9.98423556e-01 9.33767703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.79, Y:12.09, Z:9.34 [[ 9.89121257e-01 -1.36047103e-01 -5.59493108e-02 1.67786179e+02] [ 1.36010422e-01 9.90697274e-01 -4.48074543e-03 1.20863649e+01] [ 5.60384221e-02 -3.17768882e-03 9.98423556e-01 9.34080356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.85, Y:12.09, Z:9.34 [[ 9.88857829e-01 -1.37948660e-01 -5.59496311e-02 1.67848476e+02] [ 1.37915235e-01 9.90433918e-01 -4.47674262e-03 1.20922571e+01] [ 5.60319730e-02 -3.28944450e-03 9.98423556e-01 9.34288459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.91, Y:12.10, Z:9.35 [[ 9.88720300e-01 -1.38930817e-01 -5.59499514e-02 1.67910244e+02] [ 1.38899183e-01 9.90296426e-01 -4.47273557e-03 1.20972411e+01] [ 5.60284377e-02 -3.34911809e-03 9.98423556e-01 9.34552584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.97, Y:12.10, Z:9.35 [[ 9.88856983e-01 -1.37954469e-01 -5.59502679e-02 1.67971771e+02] [ 1.37921503e-01 9.90433082e-01 -4.46877223e-03 1.21031976e+01] [ 5.60314834e-02 -3.29776842e-03 9.98423556e-01 9.34909144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.03, Y:12.11, Z:9.35 [[ 9.89255321e-01 -1.35068283e-01 -5.59505938e-02 1.68032231e+02] [ 1.35030948e-01 9.90831323e-01 -4.46468921e-03 1.21100322e+01] [ 5.60406387e-02 -3.13834413e-03 9.98423556e-01 9.35339661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.09, Y:12.12, Z:9.36 [[ 9.89655982e-01 -1.32100499e-01 -5.59508348e-02 1.68093623e+02] [ 1.32058607e-01 9.91231869e-01 -4.46166621e-03 1.21160983e+01] [ 5.60496389e-02 -2.97327464e-03 9.98423556e-01 9.35745254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.16, Y:12.12, Z:9.36 [[ 9.90303492e-01 -1.27155269e-01 -5.59511522e-02 1.68155814e+02] [ 1.27105731e-01 9.91879157e-01 -4.45768293e-03 1.21216344e+01] [ 5.60635995e-02 -2.69725311e-03 9.98423556e-01 9.36065080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.22, Y:12.13, Z:9.36 [[ 9.90491069e-01 -1.25685619e-01 -5.59514729e-02 1.68216325e+02] [ 1.25633969e-01 9.92066666e-01 -4.45365375e-03 1.21264771e+01] [ 5.60673514e-02 -2.61810136e-03 9.98423556e-01 9.36273339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.28, Y:12.13, Z:9.37 [[ 9.90496302e-01 -1.25644264e-01 -5.59517091e-02 1.68278438e+02] [ 1.25592716e-01 9.92071903e-01 -4.45068374e-03 1.21313361e+01] [ 5.60673215e-02 -2.61874131e-03 9.98423556e-01 9.36546062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.34, Y:12.14, Z:9.37 [[ 9.90096866e-01 -1.28753905e-01 -5.59520168e-02 1.68340148e+02] [ 1.28707523e-01 9.91672627e-01 -4.44681239e-03 1.21351727e+01] [ 5.60586280e-02 -2.79867049e-03 9.98423556e-01 9.36812833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.40, Y:12.14, Z:9.37 [[ 9.89683987e-01 -1.31889887e-01 -5.59523294e-02 1.68401329e+02] [ 1.31848719e-01 9.91259893e-01 -4.44287549e-03 1.21388159e+01] [ 5.60492704e-02 -2.98020026e-03 9.98423556e-01 9.37063491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.46, Y:12.14, Z:9.38 [[ 9.89353037e-01 -1.34349836e-01 -5.59525611e-02 1.68463279e+02] [ 1.34312751e-01 9.90929045e-01 -4.43995633e-03 1.21429574e+01] [ 5.60415253e-02 -3.12245810e-03 9.98423556e-01 9.37631271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.52, Y:12.15, Z:9.38 [[ 9.89012234e-01 -1.36835949e-01 -5.59528680e-02 1.68524850e+02] [ 1.36803043e-01 9.90588335e-01 -4.43608532e-03 1.21457911e+01] [ 5.60332742e-02 -3.26717997e-03 9.98423556e-01 9.38141086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.59, Y:12.15, Z:9.39 [[ 9.88936037e-01 -1.37385432e-01 -5.59531790e-02 1.68587672e+02] [ 1.37353623e-01 9.90512160e-01 -4.43215890e-03 1.21496982e+01] [ 5.60312182e-02 -3.30225022e-03 9.98423556e-01 9.38532382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.65, Y:12.15, Z:9.39 [[ 9.88768384e-01 -1.38586687e-01 -5.59536608e-02 1.68650521e+02] [ 1.38557136e-01 9.90344551e-01 -4.42606755e-03 1.21510679e+01] [ 5.60267972e-02 -3.37642332e-03 9.98423556e-01 9.38828508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.71, Y:12.15, Z:9.39 [[ 9.88587846e-01 -1.39868523e-01 -5.59541461e-02 1.68712394e+02] [ 1.39841362e-01 9.90164056e-01 -4.41992443e-03 1.21529921e+01] [ 5.60219925e-02 -3.45522045e-03 9.98423556e-01 9.39004589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.77, Y:12.15, Z:9.39 [[ 9.88498405e-01 -1.40499083e-01 -5.59545444e-02 1.68774367e+02] [ 1.40473212e-01 9.90074636e-01 -4.41487680e-03 1.21549232e+01] [ 5.60194613e-02 -3.49601589e-03 9.98423556e-01 9.38948437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.84, Y:12.16, Z:9.39 [[ 9.88050012e-01 -1.43618287e-01 -5.59549958e-02 1.68836629e+02] [ 1.43597715e-01 9.89626321e-01 -4.40914782e-03 1.21556559e+01] [ 5.60077709e-02 -3.67855095e-03 9.98423556e-01 9.39408470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.90, Y:12.16, Z:9.40 [[ 9.87890101e-01 -1.44714022e-01 -5.59553370e-02 1.68899019e+02] [ 1.44695442e-01 9.89466435e-01 -4.40481346e-03 1.21584371e+01] [ 5.60033661e-02 -3.74501061e-03 9.98423556e-01 9.39818598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.96, Y:12.16, Z:9.40 [[ 9.88297601e-01 -1.41904251e-01 -5.59556540e-02 1.68960791e+02] [ 1.41881416e-01 9.89873879e-01 -4.40078229e-03 1.21614256e+01] [ 5.60135300e-02 -3.58978483e-03 9.98423556e-01 9.39863604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.02, Y:12.16, Z:9.41 [[ 9.88588618e-01 -1.39862334e-01 -5.59559784e-02 1.69021336e+02] [ 1.39836476e-01 9.90164850e-01 -4.39665469e-03 1.21639404e+01] [ 5.60205693e-02 -3.47820401e-03 9.98423556e-01 9.40541753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.08, Y:12.17, Z:9.41 [[ 9.89231740e-01 -1.35238550e-01 -5.59562183e-02 1.69083630e+02] [ 1.35205493e-01 9.90807837e-01 -4.39359910e-03 1.21664213e+01] [ 5.60360436e-02 -3.21930042e-03 9.98423556e-01 9.41110495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.15, Y:12.17, Z:9.41 [[ 9.89868716e-01 -1.30494410e-01 -5.59565428e-02 1.69145193e+02] [ 1.30454032e-01 9.91444642e-01 -4.38946207e-03 1.21686816e+01] [ 5.60506148e-02 -2.95476543e-03 9.98423556e-01 9.41447580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.21, Y:12.17, Z:9.42 [[ 9.90148933e-01 -1.28350806e-01 -5.59567826e-02 1.69207485e+02] [ 1.28307188e-01 9.91724773e-01 -4.38640350e-03 1.21707424e+01] [ 5.60567259e-02 -2.83646467e-03 9.98423556e-01 9.41671755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.27, Y:12.17, Z:9.42 [[ 9.90473828e-01 -1.25818910e-01 -5.59571030e-02 1.69268232e+02] [ 1.25771493e-01 9.92049559e-01 -4.38231212e-03 1.21727703e+01] [ 5.60635970e-02 -2.69724293e-03 9.98423556e-01 9.41808165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.33, Y:12.18, Z:9.42 [[ 9.90905313e-01 -1.22374242e-01 -5.59571815e-02 1.69329272e+02] [ 1.22321403e-01 9.92480871e-01 -4.38130880e-03 1.21766163e+01] [ 5.60725916e-02 -2.50329881e-03 9.98423556e-01 9.42144608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.39, Y:12.18, Z:9.43 [[ 9.92097963e-01 -1.12296080e-01 -5.59573331e-02 1.69390726e+02] [ 1.12227339e-01 9.93672907e-01 -4.37937253e-03 1.21804263e+01] [ 5.60950722e-02 -1.93517604e-03 9.98423556e-01 9.42568010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.45, Y:12.19, Z:9.43 [[ 9.93681714e-01 -9.72903437e-02 -5.59574952e-02 1.69451198e+02] [ 9.71979260e-02 9.95255446e-01 -4.37730036e-03 1.21857465e+01] [ 5.61178709e-02 -1.08930915e-03 9.98423556e-01 9.43073052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.51, Y:12.19, Z:9.43 [[ 9.94168081e-01 -9.21877726e-02 -5.59574952e-02 1.69509553e+02] [ 9.20872769e-02 9.95741318e-01 -4.37730036e-03 1.21906064e+01] [ 5.61227236e-02 -8.01201051e-04 9.98423556e-01 9.43460158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.57, Y:12.19, Z:9.44 [[ 9.95452462e-01 -7.70926775e-02 -5.59563750e-02 1.69566967e+02] [ 7.69675204e-02 9.97023929e-01 -4.39157340e-03 1.21938506e+01] [ 5.61284030e-02 6.47791144e-05 9.98423557e-01 9.43796948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.62, Y:12.20, Z:9.44 [[ 9.96358297e-01 -6.43363861e-02 -5.59550968e-02 1.69623559e+02] [ 6.41902005e-02 9.97927948e-01 -4.40780010e-03 1.21952416e+01] [ 5.61227368e-02 7.99979327e-04 9.98423557e-01 9.44091778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.68, Y:12.20, Z:9.44 [[ 9.96758626e-01 -5.78045508e-02 -5.59542263e-02 1.69681175e+02] [ 5.76474618e-02 9.98327223e-01 -4.41882270e-03 1.21955485e+01] [ 5.61160554e-02 1.17888052e-03 9.98423557e-01 9.44411969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.74, Y:12.20, Z:9.45 [[ 9.96756018e-01 -5.78506908e-02 -5.59529948e-02 1.69739038e+02] [ 5.76928026e-02 9.98324535e-01 -4.43436135e-03 1.21955776e+01] [ 5.61157784e-02 1.19189128e-03 9.98423557e-01 9.44588259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.80, Y:12.19, Z:9.45 [[ 9.96324668e-01 -6.48580048e-02 -5.59517239e-02 1.69797355e+02] [ 6.47102525e-02 9.97894172e-01 -4.45034003e-03 1.21916132e+01] [ 5.61225394e-02 8.13333373e-04 9.98423557e-01 9.44878825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.85, Y:12.19, Z:9.45 [[ 9.95768045e-01 -7.29078375e-02 -5.59504126e-02 1.69854837e+02] [ 7.27718513e-02 9.97338611e-01 -4.46676560e-03 1.21907157e+01] [ 5.61271690e-02 3.76247340e-04 9.98423557e-01 9.45253702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.91, Y:12.19, Z:9.46 [[ 9.94627529e-01 -8.70958873e-02 -5.59498479e-02 1.69913302e+02] [ 8.69819073e-02 9.96199846e-01 -4.47382762e-03 1.21864349e+01] [ 5.61268818e-02 -4.16832372e-04 9.98423557e-01 9.45729556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.97, Y:12.18, Z:9.46 [[ 9.93293528e-01 -1.01181639e-01 -5.59485738e-02 1.69971637e+02] [ 1.01089058e-01 9.94867250e-01 -4.48970524e-03 1.21806496e+01] [ 5.61156795e-02 -1.19619344e-03 9.98423557e-01 9.46139705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.03, Y:12.18, Z:9.46 [[ 9.92354809e-01 -1.10008327e-01 -5.59473109e-02 1.70030031e+02] [ 1.09928857e-01 9.93929247e-01 -4.50538765e-03 1.21790791e+01] [ 5.61032988e-02 -1.67928083e-03 9.98423557e-01 9.46481882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.09, Y:12.18, Z:9.47 [[ 9.91474336e-01 -1.17680452e-01 -5.59459831e-02 1.70087854e+02] [ 1.17612236e-01 9.93049301e-01 -4.52181613e-03 1.21784076e+01] [ 5.60892488e-02 -2.09666751e-03 9.98423557e-01 9.46793416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.15, Y:12.18, Z:9.47 [[ 9.90749125e-01 -1.23638046e-01 -5.59446638e-02 1.70146067e+02] [ 1.23578381e-01 9.92324438e-01 -4.53808066e-03 1.21779147e+01] [ 5.60763364e-02 -2.41745152e-03 9.98423558e-01 9.47091625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.20, Y:12.18, Z:9.47 [[ 9.90141436e-01 -1.28414473e-01 -5.59433536e-02 1.70203958e+02] [ 1.28361499e-01 9.91716988e-01 -4.55417453e-03 1.21776206e+01] [ 5.60647961e-02 -2.67169581e-03 9.98423558e-01 9.47395369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.26, Y:12.18, Z:9.47 [[ 9.90025755e-01 -1.29303892e-01 -5.59420061e-02 1.70262477e+02] [ 1.29251403e-01 9.91601323e-01 -4.57066688e-03 1.21781304e+01] [ 5.60631723e-02 -2.70550486e-03 9.98423558e-01 9.47416564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.32, Y:12.18, Z:9.48 [[ 9.90702113e-01 -1.24015992e-01 -5.59406554e-02 1.70319062e+02] [ 1.23954163e-01 9.92277342e-01 -4.58713991e-03 1.21825993e+01] [ 5.60775235e-02 -2.38958790e-03 9.98423558e-01 9.47681071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.38, Y:12.19, Z:9.48 [[ 9.91548853e-01 -1.17053749e-01 -5.59400744e-02 1.70377073e+02] [ 1.16980458e-01 9.93123590e-01 -4.59421416e-03 1.21878705e+01] [ 5.60931775e-02 -1.98850773e-03 9.98423558e-01 9.48012339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.43, Y:12.19, Z:9.48 [[ 9.92139187e-01 -1.11940573e-01 -5.59387296e-02 1.70434618e+02] [ 1.11858245e-01 9.93713478e-01 -4.61053048e-03 1.21949066e+01] [ 5.61031749e-02 -1.68292017e-03 9.98423558e-01 9.48473812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.49, Y:12.20, Z:9.49 [[ 9.92226629e-01 -1.11163512e-01 -5.59373774e-02 1.70492497e+02] [ 1.11079030e-01 9.93800806e-01 -4.62687748e-03 1.22005369e+01] [ 5.61049507e-02 -1.62255860e-03 9.98423558e-01 9.48865140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.55, Y:12.21, Z:9.49 [[ 9.92374545e-01 -1.09835886e-01 -5.59360337e-02 1.70550053e+02] [ 1.09748387e-01 9.93948557e-01 -4.64306620e-03 1.22065287e+01] [ 5.61075152e-02 -1.53122876e-03 9.98423558e-01 9.49114644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.61, Y:12.21, Z:9.49 [[ 9.92357416e-01 -1.09991218e-01 -5.59347040e-02 1.70608103e+02] [ 1.09903066e-01 9.93931391e-01 -4.65903023e-03 1.22117157e+01] [ 5.61077105e-02 -1.52397225e-03 9.98423559e-01 9.49410087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.66, Y:12.22, Z:9.50 [[ 9.92250475e-01 -1.10952483e-01 -5.59333634e-02 1.70664109e+02] [ 1.10864953e-01 9.93824485e-01 -4.67506917e-03 1.22190619e+01] [ 5.61066566e-02 -1.56221008e-03 9.98423559e-01 9.49774995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.72, Y:12.23, Z:9.50 [[ 9.91963128e-01 -1.13493237e-01 -5.59324471e-02 1.70721559e+02] [ 1.13409122e-01 9.93537323e-01 -4.68600583e-03 1.22257612e+01] [ 5.61028038e-02 -1.69490472e-03 9.98423559e-01 9.50140920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.78, Y:12.23, Z:9.51 [[ 9.91709849e-01 -1.15686162e-01 -5.59310869e-02 1.70779372e+02] [ 1.15604616e-01 9.93284180e-01 -4.70218494e-03 1.22322622e+01] [ 5.60994415e-02 -1.80268870e-03 9.98423559e-01 9.50531917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.84, Y:12.24, Z:9.51 [[ 9.91609001e-01 -1.16548085e-01 -5.59297195e-02 1.70836530e+02] [ 1.16466994e-01 9.93183355e-01 -4.71839419e-03 1.22399791e+01] [ 5.60983862e-02 -1.83516417e-03 9.98423559e-01 9.50947277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.89, Y:12.25, Z:9.51 [[ 9.91833423e-01 -1.14622748e-01 -5.59292994e-02 1.70894561e+02] [ 1.14538320e-01 9.93407602e-01 -4.72336854e-03 1.22476482e+01] [ 5.61019966e-02 -1.72125321e-03 9.98423559e-01 9.51495389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.95, Y:12.26, Z:9.52 [[ 9.92456212e-01 -1.09099549e-01 -5.59281379e-02 1.70951625e+02] [ 1.09005587e-01 9.94029850e-01 -4.73708168e-03 1.22562241e+01] [ 5.61110520e-02 -1.39513336e-03 9.98423559e-01 9.51996269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.01, Y:12.26, Z:9.52 [[ 9.92787900e-01 -1.06039539e-01 -5.59267459e-02 1.71009080e+02] [ 1.05939805e-01 9.94361183e-01 -4.75345866e-03 1.22634976e+01] [ 5.61154398e-02 -1.20569230e-03 9.98423559e-01 9.52350966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.07, Y:12.27, Z:9.53 [[ 9.92996016e-01 -1.04073370e-01 -5.59253528e-02 1.71066424e+02] [ 1.03969600e-01 9.94569038e-01 -4.76979380e-03 1.22700844e+01] [ 5.61180328e-02 -1.07815034e-03 9.98423559e-01 9.52733289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.12, Y:12.27, Z:9.53 [[ 9.92907065e-01 -1.04919356e-01 -5.59239516e-02 1.71124208e+02] [ 1.04816005e-01 9.94480114e-01 -4.78616576e-03 1.22749555e+01] [ 5.61174192e-02 -1.10950738e-03 9.98423560e-01 9.53005054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.18, Y:12.28, Z:9.53 [[ 9.92652126e-01 -1.07304784e-01 -5.59235214e-02 1.71182055e+02] [ 1.07204930e-01 9.94225401e-01 -4.79118678e-03 1.22806856e+01] [ 5.61147028e-02 -1.23929545e-03 9.98423560e-01 9.53437300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.24, Y:12.29, Z:9.54 [[ 9.92539161e-01 -1.08345415e-01 -5.59221324e-02 1.71239204e+02] [ 1.08246301e-01 9.94112482e-01 -4.80734509e-03 1.22861222e+01] [ 5.61137436e-02 -1.28188569e-03 9.98423560e-01 9.53781361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.30, Y:12.29, Z:9.54 [[ 9.92266521e-01 -1.10815261e-01 -5.59207474e-02 1.71296585e+02] [ 1.10719158e-01 9.93840029e-01 -4.82340237e-03 1.22919523e+01] [ 5.61107838e-02 -1.40539739e-03 9.98423560e-01 9.54142198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.35, Y:12.30, Z:9.55 [[ 9.91559720e-01 -1.16971105e-01 -5.59203215e-02 1.71354870e+02] [ 1.16884491e-01 9.93133779e-01 -4.82833526e-03 1.22967249e+01] [ 5.61011359e-02 -1.74863555e-03 9.98423560e-01 9.54610684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.41, Y:12.30, Z:9.55 [[ 9.91002617e-01 -1.21601255e-01 -5.59191260e-02 1.71412025e+02] [ 1.21521216e-01 9.92577024e-01 -4.84214147e-03 1.23014071e+01] [ 5.60928501e-02 -1.99678534e-03 9.98423560e-01 9.55030807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.47, Y:12.31, Z:9.55 [[ 9.90117310e-01 -1.28611530e-01 -5.59176864e-02 1.71470722e+02] [ 1.28541701e-01 9.91692202e-01 -4.85870931e-03 1.23079217e+01] [ 5.60780196e-02 -2.37706235e-03 9.98423560e-01 9.55362399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.53, Y:12.31, Z:9.56 [[ 9.89383308e-01 -1.34141804e-01 -5.59164249e-02 1.71529748e+02] [ 1.34079960e-01 9.90958534e-01 -4.87318343e-03 1.23148661e+01] [ 5.60645561e-02 -2.67582566e-03 9.98423560e-01 9.55636415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.59, Y:12.32, Z:9.56 [[ 9.89003210e-01 -1.36916122e-01 -5.59162470e-02 1.71588568e+02] [ 1.36858582e-01 9.90578599e-01 -4.87522401e-03 1.23210307e+01] [ 5.60569344e-02 -2.83100606e-03 9.98423560e-01 9.55789740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.65, Y:12.33, Z:9.56 [[ 9.88615726e-01 -1.39686489e-01 -5.59162774e-02 1.71648535e+02] [ 1.39633382e-01 9.90191272e-01 -4.87487562e-03 1.23270782e+01] [ 5.60487641e-02 -2.98840023e-03 9.98423560e-01 9.56118416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.71, Y:12.33, Z:9.56 [[ 9.88047680e-01 -1.43649409e-01 -5.59162774e-02 1.71707780e+02] [ 1.43602620e-01 9.89623425e-01 -4.87487562e-03 1.23345015e+01] [ 5.60363310e-02 -3.21311439e-03 9.98423560e-01 9.56355079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.77, Y:12.34, Z:9.57 [[ 9.87729865e-01 -1.45818702e-01 -5.59161902e-02 1.71767629e+02] [ 1.45775317e-01 9.89305708e-01 -4.87587565e-03 1.23414463e+01] [ 5.60292000e-02 -3.33515233e-03 9.98423560e-01 9.56585386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.83, Y:12.35, Z:9.57 [[ 9.87396897e-01 -1.48056567e-01 -5.59161902e-02 1.71827863e+02] [ 1.48016752e-01 9.88972834e-01 -4.87587565e-03 1.23509264e+01] [ 5.60214985e-02 -3.46210840e-03 9.98423560e-01 9.57004480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.89, Y:12.36, Z:9.57 [[ 9.87279267e-01 -1.48838867e-01 -5.59163677e-02 1.71888873e+02] [ 1.48800416e-01 9.88855238e-01 -4.87383952e-03 1.23595477e+01] [ 5.60186098e-02 -3.50853806e-03 9.98423560e-01 9.57433220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.95, Y:12.37, Z:9.58 [[ 9.87307449e-01 -1.48651743e-01 -5.59165442e-02 1.71950311e+02] [ 1.48613107e-01 9.88883416e-01 -4.87181376e-03 1.23707603e+01] [ 5.60191468e-02 -3.49995336e-03 9.98423560e-01 9.57809080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.01, Y:12.38, Z:9.58 [[ 9.87385060e-01 -1.48135222e-01 -5.59168939e-02 1.72011625e+02] [ 1.48095989e-01 9.88961012e-01 -4.86779642e-03 1.23781885e+01] [ 5.60207201e-02 -3.47467825e-03 9.98423560e-01 9.58178180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.07, Y:12.39, Z:9.59 [[ 9.87839129e-01 -1.45076248e-01 -5.59172405e-02 1.72073030e+02] [ 1.45032358e-01 9.89414958e-01 -4.86381224e-03 1.23894842e+01] [ 5.60309777e-02 -3.30514521e-03 9.98423560e-01 9.58623212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.13, Y:12.40, Z:9.59 [[ 9.88322945e-01 -1.41742651e-01 -5.59175855e-02 1.72134101e+02] [ 1.41693669e-01 9.89898624e-01 -4.85984213e-03 1.24007109e+01] [ 5.60415879e-02 -3.12007438e-03 9.98423560e-01 9.59083864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.19, Y:12.41, Z:9.59 [[ 9.88550593e-01 -1.40146027e-01 -5.59179472e-02 1.72194529e+02] [ 1.40094735e-01 9.90126198e-01 -4.85567632e-03 1.24093914e+01] [ 5.60463282e-02 -3.03372828e-03 9.98423560e-01 9.59342707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.26, Y:12.42, Z:9.60 [[ 9.88717659e-01 -1.38962386e-01 -5.59182140e-02 1.72256425e+02] [ 1.38909381e-01 9.90293207e-01 -4.85260277e-03 1.24178930e+01] [ 5.60497567e-02 -2.96971045e-03 9.98423560e-01 9.59734268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.32, Y:12.43, Z:9.60 [[ 9.88834031e-01 -1.38131724e-01 -5.59185701e-02 1.72317236e+02] [ 1.38077627e-01 9.90409542e-01 -4.84849527e-03 1.24265013e+01] [ 5.60520164e-02 -2.92674635e-03 9.98423560e-01 9.59919716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.38, Y:12.43, Z:9.60 [[ 9.88815681e-01 -1.38262915e-01 -5.59188333e-02 1.72378387e+02] [ 1.38209198e-01 9.90391205e-01 -4.84545858e-03 1.24337959e+01] [ 5.60514679e-02 -2.93723169e-03 9.98423560e-01 9.60381223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.44, Y:12.44, Z:9.61 [[ 9.88644469e-01 -1.39481746e-01 -5.59191893e-02 1.72438769e+02] [ 1.39430204e-01 9.90220066e-01 -4.84134573e-03 1.24418478e+01] [ 5.60475827e-02 -3.01045427e-03 9.98423560e-01 9.60688709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.50, Y:12.45, Z:9.61 [[ 9.88522252e-01 -1.40345189e-01 -5.59194522e-02 1.72500050e+02] [ 1.40295194e-01 9.90097899e-01 -4.83830773e-03 1.24503098e+01] [ 5.60447653e-02 -3.06245552e-03 9.98423560e-01 9.61029422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.56, Y:12.46, Z:9.61 [[ 9.88454381e-01 -1.40822270e-01 -5.59198023e-02 1.72561297e+02] [ 1.40773264e-01 9.90030059e-01 -4.83425732e-03 1.24578582e+01] [ 5.60430563e-02 -3.09357028e-03 9.98423560e-01 9.61407989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.62, Y:12.47, Z:9.62 [[ 9.88288658e-01 -1.41980511e-01 -5.59201543e-02 1.72622666e+02] [ 1.41933582e-01 9.89864399e-01 -4.83018220e-03 1.24665207e+01] [ 5.60391617e-02 -3.16333352e-03 9.98423560e-01 9.61906176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.68, Y:12.47, Z:9.62 [[ 9.88144471e-01 -1.42980427e-01 -5.59205031e-02 1.72684581e+02] [ 1.42935320e-01 9.89720265e-01 -4.82614075e-03 1.24734081e+01] [ 5.60356988e-02 -3.22409073e-03 9.98423560e-01 9.62322606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.75, Y:12.48, Z:9.63 [[ 9.87737090e-01 -1.45767964e-01 -5.59208528e-02 1.72745844e+02] [ 1.45727532e-01 9.89313011e-01 -4.82208594e-03 1.24802152e+01] [ 5.60261329e-02 -3.38625473e-03 9.98423560e-01 9.62565573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.81, Y:12.49, Z:9.63 [[ 9.87397236e-01 -1.48052329e-01 -5.59214226e-02 1.72808685e+02] [ 1.48015915e-01 9.88973256e-01 -4.81546818e-03 1.24871222e+01] [ 5.60177327e-02 -3.52248057e-03 9.98423560e-01 9.62950079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.87, Y:12.49, Z:9.63 [[ 9.87311979e-01 -1.48619622e-01 -5.59219538e-02 1.72870207e+02] [ 1.48584463e-01 9.88888026e-01 -4.80929147e-03 1.24938565e+01] [ 5.60153056e-02 -3.56086239e-03 9.98423560e-01 9.63275324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.93, Y:12.50, Z:9.64 [[ 9.87431295e-01 -1.47824637e-01 -5.59223904e-02 1.72933082e+02] [ 1.47788495e-01 9.89007321e-01 -4.80420965e-03 1.25002569e+01] [ 5.60178341e-02 -3.52085896e-03 9.98423560e-01 9.63623554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.99, Y:12.51, Z:9.64 [[ 9.87713397e-01 -1.45927628e-01 -5.59229128e-02 1.72994237e+02] [ 1.45888803e-01 9.89289359e-01 -4.79812095e-03 1.25084043e+01] [ 5.60241210e-02 -3.41935845e-03 9.98423560e-01 9.63964076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.05, Y:12.52, Z:9.64 [[ 9.88408787e-01 -1.41140564e-01 -5.59232630e-02 1.73054573e+02] [ 1.41094334e-01 9.89984548e-01 -4.79403644e-03 1.25161752e+01] [ 5.60397992e-02 -3.15198779e-03 9.98423560e-01 9.64173425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.12, Y:12.52, Z:9.65 [[ 9.88979792e-01 -1.37082201e-01 -5.59235215e-02 1.73115951e+02] [ 1.37029673e-01 9.90555357e-01 -4.79101905e-03 1.25241669e+01] [ 5.60521072e-02 -2.92496085e-03 9.98423560e-01 9.64570177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.18, Y:12.53, Z:9.65 [[ 9.89760426e-01 -1.31327152e-01 -5.59238601e-02 1.73177287e+02] [ 1.31265684e-01 9.91335667e-01 -4.78706292e-03 1.25337581e+01] [ 5.60679885e-02 -2.60283828e-03 9.98423560e-01 9.65094881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.24, Y:12.54, Z:9.65 [[ 9.90134017e-01 -1.28480005e-01 -5.59242080e-02 1.73239820e+02] [ 1.28414235e-01 9.91709084e-01 -4.78299489e-03 1.25413786e+01] [ 5.60750643e-02 -2.44565846e-03 9.98423560e-01 9.65480178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.30, Y:12.55, Z:9.66 [[ 9.90560229e-01 -1.25151338e-01 -5.59247339e-02 1.73300951e+02] [ 1.25080622e-01 9.92135081e-01 -4.77683854e-03 1.25490422e+01] [ 5.60827181e-02 -2.26335423e-03 9.98423560e-01 9.65782397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.36, Y:12.56, Z:9.66 [[ 9.90754057e-01 -1.23607418e-01 -5.59249912e-02 1.73362973e+02] [ 1.23534418e-01 9.92328805e-01 -4.77382361e-03 1.25561068e+01] [ 5.60860598e-02 -2.17897613e-03 9.98423560e-01 9.66201276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.42, Y:12.56, Z:9.67 [[ 9.90722702e-01 -1.23858320e-01 -5.59253395e-02 1.73424559e+02] [ 1.23785949e-01 9.92297480e-01 -4.76974070e-03 1.25630790e+01] [ 5.60853455e-02 -2.19728083e-03 9.98423560e-01 9.66543563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.49, Y:12.57, Z:9.67 [[ 9.90533112e-01 -1.25365353e-01 -5.59256889e-02 1.73485100e+02] [ 1.25295608e-01 9.92108008e-01 -4.76564063e-03 1.25694852e+01] [ 5.60817700e-02 -2.28671835e-03 9.98423560e-01 9.66857970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.55, Y:12.58, Z:9.67 [[ 9.90005010e-01 -1.29469566e-01 -5.59259473e-02 1.73545860e+02] [ 1.29406520e-01 9.91580188e-01 -4.76260613e-03 1.25753467e+01] [ 5.60716739e-02 -2.52217828e-03 9.98423560e-01 9.67079910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94509989299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:173.61, Y:12.58, Z:9.67 [[ 9.89162480e-01 -1.35756574e-01 -5.59262013e-02 1.73607642e+02] [ 1.35703705e-01 9.90738033e-01 -4.75962103e-03 1.25814851e+01] [ 5.60543645e-02 -2.88135419e-03 9.98423560e-01 9.67149821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.67, Y:12.58, Z:9.68 [[ 9.88606336e-01 -1.39748760e-01 -5.59267002e-02 1.73668281e+02] [ 1.39702583e-01 9.90182099e-01 -4.75375182e-03 1.25845311e+01] [ 5.60419483e-02 -3.11351531e-03 9.98423560e-01 9.67874945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.73, Y:12.59, Z:9.68 [[ 9.88384204e-01 -1.41311130e-01 -5.59270003e-02 1.73729760e+02] [ 1.41267643e-01 9.89960044e-01 -4.75021858e-03 1.25892412e+01] [ 5.60367544e-02 -3.20563449e-03 9.98423560e-01 9.68166926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.79, Y:12.59, Z:9.69 [[ 9.88430876e-01 -1.40984136e-01 -5.59274313e-02 1.73791707e+02] [ 1.40940415e-01 9.90006709e-01 -4.74513845e-03 1.25941322e+01] [ 5.60375215e-02 -3.19219401e-03 9.98423560e-01 9.68529782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.85, Y:12.60, Z:9.69 [[ 9.88667509e-01 -1.39314895e-01 -5.59277818e-02 1.73852648e+02] [ 1.39268746e-01 9.90243273e-01 -4.74100354e-03 1.25993787e+01] [ 5.60426021e-02 -3.10171586e-03 9.98423560e-01 9.68924059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24509989299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:173.91, Y:12.61, Z:9.69 [[ 9.89233407e-01 -1.35238015e-01 -5.59280407e-02 1.73914578e+02] [ 1.35185542e-01 9.90808973e-01 -4.73794819e-03 1.26064744e+01] [ 5.60547553e-02 -2.87372587e-03 9.98423560e-01 9.68859826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30509989299998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:173.98, Y:12.61, Z:9.69 [[ 9.89400236e-01 -1.34011875e-01 -5.59284374e-02 1.73976095e+02] [ 1.33957714e-01 9.90975745e-01 -4.73326006e-03 1.26121439e+01] [ 5.60580380e-02 -2.80895701e-03 9.98423560e-01 9.69178560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.04, Y:12.62, Z:9.70 [[ 9.89743766e-01 -1.31450532e-01 -5.59288413e-02 1.74037312e+02] [ 1.31392562e-01 9.91319139e-01 -4.72848260e-03 1.26172226e+01] [ 5.60648924e-02 -2.66864759e-03 9.98423561e-01 9.69873662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.10, Y:12.62, Z:9.70 [[ 9.90099573e-01 -1.28742981e-01 -5.59292418e-02 1.74098569e+02] [ 1.28680970e-01 9.91674793e-01 -4.72374135e-03 1.26228873e+01] [ 5.60717678e-02 -2.52005480e-03 9.98423561e-01 9.70090342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.16, Y:12.63, Z:9.70 [[ 9.90686786e-01 -1.24143403e-01 -5.59294907e-02 1.74161646e+02] [ 1.24074243e-01 9.92261708e-01 -4.72079242e-03 1.26289866e+01] [ 5.60827472e-02 -2.26258258e-03 9.98423561e-01 9.70458513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.22, Y:12.63, Z:9.71 [[ 9.91231905e-01 -1.19712757e-01 -5.59300090e-02 1.74222152e+02] [ 1.19636903e-01 9.92806519e-01 -4.71464336e-03 1.26339890e+01] [ 5.60920805e-02 -2.01798815e-03 9.98423561e-01 9.70861035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.28, Y:12.64, Z:9.71 [[ 9.91667503e-01 -1.16048851e-01 -5.59305646e-02 1.74284327e+02] [ 1.15967551e-01 9.93241844e-01 -4.70804311e-03 1.26399776e+01] [ 5.60989402e-02 -1.81731725e-03 9.98423561e-01 9.70874359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.35, Y:12.64, Z:9.72 [[ 9.91980575e-01 -1.13341328e-01 -5.59310399e-02 1.74345568e+02] [ 1.13256049e-01 9.93554707e-01 -4.70239064e-03 1.26434060e+01] [ 5.61035231e-02 -1.66984840e-03 9.98423561e-01 9.71751811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.41, Y:12.65, Z:9.72 [[ 9.92097772e-01 -1.12310666e-01 -5.59314244e-02 1.74407749e+02] [ 1.12224009e-01 9.93671828e-01 -4.69781204e-03 1.26471636e+01] [ 5.61050952e-02 -1.61615983e-03 9.98423561e-01 9.72139934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.47, Y:12.65, Z:9.72 [[ 9.91939442e-01 -1.13700401e-01 -5.59317633e-02 1.74468560e+02] [ 1.13616177e-01 9.93513630e-01 -4.69377363e-03 1.26492944e+01] [ 5.61026531e-02 -1.69881392e-03 9.98423561e-01 9.72484455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.53, Y:12.65, Z:9.73 [[ 9.91519517e-01 -1.17305832e-01 -5.59320137e-02 1.74530802e+02] [ 1.17227499e-01 9.93094009e-01 -4.69078855e-03 1.26521973e+01] [ 5.60960045e-02 -1.90576170e-03 9.98423561e-01 9.72767470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.59, Y:12.66, Z:9.73 [[ 9.91179339e-01 -1.20146120e-01 -5.59323565e-02 1.74591493e+02] [ 1.20072529e-01 9.92754059e-01 -4.68669723e-03 1.26558732e+01] [ 5.60901624e-02 -2.07058205e-03 9.98423561e-01 9.72980926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.65, Y:12.66, Z:9.73 [[ 9.90762695e-01 -1.23534710e-01 -5.59326100e-02 1.74653674e+02] [ 1.23466675e-01 9.92337666e-01 -4.68366944e-03 1.26588788e+01] [ 5.60826314e-02 -2.26540843e-03 9.98423561e-01 9.73273498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.72, Y:12.66, Z:9.74 [[ 9.90486757e-01 -1.25727838e-01 -5.59329487e-02 1.74715401e+02] [ 1.25663518e-01 9.92061884e-01 -4.67962151e-03 1.26637736e+01] [ 5.60773051e-02 -2.39362799e-03 9.98423561e-01 9.73765638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.78, Y:12.67, Z:9.74 [[ 9.90379991e-01 -1.26565955e-01 -5.59332852e-02 1.74777043e+02] [ 1.26503196e-01 9.91955181e-01 -4.67559578e-03 1.26694970e+01] [ 5.60750833e-02 -2.44512282e-03 9.98423561e-01 9.74178928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.84, Y:12.68, Z:9.74 [[ 9.90145654e-01 -1.28386189e-01 -5.59336246e-02 1.74838830e+02] [ 1.28326554e-01 9.91720965e-01 -4.67153270e-03 1.26754974e+01] [ 5.60703084e-02 -2.55227147e-03 9.98423561e-01 9.74337781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.90, Y:12.68, Z:9.75 [[ 9.89865516e-01 -1.30528294e-01 -5.59341047e-02 1.74899470e+02] [ 1.30472392e-01 9.91440964e-01 -4.66577686e-03 1.26786151e+01] [ 5.60643786e-02 -2.67936480e-03 9.98423561e-01 9.74816266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.96, Y:12.68, Z:9.75 [[ 9.89304673e-01 -1.34713054e-01 -5.59343935e-02 1.74961347e+02] [ 1.34664010e-01 9.90880350e-01 -4.66231210e-03 1.26817856e+01] [ 5.60523657e-02 -2.91990260e-03 9.98423561e-01 9.74725437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.02, Y:12.69, Z:9.75 [[ 9.88608557e-01 -1.39729797e-01 -5.59348284e-02 1.75022865e+02] [ 1.39689042e-01 9.90184469e-01 -4.65708855e-03 1.26859110e+01] [ 5.60365324e-02 -3.20944497e-03 9.98423561e-01 9.75368030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.08, Y:12.69, Z:9.76 [[ 9.88236601e-01 -1.42336488e-01 -5.59351855e-02 1.75084578e+02] [ 1.42300130e-01 9.89812621e-01 -4.65279525e-03 1.26895049e+01] [ 5.60276151e-02 -3.36152164e-03 9.98423561e-01 9.75626557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.15, Y:12.69, Z:9.76 [[ 9.88030413e-01 -1.43760639e-01 -5.59355203e-02 1.75146856e+02] [ 1.43726780e-01 9.89606488e-01 -4.64876766e-03 1.26944546e+01] [ 5.60224636e-02 -3.44630840e-03 9.98423561e-01 9.75850509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.21, Y:12.70, Z:9.76 [[ 9.88082768e-01 -1.43400219e-01 -5.59358608e-02 1.75208710e+02] [ 1.43366017e-01 9.89658836e-01 -4.64466685e-03 1.27004073e+01] [ 5.60234651e-02 -3.42998628e-03 9.98423561e-01 9.76135750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.27, Y:12.71, Z:9.76 [[ 9.88510829e-01 -1.40418957e-01 -5.59361962e-02 1.75270522e+02] [ 1.40380229e-01 9.90086792e-01 -4.64062426e-03 1.27068877e+01] [ 5.60333206e-02 -3.26502868e-03 9.98423561e-01 9.76463429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.33, Y:12.71, Z:9.77 [[ 9.88925070e-01 -1.37471093e-01 -5.59366103e-02 1.75332011e+02] [ 1.37427948e-01 9.90500919e-01 -4.63562640e-03 1.27141694e+01] [ 5.60425286e-02 -3.10296641e-03 9.98423561e-01 9.77025390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.39, Y:12.72, Z:9.77 [[ 9.89141309e-01 -1.35906327e-01 -5.59369355e-02 1.75394935e+02] [ 1.35860910e-01 9.90717094e-01 -4.63169909e-03 1.27206824e+01] [ 5.60471554e-02 -3.01823808e-03 9.98423561e-01 9.77451384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.46, Y:12.73, Z:9.78 [[ 9.89258281e-01 -1.35052057e-01 -5.59374296e-02 1.75457573e+02] [ 1.35005616e-01 9.90834036e-01 -4.62572457e-03 1.27272687e+01] [ 5.60494227e-02 -2.97583083e-03 9.98423561e-01 9.77886413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.52, Y:12.73, Z:9.78 [[ 9.89346408e-01 -1.34404733e-01 -5.59379340e-02 1.75519020e+02] [ 1.34357605e-01 9.90922143e-01 -4.61961732e-03 1.27323997e+01] [ 5.60510358e-02 -2.94528506e-03 9.98423561e-01 9.78208589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.58, Y:12.74, Z:9.79 [[ 9.89587493e-01 -1.32617856e-01 -5.59383485e-02 1.75581518e+02] [ 1.32568166e-01 9.91163148e-01 -4.61459190e-03 1.27391090e+01] [ 5.60560069e-02 -2.84910187e-03 9.98423561e-01 9.78676004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.64, Y:12.75, Z:9.79 [[ 9.89685513e-01 -1.31884156e-01 -5.59388414e-02 1.75643089e+02] [ 1.31833635e-01 9.91261143e-01 -4.60860910e-03 1.27459536e+01] [ 5.60578024e-02 -2.81354714e-03 9.98423561e-01 9.79065652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.71, Y:12.75, Z:9.79 [[ 9.90135328e-01 -1.28463387e-01 -5.59391707e-02 1.75705292e+02] [ 1.28407647e-01 9.91710781e-01 -4.60460872e-03 1.27512108e+01] [ 5.60670023e-02 -2.62383152e-03 9.98423561e-01 9.79226887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.77, Y:12.76, Z:9.80 [[ 9.91185714e-01 -1.20090185e-01 -5.59394945e-02 1.75766724e+02] [ 1.20021353e-01 9.92760650e-01 -4.60067231e-03 1.27580606e+01] [ 5.60870245e-02 -2.15381314e-03 9.98423561e-01 9.79632883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.83, Y:12.76, Z:9.80 [[ 9.91882033e-01 -1.14196185e-01 -5.59398207e-02 1.75828315e+02] [ 1.14118216e-01 9.93456543e-01 -4.59670227e-03 1.27646279e+01] [ 5.60987068e-02 -1.82436616e-03 9.98423561e-01 9.80068498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.89, Y:12.77, Z:9.80 [[ 9.92872670e-01 -1.05235747e-01 -5.59401422e-02 1.75889453e+02] [ 1.05143786e-01 9.94446424e-01 -4.59278682e-03 1.27701140e+01] [ 5.61127997e-02 -1.32170580e-03 9.98423561e-01 9.80498198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.95, Y:12.77, Z:9.81 [[ 9.93129879e-01 -1.02779948e-01 -5.59403796e-02 1.75950512e+02] [ 1.02684258e-01 9.94703411e-01 -4.58989282e-03 1.27748492e+01] [ 5.61158354e-02 -1.18583668e-03 9.98423561e-01 9.80893834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.01, Y:12.78, Z:9.81 [[ 9.93793786e-01 -9.61486728e-02 -5.59405366e-02 1.76011304e+02] [ 9.60425893e-02 9.95366652e-01 -4.58797890e-03 1.27795058e+01] [ 5.61224727e-02 -8.13169061e-04 9.98423561e-01 9.81469173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.07, Y:12.78, Z:9.82 [[ 9.94389926e-01 -8.97736726e-02 -5.59407018e-02 1.76071394e+02] [ 8.96576182e-02 9.95962088e-01 -4.58596341e-03 1.27829016e+01] [ 5.61265170e-02 -4.55274267e-04 9.98423561e-01 9.81842133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.13, Y:12.79, Z:9.82 [[ 9.94542722e-01 -8.80648209e-02 -5.59407018e-02 1.76132273e+02] [ 8.79460652e-02 9.96114681e-01 -4.58596341e-03 1.27856216e+01] [ 5.61272164e-02 -3.58828074e-04 9.98423561e-01 9.82185821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.19, Y:12.79, Z:9.82 [[ 9.94428395e-01 -8.93465464e-02 -5.59407018e-02 1.76191867e+02] [ 8.92298167e-02 9.96000506e-01 -4.58596341e-03 1.27883122e+01] [ 5.61267073e-02 -4.31166336e-04 9.98423561e-01 9.82464446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.25, Y:12.79, Z:9.83 [[ 9.94014126e-01 -9.38433434e-02 -5.59405372e-02 1.76251265e+02] [ 9.37336125e-02 9.95586742e-01 -4.58797049e-03 1.27884833e+01] [ 5.61242077e-02 -6.83001160e-04 9.98423561e-01 9.82566297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.31, Y:12.79, Z:9.83 [[ 9.93323686e-01 -1.00889687e-01 -5.59403720e-02 1.76311502e+02] [ 1.00790997e-01 9.94897033e-01 -4.58998393e-03 1.27901707e+01] [ 5.61179922e-02 -1.07894612e-03 9.98423561e-01 9.82986795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.37, Y:12.79, Z:9.83 [[ 9.93115904e-01 -1.02914898e-01 -5.59403720e-02 1.76371872e+02] [ 1.02819416e-01 9.94689449e-01 -4.58998393e-03 1.27885503e+01] [ 5.61156755e-02 -1.19337037e-03 9.98423561e-01 9.83100065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.43, Y:12.79, Z:9.84 [[ 9.92742671e-01 -1.06454847e-01 -5.59406283e-02 1.76433661e+02] [ 1.06365152e-01 9.94316557e-01 -4.58685856e-03 1.27881903e+01] [ 5.61109862e-02 -1.39656323e-03 9.98423561e-01 9.83571048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.49, Y:12.79, Z:9.84 [[ 9.92532460e-01 -1.08397153e-01 -5.59407947e-02 1.76494578e+02] [ 1.08310652e-01 9.94106525e-01 -4.58482805e-03 1.27885772e+01] [ 5.61080913e-02 -1.50839327e-03 9.98423561e-01 9.84002534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.56, Y:12.79, Z:9.84 [[ 9.92509388e-01 -1.08608206e-01 -5.59407947e-02 1.76556282e+02] [ 1.08522040e-01 9.94083470e-01 -4.58482805e-03 1.27902086e+01] [ 5.61077693e-02 -1.52032430e-03 9.98423561e-01 9.84300884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.62, Y:12.79, Z:9.84 [[ 9.92488627e-01 -1.08797675e-01 -5.59409617e-02 1.76615999e+02] [ 1.08711924e-01 9.94062732e-01 -4.58278927e-03 1.27881367e+01] [ 5.61074221e-02 -1.53308333e-03 9.98423561e-01 9.84477645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.68, Y:12.79, Z:9.85 [[ 9.92587903e-01 -1.07888246e-01 -5.59408794e-02 1.76676405e+02] [ 1.07800996e-01 9.94161925e-01 -4.58379428e-03 1.27896998e+01] [ 5.61088299e-02 -1.48066376e-03 9.98423561e-01 9.84699732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.74, Y:12.79, Z:9.85 [[ 9.92754354e-01 -1.06345713e-01 -5.59408794e-02 1.76737051e+02] [ 1.06256017e-01 9.94328239e-01 -4.58379428e-03 1.27927772e+01] [ 5.61110629e-02 -1.39347331e-03 9.98423561e-01 9.84930971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.80, Y:12.80, Z:9.85 [[ 9.92875679e-01 -1.05206956e-01 -5.59408794e-02 1.76797625e+02] [ 1.05115455e-01 9.94449461e-01 -4.58379428e-03 1.27969797e+01] [ 5.61126243e-02 -1.32911314e-03 9.98423561e-01 9.85283374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.86, Y:12.80, Z:9.85 [[ 9.93049349e-01 -1.03554856e-01 -5.59408794e-02 1.76855965e+02] [ 1.03460737e-01 9.94622976e-01 -4.58379428e-03 1.28002939e+01] [ 5.61147581e-02 -1.23575067e-03 9.98423561e-01 9.85475534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.91, Y:12.80, Z:9.86 [[ 9.93175513e-01 -1.02337902e-01 -5.59406351e-02 1.76914915e+02] [ 1.02241687e-01 9.94749013e-01 -4.58677381e-03 1.28028415e+01] [ 5.61162923e-02 -1.16399350e-03 9.98423561e-01 9.86179126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.97, Y:12.81, Z:9.87 [[ 9.93155359e-01 -1.02533399e-01 -5.59404648e-02 1.76973340e+02] [ 1.02437377e-01 9.94728871e-01 -4.58884904e-03 1.28050712e+01] [ 5.61161057e-02 -1.17295449e-03 9.98423561e-01 9.86626115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.03, Y:12.81, Z:9.87 [[ 9.92991171e-01 -1.04111605e-01 -5.59402134e-02 1.77032319e+02] [ 1.04017912e-01 9.94564824e-01 -4.59191149e-03 1.28078886e+01] [ 5.61142398e-02 -1.25905661e-03 9.98423561e-01 9.87162353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.09, Y:12.81, Z:9.87 [[ 9.92705466e-01 -1.06802072e-01 -5.59390399e-02 1.77090392e+02] [ 1.06711840e-01 9.94279320e-01 -4.60616357e-03 1.28101146e+01] [ 5.61109784e-02 -1.39679413e-03 9.98423561e-01 9.87495413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.15, Y:12.81, Z:9.88 [[ 9.92057936e-01 -1.12658424e-01 -5.59386276e-02 1.77148709e+02] [ 1.12577200e-01 9.93632282e-01 -4.61116539e-03 1.28109378e+01] [ 5.61019128e-02 -1.72287086e-03 9.98423561e-01 9.87701534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.21, Y:12.81, Z:9.88 [[ 9.91474631e-01 -1.17681650e-01 -5.59382303e-02 1.77208496e+02] [ 1.17608130e-01 9.93049355e-01 -4.61597925e-03 1.28133544e+01] [ 5.60926396e-02 -2.00216432e-03 9.98423561e-01 9.88018800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.27, Y:12.81, Z:9.88 [[ 9.90628001e-01 -1.24607773e-01 -5.59380657e-02 1.77267983e+02] [ 1.24545147e-01 9.92203195e-01 -4.61797344e-03 1.28144254e+01] [ 5.60773629e-02 -2.39212080e-03 9.98423561e-01 9.88256965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.33, Y:12.82, Z:9.88 [[ 9.90226058e-01 -1.27762693e-01 -5.59379033e-02 1.77327176e+02] [ 1.27704974e-01 9.91801440e-01 -4.61994006e-03 1.28173576e+01] [ 5.60695490e-02 -2.56876345e-03 9.98423561e-01 9.88355126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.39, Y:12.82, Z:9.89 [[ 9.89742415e-01 -1.31456915e-01 -5.59377430e-02 1.77387911e+02] [ 1.31404966e-01 9.91317998e-01 -4.62187986e-03 1.28195133e+01] [ 5.60596695e-02 -2.77602667e-03 9.98423561e-01 9.88575206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.45, Y:12.82, Z:9.89 [[ 9.89642927e-01 -1.32203805e-01 -5.59377430e-02 1.77448171e+02] [ 1.32153045e-01 9.91218549e-01 -4.62187986e-03 1.28239167e+01] [ 5.60575585e-02 -2.81833235e-03 9.98423561e-01 9.89032036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.51, Y:12.83, Z:9.89 [[ 9.89581365e-01 -1.32663829e-01 -5.59377430e-02 1.77508098e+02] [ 1.32613801e-01 9.91157010e-01 -4.62187986e-03 1.28290831e+01] [ 5.60562424e-02 -2.84439056e-03 9.98423561e-01 9.89446265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.57, Y:12.83, Z:9.90 [[ 9.89506840e-01 -1.33218551e-01 -5.59377430e-02 1.77567961e+02] [ 1.33169406e-01 9.91082513e-01 -4.62187986e-03 1.28348122e+01] [ 5.60546390e-02 -2.87581429e-03 9.98423561e-01 9.89896914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.63, Y:12.84, Z:9.90 [[ 9.89392565e-01 -1.34064579e-01 -5.59378254e-02 1.77628729e+02] [ 1.34016838e-01 9.90968281e-01 -4.62088244e-03 1.28404668e+01] [ 5.60521074e-02 -2.92474374e-03 9.98423561e-01 9.90357720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.69, Y:12.85, Z:9.91 [[ 9.89217243e-01 -1.35352085e-01 -5.59379961e-02 1.77690141e+02] [ 1.35306511e-01 9.90793023e-01 -4.61881503e-03 1.28460188e+01] [ 5.60481425e-02 -2.99976362e-03 9.98423561e-01 9.90737164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.75, Y:12.85, Z:9.91 [[ 9.89166664e-01 -1.35721160e-01 -5.59381655e-02 1.77750820e+02] [ 1.35676290e-01 9.90742464e-01 -4.61676298e-03 1.28524503e+01] [ 5.60469083e-02 -3.02273475e-03 9.98423561e-01 9.91092241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.81, Y:12.86, Z:9.91 [[ 9.89231693e-01 -1.35246293e-01 -5.59383344e-02 1.77811343e+02] [ 1.35200782e-01 9.90807475e-01 -4.61471555e-03 1.28581995e+01] [ 5.60482430e-02 -2.99788368e-03 9.98423561e-01 9.91394154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.87, Y:12.87, Z:9.92 [[ 9.89557970e-01 -1.32837902e-01 -5.59385013e-02 1.77870908e+02] [ 1.32788669e-01 9.91133640e-01 -4.61269093e-03 1.28659198e+01] [ 5.60552706e-02 -2.86347407e-03 9.98423561e-01 9.91539071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.93, Y:12.87, Z:9.92 [[ 9.90167792e-01 -1.28213177e-01 -5.59385834e-02 1.77931749e+02] [ 1.28156640e-01 9.91743217e-01 -4.61169527e-03 1.28741024e+01] [ 5.60679908e-02 -2.60254877e-03 9.98423561e-01 9.91903266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.99, Y:12.88, Z:9.92 [[ 9.90886765e-01 -1.22532753e-01 -5.59387519e-02 1.77990992e+02] [ 1.22467297e-01 9.92461844e-01 -4.60965068e-03 1.28826477e+01] [ 5.60819101e-02 -2.28302588e-03 9.98423561e-01 9.92311829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.05, Y:12.89, Z:9.93 [[ 9.91434078e-01 -1.18022436e-01 -5.59390218e-02 1.78051328e+02] [ 1.17949999e-01 9.93008852e-01 -4.60637365e-03 1.28907230e+01] [ 5.60915992e-02 -2.03109173e-03 9.98423561e-01 9.92643771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.11, Y:12.90, Z:9.93 [[ 9.91530911e-01 -1.17206060e-01 -5.59391862e-02 1.78110044e+02] [ 1.17132438e-01 9.93105630e-01 -4.60437553e-03 1.28963722e+01] [ 5.60931815e-02 -1.98691262e-03 9.98423561e-01 9.92950488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.17, Y:12.90, Z:9.93 [[ 9.91737117e-01 -1.15448288e-01 -5.59391053e-02 1.78170530e+02] [ 1.15371819e-01 9.93311700e-01 -4.60535844e-03 1.29029467e+01] [ 5.60966485e-02 -1.88649144e-03 9.98423561e-01 9.93281277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.23, Y:12.91, Z:9.94 [[ 9.91843285e-01 -1.14532594e-01 -5.59391053e-02 1.78230603e+02] [ 1.14454672e-01 9.93417797e-01 -4.60535844e-03 1.29105325e+01] [ 5.60983664e-02 -1.83469811e-03 9.98423561e-01 9.93683058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.29, Y:12.92, Z:9.94 [[ 9.91879820e-01 -1.14215756e-01 -5.59391053e-02 1.78290556e+02] [ 1.14137331e-01 9.93454307e-01 -4.60535844e-03 1.29167624e+01] [ 5.60989496e-02 -1.81677807e-03 9.98423561e-01 9.94069830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.35, Y:12.92, Z:9.95 [[ 9.92077791e-01 -1.12483211e-01 -5.59391053e-02 1.78350234e+02] [ 1.12402036e-01 9.93652139e-01 -4.60535844e-03 1.29242551e+01] [ 5.61020371e-02 -1.71879550e-03 9.98423561e-01 9.94559784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.41, Y:12.93, Z:9.95 [[ 9.92331777e-01 -1.10220059e-01 -5.59391053e-02 1.78410380e+02] [ 1.10135293e-01 9.93905935e-01 -4.60535844e-03 1.29317279e+01] [ 5.61058116e-02 -1.59082623e-03 9.98423561e-01 9.95024584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.47, Y:12.94, Z:9.95 [[ 9.92760673e-01 -1.06287641e-01 -5.59391053e-02 1.78469686e+02] [ 1.06196640e-01 9.94334483e-01 -4.60535844e-03 1.29403265e+01] [ 5.61116740e-02 -1.36852626e-03 9.98423561e-01 9.95403335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.53, Y:12.95, Z:9.96 [[ 9.92969937e-01 -1.04314573e-01 -5.59390237e-02 1.78528924e+02] [ 1.04220388e-01 9.94543560e-01 -4.60634942e-03 1.29467252e+01] [ 5.61143051e-02 -1.25602024e-03 9.98423561e-01 9.95755036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.59, Y:12.95, Z:9.96 [[ 9.93045527e-01 -1.03592588e-01 -5.59388673e-02 1.78588912e+02] [ 1.03497152e-01 9.94619075e-01 -4.60824736e-03 1.29535619e+01] [ 5.61152447e-02 -1.21331401e-03 9.98423561e-01 9.96231407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.65, Y:12.96, Z:9.97 [[ 9.92984092e-01 -1.04179823e-01 -5.59388673e-02 1.78649553e+02] [ 1.04085317e-01 9.94557696e-01 -4.60824736e-03 1.29589880e+01] [ 5.61145174e-02 -1.24649843e-03 9.98423561e-01 9.96512634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.71, Y:12.96, Z:9.97 [[ 9.92860249e-01 -1.05353540e-01 -5.59388673e-02 1.78708849e+02] [ 1.05260894e-01 9.94433964e-01 -4.60824736e-03 1.29643840e+01] [ 5.61130047e-02 -1.31282959e-03 9.98423561e-01 9.96774316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.77, Y:12.97, Z:9.97 [[ 9.92757500e-01 -1.06317393e-01 -5.59388731e-02 1.78769343e+02] [ 1.06226279e-01 9.94331304e-01 -4.60817757e-03 1.29691642e+01] [ 5.61117021e-02 -1.36737550e-03 9.98423561e-01 9.97146742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.83, Y:12.97, Z:9.98 [[ 9.92764257e-01 -1.06254285e-01 -5.59388731e-02 1.78830223e+02] [ 1.06163072e-01 9.94338055e-01 -4.60817757e-03 1.29738168e+01] [ 5.61117889e-02 -1.36380862e-03 9.98423561e-01 9.97609109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.89, Y:12.98, Z:9.98 [[ 9.92732004e-01 -1.06555113e-01 -5.59390424e-02 1.78890949e+02] [ 1.06464492e-01 9.94305836e-01 -4.60612172e-03 1.29782914e+01] [ 5.61113221e-02 -1.38287729e-03 9.98423561e-01 9.97865663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.95, Y:12.98, Z:9.98 [[ 9.92559038e-01 -1.08154423e-01 -5.59390424e-02 1.78950074e+02] [ 1.08066338e-01 9.94133014e-01 -4.60612172e-03 1.29824980e+01] [ 5.61090212e-02 -1.47327971e-03 9.98423561e-01 9.98071417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.01, Y:12.99, Z:9.98 [[ 9.92427946e-01 -1.09350834e-01 -5.59389598e-02 1.79010580e+02] [ 1.09264590e-01 9.94002024e-01 -4.60712395e-03 1.29867073e+01] [ 5.61072321e-02 -1.53990894e-03 9.98423561e-01 9.98421120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.07, Y:12.99, Z:9.99 [[ 9.92187651e-01 -1.11510085e-01 -5.59389598e-02 1.79071943e+02] [ 1.11427266e-01 9.93761913e-01 -4.60712395e-03 1.29910389e+01] [ 5.61037485e-02 -1.66199387e-03 9.98423561e-01 9.98872907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.13, Y:13.00, Z:9.99 [[ 9.91954517e-01 -1.13565176e-01 -5.59391285e-02 1.79133414e+02] [ 1.13485734e-01 9.93528954e-01 -4.60507451e-03 1.29951040e+01] [ 5.61001199e-02 -1.78026859e-03 9.98423561e-01 9.99278332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.19, Y:13.00, Z:10.00 [[ 9.91620188e-01 -1.16448260e-01 -5.59392972e-02 1.79193434e+02] [ 1.16373510e-01 9.93194854e-01 -4.60302440e-03 1.29988145e+01] [ 5.60946363e-02 -1.94540047e-03 9.98423561e-01 9.99659286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.25, Y:13.00, Z:10.00 [[ 9.91383281e-01 -1.18448202e-01 -5.59393803e-02 1.79254578e+02] [ 1.18376686e-01 9.92958097e-01 -4.60201502e-03 1.30032677e+01] [ 5.60905610e-02 -2.05955773e-03 9.98423561e-01 9.99916694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.32, Y:13.01, Z:10.00 [[ 9.91305198e-01 -1.19099835e-01 -5.59395456e-02 1.79315218e+02] [ 1.19029468e-01 9.92880066e-01 -4.60000424e-03 1.30079240e+01] [ 5.60891195e-02 -2.09844623e-03 9.98423561e-01 1.00012785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.38, Y:13.01, Z:10.01 [[ 9.91322788e-01 -1.18953262e-01 -5.59397082e-02 1.79376335e+02] [ 1.18882773e-01 9.92897651e-01 -4.59802663e-03 1.30133392e+01] [ 5.60893551e-02 -2.09213903e-03 9.98423561e-01 1.00051552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.44, Y:13.02, Z:10.01 [[ 9.91338369e-01 -1.18823269e-01 -5.59398688e-02 1.79437280e+02] [ 1.18752684e-01 9.92913227e-01 -4.59607212e-03 1.30195949e+01] [ 5.60895559e-02 -2.08674692e-03 9.98423561e-01 1.00097712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.50, Y:13.03, Z:10.01 [[ 9.91369010e-01 -1.18567271e-01 -5.59400328e-02 1.79498420e+02] [ 1.18496392e-01 9.92943855e-01 -4.59407482e-03 1.30262931e+01] [ 5.60900187e-02 -2.07426866e-03 9.98423561e-01 1.00141404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.56, Y:13.03, Z:10.02 [[ 9.91371627e-01 -1.18545316e-01 -5.59401951e-02 1.79560046e+02] [ 1.18474513e-01 9.92946475e-01 -4.59209719e-03 1.30324261e+01] [ 5.60899912e-02 -2.07501251e-03 9.98423561e-01 1.00183074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.62, Y:13.04, Z:10.02 [[ 9.91240466e-01 -1.19636937e-01 -5.59405219e-02 1.79621786e+02] [ 1.19568093e-01 9.92815401e-01 -4.58811258e-03 1.30396024e+01] [ 5.60875195e-02 -2.14077867e-03 9.98423561e-01 1.00235678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.68, Y:13.05, Z:10.03 [[ 9.91093707e-01 -1.20846532e-01 -5.59408577e-02 1.79682308e+02] [ 1.20779841e-01 9.92668735e-01 -4.58401492e-03 1.30459084e+01] [ 5.60847028e-02 -2.21333954e-03 9.98423561e-01 1.00274111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.74, Y:13.05, Z:10.03 [[ 9.90876257e-01 -1.22616622e-01 -5.59411059e-02 1.79743875e+02] [ 1.22552915e-01 9.92451408e-01 -4.58098411e-03 1.30520226e+01] [ 5.60805341e-02 -2.31655721e-03 9.98423561e-01 1.00307351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.81, Y:13.06, Z:10.03 [[ 9.90609949e-01 -1.24749692e-01 -5.59414296e-02 1.79806166e+02] [ 1.24689600e-01 9.92185242e-01 -4.57702838e-03 1.30575342e+01] [ 5.60752437e-02 -2.44126462e-03 9.98423561e-01 1.00338904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.87, Y:13.06, Z:10.04 [[ 9.90280155e-01 -1.27341014e-01 -5.59417579e-02 1.79868267e+02] [ 1.27285269e-01 9.91855608e-01 -4.57301137e-03 1.30642451e+01] [ 5.60684783e-02 -2.59199931e-03 9.98423561e-01 1.00374717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.93, Y:13.07, Z:10.04 [[ 9.90242587e-01 -1.27632683e-01 -5.59420915e-02 1.79930219e+02] [ 1.27577633e-01 9.91818064e-01 -4.56892723e-03 1.30707431e+01] [ 5.60675213e-02 -2.61261327e-03 9.98423561e-01 1.00416777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.99, Y:13.08, Z:10.04 [[ 9.90242192e-01 -1.27635600e-01 -5.59424240e-02 1.79991666e+02] [ 1.27580784e-01 9.91817678e-01 -4.56485268e-03 1.30816176e+01] [ 5.60673227e-02 -2.61686861e-03 9.98423561e-01 1.00448879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.05, Y:13.09, Z:10.05 [[ 9.91271910e-01 -1.19375012e-01 -5.59428938e-02 1.80052618e+02] [ 1.19307388e-01 9.92846898e-01 -4.55908790e-03 1.30874592e+01] [ 5.60869697e-02 -2.15510475e-03 9.98423561e-01 1.00518145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.11, Y:13.10, Z:10.06 [[ 9.91681918e-01 -1.15919397e-01 -5.59434320e-02 1.80113580e+02] [ 1.15846657e-01 9.93256677e-01 -4.55247377e-03 1.30987484e+01] [ 5.60939074e-02 -1.96625364e-03 9.98423561e-01 1.00565807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.17, Y:13.11, Z:10.06 [[ 9.92458250e-01 -1.09072920e-01 -5.59438992e-02 1.80174719e+02] [ 1.08989637e-01 9.94032488e-01 -4.54672542e-03 1.31080583e+01] [ 5.61059779e-02 -1.58487012e-03 9.98423561e-01 1.00613878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.24, Y:13.11, Z:10.07 [[ 9.93468435e-01 -9.94520458e-02 -5.59442431e-02 1.80236478e+02] [ 9.93537526e-02 9.95041807e-01 -4.54248961e-03 1.31127849e+01] [ 5.61186207e-02 -1.04545045e-03 9.98423561e-01 1.00659700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.30, Y:13.12, Z:10.07 [[ 9.93981543e-01 -9.41854403e-02 -5.59445792e-02 1.80296146e+02] [ 9.40790431e-02 9.95554387e-01 -4.53834716e-03 1.31195443e+01] [ 5.61233175e-02 -7.52179166e-04 9.98423561e-01 1.00677926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.36, Y:13.13, Z:10.07 [[ 9.94725744e-01 -8.59702754e-02 -5.59446603e-02 1.80356025e+02] [ 8.58509437e-02 9.96297660e-01 -4.53734679e-03 1.31267681e+01] [ 5.61276111e-02 -2.89486217e-04 9.98423561e-01 1.00712426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.42, Y:13.13, Z:10.07 [[ 9.95074208e-01 -8.18383458e-02 -5.59446603e-02 1.80415046e+02] [ 8.17124869e-02 9.96645615e-01 -4.53734679e-03 1.31320781e+01] [ 5.61283294e-02 -5.63805518e-05 9.98423561e-01 1.00749955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.47, Y:13.14, Z:10.08 [[ 9.95056642e-01 -8.20517614e-02 -5.59444996e-02 1.80473985e+02] [ 8.19261281e-02 9.96628067e-01 -4.53932794e-03 1.31407027e+01] [ 5.61283183e-02 -6.64278163e-05 9.98423561e-01 1.00798443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.53, Y:13.14, Z:10.08 [[ 9.95038926e-01 -8.22663908e-02 -5.59444151e-02 1.80531946e+02] [ 8.21410379e-02 9.96610373e-01 -4.54036829e-03 1.31377401e+01] [ 5.61283041e-02 -7.74891454e-05 9.98423561e-01 1.00827660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.59, Y:13.14, Z:10.09 [[ 9.94544562e-01 -8.80419448e-02 -5.59439921e-02 1.80590972e+02] [ 8.79254247e-02 9.96116689e-01 -4.54557434e-03 1.31394637e+01] [ 5.61269454e-02 -3.98123025e-04 9.98423561e-01 1.00873807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.65, Y:13.14, Z:10.09 [[ 9.93836812e-01 -9.57015689e-02 -5.59428379e-02 1.80650762e+02] [ 9.55963673e-02 9.95409736e-01 -4.55973574e-03 1.31405409e+01] [ 5.61224194e-02 -8.16298852e-04 9.98423561e-01 1.00907026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.71, Y:13.14, Z:10.09 [[ 9.92382777e-01 -1.09758100e-01 -5.59426725e-02 1.80712002e+02] [ 1.09675057e-01 9.93957027e-01 -4.56176338e-03 1.31391661e+01] [ 5.61053030e-02 -1.60850039e-03 9.98423561e-01 1.00936017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.77, Y:13.14, Z:10.10 [[ 9.91332287e-01 -1.18872683e-01 -5.59426725e-02 1.80773040e+02] [ 1.18804109e-01 9.92907233e-01 -4.56176338e-03 1.31399091e+01] [ 5.60881533e-02 -2.12399607e-03 9.98423561e-01 1.00969158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.84, Y:13.14, Z:10.10 [[ 9.89902254e-01 -1.30245600e-01 -5.59429201e-02 1.80835355e+02] [ 1.30195283e-01 9.91477890e-01 -4.55872539e-03 1.31390167e+01] [ 5.60599223e-02 -2.77081178e-03 9.98423561e-01 1.01000631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.90, Y:13.14, Z:10.10 [[ 9.89227930e-01 -1.35271783e-01 -5.59432425e-02 1.80896333e+02] [ 1.35229693e-01 9.90803807e-01 -4.55476582e-03 1.31412206e+01] [ 5.60449089e-02 -3.05948593e-03 9.98423561e-01 1.01032216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.96, Y:13.14, Z:10.11 [[ 9.88604595e-01 -1.39754362e-01 -5.59434813e-02 1.80958033e+02] [ 1.39719581e-01 9.90180650e-01 -4.55183037e-03 1.31427731e+01] [ 5.60302909e-02 -3.31643936e-03 9.98423561e-01 1.01070238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.02, Y:13.15, Z:10.11 [[ 9.88493573e-01 -1.40537353e-01 -5.59437979e-02 1.81020299e+02] [ 1.40504040e-01 9.90069660e-01 -4.54793587e-03 1.31460652e+01] [ 5.60274119e-02 -3.36472422e-03 9.98423561e-01 1.01107789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.08, Y:13.15, Z:10.11 [[ 9.88587528e-01 -1.39874778e-01 -5.59441265e-02 1.81082361e+02] [ 1.39840637e-01 9.90163597e-01 -4.54389100e-03 1.31492685e+01] [ 5.60294133e-02 -3.33122831e-03 9.98423561e-01 1.01124533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.14, Y:13.15, Z:10.11 [[ 9.88680340e-01 -1.39217108e-01 -5.59444532e-02 1.81143970e+02] [ 1.39182145e-01 9.90256391e-01 -4.53986447e-03 1.31536427e+01] [ 5.60313791e-02 -3.29799426e-03 9.98423561e-01 1.01147990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.21, Y:13.16, Z:10.12 [[ 9.88735758e-01 -1.38822843e-01 -5.59447845e-02 1.81206517e+02] [ 1.38787482e-01 9.90311800e-01 -4.53577794e-03 1.31584822e+01] [ 5.60324499e-02 -3.27974993e-03 9.98423561e-01 1.01152125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.27, Y:13.16, Z:10.12 [[ 9.88790725e-01 -1.38430651e-01 -5.59451177e-02 1.81267686e+02] [ 1.38394897e-01 9.90366759e-01 -4.53166495e-03 1.31645045e+01] [ 5.60335062e-02 -3.26165054e-03 9.98423561e-01 1.01176736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.33, Y:13.17, Z:10.12 [[ 9.88948950e-01 -1.37295632e-01 -5.59453635e-02 1.81328675e+02] [ 1.37258240e-01 9.90524945e-01 -4.52862811e-03 1.31729719e+01] [ 5.60370390e-02 -3.20038013e-03 9.98423561e-01 1.01220856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.39, Y:13.18, Z:10.13 [[ 9.89272804e-01 -1.34942240e-01 -5.59456051e-02 1.81390067e+02] [ 1.34901267e-01 9.90848710e-01 -4.52564197e-03 1.31819897e+01] [ 5.60443309e-02 -3.07003847e-03 9.98423561e-01 1.01274819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.45, Y:13.19, Z:10.13 [[ 9.89576933e-01 -1.32693432e-01 -5.59459283e-02 1.81451965e+02] [ 1.32649103e-01 9.91152748e-01 -4.52164278e-03 1.31895929e+01] [ 5.60509529e-02 -2.94666381e-03 9.98423561e-01 1.01320108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.51, Y:13.20, Z:10.14 [[ 9.89920688e-01 -1.30103987e-01 -5.59462601e-02 1.81513276e+02] [ 1.30055767e-01 9.91496389e-01 -4.51753324e-03 1.31979696e+01] [ 5.60582640e-02 -2.80413417e-03 9.98423561e-01 1.01360753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.57, Y:13.20, Z:10.14 [[ 9.90104586e-01 -1.28696882e-01 -5.59465961e-02 1.81574533e+02] [ 1.28646657e-01 9.91680224e-01 -4.51336940e-03 1.32046195e+01] [ 5.60619895e-02 -2.72863480e-03 9.98423561e-01 1.01369062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.64, Y:13.21, Z:10.14 [[ 9.90254968e-01 -1.27534499e-01 -5.59468441e-02 1.81635929e+02] [ 1.27482598e-01 9.91830552e-01 -4.51029296e-03 1.32115986e+01] [ 5.60650072e-02 -2.66590903e-03 9.98423561e-01 1.01387752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.70, Y:13.22, Z:10.14 [[ 9.90392641e-01 -1.26460785e-01 -5.59471772e-02 1.81698010e+02] [ 1.26407409e-01 9.91968176e-01 -4.50615662e-03 1.32176691e+01] [ 5.60676714e-02 -2.60927334e-03 9.98423561e-01 1.01417659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.76, Y:13.23, Z:10.14 [[ 9.91208838e-01 -1.19895441e-01 -5.59475054e-02 1.81759503e+02] [ 1.19831856e-01 9.92783993e-01 -4.50207777e-03 1.32257995e+01] [ 5.60835665e-02 -2.24179412e-03 9.98423561e-01 1.01432513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.82, Y:13.23, Z:10.15 [[ 9.91985927e-01 -1.13286191e-01 -5.59478343e-02 1.81821611e+02] [ 1.13212339e-01 9.93560635e-01 -4.49798707e-03 1.32325463e+01] [ 5.60971256e-02 -1.87204531e-03 9.98423561e-01 1.01454622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.88, Y:13.24, Z:10.15 [[ 9.92720070e-01 -1.06661456e-01 -5.59481581e-02 1.81882518e+02] [ 1.06577321e-01 9.94294262e-01 -4.49395643e-03 1.32401824e+01] [ 5.61082645e-02 -1.50156406e-03 9.98423561e-01 1.01486971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.94, Y:13.25, Z:10.15 [[ 9.93675098e-01 -9.73631593e-02 -5.59483167e-02 1.81943577e+02] [ 9.72644014e-02 9.95248441e-01 -4.49198056e-03 1.32500553e+01] [ 5.61198284e-02 -9.78210315e-04 9.98423561e-01 1.01524968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.00, Y:13.26, Z:10.16 [[ 9.94198378e-01 -9.18659563e-02 -5.59484773e-02 1.82003899e+02] [ 9.17586109e-02 9.95771157e-01 -4.48997939e-03 1.32581657e+01] [ 5.61243562e-02 -6.69824342e-04 9.98423561e-01 1.01563720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.06, Y:13.26, Z:10.16 [[ 9.94235772e-01 -9.14603585e-02 -5.59484773e-02 1.82063340e+02] [ 9.13523715e-02 9.95808508e-01 -4.48997939e-03 1.32634916e+01] [ 5.61246248e-02 -6.46927961e-04 9.98423561e-01 1.01594223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.12, Y:13.27, Z:10.16 [[ 9.94015633e-01 -9.38226990e-02 -5.59483983e-02 1.82123621e+02] [ 9.37183942e-02 9.95588617e-01 -4.49096388e-03 1.32681211e+01] [ 5.61229428e-02 -7.79305743e-04 9.98423561e-01 1.01612537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.18, Y:13.27, Z:10.16 [[ 9.93409155e-01 -1.00040126e-01 -5.59483983e-02 1.82183864e+02] [ 9.99456648e-02 9.94982761e-01 -4.49096388e-03 1.32718306e+01] [ 5.61169684e-02 -1.13043523e-03 9.98423561e-01 1.01626876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.25, Y:13.27, Z:10.16 [[ 9.92601597e-01 -1.07758279e-01 -5.59483983e-02 1.82245321e+02] [ 1.07676052e-01 9.94175889e-01 -4.49096388e-03 1.32742898e+01] [ 5.61064872e-02 -1.56656471e-03 9.98423561e-01 1.01647253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.31, Y:13.28, Z:10.17 [[ 9.91993177e-01 -1.13222328e-01 -5.59485605e-02 1.82307200e+02] [ 1.13148885e-01 9.93567904e-01 -4.48894169e-03 1.32775371e+01] [ 5.60969424e-02 -1.87751769e-03 9.98423561e-01 1.01682979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.37, Y:13.28, Z:10.17 [[ 9.91400272e-01 -1.18301406e-01 -5.59488832e-02 1.82367797e+02] [ 1.18236255e-01 9.92975364e-01 -4.48491697e-03 1.32803858e+01] [ 5.60864346e-02 -2.16883850e-03 9.98423561e-01 1.01724538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.43, Y:13.28, Z:10.17 [[ 9.90725573e-01 -1.23824611e-01 -5.59491217e-02 1.82429874e+02] [ 1.23768407e-01 9.92301010e-01 -4.48193906e-03 1.32833424e+01] [ 5.60733443e-02 -2.48436204e-03 9.98423561e-01 1.01744023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.49, Y:13.29, Z:10.18 [[ 9.90684778e-01 -1.24150436e-01 -5.59494318e-02 1.82490878e+02] [ 1.24094969e-01 9.92260241e-01 -4.47806474e-03 1.32870415e+01] [ 5.60723504e-02 -2.50669242e-03 9.98423561e-01 1.01761651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.55, Y:13.29, Z:10.18 [[ 9.90950031e-01 -1.22014936e-01 -5.59499053e-02 1.82552412e+02] [ 1.21956407e-01 9.92525382e-01 -4.47214154e-03 1.32921291e+01] [ 5.60773692e-02 -2.39178064e-03 9.98423561e-01 1.01780832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.61, Y:13.30, Z:10.18 [[ 9.91426833e-01 -1.18077962e-01 -5.59502368e-02 1.82613501e+02] [ 1.18013410e-01 9.93001950e-01 -4.46798921e-03 1.32981660e+01] [ 5.60862653e-02 -2.17319387e-03 9.98423561e-01 1.01816760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.68, Y:13.30, Z:10.18 [[ 9.92637963e-01 -1.07421687e-01 -5.59504811e-02 1.82675438e+02] [ 1.07340392e-01 9.94212304e-01 -4.46492838e-03 1.33040220e+01] [ 5.61062868e-02 -1.57368915e-03 9.98423561e-01 1.01838625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.74, Y:13.31, Z:10.19 [[ 9.93141383e-01 -1.02663038e-01 -5.59508216e-02 1.82736379e+02] [ 1.02574440e-01 9.94715330e-01 -4.46065697e-03 1.33121601e+01] [ 5.61130846e-02 -1.30906115e-03 9.98423561e-01 1.01885622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.80, Y:13.32, Z:10.19 [[ 9.94069650e-01 -9.32470310e-02 -5.59510714e-02 1.82797737e+02] [ 9.31436972e-02 9.95642698e-01 -4.45752161e-03 1.33183263e+01] [ 5.61229264e-02 -7.80402708e-04 9.98423561e-01 1.01915724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.86, Y:13.32, Z:10.19 [[ 9.94560555e-01 -8.78564794e-02 -5.59512338e-02 1.82858312e+02] [ 8.77447337e-02 9.96133028e-01 -4.45548313e-03 1.33232255e+01] [ 5.61263150e-02 -4.78178334e-04 9.98423561e-01 1.01939351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.92, Y:13.33, Z:10.20 [[ 9.94577895e-01 -8.76599670e-02 -5.59512338e-02 1.82916496e+02] [ 8.75479107e-02 9.96150346e-01 -4.45548313e-03 1.33259142e+01] [ 5.61264084e-02 -4.67088585e-04 9.98423561e-01 1.01956644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.97, Y:13.33, Z:10.20 [[ 9.94124007e-01 -9.26659905e-02 -5.59506271e-02 1.82974908e+02] [ 9.25614240e-02 9.95696974e-01 -4.46308827e-03 1.33276993e+01] [ 5.61234466e-02 -7.42006527e-04 9.98423562e-01 1.01983256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.03, Y:13.33, Z:10.20 [[ 9.93695356e-01 -9.71555147e-02 -5.59494832e-02 1.83033250e+02] [ 9.70572497e-02 9.95268729e-01 -4.47738270e-03 1.33298668e+01] [ 5.61197735e-02 -9.81148563e-04 9.98423562e-01 1.02018554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.09, Y:13.33, Z:10.21 [[ 9.92917283e-01 -1.04809161e-01 -5.59491687e-02 1.83092663e+02] [ 1.04722801e-01 9.94491354e-01 -4.48130938e-03 1.33306858e+01] [ 5.61106468e-02 -1.40958412e-03 9.98423562e-01 1.02060427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.15, Y:13.33, Z:10.21 [[ 9.92378066e-01 -1.09797458e-01 -5.59490104e-02 1.83152538e+02] [ 1.09718898e-01 9.93952546e-01 -4.48328535e-03 1.33327890e+01] [ 5.61029146e-02 -1.68954968e-03 9.98423562e-01 1.02095062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.21, Y:13.33, Z:10.21 [[ 9.91450810e-01 -1.17877046e-01 -5.59490188e-02 1.83214378e+02] [ 1.17811318e-01 9.93025878e-01 -4.48317947e-03 1.33340949e+01] [ 5.60872875e-02 -2.14657576e-03 9.98423562e-01 1.02124703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.28, Y:13.34, Z:10.22 [[ 9.90791534e-01 -1.23295680e-01 -5.59491835e-02 1.83275602e+02] [ 1.23238681e-01 9.92366942e-01 -4.48112413e-03 1.33365901e+01] [ 5.60746233e-02 -2.45524370e-03 9.98423562e-01 1.02154136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.34, Y:13.34, Z:10.22 [[ 9.89896191e-01 -1.30288883e-01 -5.59494274e-02 1.83337632e+02] [ 1.30243182e-01 9.91471967e-01 -4.47807574e-03 1.33378062e+01] [ 5.60557323e-02 -2.85420134e-03 9.98423562e-01 1.02200063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.40, Y:13.34, Z:10.22 [[ 9.89556359e-01 -1.32845163e-01 -5.59497514e-02 1.83399389e+02] [ 1.32803760e-01 9.91132254e-01 -4.47402488e-03 1.33410117e+01] [ 5.60479557e-02 -3.00303761e-03 9.98423562e-01 1.02227376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.46, Y:13.35, Z:10.23 [[ 9.89488896e-01 -1.33346589e-01 -5.59500774e-02 1.83461590e+02] [ 1.33306214e-01 9.91064818e-01 -4.46994410e-03 1.33455853e+01] [ 5.60462050e-02 -3.03553295e-03 9.98423562e-01 1.02261290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.52, Y:13.35, Z:10.23 [[ 9.89717262e-01 -1.31640771e-01 -5.59504045e-02 1.83523233e+02] [ 1.31597912e-01 9.91293118e-01 -4.46584574e-03 1.33505826e+01] [ 5.60511383e-02 -2.94303178e-03 9.98423562e-01 1.02292479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.58, Y:13.36, Z:10.23 [[ 9.90384466e-01 -1.26523216e-01 -5.59507356e-02 1.83584328e+02] [ 1.26472445e-01 9.91960087e-01 -4.46169337e-03 1.33558710e+01] [ 5.60654044e-02 -2.65743454e-03 9.98423562e-01 1.02324932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.65, Y:13.36, Z:10.24 [[ 9.90676346e-01 -1.24217009e-01 -5.59509802e-02 1.83646021e+02] [ 1.24162743e-01 9.92251850e-01 -4.45862398e-03 1.33613973e+01] [ 5.60713006e-02 -2.52997389e-03 9.98423562e-01 1.02362062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.71, Y:13.37, Z:10.24 [[ 9.91372481e-01 -1.18532926e-01 -5.59513046e-02 1.83706980e+02] [ 1.18469855e-01 9.92947658e-01 -4.45455006e-03 1.33682092e+01] [ 5.60847277e-02 -2.21242457e-03 9.98423562e-01 1.02394251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.77, Y:13.38, Z:10.24 [[ 9.92642313e-01 -1.07380967e-01 -5.59514644e-02 1.83766946e+02] [ 1.07300305e-01 9.94216686e-01 -4.45254141e-03 1.33766636e+01] [ 5.61059978e-02 -1.58382821e-03 9.98423562e-01 1.02428287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.83, Y:13.39, Z:10.25 [[ 9.93404594e-01 -1.00083647e-01 -5.59515431e-02 1.83827642e+02] [ 9.99914740e-02 9.94978336e-01 -4.45155264e-03 1.33856665e+01] [ 5.61161009e-02 -1.17248442e-03 9.98423562e-01 1.02479315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.89, Y:13.39, Z:10.25 [[ 9.94644134e-01 -8.69048536e-02 -5.59517086e-02 1.83886558e+02] [ 8.67919416e-02 9.96216523e-01 -4.44947096e-03 1.33929204e+01] [ 5.61266973e-02 -4.30517238e-04 9.98423562e-01 1.02505935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.94, Y:13.40, Z:10.26 [[ 9.95141395e-01 -8.10124686e-02 -5.59516272e-02 1.83944588e+02] [ 8.08901884e-02 9.96713083e-01 -4.45049484e-03 1.34013325e+01] [ 5.61282644e-02 -9.70660229e-05 9.98423562e-01 1.02551676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.00, Y:13.41, Z:10.26 [[ 9.95671083e-01 -7.42202341e-02 -5.59504386e-02 1.84002612e+02] [ 7.40863955e-02 9.97241829e-01 -4.46538727e-03 1.34051718e+01] [ 5.61275399e-02 3.00890655e-04 9.98423562e-01 1.02557443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.06, Y:13.41, Z:10.26 [[ 9.96103894e-01 -6.81661758e-02 -5.59500212e-02 1.84059258e+02] [ 6.80224977e-02 9.97673771e-01 -4.47061156e-03 1.34103280e+01] [ 5.61246131e-02 6.47333397e-04 9.98423562e-01 1.02585806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.12, Y:13.41, Z:10.26 [[ 9.96348036e-01 -6.44999753e-02 -5.59494890e-02 1.84117273e+02] [ 6.43501476e-02 9.97917338e-01 -4.47726192e-03 1.34134849e+01] [ 5.61217484e-02 8.60553244e-04 9.98423562e-01 1.02640781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.18, Y:13.42, Z:10.27 [[ 9.96370723e-01 -6.41494809e-02 -5.59484263e-02 1.84175463e+02] [ 6.39983579e-02 9.97939901e-01 -4.49050245e-03 1.34156087e+01] [ 5.61212304e-02 8.93597766e-04 9.98423562e-01 1.02675667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.23, Y:13.42, Z:10.27 [[ 9.96129038e-01 -6.78000579e-02 -5.59472217e-02 1.84234354e+02] [ 6.76538457e-02 9.97698681e-01 -4.50546152e-03 1.34176717e+01] [ 5.61239398e-02 7.02976345e-04 9.98423562e-01 1.02728668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.29, Y:13.42, Z:10.27 [[ 9.96025825e-01 -6.93007205e-02 -5.59460950e-02 1.84291779e+02] [ 6.91560900e-02 9.97595615e-01 -4.51940843e-03 1.34151650e+01] [ 5.61247773e-02 6.32434329e-04 9.98423562e-01 1.02728314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.35, Y:13.42, Z:10.28 [[ 9.95388391e-01 -7.79233774e-02 -5.59454877e-02 1.84350223e+02] [ 7.77919243e-02 9.96959339e-01 -4.52691380e-03 1.34171273e+01] [ 5.61281289e-02 1.53930296e-04 9.98423562e-01 1.02799425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.41, Y:13.41, Z:10.28 [[ 9.95317482e-01 -7.88247391e-02 -5.59443507e-02 1.84409021e+02] [ 7.86939214e-02 9.96888483e-01 -4.54092175e-03 1.34130577e+01] [ 5.61282159e-02 1.17178463e-04 9.98423562e-01 1.02790704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.47, Y:13.41, Z:10.28 [[ 9.94811630e-01 -8.49711105e-02 -5.59440034e-02 1.84467747e+02] [ 8.48497586e-02 9.96383390e-01 -4.54519609e-03 1.34100347e+01] [ 5.61278861e-02 -2.25221262e-04 9.98423562e-01 1.02820369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.53, Y:13.41, Z:10.28 [[ 9.94397447e-01 -8.96890780e-02 -5.59427146e-02 1.84525986e+02] [ 8.95742939e-02 9.95969700e-01 -4.56100396e-03 1.34095291e+01] [ 5.61263209e-02 -4.75578473e-04 9.98423562e-01 1.02838947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.58, Y:13.41, Z:10.29 [[ 9.93918651e-01 -9.48486799e-02 -5.59414332e-02 1.84584521e+02] [ 9.47411757e-02 9.95491418e-01 -4.57666763e-03 1.34092035e+01] [ 5.61233075e-02 -7.51121840e-04 9.98423563e-01 1.02862395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.64, Y:13.41, Z:10.29 [[ 9.93132477e-01 -1.02754969e-01 -5.59401504e-02 1.84643269e+02] [ 1.02659104e-01 9.94705996e-01 -4.59229304e-03 1.34078194e+01] [ 5.61158840e-02 -1.18201035e-03 9.98423563e-01 1.02894109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.70, Y:13.41, Z:10.29 [[ 9.92220587e-01 -1.11216595e-01 -5.59390365e-02 1.84701129e+02] [ 1.11133384e-01 9.93794827e-01 -4.60582213e-03 1.34075398e+01] [ 5.61041689e-02 -1.64670286e-03 9.98423563e-01 1.02930784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.76, Y:13.41, Z:10.30 [[ 9.91628360e-01 -1.16379408e-01 -5.59377249e-02 1.84759327e+02] [ 1.16303497e-01 9.93202968e-01 -4.62169667e-03 1.34098863e+01] [ 5.60953848e-02 -1.92274754e-03 9.98423563e-01 1.02968209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.82, Y:13.41, Z:10.30 [[ 9.91065231e-01 -1.21081834e-01 -5.59365399e-02 1.84818207e+02] [ 1.21012587e-01 9.92640147e-01 -4.63599451e-03 1.34120242e+01] [ 5.60861899e-02 -2.17445244e-03 9.98423563e-01 1.02992450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.88, Y:13.42, Z:10.30 [[ 9.90914000e-01 -1.22313860e-01 -5.59353496e-02 1.84876959e+02] [ 1.22245765e-01 9.92488966e-01 -4.65031199e-03 1.34161857e+01] [ 5.60840149e-02 -2.22980033e-03 9.98423563e-01 1.03019832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.94, Y:13.42, Z:10.31 [[ 9.91010965e-01 -1.21526283e-01 -5.59341628e-02 1.84935817e+02] [ 1.21456134e-01 9.92585840e-01 -4.66454308e-03 1.34223276e+01] [ 5.60863226e-02 -2.17093383e-03 9.98423563e-01 1.03050035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.00, Y:13.43, Z:10.31 [[ 9.91270986e-01 -1.19386854e-01 -5.59339905e-02 1.84995485e+02] [ 1.19313190e-01 9.92845701e-01 -4.66660930e-03 1.34303631e+01] [ 5.60909538e-02 -2.04778841e-03 9.98423563e-01 1.03074502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.06, Y:13.44, Z:10.31 [[ 9.91367247e-01 -1.18584907e-01 -5.59339054e-02 1.85055111e+02] [ 1.18509911e-01 9.92941899e-01 -4.66762832e-03 1.34368266e+01] [ 5.60926285e-02 -2.00138832e-03 9.98423563e-01 1.03105463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.11, Y:13.44, Z:10.31 [[ 9.91460175e-01 -1.17805515e-01 -5.59337336e-02 1.85112876e+02] [ 1.17729165e-01 9.93034762e-01 -4.66968583e-03 1.34442924e+01] [ 5.60942566e-02 -1.95522424e-03 9.98423563e-01 1.03131702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.17, Y:13.45, Z:10.32 [[ 9.91560613e-01 -1.16957244e-01 -5.59334805e-02 1.85171610e+02] [ 1.16879376e-01 9.93135125e-01 -4.67271579e-03 1.34516614e+01] [ 5.60960121e-02 -1.90418938e-03 9.98423563e-01 1.03176204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.23, Y:13.46, Z:10.32 [[ 9.91762803e-01 -1.15230239e-01 -5.59333132e-02 1.85230729e+02] [ 1.15149516e-01 9.93337171e-01 -4.67471797e-03 1.34611839e+01] [ 5.60993080e-02 -1.80448255e-03 9.98423563e-01 1.03221370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.29, Y:13.47, Z:10.33 [[ 9.91898170e-01 -1.14059213e-01 -5.59331439e-02 1.85290111e+02] [ 1.13976518e-01 9.93472436e-01 -4.67674312e-03 1.34694255e+01] [ 5.61014623e-02 -1.73621201e-03 9.98423563e-01 1.03260395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.35, Y:13.48, Z:10.33 [[ 9.92192179e-01 -1.11472784e-01 -5.59329772e-02 1.85349747e+02] [ 1.11385873e-01 9.93766218e-01 -4.67873546e-03 1.34798422e+01] [ 5.61058549e-02 -1.58793874e-03 9.98423563e-01 1.03317305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.41, Y:13.49, Z:10.34 [[ 9.92512228e-01 -1.08586279e-01 -5.59329772e-02 1.85409588e+02] [ 1.08494789e-01 9.94086007e-01 -4.67873546e-03 1.34890454e+01] [ 5.61102365e-02 -1.42473443e-03 9.98423563e-01 1.03362755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.47, Y:13.50, Z:10.34 [[ 9.92684142e-01 -1.07003250e-01 -5.59329772e-02 1.85468882e+02] [ 1.06909250e-01 9.94257774e-01 -4.67873546e-03 1.34959055e+01] [ 5.61124373e-02 -1.33524616e-03 9.98423563e-01 1.03392903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.53, Y:13.51, Z:10.34 [[ 9.93108830e-01 -1.02987162e-01 -5.59329702e-02 1.85529096e+02] [ 1.02886793e-01 9.94682068e-01 -4.67881948e-03 1.35057224e+01] [ 5.61173808e-02 -1.10818701e-03 9.98423563e-01 1.03433807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.59, Y:13.51, Z:10.35 [[ 9.93316803e-01 -1.00961533e-01 -5.59329702e-02 1.85588112e+02] [ 1.00857956e-01 9.94889834e-01 -4.67881948e-03 1.35136898e+01] [ 5.61195242e-02 -9.93735011e-04 9.98423563e-01 1.03459235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.65, Y:13.52, Z:10.35 [[ 9.93550547e-01 -9.86348398e-02 -5.59328039e-02 1.85647040e+02] [ 9.85274672e-02 9.95123323e-01 -4.68080641e-03 1.35220484e+01] [ 5.61217283e-02 -8.60299729e-04 9.98423563e-01 1.03485768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.71, Y:13.53, Z:10.35 [[ 9.93593392e-01 -9.82024080e-02 -5.59326327e-02 1.85705302e+02] [ 9.80942358e-02 9.95166113e-01 -4.68285131e-03 1.35288606e+01] [ 5.61221279e-02 -8.33818742e-04 9.98423563e-01 1.03521917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.76, Y:13.54, Z:10.35 [[ 9.93722376e-01 -9.68886359e-02 -5.59323800e-02 1.85764003e+02] [ 9.67782147e-02 9.95294941e-01 -4.68586715e-03 1.35359043e+01] [ 5.61232222e-02 -7.56584843e-04 9.98423563e-01 1.03549960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.82, Y:13.54, Z:10.36 [[ 9.93704423e-01 -9.70727443e-02 -5.59321286e-02 1.85822112e+02] [ 9.69624456e-02 9.95276996e-01 -4.68886653e-03 1.35424366e+01] [ 5.61231221e-02 -7.63968567e-04 9.98423563e-01 1.03597203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.88, Y:13.55, Z:10.36 [[ 9.93325525e-01 -1.00876815e-01 -5.59309289e-02 1.85880936e+02] [ 1.00771735e-01 9.94898456e-01 -4.70313308e-03 1.35473456e+01] [ 5.61200319e-02 -9.64514619e-04 9.98423563e-01 1.03626580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.94, Y:13.55, Z:10.37 [[ 9.92966300e-01 -1.04354167e-01 -5.59297365e-02 1.85939888e+02] [ 1.04253799e-01 9.94539538e-01 -4.71727166e-03 1.35508992e+01] [ 5.61166012e-02 -1.14679573e-03 9.98423563e-01 1.03659771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.00, Y:13.55, Z:10.37 [[ 9.92628772e-01 -1.07517508e-01 -5.59294849e-02 1.86000556e+02] [ 1.07421986e-01 9.94202312e-01 -4.72025183e-03 1.35542227e+01] [ 5.61127329e-02 -1.32259855e-03 9.98423563e-01 1.03699728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.06, Y:13.56, Z:10.37 [[ 9.92604182e-01 -1.07744282e-01 -5.59294849e-02 1.86060596e+02] [ 1.07649119e-01 9.94177744e-01 -4.72025183e-03 1.35577279e+01] [ 5.61124293e-02 -1.33541808e-03 9.98423563e-01 1.03733446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.12, Y:13.56, Z:10.38 [[ 9.92825691e-01 -1.05683676e-01 -5.59294849e-02 1.86120666e+02] [ 1.05585247e-01 9.94399052e-01 -4.72025183e-03 1.35597520e+01] [ 5.61150804e-02 -1.21894121e-03 9.98423563e-01 1.03760255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.18, Y:13.56, Z:10.38 [[ 9.93062991e-01 -1.03430112e-01 -5.59294849e-02 1.86181333e+02] [ 1.03328112e-01 9.94636125e-01 -4.72025183e-03 1.35629324e+01] [ 5.61177023e-02 -1.09158069e-03 9.98423563e-01 1.03795193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.24, Y:13.57, Z:10.38 [[ 9.93312973e-01 -1.01001144e-01 -5.59294849e-02 1.86241056e+02] [ 1.00895297e-01 9.94885852e-01 -4.72025183e-03 1.35651675e+01] [ 5.61202041e-02 -9.54334642e-04 9.98423563e-01 1.03811304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.30, Y:13.57, Z:10.38 [[ 9.93365589e-01 -1.00482433e-01 -5.59293094e-02 1.86298451e+02] [ 1.00375648e-01 9.94938405e-01 -4.72233140e-03 1.35683037e+01] [ 5.61207292e-02 -9.22939155e-04 9.98423563e-01 1.03838590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.36, Y:13.57, Z:10.39 [[ 9.93077914e-01 -1.03287066e-01 -5.59288776e-02 1.86356947e+02] [ 1.03184435e-01 9.94651006e-01 -4.72743954e-03 1.35703581e+01] [ 5.61179977e-02 -1.07627386e-03 9.98423563e-01 1.03862251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.42, Y:13.57, Z:10.39 [[ 9.92688508e-01 -1.06965523e-01 -5.59276548e-02 1.86415811e+02] [ 1.06867909e-01 9.94261920e-01 -4.74186228e-03 1.35729853e+01] [ 5.61139532e-02 -1.26967930e-03 9.98423564e-01 1.03888194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.47, Y:13.57, Z:10.39 [[ 9.91870511e-01 -1.14302772e-01 -5.59264319e-02 1.86474001e+02] [ 1.14215984e-01 9.93444557e-01 -4.75624096e-03 1.35744334e+01] [ 5.61034609e-02 -1.67011732e-03 9.98423564e-01 1.03912720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.53, Y:13.58, Z:10.39 [[ 9.91260041e-01 -1.19481538e-01 -5.59257873e-02 1.86533447e+02] [ 1.19402546e-01 9.92834497e-01 -4.76380843e-03 1.35773520e+01] [ 5.60942381e-02 -1.95550847e-03 9.98423564e-01 1.03947104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.59, Y:13.58, Z:10.40 [[ 9.90480472e-01 -1.25780599e-01 -5.59256172e-02 1.86594193e+02] [ 1.25711505e-01 9.92055394e-01 -4.76580509e-03 1.35789638e+01] [ 5.60807560e-02 -2.31005665e-03 9.98423564e-01 1.03986774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.65, Y:13.58, Z:10.40 [[ 9.89856070e-01 -1.30603546e-01 -5.59256172e-02 1.86654465e+02] [ 1.30542124e-01 9.91431309e-01 -4.76580509e-03 1.35809105e+01] [ 5.60688389e-02 -2.58318776e-03 9.98423564e-01 1.04025909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.72, Y:13.58, Z:10.41 [[ 9.89400687e-01 -1.34009723e-01 -5.59256172e-02 1.86715353e+02] [ 1.33953724e-01 9.90976128e-01 -4.76580509e-03 1.35826646e+01] [ 5.60596158e-02 -2.77615384e-03 9.98423564e-01 1.04056212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.78, Y:13.58, Z:10.41 [[ 9.89066730e-01 -1.36452590e-01 -5.59257943e-02 1.86776356e+02] [ 1.36400598e-01 9.90642309e-01 -4.76372528e-03 1.35844964e+01] [ 5.60524807e-02 -2.91666960e-03 9.98423564e-01 1.04081798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.84, Y:13.59, Z:10.41 [[ 9.88976365e-01 -1.37106002e-01 -5.59257943e-02 1.86837936e+02] [ 1.37055051e-01 9.90551977e-01 -4.76372528e-03 1.35882871e+01] [ 5.60505415e-02 -2.95370087e-03 9.98423564e-01 1.04108196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.90, Y:13.59, Z:10.41 [[ 9.89194465e-01 -1.35523417e-01 -5.59259713e-02 1.86897792e+02] [ 1.35470062e-01 9.90769998e-01 -4.76164729e-03 1.35926642e+01] [ 5.60550891e-02 -2.86609964e-03 9.98423564e-01 1.04130728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.96, Y:13.60, Z:10.42 [[ 9.89339791e-01 -1.34458370e-01 -5.59260583e-02 1.86958128e+02] [ 1.34403377e-01 9.90915268e-01 -4.76062451e-03 1.35977770e+01] [ 5.60580909e-02 -2.80677584e-03 9.98423564e-01 1.04165585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.02, Y:13.60, Z:10.42 [[ 9.89988728e-01 -1.29593957e-01 -5.59260583e-02 1.87018136e+02] [ 1.29531221e-01 9.91563916e-01 -4.76062451e-03 1.36036301e+01] [ 5.60712096e-02 -2.53120602e-03 9.98423564e-01 1.04219835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.08, Y:13.61, Z:10.43 [[ 9.90763679e-01 -1.23529749e-01 -5.59261441e-02 1.87077685e+02] [ 1.23457426e-01 9.92338455e-01 -4.75961623e-03 1.36087291e+01] [ 5.60856177e-02 -2.18884289e-03 9.98423564e-01 1.04253697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.14, Y:13.62, Z:10.43 [[ 9.91838870e-01 -1.14577231e-01 -5.59259697e-02 1.87137078e+02] [ 1.14490573e-01 9.93412923e-01 -4.76166483e-03 1.36164111e+01] [ 5.61031594e-02 -1.68019207e-03 9.98423564e-01 1.04310375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.19, Y:13.62, Z:10.44 [[ 9.92692484e-01 -1.06929591e-01 -5.59257928e-02 1.87194626e+02] [ 1.06830688e-01 9.94265815e-01 -4.76374155e-03 1.36229292e+01] [ 5.61144889e-02 -1.24566050e-03 9.98423564e-01 1.04350362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.25, Y:13.63, Z:10.44 [[ 9.93759662e-01 -9.65096325e-02 -5.59251661e-02 1.87251943e+02] [ 9.63938160e-02 9.95331839e-01 -4.77108793e-03 1.36289659e+01] [ 5.61245543e-02 -6.49525443e-04 9.98423564e-01 1.04374662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.31, Y:13.63, Z:10.44 [[ 9.94121352e-01 -9.27106628e-02 -5.59237946e-02 1.87309179e+02] [ 9.25879369e-02 9.95693004e-01 -4.78711025e-03 1.36336113e+01] [ 5.61267472e-02 -4.18900248e-04 9.98423564e-01 1.04395793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.37, Y:13.64, Z:10.44 [[ 9.94171376e-01 -9.21735310e-02 -5.59223993e-02 1.87366730e+02] [ 9.20490423e-02 9.95742889e-01 -4.80335405e-03 1.36380242e+01] [ 5.61270736e-02 -3.72246196e-04 9.98423564e-01 1.04424403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.42, Y:13.64, Z:10.44 [[ 9.94073429e-01 -9.32247750e-02 -5.59210006e-02 1.87423361e+02] [ 9.31010352e-02 9.95645001e-01 -4.81958320e-03 1.36400449e+01] [ 5.61267693e-02 -4.15283447e-04 9.98423564e-01 1.04435841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.48, Y:13.64, Z:10.45 [[ 9.93741091e-01 -9.67034252e-02 -5.59203999e-02 1.87481446e+02] [ 9.65847950e-02 9.95313057e-01 -4.82654283e-03 1.36429563e+01] [ 5.61250475e-02 -6.04726424e-04 9.98423564e-01 1.04455991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.54, Y:13.65, Z:10.45 [[ 9.93004991e-01 -1.03991105e-01 -5.59190325e-02 1.87539293e+02] [ 1.03883121e-01 9.94577724e-01 -4.84233443e-03 1.36458663e+01] [ 5.61193837e-02 -1.00058137e-03 9.98423564e-01 1.04470253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.60, Y:13.65, Z:10.45 [[ 9.92289555e-01 -1.10610348e-01 -5.59177079e-02 1.87597136e+02] [ 1.10511996e-01 9.93862919e-01 -4.85758181e-03 1.36496131e+01] [ 5.61118353e-02 -1.35944980e-03 9.98423564e-01 1.04503413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.66, Y:13.65, Z:10.45 [[ 9.91089387e-01 -1.20893344e-01 -5.59162463e-02 1.87655333e+02] [ 1.20810365e-01 9.92663637e-01 -4.87434936e-03 1.36527086e+01] [ 5.60953008e-02 -1.92434622e-03 9.98423564e-01 1.04537490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.71, Y:13.66, Z:10.46 [[ 9.90238052e-01 -1.27679803e-01 -5.59148261e-02 1.87712848e+02] [ 1.27606696e-01 9.91812792e-01 -4.89058683e-03 1.36565102e+01] [ 5.60814689e-02 -2.29226101e-03 9.98423565e-01 1.04568746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.77, Y:13.66, Z:10.46 [[ 9.89113430e-01 -1.36118741e-01 -5.59134152e-02 1.87771774e+02] [ 1.36058157e-01 9.90688701e-01 -4.90666401e-03 1.36607007e+01] [ 5.60606776e-02 -2.75422895e-03 9.98423565e-01 1.04611964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.83, Y:13.67, Z:10.47 [[ 9.88605034e-01 -1.39763783e-01 -5.59121855e-02 1.87831353e+02] [ 1.39708218e-01 9.90180489e-01 -4.92063769e-03 1.36662425e+01] [ 5.60508821e-02 -2.94682462e-03 9.98423565e-01 1.04655911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.89, Y:13.67, Z:10.47 [[ 9.88659455e-01 -1.39378367e-01 -5.59120115e-02 1.87890299e+02] [ 1.39322077e-01 9.90234885e-01 -4.92261318e-03 1.36733793e+01] [ 5.60521301e-02 -2.92298950e-03 9.98423565e-01 1.04658981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.95, Y:13.68, Z:10.47 [[ 9.88803501e-01 -1.38352822e-01 -5.59118401e-02 1.87949416e+02] [ 1.38294788e-01 9.90378867e-01 -4.92455980e-03 1.36807953e+01] [ 5.60552316e-02 -2.86289409e-03 9.98423565e-01 1.04710708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.01, Y:13.69, Z:10.47 [[ 9.88948066e-01 -1.37315727e-01 -5.59116619e-02 1.88009812e+02] [ 1.37255926e-01 9.90523366e-01 -4.92658245e-03 1.36883072e+01] [ 5.60583048e-02 -2.80207274e-03 9.98423565e-01 1.04744826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.07, Y:13.70, Z:10.48 [[ 9.89029681e-01 -1.36726644e-01 -5.59116619e-02 1.88070190e+02] [ 1.36665905e-01 9.90604946e-01 -4.92658245e-03 1.36964246e+01] [ 5.60599639e-02 -2.76868161e-03 9.98423565e-01 1.04764019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.13, Y:13.71, Z:10.48 [[ 9.89272989e-01 -1.34954955e-01 -5.59116619e-02 1.88131298e+02] [ 1.34891394e-01 9.90848142e-01 -4.92658245e-03 1.37059907e+01] [ 5.60648330e-02 -2.66826708e-03 9.98423565e-01 1.04789653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.19, Y:13.72, Z:10.48 [[ 9.90117496e-01 -1.28612632e-01 -5.59118436e-02 1.88191171e+02] [ 1.28539095e-01 9.91692215e-01 -4.92451871e-03 1.37173836e+01] [ 5.60806954e-02 -2.31100565e-03 9.98423565e-01 1.04813212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.25, Y:13.73, Z:10.49 [[ 9.90884910e-01 -1.22559987e-01 -5.59119329e-02 1.88251836e+02] [ 1.22476886e-01 9.92459154e-01 -4.92350467e-03 1.37272549e+01] [ 5.60937343e-02 -1.96929296e-03 9.98423565e-01 1.04868844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.31, Y:13.74, Z:10.49 [[ 9.92050190e-01 -1.12739771e-01 -5.59121133e-02 1.88311091e+02] [ 1.12641198e-01 9.93623540e-01 -4.92145534e-03 1.37389283e+01] [ 5.61104357e-02 -1.41567670e-03 9.98423565e-01 1.04940429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.37, Y:13.75, Z:10.50 [[ 9.92725218e-01 -1.06632396e-01 -5.59122019e-02 1.88370244e+02] [ 1.06524199e-01 9.94297935e-01 -4.92044869e-03 1.37481418e+01] [ 5.61180661e-02 -1.07134902e-03 9.98423565e-01 1.04987770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.43, Y:13.76, Z:10.50 [[ 9.93476876e-01 -9.93858277e-02 -5.59120282e-02 1.88428889e+02] [ 9.92660461e-02 9.95048754e-01 -4.92242152e-03 1.37587244e+01] [ 5.61244129e-02 -6.59854021e-04 9.98423565e-01 1.05012556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.49, Y:13.77, Z:10.50 [[ 9.93806585e-01 -9.60329965e-02 -5.59118472e-02 1.88486414e+02] [ 9.59077961e-02 9.95378041e-01 -4.92447624e-03 1.37660605e+01] [ 5.61263372e-02 -4.68405131e-04 9.98423565e-01 1.05022972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.54, Y:13.77, Z:10.51 [[ 9.94032345e-01 -9.36675571e-02 -5.59114022e-02 1.88544000e+02] [ 9.35383332e-02 9.95603475e-01 -4.92952433e-03 1.37734316e+01] [ 5.61273228e-02 -3.29752734e-04 9.98423565e-01 1.05056941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.60, Y:13.78, Z:10.51 [[ 9.94168328e-01 -9.22139436e-02 -5.59099723e-02 1.88601741e+02] [ 9.20815134e-02 9.95739190e-01 -4.94568916e-03 1.37812593e+01] [ 5.61278120e-02 -2.31427339e-04 9.98423565e-01 1.05096480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.66, Y:13.79, Z:10.51 [[ 9.94222670e-01 -9.16269619e-02 -5.59087036e-02 1.88659979e+02] [ 9.14928002e-02 9.95793385e-01 -4.95998978e-03 1.37876655e+01] [ 5.61279860e-02 -1.83909560e-04 9.98423565e-01 1.05131467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.72, Y:13.79, Z:10.52 [[ 9.94223216e-01 -9.16217939e-02 -5.59074508e-02 1.88718397e+02] [ 9.14868322e-02 9.95793863e-01 -4.97407097e-03 1.37935518e+01] [ 5.61280297e-02 -1.69458729e-04 9.98423565e-01 1.05156248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.78, Y:13.80, Z:10.52 [[ 9.94092876e-01 -9.30260966e-02 -5.59061713e-02 1.88775923e+02] [ 9.28925471e-02 9.95663643e-01 -4.98841092e-03 1.37991901e+01] [ 5.61277946e-02 -2.34322896e-04 9.98423565e-01 1.05186003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.83, Y:13.80, Z:10.52 [[ 9.93569049e-01 -9.84636710e-02 -5.59057221e-02 1.88834810e+02] [ 9.83384347e-02 9.95140502e-01 -4.99343986e-03 1.38039416e+01] [ 5.61257207e-02 -5.36353911e-04 9.98423565e-01 1.05208417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.89, Y:13.81, Z:10.52 [[ 9.92951164e-01 -1.04511604e-01 -5.59044735e-02 1.88893846e+02] [ 1.04395153e-01 9.94523292e-01 -5.00738005e-03 1.38071282e+01] [ 5.61216303e-02 -8.64072240e-04 9.98423565e-01 1.05229353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.95, Y:13.81, Z:10.53 [[ 9.92240297e-01 -1.11058651e-01 -5.59032067e-02 1.88952487e+02] [ 1.10951778e-01 9.93813105e-01 -5.02148272e-03 1.38107741e+01] [ 5.61150185e-02 -1.22004269e-03 9.98423566e-01 1.05257717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.01, Y:13.81, Z:10.53 [[ 9.91606877e-01 -1.16578997e-01 -5.59029395e-02 1.89012960e+02] [ 1.16480712e-01 9.93180245e-01 -5.02445621e-03 1.38140855e+01] [ 5.61074412e-02 -1.52932886e-03 9.98423566e-01 1.05294371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.07, Y:13.82, Z:10.53 [[ 9.91167197e-01 -1.20259925e-01 -5.59029395e-02 1.89073498e+02] [ 1.20167482e-01 9.92740918e-01 -5.02445621e-03 1.38176824e+01] [ 5.61013762e-02 -1.73763929e-03 9.98423566e-01 1.05333957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.13, Y:13.82, Z:10.54 [[ 9.91199732e-01 -1.19991428e-01 -5.59030296e-02 1.89134425e+02] [ 1.19898616e-01 9.92773432e-01 -5.02345248e-03 1.38231467e+01] [ 5.61018138e-02 -1.72345111e-03 9.98423566e-01 1.05373311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.20, Y:13.83, Z:10.54 [[ 9.91501668e-01 -1.17470308e-01 -5.59032090e-02 1.89195305e+02] [ 1.17373606e-01 9.93075134e-01 -5.02145566e-03 1.38287294e+01] [ 5.61059587e-02 -1.58277957e-03 9.98423566e-01 1.05419122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.26, Y:13.83, Z:10.55 [[ 9.91566481e-01 -1.16921876e-01 -5.59033926e-02 1.89255690e+02] [ 1.16824420e-01 9.93139900e-01 -5.01941060e-03 1.38340147e+01] [ 5.61067687e-02 -1.55380209e-03 9.98423566e-01 1.05452140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.32, Y:13.84, Z:10.55 [[ 9.91600531e-01 -1.16632701e-01 -5.59034830e-02 1.89315839e+02] [ 1.16534842e-01 9.93173925e-01 -5.01840368e-03 1.38384551e+01] [ 5.61071917e-02 -1.53845182e-03 9.98423566e-01 1.05480083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.38, Y:13.84, Z:10.55 [[ 9.91595591e-01 -1.16674694e-01 -5.59034830e-02 1.89377176e+02] [ 1.16576902e-01 9.93168989e-01 -5.01840368e-03 1.38430928e+01] [ 5.61071265e-02 -1.54082789e-03 9.98423566e-01 1.05510524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.44, Y:13.85, Z:10.55 [[ 9.91664684e-01 -1.16085890e-01 -5.59036664e-02 1.89435959e+02] [ 1.15987279e-01 9.93238032e-01 -5.01636037e-03 1.38482520e+01] [ 5.61079762e-02 -1.50956672e-03 9.98423566e-01 1.05532624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.50, Y:13.85, Z:10.56 [[ 9.91865811e-01 -1.14354724e-01 -5.59035761e-02 1.89495761e+02] [ 1.14253310e-01 9.93438980e-01 -5.01736567e-03 1.38543742e+01] [ 5.61105511e-02 -1.41061515e-03 9.98423566e-01 1.05571543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.56, Y:13.86, Z:10.56 [[ 9.92152469e-01 -1.11840374e-01 -5.59035761e-02 1.89555403e+02] [ 1.11734973e-01 9.93725375e-01 -5.01736567e-03 1.38602836e+01] [ 5.61139463e-02 -1.26839283e-03 9.98423566e-01 1.05616582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.61, Y:13.87, Z:10.57 [[ 9.92224043e-01 -1.11203591e-01 -5.59035761e-02 1.89614417e+02] [ 1.11097181e-01 9.93796882e-01 -5.01736567e-03 1.38656296e+01] [ 5.61147487e-02 -1.23237884e-03 9.98423566e-01 1.05660584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.67, Y:13.87, Z:10.57 [[ 9.92211179e-01 -1.11318355e-01 -5.59034868e-02 1.89674426e+02] [ 1.11212070e-01 9.93784027e-01 -5.01836140e-03 1.38700829e+01] [ 5.61146279e-02 -1.23786818e-03 9.98423566e-01 1.05719129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.73, Y:13.88, Z:10.58 [[ 9.92160511e-01 -1.11769047e-01 -5.59034868e-02 1.89733527e+02] [ 1.11663477e-01 9.93733407e-01 -5.01836140e-03 1.38751217e+01] [ 5.61140598e-02 -1.26335770e-03 9.98423566e-01 1.05753641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.79, Y:13.88, Z:10.58 [[ 9.91933177e-01 -1.13768988e-01 -5.59033958e-02 1.89794132e+02] [ 1.13666532e-01 9.93506279e-01 -5.01937503e-03 1.38799449e+01] [ 5.61114239e-02 -1.37546049e-03 9.98423566e-01 1.05795334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.85, Y:13.88, Z:10.58 [[ 9.91640446e-01 -1.16292891e-01 -5.59033958e-02 1.89854615e+02] [ 1.16194438e-01 9.93213803e-01 -5.01937503e-03 1.38839034e+01] [ 5.61077419e-02 -1.51824837e-03 9.98423566e-01 1.05824037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.92, Y:13.89, Z:10.59 [[ 9.91066397e-01 -1.21087601e-01 -5.59033958e-02 1.89915903e+02] [ 1.20996759e-01 9.92640212e-01 -5.01937503e-03 1.38860401e+01] [ 5.60997427e-02 -1.78959577e-03 9.98423566e-01 1.05867782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.98, Y:13.89, Z:10.59 [[ 9.90649506e-01 -1.24452182e-01 -5.59035827e-02 1.89977331e+02] [ 1.24366802e-01 9.92223627e-01 -5.01729219e-03 1.38885199e+01] [ 5.60932685e-02 -1.98217179e-03 9.98423566e-01 1.05903592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.04, Y:13.89, Z:10.59 [[ 9.90611692e-01 -1.24752732e-01 -5.59037687e-02 1.90037461e+02] [ 1.24667946e-01 9.92185845e-01 -5.01521818e-03 1.38922140e+01] [ 5.60925902e-02 -2.00127426e-03 9.98423566e-01 1.05933304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.10, Y:13.90, Z:10.60 [[ 9.90971513e-01 -1.21861370e-01 -5.59040795e-02 1.90098663e+02] [ 1.21772186e-01 9.92545423e-01 -5.01175141e-03 1.38966498e+01] [ 5.60980772e-02 -1.84105910e-03 9.98423566e-01 1.05968129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.16, Y:13.90, Z:10.60 [[ 9.91408529e-01 -1.18253294e-01 -5.59042632e-02 1.90158608e+02] [ 1.18158497e-01 9.92982111e-01 -5.00970237e-03 1.39012231e+01] [ 5.61043470e-02 -1.63890207e-03 9.98423566e-01 1.06007266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.22, Y:13.91, Z:10.60 [[ 9.91507980e-01 -1.17416518e-01 -5.59042632e-02 1.90218585e+02] [ 1.17320393e-01 9.93081481e-01 -5.00970237e-03 1.39052483e+01] [ 5.61057103e-02 -1.59155026e-03 9.98423566e-01 1.06044534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.28, Y:13.91, Z:10.61 [[ 9.91521688e-01 -1.17300707e-01 -5.59042632e-02 1.90277040e+02] [ 1.17204399e-01 9.93095178e-01 -5.00970237e-03 1.39103759e+01] [ 5.61058958e-02 -1.58499700e-03 9.98423566e-01 1.06057620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.34, Y:13.91, Z:10.61 [[ 9.91795537e-01 -1.14962952e-01 -5.59028922e-02 1.90335156e+02] [ 1.14862075e-01 9.93368740e-01 -5.02495483e-03 1.39128853e+01] [ 5.61098692e-02 -1.43739443e-03 9.98423566e-01 1.06113027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.39, Y:13.92, Z:10.62 [[ 9.92435207e-01 -1.09303535e-01 -5.59025758e-02 1.90394948e+02] [ 1.09193488e-01 9.94007795e-01 -5.02847205e-03 1.39168680e+01] [ 5.61172259e-02 -1.11376453e-03 9.98423566e-01 1.06155132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.45, Y:13.92, Z:10.62 [[ 9.92982031e-01 -1.04219043e-01 -5.59023950e-02 1.90453909e+02] [ 1.04100829e-01 9.94554026e-01 -5.03048156e-03 1.39205925e+01] [ 5.61222240e-02 -8.24307887e-04 9.98423566e-01 1.06189151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.51, Y:13.92, Z:10.62 [[ 9.93602754e-01 -9.81255851e-02 -5.59011362e-02 1.90511452e+02] [ 9.79969454e-02 9.95173931e-01 -5.04443033e-03 1.39235082e+01] [ 5.61263412e-02 -4.65980726e-04 9.98423566e-01 1.06229304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.57, Y:13.93, Z:10.63 [[ 9.93812749e-01 -9.59762905e-02 -5.58996642e-02 1.90568323e+02] [ 9.58433383e-02 9.95383566e-01 -5.06069004e-03 1.39260876e+01] [ 5.61273134e-02 -3.28232150e-04 9.98423566e-01 1.06253095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.63, Y:13.93, Z:10.63 [[ 9.93723129e-01 -9.69001606e-02 -5.58990315e-02 1.90626025e+02] [ 9.67682762e-02 9.95294037e-01 -5.06766957e-03 1.39262383e+01] [ 5.61270307e-02 -3.73392462e-04 9.98423566e-01 1.06267553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.68, Y:13.93, Z:10.63 [[ 9.93453249e-01 -9.96298398e-02 -5.58975646e-02 1.90683742e+02] [ 9.95013641e-02 9.95024439e-01 -5.08379856e-03 1.39276590e+01] [ 5.61259409e-02 -5.11367728e-04 9.98423566e-01 1.06284354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.74, Y:13.93, Z:10.63 [[ 9.92551850e-01 -1.08242033e-01 -5.58971133e-02 1.90742210e+02] [ 1.08126910e-01 9.94124075e-01 -5.08875609e-03 1.39277346e+01] [ 5.61194833e-02 -9.93127843e-04 9.98423566e-01 1.06323106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.80, Y:13.93, Z:10.64 [[ 9.91288560e-01 -1.19258830e-01 -5.58956379e-02 1.90798968e+02] [ 1.19160265e-01 9.92861909e-01 -5.10491083e-03 1.39266767e+01] [ 5.61054554e-02 -1.60009934e-03 9.98423566e-01 1.06352034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.86, Y:13.93, Z:10.64 [[ 9.90323853e-01 -1.27021315e-01 -5.58950023e-02 1.90857584e+02] [ 1.26934687e-01 9.91897905e-01 -5.11186078e-03 1.39281124e+01] [ 5.60914509e-02 -2.03261696e-03 9.98423566e-01 1.06385504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.92, Y:13.93, Z:10.64 [[ 9.88945093e-01 -1.37344460e-01 -5.58936725e-02 1.90915568e+02] [ 1.37273438e-01 9.90519926e-01 -5.12635963e-03 1.39292386e+01] [ 5.60678734e-02 -2.60302841e-03 9.98423566e-01 1.06411688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.97, Y:13.93, Z:10.64 [[ 9.88010596e-01 -1.43913211e-01 -5.58932041e-02 1.90974547e+02] [ 1.43852369e-01 9.89585855e-01 -5.13146178e-03 1.39318619e+01] [ 5.60496093e-02 -2.97043119e-03 9.98423566e-01 1.06445793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.03, Y:13.93, Z:10.65 [[ 9.86863279e-01 -1.51581525e-01 -5.58919509e-02 1.91033924e+02] [ 1.51532149e-01 9.88438939e-01 -5.14507512e-03 1.39344215e+01] [ 5.60256790e-02 -3.39194176e-03 9.98423566e-01 1.06481095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.09, Y:13.94, Z:10.65 [[ 9.85984347e-01 -1.57197257e-01 -5.58917663e-02 1.91093053e+02] [ 1.57156739e-01 9.87560260e-01 -5.14707940e-03 1.39386983e+01] [ 5.60055941e-02 -3.70882800e-03 9.98423566e-01 1.06530118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.15, Y:13.94, Z:10.66 [[ 9.85456236e-01 -1.60474732e-01 -5.58915731e-02 1.91152056e+02] [ 1.60439336e-01 9.87032272e-01 -5.14917748e-03 1.39433375e+01] [ 5.59930992e-02 -3.89291781e-03 9.98423566e-01 1.06554092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.21, Y:13.95, Z:10.66 [[ 9.85176247e-01 -1.62184787e-01 -5.58914791e-02 1.91212089e+02] [ 1.62152069e-01 9.86752341e-01 -5.15019697e-03 1.39478503e+01] [ 5.59863314e-02 -3.98906723e-03 9.98423566e-01 1.06577233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.27, Y:13.95, Z:10.66 [[ 9.85009038e-01 -1.63197236e-01 -5.58914791e-02 1.91271498e+02] [ 1.63166137e-01 9.86585165e-01 -5.15019697e-03 1.39537591e+01] [ 5.59822020e-02 -4.04660616e-03 9.98423566e-01 1.06584722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.33, Y:13.96, Z:10.66 [[ 9.85136991e-01 -1.62423097e-01 -5.58913852e-02 1.91331194e+02] [ 1.62390702e-01 9.86713092e-01 -5.15121548e-03 1.39610699e+01] [ 5.59854379e-02 -4.00158834e-03 9.98423566e-01 1.06607329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.39, Y:13.97, Z:10.66 [[ 9.85804457e-01 -1.58321623e-01 -5.58912925e-02 1.91391356e+02] [ 1.58282612e-01 9.87380408e-01 -5.15222200e-03 1.39709542e+01] [ 5.60016753e-02 -3.76753635e-03 9.98423566e-01 1.06648952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.45, Y:13.98, Z:10.67 [[ 9.86475295e-01 -1.54086454e-01 -5.58914813e-02 1.91449921e+02] [ 1.54040791e-01 9.88051067e-01 -5.15017254e-03 1.39792071e+01] [ 5.60172096e-02 -3.52905001e-03 9.98423566e-01 1.06679774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.51, Y:13.99, Z:10.67 [[ 9.87554352e-01 -1.47012052e-01 -5.58914905e-02 1.91509730e+02] [ 1.46955101e-01 9.89129756e-01 -5.15007321e-03 1.39910298e+01] [ 5.60410592e-02 -3.12756243e-03 9.98423566e-01 1.06747098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.57, Y:14.00, Z:10.68 [[ 9.88588519e-01 -1.39888740e-01 -5.58916817e-02 1.91568828e+02] [ 1.39820551e-01 9.90163477e-01 -5.14799672e-03 1.40025086e+01] [ 5.60620487e-02 -2.72555527e-03 9.98423566e-01 1.06796139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.63, Y:14.01, Z:10.68 [[ 9.89118617e-01 -1.36089938e-01 -5.58917756e-02 1.91628815e+02] [ 1.36015756e-01 9.90693304e-01 -5.14697740e-03 1.40122113e+01] [ 5.60720597e-02 -2.51119093e-03 9.98423566e-01 1.06829134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.69, Y:14.02, Z:10.69 [[ 9.89487749e-01 -1.33379545e-01 -5.58917756e-02 1.91688052e+02] [ 1.33301050e-01 9.91062227e-01 -5.14697740e-03 1.40230878e+01] [ 5.60787291e-02 -2.35756127e-03 9.98423566e-01 1.06864879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.75, Y:14.03, Z:10.69 [[ 9.89099223e-01 -1.36230818e-01 -5.58917756e-02 1.91748045e+02] [ 1.36156860e-01 9.90673921e-01 -5.14697740e-03 1.40319950e+01] [ 5.60717014e-02 -2.51917731e-03 9.98423566e-01 1.06868869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.81, Y:14.04, Z:10.69 [[ 9.88855912e-01 -1.37985851e-01 -5.58917756e-02 1.91809061e+02] [ 1.37914688e-01 9.90430738e-01 -5.14697740e-03 1.40395044e+01] [ 5.60671426e-02 -2.61867777e-03 9.98423566e-01 1.06866181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.87, Y:14.05, Z:10.69 [[ 9.89069582e-01 -1.36445778e-01 -5.58919640e-02 1.91868269e+02] [ 1.36372278e-01 9.90644301e-01 -5.14493079e-03 1.40497727e+01] [ 5.60710597e-02 -2.53341989e-03 9.98423566e-01 1.06898343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.93, Y:14.06, Z:10.70 [[ 9.89644672e-01 -1.32210062e-01 -5.58920566e-02 1.91929250e+02] [ 1.32129878e-01 9.91219065e-01 -5.14392450e-03 1.40587443e+01] [ 5.60813507e-02 -2.29435313e-03 9.98423566e-01 1.06961593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.99, Y:14.07, Z:10.70 [[ 9.90616259e-01 -1.24721626e-01 -5.58922414e-02 1.91989764e+02] [ 1.24629650e-01 9.92190008e-01 -5.14191608e-03 1.40691490e+01] [ 5.60970315e-02 -1.87216482e-03 9.98423566e-01 1.07026304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.05, Y:14.08, Z:10.71 [[ 9.91106775e-01 -1.20761734e-01 -5.58924308e-02 1.92049012e+02] [ 1.20663586e-01 9.92680150e-01 -5.13985616e-03 1.40771235e+01] [ 5.61040045e-02 -1.65003486e-03 9.98423566e-01 1.07072538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.11, Y:14.08, Z:10.71 [[ 9.91298050e-01 -1.19181383e-01 -5.58925239e-02 1.92108741e+02] [ 1.19080783e-01 9.92871270e-01 -5.13884301e-03 1.40841890e+01] [ 5.61065357e-02 -1.56160045e-03 9.98423566e-01 1.07133508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.17, Y:14.09, Z:10.72 [[ 9.91205758e-01 -1.19946532e-01 -5.58925239e-02 1.92168336e+02] [ 1.19847146e-01 9.92779056e-01 -5.13884301e-03 1.40887355e+01] [ 5.61053135e-02 -1.60490871e-03 9.98423566e-01 1.07162781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.23, Y:14.09, Z:10.72 [[ 9.90882247e-01 -1.22590413e-01 -5.58924325e-02 1.92229510e+02] [ 1.22495169e-01 9.92455800e-01 -5.13983710e-03 1.40928387e+01] [ 5.61008636e-02 -1.75357965e-03 9.98423566e-01 1.07205783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.29, Y:14.10, Z:10.72 [[ 9.90434979e-01 -1.26152954e-01 -5.58926190e-02 1.92289238e+02] [ 1.26063484e-01 9.92008871e-01 -5.13780854e-03 1.40972613e+01] [ 5.60941236e-02 -1.95735297e-03 9.98423566e-01 1.07229260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.35, Y:14.10, Z:10.72 [[ 9.89940349e-01 -1.29977376e-01 -5.58926452e-02 1.92350075e+02] [ 1.29894001e-01 9.91514576e-01 -5.13752380e-03 1.41005532e+01] [ 5.60861342e-02 -2.17427721e-03 9.98423566e-01 1.07249287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.41, Y:14.11, Z:10.73 [[ 9.89539274e-01 -1.32996381e-01 -5.58926452e-02 1.92411437e+02] [ 1.32917808e-01 9.91113748e-01 -5.13752380e-03 1.41054033e+01] [ 5.60792411e-02 -2.34534632e-03 9.98423566e-01 1.07290493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.47, Y:14.11, Z:10.73 [[ 9.89134966e-01 -1.35970626e-01 -5.58928332e-02 1.92472292e+02] [ 1.35896903e-01 9.90709674e-01 -5.13547715e-03 1.41102493e+01] [ 5.60718446e-02 -2.51598291e-03 9.98423566e-01 1.07326888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.53, Y:14.12, Z:10.74 [[ 9.89549211e-01 -1.32922227e-01 -5.58931125e-02 1.92532629e+02] [ 1.32843823e-01 9.91123694e-01 -5.13243604e-03 1.41207169e+01] [ 5.60792029e-02 -2.34625673e-03 9.98423566e-01 1.07363834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.59, Y:14.13, Z:10.74 [[ 9.89810676e-01 -1.30960933e-01 -5.58932964e-02 1.92594139e+02] [ 1.30879523e-01 9.91385006e-01 -5.13043222e-03 1.41271238e+01] [ 5.60836622e-02 -2.23713137e-03 9.98423566e-01 1.07400354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.66, Y:14.13, Z:10.74 [[ 9.89815450e-01 -1.30924683e-01 -5.58936717e-02 1.92655627e+02] [ 1.30843445e-01 9.91389789e-01 -5.12633977e-03 1.41327320e+01] [ 5.60835798e-02 -2.23919028e-03 9.98423566e-01 1.07435052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.72, Y:14.14, Z:10.75 [[ 9.90084420e-01 -1.28874814e-01 -5.58938585e-02 1.92715989e+02] [ 1.28790432e-01 9.91658594e-01 -5.12430250e-03 1.41390659e+01] [ 5.60880187e-02 -2.12510211e-03 9.98423566e-01 1.07461085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.78, Y:14.15, Z:10.75 [[ 9.90362913e-01 -1.26716875e-01 -5.58939504e-02 1.92776965e+02] [ 1.26629118e-01 9.91936902e-01 -5.12330031e-03 1.41454939e+01] [ 5.60924806e-02 -2.00387504e-03 9.98423566e-01 1.07500980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.84, Y:14.15, Z:10.75 [[ 9.90655171e-01 -1.24411326e-01 -5.58941364e-02 1.92836967e+02] [ 1.24320020e-01 9.92228958e-01 -5.12126955e-03 1.41523377e+01] [ 5.60969247e-02 -1.87534803e-03 9.98423566e-01 1.07529471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.90, Y:14.16, Z:10.76 [[ 9.90926710e-01 -1.22229560e-01 -5.58944521e-02 1.92897929e+02] [ 1.22134984e-01 9.92500304e-01 -5.11782240e-03 1.41595409e+01] [ 5.61008099e-02 -1.75528107e-03 9.98423566e-01 1.07563159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.96, Y:14.17, Z:10.76 [[ 9.91480739e-01 -1.17650900e-01 -5.58946337e-02 1.92958229e+02] [ 1.17549168e-01 9.93053886e-01 -5.11583856e-03 1.41681541e+01] [ 5.61082662e-02 -1.49811227e-03 9.98423566e-01 1.07605816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.02, Y:14.18, Z:10.77 [[ 9.91818095e-01 -1.14772108e-01 -5.58948127e-02 1.93018408e+02] [ 1.14665920e-01 9.93390948e-01 -5.11388121e-03 1.41754414e+01] [ 5.61123319e-02 -1.33719020e-03 9.98423566e-01 1.07650320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.08, Y:14.18, Z:10.77 [[ 9.91978122e-01 -1.13380663e-01 -5.58948127e-02 1.93078528e+02] [ 1.13272268e-01 9.93550825e-01 -5.11388121e-03 1.41833329e+01] [ 5.61141525e-02 -1.25847394e-03 9.98423566e-01 1.07712962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.14, Y:14.19, Z:10.77 [[ 9.91721079e-01 -1.15607400e-01 -5.58948127e-02 1.93139595e+02] [ 1.15502536e-01 9.93294021e-01 -5.11388121e-03 1.41894237e+01] [ 5.61111858e-02 -1.38444881e-03 9.98423566e-01 1.07744153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.20, Y:14.19, Z:10.77 [[ 9.90394100e-01 -1.26472430e-01 -5.58949985e-02 1.93199540e+02] [ 1.26384930e-01 9.91968104e-01 -5.11185041e-03 1.41939451e+01] [ 5.60925638e-02 -2.00153899e-03 9.98423566e-01 1.07744293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.26, Y:14.20, Z:10.78 [[ 9.89531407e-01 -1.33053775e-01 -5.58953299e-02 1.93261271e+02] [ 1.32976946e-01 9.91105967e-01 -5.10822336e-03 1.41993058e+01] [ 5.60778634e-02 -2.37804284e-03 9.98423567e-01 1.07778070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.32, Y:14.21, Z:10.78 [[ 9.88760579e-01 -1.38665738e-01 -5.58957022e-02 1.93323003e+02] [ 1.38598074e-01 9.90335560e-01 -5.10414655e-03 1.42064401e+01] [ 5.60632718e-02 -2.70025775e-03 9.98423567e-01 1.07815135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.39, Y:14.21, Z:10.79 [[ 9.88109239e-01 -1.43233242e-01 -5.58960745e-02 1.93385127e+02] [ 1.43173086e-01 9.89684524e-01 -5.10006577e-03 1.42130983e+01] [ 5.60499789e-02 -2.96339139e-03 9.98423567e-01 1.07853836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.45, Y:14.22, Z:10.79 [[ 9.87961402e-01 -1.44249280e-01 -5.58964458e-02 1.93447192e+02] [ 1.44190974e-01 9.89536757e-01 -5.09599411e-03 1.42200011e+01] [ 5.60466812e-02 -3.02511745e-03 9.98423567e-01 1.07903599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.51, Y:14.23, Z:10.79 [[ 9.87941767e-01 -1.44383552e-01 -5.58968165e-02 1.93509269e+02] [ 1.44325690e-01 9.89517139e-01 -5.09192461e-03 1.42273068e+01] [ 5.60460480e-02 -3.03682158e-03 9.98423567e-01 1.07949111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.57, Y:14.23, Z:10.80 [[ 9.87817448e-01 -1.45231517e-01 -5.58971893e-02 1.93569754e+02] [ 1.45175238e-01 9.89392877e-01 -5.08782839e-03 1.42342250e+01] [ 5.60431940e-02 -3.08904210e-03 9.98423567e-01 1.07985259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.63, Y:14.24, Z:10.80 [[ 9.87602473e-01 -1.46686160e-01 -5.58974646e-02 1.93630144e+02] [ 1.46632372e-01 9.89177988e-01 -5.08480250e-03 1.42419982e+01] [ 5.60384117e-02 -3.17461430e-03 9.98423567e-01 1.08019766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.69, Y:14.25, Z:10.81 [[ 9.87509614e-01 -1.47309897e-01 -5.58977314e-02 1.93691572e+02] [ 1.47257269e-01 9.89085169e-01 -5.08186705e-03 1.42494024e+01] [ 5.60362264e-02 -3.21295471e-03 9.98423567e-01 1.08068501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.75, Y:14.26, Z:10.81 [[ 9.87589779e-01 -1.46771354e-01 -5.58980968e-02 1.93752503e+02] [ 1.46718094e-01 9.89165313e-01 -5.07784555e-03 1.42582792e+01] [ 5.60377406e-02 -3.18643386e-03 9.98423567e-01 1.08098276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.81, Y:14.27, Z:10.81 [[ 9.87970002e-01 -1.44189628e-01 -5.58983666e-02 1.93814092e+02] [ 1.44132418e-01 9.89545397e-01 -5.07487280e-03 1.42667677e+01] [ 5.60457154e-02 -3.04294465e-03 9.98423567e-01 1.08128790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.87, Y:14.28, Z:10.81 [[ 9.89075377e-01 -1.36400989e-01 -5.58987323e-02 1.93874368e+02] [ 1.36331596e-01 9.90650283e-01 -5.07084189e-03 1.42781506e+01] [ 5.60677628e-02 -2.60531853e-03 9.98423567e-01 1.08143890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.94, Y:14.29, Z:10.82 [[ 9.90398580e-01 -1.26435570e-01 -5.58990022e-02 1.93935828e+02] [ 1.26350492e-01 9.91972716e-01 -5.06786508e-03 1.42906574e+01] [ 5.60910435e-02 -2.04366002e-03 9.98423567e-01 1.08192873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.00, Y:14.30, Z:10.82 [[ 9.91360988e-01 -1.18653499e-01 -5.58993624e-02 1.93995949e+02] [ 1.18556285e-01 9.92934421e-01 -5.06388881e-03 1.43007699e+01] [ 5.61052492e-02 -1.60707891e-03 9.98423567e-01 1.08234124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.06, Y:14.31, Z:10.83 [[ 9.91712104e-01 -1.15682043e-01 -5.58996278e-02 1.94057037e+02] [ 1.15580278e-01 9.93285249e-01 -5.06095717e-03 1.43080738e+01] [ 5.61097376e-02 -1.44188206e-03 9.98423567e-01 1.08288313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.12, Y:14.32, Z:10.83 [[ 9.91882412e-01 -1.14212286e-01 -5.59002238e-02 1.94118429e+02] [ 1.14108562e-01 9.93455429e-01 -5.05436616e-03 1.43150945e+01] [ 5.61116515e-02 -1.36535726e-03 9.98423567e-01 1.08327702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.18, Y:14.32, Z:10.84 [[ 9.91838667e-01 -1.14591368e-01 -5.59005928e-02 1.94180675e+02] [ 1.14488475e-01 9.93411739e-01 -5.05028111e-03 1.43219137e+01] [ 5.61110238e-02 -1.39090956e-03 9.98423567e-01 1.08352680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.24, Y:14.33, Z:10.84 [[ 9.91624821e-01 -1.16427219e-01 -5.59009582e-02 1.94242115e+02] [ 1.16327466e-01 9.93198095e-01 -5.04623378e-03 1.43275809e+01] [ 5.61082441e-02 -1.49884616e-03 9.98423567e-01 1.08387239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.30, Y:14.33, Z:10.84 [[ 9.91078082e-01 -1.20992878e-01 -5.59013270e-02 1.94304282e+02] [ 1.20900603e-01 9.92651813e-01 -5.04214518e-03 1.43330773e+01] [ 5.61006172e-02 -1.76134454e-03 9.98423567e-01 1.08426282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.37, Y:14.34, Z:10.85 [[ 9.90491669e-01 -1.25703038e-01 -5.59016943e-02 1.94365119e+02] [ 1.25618474e-01 9.92065833e-01 -5.03806921e-03 1.43388653e+01] [ 5.60914615e-02 -2.03211997e-03 9.98423567e-01 1.08458223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.43, Y:14.34, Z:10.85 [[ 9.90038231e-01 -1.29225659e-01 -5.59019657e-02 1.94427450e+02] [ 1.29146866e-01 9.91612694e-01 -5.03505552e-03 1.43436026e+01] [ 5.60837572e-02 -2.23466620e-03 9.98423567e-01 1.08498622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.49, Y:14.35, Z:10.85 [[ 9.89748088e-01 -1.31429267e-01 -5.59023282e-02 1.94488407e+02] [ 1.31354206e-01 9.91322733e-01 -5.03102819e-03 1.43487152e+01] [ 5.60784731e-02 -2.36355538e-03 9.98423567e-01 1.08529431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.55, Y:14.35, Z:10.86 [[ 9.89349639e-01 -1.34395656e-01 -5.59025962e-02 1.94550203e+02] [ 1.34325484e-01 9.90924509e-01 -5.02804840e-03 1.43544783e+01] [ 5.60710006e-02 -2.53464542e-03 9.98423567e-01 1.08566048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.61, Y:14.36, Z:10.86 [[ 9.88816390e-01 -1.38264269e-01 -5.59029488e-02 1.94612095e+02] [ 1.38200478e-01 9.90391532e-01 -5.02412508e-03 1.43584039e+01] [ 5.60604641e-02 -2.75787701e-03 9.98423567e-01 1.08582028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.67, Y:14.36, Z:10.86 [[ 9.88441536e-01 -1.40918950e-01 -5.59033041e-02 1.94674517e+02] [ 1.40859612e-01 9.90016852e-01 -5.02016835e-03 1.43631435e+01] [ 5.60526500e-02 -2.91237480e-03 9.98423567e-01 1.08622192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.74, Y:14.37, Z:10.86 [[ 9.88070664e-01 -1.43496021e-01 -5.59039699e-02 1.94736117e+02] [ 1.43441210e-01 9.89646145e-01 -5.01274317e-03 1.43685428e+01] [ 5.60444570e-02 -3.06598864e-03 9.98423567e-01 1.08649128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.80, Y:14.37, Z:10.87 [[ 9.87604960e-01 -1.46666758e-01 -5.59044295e-02 1.94797613e+02] [ 1.46617294e-01 9.89180617e-01 -5.00761258e-03 1.43746907e+01] [ 5.60340284e-02 -3.25101313e-03 9.98423567e-01 1.08691361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.86, Y:14.38, Z:10.87 [[ 9.87336738e-01 -1.48461514e-01 -5.59047863e-02 1.94860212e+02] [ 1.48415139e-01 9.88912489e-01 -5.00362553e-03 1.43808841e+01] [ 5.60277872e-02 -3.35685332e-03 9.98423567e-01 1.08743238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.92, Y:14.39, Z:10.88 [[ 9.87294802e-01 -1.48739939e-01 -5.59053165e-02 1.94923122e+02] [ 1.48694342e-01 9.88870576e-01 -4.99769538e-03 1.43872645e+01] [ 5.60264794e-02 -3.37860559e-03 9.98423567e-01 1.08794703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.99, Y:14.39, Z:10.88 [[ 9.87334365e-01 -1.48476887e-01 -5.59058604e-02 1.94985300e+02] [ 1.48431215e-01 9.88910137e-01 -4.99160338e-03 1.43939630e+01] [ 5.60270098e-02 -3.36979322e-03 9.98423567e-01 1.08845529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.05, Y:14.40, Z:10.89 [[ 9.87509726e-01 -1.47305850e-01 -5.59064210e-02 1.95045747e+02] [ 1.47258663e-01 9.89085453e-01 -4.98531709e-03 1.44005824e+01] [ 5.60305941e-02 -3.30965569e-03 9.98423567e-01 1.08879847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.11, Y:14.41, Z:10.89 [[ 9.87704572e-01 -1.45993563e-01 -5.59066955e-02 1.95107662e+02] [ 1.45944456e-01 9.89280240e-01 -4.98223688e-03 1.44070064e+01] [ 5.60347636e-02 -3.23829413e-03 9.98423567e-01 1.08914869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.17, Y:14.41, Z:10.90 [[ 9.87747149e-01 -1.45705047e-01 -5.59071447e-02 1.95170665e+02] [ 1.45655764e-01 9.89322812e-01 -4.97719082e-03 1.44139302e+01] [ 5.60354154e-02 -3.22699184e-03 9.98423567e-01 1.08952758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.23, Y:14.42, Z:10.90 [[ 9.87571407e-01 -1.46891275e-01 -5.59076839e-02 1.95232074e+02] [ 1.46844227e-01 9.89147138e-01 -4.97112639e-03 1.44199103e+01] [ 5.60311406e-02 -3.30037835e-03 9.98423567e-01 1.08985048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.29, Y:14.43, Z:10.90 [[ 9.87371116e-01 -1.48231477e-01 -5.59080398e-02 1.95293744e+02] [ 1.48186794e-01 9.88946916e-01 -4.96712109e-03 1.44256510e+01] [ 5.60263672e-02 -3.38044127e-03 9.98423567e-01 1.09019539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.36, Y:14.43, Z:10.91 [[ 9.87128277e-01 -1.49839965e-01 -5.59083987e-02 1.95356141e+02] [ 1.49798078e-01 9.88704154e-01 -4.96307836e-03 1.44309738e+01] [ 5.60205335e-02 -3.47577566e-03 9.98423567e-01 1.09055167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.42, Y:14.44, Z:10.91 [[ 9.87053926e-01 -1.50328771e-01 -5.59089329e-02 1.95418355e+02] [ 1.50288004e-01 9.88629831e-01 -4.95705280e-03 1.44363414e+01] [ 5.60184266e-02 -3.50956348e-03 9.98423567e-01 1.09090175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.48, Y:14.44, Z:10.91 [[ 9.87304958e-01 -1.48671021e-01 -5.59092833e-02 1.95479846e+02] [ 1.48627831e-01 9.88880799e-01 -4.95309771e-03 1.44428819e+01] [ 5.60239988e-02 -3.41945757e-03 9.98423567e-01 1.09145475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.54, Y:14.45, Z:10.92 [[ 9.87795667e-01 -1.45374797e-01 -5.59096462e-02 1.95541326e+02] [ 1.45326578e-01 9.89371363e-01 -4.94899836e-03 1.44501463e+01] [ 5.60348624e-02 -3.23655842e-03 9.98423567e-01 1.09195589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.60, Y:14.46, Z:10.92 [[ 9.88112898e-01 -1.43202555e-01 -5.59100114e-02 1.95602771e+02] [ 1.43151104e-01 9.89688491e-01 -4.94486835e-03 1.44555851e+01] [ 5.60416126e-02 -3.11749169e-03 9.98423567e-01 1.09231847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.66, Y:14.46, Z:10.93 [[ 9.88476757e-01 -1.40668873e-01 -5.59103708e-02 1.95664669e+02] [ 1.40613613e-01 9.90052221e-01 -4.94080132e-03 1.44607464e+01] [ 5.60492038e-02 -2.97789196e-03 9.98423567e-01 1.09273442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.73, Y:14.47, Z:10.93 [[ 9.88558864e-01 -1.40090549e-01 -5.59107323e-02 1.95727060e+02] [ 1.40034598e-01 9.90134304e-01 -4.93670763e-03 1.44654982e+01] [ 5.60507201e-02 -2.94921086e-03 9.98423567e-01 1.09311644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.79, Y:14.47, Z:10.93 [[ 9.88468560e-01 -1.40726101e-01 -5.59112744e-02 1.95789152e+02] [ 1.40671510e-01 9.90044048e-01 -4.93056063e-03 1.44684410e+01] [ 5.60484829e-02 -2.99141920e-03 9.98423567e-01 1.09341449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.85, Y:14.47, Z:10.94 [[ 9.88221464e-01 -1.42450756e-01 -5.59117189e-02 1.95850743e+02] [ 1.42399199e-01 9.89797054e-01 -4.92551415e-03 1.44705237e+01] [ 5.60428979e-02 -3.09428517e-03 9.98423567e-01 1.09364111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.91, Y:14.47, Z:10.94 [[ 9.88136845e-01 -1.43036243e-01 -5.59125018e-02 1.95913380e+02] [ 1.42986122e-01 9.89712481e-01 -4.91661110e-03 1.44746183e+01] [ 5.60405545e-02 -3.13642721e-03 9.98423567e-01 1.09401172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.97, Y:14.48, Z:10.94 [[ 9.88030207e-01 -1.43770796e-01 -5.59130391e-02 1.95974972e+02] [ 1.43722191e-01 9.89605891e-01 -4.91049289e-03 1.44779050e+01] [ 5.60378584e-02 -3.18422919e-03 9.98423567e-01 1.09430530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.04, Y:14.48, Z:10.95 [[ 9.88080749e-01 -1.43422860e-01 -5.59134801e-02 1.96038092e+02] [ 1.43373984e-01 9.89656424e-01 -4.90546701e-03 1.44817082e+01] [ 5.60386908e-02 -3.16954085e-03 9.98423567e-01 1.09463709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.10, Y:14.49, Z:10.95 [[ 9.88336933e-01 -1.41646503e-01 -5.59139978e-02 1.96101192e+02] [ 1.41595127e-01 9.89912529e-01 -4.89955917e-03 1.44861562e+01] [ 5.60439723e-02 -3.07473435e-03 9.98423567e-01 1.09506063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.16, Y:14.49, Z:10.96 [[ 9.88928397e-01 -1.37456140e-01 -5.59145315e-02 1.96162828e+02] [ 1.37398431e-01 9.90503773e-01 -4.89346036e-03 1.44909242e+01] [ 5.60561906e-02 -2.84328699e-03 9.98423567e-01 1.09556252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.22, Y:14.50, Z:10.96 [[ 9.89761979e-01 -1.31319270e-01 -5.59148809e-02 1.96224827e+02] [ 1.31252015e-01 9.91336977e-01 -4.88946505e-03 1.44955507e+01] [ 5.60725700e-02 -2.49953419e-03 9.98423567e-01 1.09601001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.29, Y:14.50, Z:10.96 [[ 9.90390083e-01 -1.26494940e-01 -5.59152346e-02 1.96287880e+02] [ 1.26420239e-01 9.91964745e-01 -4.88541625e-03 1.45003130e+01] [ 5.60839219e-02 -2.23034955e-03 9.98423567e-01 1.09610035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.35, Y:14.50, Z:10.97 [[ 9.90923920e-01 -1.22242421e-01 -5.59157918e-02 1.96349741e+02] [ 1.22161322e-01 9.92498265e-01 -4.87903050e-03 1.45038303e+01] [ 5.60927509e-02 -1.99599903e-03 9.98423567e-01 1.09678989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.41, Y:14.51, Z:10.97 [[ 9.91009508e-01 -1.21546401e-01 -5.59162476e-02 1.96411818e+02] [ 1.21464491e-01 9.92583812e-01 -4.87380143e-03 1.45080675e+01] [ 5.60939552e-02 -1.96185499e-03 9.98423567e-01 1.09680107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.47, Y:14.51, Z:10.97 [[ 9.90779858e-01 -1.23404239e-01 -5.59166047e-02 1.96474538e+02] [ 1.23325512e-01 9.92354324e-01 -4.86970158e-03 1.45104262e+01] [ 5.60900262e-02 -2.07114167e-03 9.98423567e-01 1.09662243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.54, Y:14.51, Z:10.97 [[ 9.90680630e-01 -1.24198161e-01 -5.59169563e-02 1.96536114e+02] [ 1.24120923e-01 9.92255170e-01 -4.86566039e-03 1.45133412e+01] [ 5.60881950e-02 -2.12014874e-03 9.98423567e-01 1.09705961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.60, Y:14.52, Z:10.98 [[ 9.90976402e-01 -1.21815541e-01 -5.59173054e-02 1.96597644e+02] [ 1.21734743e-01 9.92550763e-01 -4.86164514e-03 1.45185769e+01] [ 5.60929881e-02 -1.98930321e-03 9.98423567e-01 1.09770518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.66, Y:14.52, Z:10.98 [[ 9.91227259e-01 -1.19756994e-01 -5.59176534e-02 1.96659589e+02] [ 1.19673153e-01 9.92801460e-01 -4.85763915e-03 1.45237560e+01] [ 5.60968642e-02 -1.87681754e-03 9.98423567e-01 1.09821415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.72, Y:14.53, Z:10.99 [[ 9.91163143e-01 -1.20286325e-01 -5.59180088e-02 1.96720064e+02] [ 1.20203555e-01 9.92737402e-01 -4.85354537e-03 1.45267939e+01] [ 5.60957138e-02 -1.91088813e-03 9.98423567e-01 1.09883661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.78, Y:14.53, Z:10.99 [[ 9.90723506e-01 -1.23855080e-01 -5.59182708e-02 1.96781704e+02] [ 1.23778150e-01 9.92298061e-01 -4.85052413e-03 1.45289661e+01] [ 5.60883538e-02 -2.11593186e-03 9.98423567e-01 1.09919680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.84, Y:14.53, Z:10.99 [[ 9.90322601e-01 -1.27020684e-01 -5.59186216e-02 1.96842406e+02] [ 1.26949015e-01 9.91897404e-01 -4.84647724e-03 1.45326615e+01] [ 5.60811384e-02 -2.29923799e-03 9.98423567e-01 1.09943074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.90, Y:14.54, Z:11.00 [[ 9.89911658e-01 -1.30184439e-01 -5.59188804e-02 1.96904234e+02] [ 1.30117971e-01 9.91486689e-01 -4.84348847e-03 1.45351966e+01] [ 5.60733725e-02 -2.48142554e-03 9.98423567e-01 1.09966111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.97, Y:14.54, Z:11.00 [[ 9.89906469e-01 -1.30223736e-01 -5.59192308e-02 1.96966254e+02] [ 1.30157558e-01 9.91481513e-01 -4.83943982e-03 1.45397966e+01] [ 5.60730935e-02 -2.48771773e-03 9.98423567e-01 1.10002102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.03, Y:14.54, Z:11.00 [[ 9.90004210e-01 -1.29478438e-01 -5.59195789e-02 1.97027653e+02] [ 1.29411301e-01 9.91579212e-01 -4.83541508e-03 1.45447518e+01] [ 5.60747739e-02 -2.44954418e-03 9.98423567e-01 1.10037932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.09, Y:14.55, Z:11.00 [[ 9.90889193e-01 -1.22521619e-01 -5.59201209e-02 1.97089955e+02] [ 1.22443775e-01 9.92463703e-01 -4.82913865e-03 1.45502872e+01] [ 5.60903641e-02 -2.06192938e-03 9.98423567e-01 1.10047984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.15, Y:14.55, Z:11.01 [[ 9.91434796e-01 -1.18025183e-01 -5.59204928e-02 1.97150651e+02] [ 1.17940440e-01 9.93008949e-01 -4.82482754e-03 1.45540211e+01] [ 5.60990010e-02 -1.81178561e-03 9.98423567e-01 1.10084859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.21, Y:14.56, Z:11.01 [[ 9.92523357e-01 -1.08490797e-01 -5.59207665e-02 1.97211501e+02] [ 1.08391107e-01 9.94096635e-01 -4.82165318e-03 1.45588805e+01] [ 5.61137508e-02 -1.27571040e-03 9.98423567e-01 1.10103340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.27, Y:14.56, Z:11.01 [[ 9.92705467e-01 -1.06811537e-01 -5.59209419e-02 1.97272417e+02] [ 1.06709300e-01 9.94278581e-01 -4.81961863e-03 1.45642593e+01] [ 5.61157856e-02 -1.18282282e-03 9.98423567e-01 1.10138869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.33, Y:14.57, Z:11.02 [[ 9.92886103e-01 -1.05119052e-01 -5.59211201e-02 1.97332886e+02] [ 1.05014251e-01 9.94459048e-01 -4.81754983e-03 1.45695015e+01] [ 5.61176802e-02 -1.08923624e-03 9.98423567e-01 1.10169722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.39, Y:14.58, Z:11.02 [[ 9.93040880e-01 -1.03646656e-01 -5.59212077e-02 1.97394103e+02] [ 1.03539580e-01 9.94613672e-01 -4.81653237e-03 1.45750062e+01] [ 5.61192153e-02 -1.00704479e-03 9.98423567e-01 1.10232200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.45, Y:14.58, Z:11.02 [[ 9.93234857e-01 -1.01770898e-01 -5.59213935e-02 1.97454031e+02] [ 1.01660972e-01 9.94807453e-01 -4.81437530e-03 1.45795474e+01] [ 5.61209823e-02 -9.03217860e-04 9.98423567e-01 1.10239151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.51, Y:14.58, Z:11.03 [[ 9.93234860e-01 -1.01770710e-01 -5.59216809e-02 1.97514710e+02] [ 1.01660973e-01 9.94807469e-01 -4.81103377e-03 1.45847661e+01] [ 5.61209282e-02 -9.06566016e-04 9.98423567e-01 1.10273379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.58, Y:14.59, Z:11.03 [[ 9.93480247e-01 -9.93466892e-02 -5.59216809e-02 1.97575400e+02] [ 9.92331141e-02 9.95052583e-01 -4.81103377e-03 1.45886632e+01] [ 5.61229733e-02 -7.69615528e-04 9.98423567e-01 1.10301193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.64, Y:14.59, Z:11.03 [[ 9.93506035e-01 -9.90883611e-02 -5.59218615e-02 1.97635367e+02] [ 9.89744952e-02 9.95078350e-01 -4.80893441e-03 1.45945450e+01] [ 5.61231431e-02 -7.57132656e-04 9.98423567e-01 1.10346491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.69, Y:14.60, Z:11.04 [[ 9.93304808e-01 -1.01085462e-01 -5.59221589e-02 1.97694301e+02] [ 1.00974952e-01 9.94877363e-01 -4.80547322e-03 1.45993241e+01] [ 5.61214534e-02 -8.73437646e-04 9.98423567e-01 1.10385952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.75, Y:14.60, Z:11.04 [[ 9.92139024e-01 -1.11950385e-01 -5.59219882e-02 1.97754308e+02] [ 1.11856981e-01 9.93712687e-01 -4.80745873e-03 1.45998983e+01] [ 5.61085860e-02 -1.48559733e-03 9.98423567e-01 1.10413761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.81, Y:14.60, Z:11.04 [[ 9.91095799e-01 -1.20838184e-01 -5.59218167e-02 1.97814681e+02] [ 1.20758775e-01 9.92670231e-01 -4.80945234e-03 1.46020019e+01] [ 5.60930882e-02 -1.98642207e-03 9.98423567e-01 1.10437956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.88, Y:14.61, Z:11.05 [[ 9.90377041e-01 -1.26594064e-01 -5.59219013e-02 1.97876083e+02] [ 1.26523859e-01 9.91951910e-01 -4.80846940e-03 1.46057382e+01] [ 5.60805605e-02 -2.31325704e-03 9.98423567e-01 1.10485124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.94, Y:14.61, Z:11.05 [[ 9.90122843e-01 -1.28567018e-01 -5.59220681e-02 1.97935904e+02] [ 1.28500060e-01 9.91697853e-01 -4.80652825e-03 1.46094519e+01] [ 5.60757559e-02 -2.42693570e-03 9.98423567e-01 1.10528753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.00, Y:14.61, Z:11.06 [[ 9.89961014e-01 -1.29807177e-01 -5.59221503e-02 1.97997605e+02] [ 1.29742246e-01 9.91536109e-01 -4.80557136e-03 1.46137166e+01] [ 5.60726290e-02 -2.49813706e-03 9.98423567e-01 1.10571662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.06, Y:14.62, Z:11.06 [[ 9.89816321e-01 -1.30905787e-01 -5.59224951e-02 1.98059104e+02] [ 1.30842830e-01 9.91391496e-01 -4.80155574e-03 1.46186633e+01] [ 5.60696375e-02 -2.56439930e-03 9.98423567e-01 1.10605168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.12, Y:14.62, Z:11.06 [[ 9.89699711e-01 -1.31784360e-01 -5.59228384e-02 1.98120109e+02] [ 1.31723027e-01 9.91274951e-01 -4.79755442e-03 1.46228870e+01] [ 5.60671515e-02 -2.61818735e-03 9.98423567e-01 1.10622525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.18, Y:14.63, Z:11.06 [[ 9.89812223e-01 -1.30936516e-01 -5.59230921e-02 1.98181293e+02] [ 1.30874001e-01 9.91387416e-01 -4.79459513e-03 1.46278281e+01] [ 5.60692373e-02 -2.57312993e-03 9.98423567e-01 1.10647612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.24, Y:14.63, Z:11.07 [[ 9.90109658e-01 -1.28667961e-01 -5.59233416e-02 1.98242452e+02] [ 1.28602001e-01 9.91684711e-01 -4.79168286e-03 1.46348676e+01] [ 5.60748589e-02 -2.44756215e-03 9.98423567e-01 1.10680346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.30, Y:14.64, Z:11.07 [[ 9.90814724e-01 -1.23120856e-01 -5.59235058e-02 1.98304246e+02] [ 1.23046183e-01 9.92389387e-01 -4.78976625e-03 1.46425811e+01] [ 5.60876137e-02 -2.13540301e-03 9.98423567e-01 1.10715068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.37, Y:14.65, Z:11.08 [[ 9.91550845e-01 -1.17044626e-01 -5.59238491e-02 1.98365643e+02] [ 1.16960528e-01 9.93125033e-01 -4.78575434e-03 1.46481066e+01] [ 5.60995213e-02 -1.79556416e-03 9.98423567e-01 1.10750859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.43, Y:14.65, Z:11.08 [[ 9.92090828e-01 -1.12375590e-01 -5.59242002e-02 1.98425151e+02] [ 1.12284313e-01 9.93664616e-01 -4.78164864e-03 1.46547439e+01] [ 5.61072395e-02 -1.53558065e-03 9.98423567e-01 1.10787791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.49, Y:14.66, Z:11.08 [[ 9.92186555e-01 -1.11527190e-01 -5.59242861e-02 1.98486225e+02] [ 1.11434625e-01 9.93760268e-01 -4.78064316e-03 1.46626349e+01] [ 5.61085052e-02 -1.48861196e-03 9.98423567e-01 1.10839229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.55, Y:14.67, Z:11.09 [[ 9.92467597e-01 -1.08997817e-01 -5.59244612e-02 1.98547000e+02] [ 1.08901356e-01 9.94041075e-01 -4.77859447e-03 1.46651645e+01] [ 5.61120679e-02 -1.34764949e-03 9.98423567e-01 1.10860180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.61, Y:14.67, Z:11.09 [[ 9.92409973e-01 -1.09521233e-01 -5.59244612e-02 1.98607621e+02] [ 1.09425602e-01 9.93983502e-01 -4.77859447e-03 1.46707124e+01] [ 5.61113493e-02 -1.37724301e-03 9.98423567e-01 1.10897758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.67, Y:14.68, Z:11.09 [[ 9.92210141e-01 -1.11317069e-01 -5.59244612e-02 1.98668122e+02] [ 1.11224286e-01 9.93783841e-01 -4.77859447e-03 1.46757865e+01] [ 5.61087650e-02 -1.47878837e-03 9.98423567e-01 1.10939517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.73, Y:14.68, Z:11.10 [[ 9.92077168e-01 -1.12495987e-01 -5.59244612e-02 1.98729615e+02] [ 1.12405074e-01 9.93650977e-01 -4.77859447e-03 1.46808017e+01] [ 5.61069682e-02 -1.54545870e-03 9.98423567e-01 1.10974398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.79, Y:14.69, Z:11.10 [[ 9.91828550e-01 -1.14667183e-01 -5.59246341e-02 1.98791055e+02] [ 1.14579828e-01 9.93402561e-01 -4.77657036e-03 1.46884340e+01] [ 5.61033905e-02 -1.67029613e-03 9.98423567e-01 1.11006802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.85, Y:14.70, Z:11.10 [[ 9.91755529e-01 -1.15296855e-01 -5.59249977e-02 1.98851741e+02] [ 1.15210740e-01 9.93329608e-01 -4.77230902e-03 1.46954085e+01] [ 5.61021883e-02 -1.71019650e-03 9.98423567e-01 1.11033983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.91, Y:14.70, Z:11.11 [[ 9.91868105e-01 -1.14324222e-01 -5.59252662e-02 1.98913145e+02] [ 1.14236740e-01 9.93442108e-01 -4.76916028e-03 1.46987936e+01] [ 5.61037449e-02 -1.65834216e-03 9.98423567e-01 1.11064405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.97, Y:14.70, Z:11.11 [[ 9.91842053e-01 -1.14549744e-01 -5.59258302e-02 1.98973805e+02] [ 1.14462994e-01 9.93416097e-01 -4.76253799e-03 1.47047281e+01] [ 5.61031674e-02 -1.67775249e-03 9.98423567e-01 1.11101469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.04, Y:14.71, Z:11.11 [[ 9.91922298e-01 -1.13852705e-01 -5.59259985e-02 1.99035282e+02] [ 1.13764960e-01 9.93496286e-01 -4.76056086e-03 1.47114776e+01] [ 5.61042745e-02 -1.64031248e-03 9.98423567e-01 1.11124104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.10, Y:14.72, Z:11.12 [[ 9.92008129e-01 -1.13102226e-01 -5.59263600e-02 1.99096007e+02] [ 1.13013530e-01 9.93582065e-01 -4.75630988e-03 1.47181185e+01] [ 5.61053775e-02 -1.60213728e-03 9.98423567e-01 1.11175062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.16, Y:14.72, Z:11.12 [[ 9.92095559e-01 -1.12332608e-01 -5.59266272e-02 1.99156088e+02] [ 1.12242867e-01 9.93669435e-01 -4.75316556e-03 1.47242043e+01] [ 5.61065155e-02 -1.56177056e-03 9.98423567e-01 1.11194345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.22, Y:14.73, Z:11.12 [[ 9.92113271e-01 -1.12176022e-01 -5.59267113e-02 1.99216965e+02] [ 1.12086090e-01 9.93687137e-01 -4.75217590e-03 1.47311743e+01] [ 5.61067338e-02 -1.55390959e-03 9.98423567e-01 1.11233488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.28, Y:14.74, Z:11.13 [[ 9.92126559e-01 -1.12058354e-01 -5.59268825e-02 1.99277919e+02] [ 1.11968348e-01 9.93700420e-01 -4.75016091e-03 1.47384897e+01] [ 5.61068618e-02 -1.54927982e-03 9.98423567e-01 1.11267889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.34, Y:14.75, Z:11.13 [[ 9.92167071e-01 -1.11698967e-01 -5.59271362e-02 1.99339724e+02] [ 1.11608559e-01 9.93740909e-01 -4.74717203e-03 1.47456495e+01] [ 5.61073373e-02 -1.53195934e-03 9.98423567e-01 1.11305266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.40, Y:14.75, Z:11.13 [[ 9.92156264e-01 -1.11794746e-01 -5.59274819e-02 1.99400606e+02] [ 1.11704720e-01 9.93730124e-01 -4.74309464e-03 1.47514846e+01] [ 5.61070766e-02 -1.54147265e-03 9.98423567e-01 1.11328458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.46, Y:14.76, Z:11.14 [[ 9.92022193e-01 -1.12978121e-01 -5.59277376e-02 1.99461904e+02] [ 1.12890143e-01 9.93596169e-01 -4.74007829e-03 1.47580690e+01] [ 5.61051110e-02 -1.61142741e-03 9.98423567e-01 1.11367093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.52, Y:14.76, Z:11.14 [[ 9.91613647e-01 -1.16509330e-01 -5.59280886e-02 1.99522992e+02] [ 1.16427189e-01 9.93187938e-01 -4.73593347e-03 1.47643376e+01] [ 5.60988834e-02 -1.81533386e-03 9.98423567e-01 1.11403644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.59, Y:14.77, Z:11.14 [[ 9.91301597e-01 -1.19135064e-01 -5.59283479e-02 1.99585234e+02] [ 1.19057265e-01 9.92876109e-01 -4.73286925e-03 1.47703403e+01] [ 5.60937711e-02 -1.96697532e-03 9.98423567e-01 1.11429318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.65, Y:14.78, Z:11.15 [[ 9.90798004e-01 -1.23252975e-01 -5.59286908e-02 1.99645727e+02] [ 1.23181948e-01 9.92372836e-01 -4.72881387e-03 1.47770136e+01] [ 5.60849539e-02 -2.20410573e-03 9.98423567e-01 1.11452830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.71, Y:14.78, Z:11.15 [[ 9.90437303e-01 -1.26118466e-01 -5.59292519e-02 1.99706788e+02] [ 1.26052369e-01 9.92012349e-01 -4.72216825e-03 1.47837975e+01] [ 5.60780612e-02 -2.37300310e-03 9.98423567e-01 1.11486678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.77, Y:14.79, Z:11.15 [[ 9.90270067e-01 -1.27424819e-01 -5.59294997e-02 1.99768177e+02] [ 1.27360965e-01 9.91845206e-01 -4.71923081e-03 1.47899895e+01] [ 5.60747533e-02 -2.44992206e-03 9.98423567e-01 1.11515789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.83, Y:14.80, Z:11.15 [[ 9.89972759e-01 -1.29714266e-01 -5.59298254e-02 1.99829699e+02] [ 1.29654272e-01 9.91548050e-01 -4.71536765e-03 1.47976577e+01] [ 5.60687598e-02 -2.58345528e-03 9.98423567e-01 1.11548924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.89, Y:14.80, Z:11.16 [[ 9.89780477e-01 -1.31173260e-01 -5.59301672e-02 1.99891360e+02] [ 1.31115817e-01 9.91355862e-01 -4.71131045e-03 1.48041350e+01] [ 5.60646971e-02 -2.67016649e-03 9.98423567e-01 1.11575009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.95, Y:14.81, Z:11.16 [[ 9.89621714e-01 -1.32365555e-01 -5.59305182e-02 1.99952307e+02] [ 1.32310245e-01 9.91197176e-01 -4.70713959e-03 1.48128748e+01] [ 5.60612348e-02 -2.74189303e-03 9.98423567e-01 1.11626715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.01, Y:14.82, Z:11.17 [[ 9.89773652e-01 -1.31224414e-01 -5.59309517e-02 2.00014384e+02] [ 1.31167579e-01 9.91349059e-01 -4.70198271e-03 1.48208468e+01] [ 5.60641113e-02 -2.68242891e-03 9.98423567e-01 1.11675028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.08, Y:14.83, Z:11.17 [[ 9.90301431e-01 -1.27179980e-01 -5.59314658e-02 2.00077166e+02] [ 1.27117054e-01 9.91876607e-01 -4.69585989e-03 1.48307788e+01] [ 5.60743319e-02 -2.45952640e-03 9.98423567e-01 1.11712787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.14, Y:14.84, Z:11.18 [[ 9.90644183e-01 -1.24481795e-01 -5.59319735e-02 2.00139630e+02] [ 1.24414920e-01 9.92219196e-01 -4.68980443e-03 1.48392034e+01] [ 5.60805731e-02 -2.31284452e-03 9.98423567e-01 1.11760453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.20, Y:14.85, Z:11.18 [[ 9.91004130e-01 -1.21582774e-01 -5.59324870e-02 2.00199822e+02] [ 1.21511636e-01 9.92578957e-01 -4.68367296e-03 1.48484143e+01] [ 5.60868635e-02 -2.15490875e-03 9.98423567e-01 1.11785996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.26, Y:14.86, Z:11.18 [[ 9.91144145e-01 -1.20435926e-01 -5.59327386e-02 2.00261424e+02] [ 1.20363136e-01 9.92718896e-01 -4.68066586e-03 1.48563565e+01] [ 5.60892069e-02 -2.09302525e-03 9.98423567e-01 1.11815238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.32, Y:14.87, Z:11.19 [[ 9.91182276e-01 -1.20121553e-01 -5.59330686e-02 2.00323868e+02] [ 1.20048485e-01 9.92757014e-01 -4.67671931e-03 1.48654423e+01] [ 5.60897210e-02 -2.07919887e-03 9.98423568e-01 1.11868487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.39, Y:14.87, Z:11.19 [[ 9.91329636e-01 -1.18899061e-01 -5.59335804e-02 2.00385518e+02] [ 1.18824397e-01 9.92904300e-01 -4.67059033e-03 1.48727625e+01] [ 5.60920213e-02 -2.01617935e-03 9.98423568e-01 1.11911089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.45, Y:14.88, Z:11.20 [[ 9.91739059e-01 -1.15434077e-01 -5.59340005e-02 2.00447739e+02] [ 1.15354194e-01 9.93313466e-01 -4.66555359e-03 1.48807332e+01] [ 5.60985598e-02 -1.82520982e-03 9.98423568e-01 1.11952402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.51, Y:14.89, Z:11.20 [[ 9.92100803e-01 -1.12282357e-01 -5.59345029e-02 2.00508886e+02] [ 1.12197812e-01 9.93674967e-01 -4.65952276e-03 1.48884550e+01] [ 5.61038975e-02 -1.65301259e-03 9.98423568e-01 1.12001006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.57, Y:14.89, Z:11.20 [[ 9.92342625e-01 -1.10124515e-01 -5.59348447e-02 2.00571022e+02] [ 1.10036778e-01 9.93916614e-01 -4.65541583e-03 1.48948832e+01] [ 5.61072468e-02 -1.53512251e-03 9.98423568e-01 1.12031412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.63, Y:14.90, Z:11.21 [[ 9.92477783e-01 -1.08899518e-01 -5.59351824e-02 2.00631684e+02] [ 1.08810067e-01 9.94051676e-01 -4.65135481e-03 1.48991982e+01] [ 5.61089921e-02 -1.46994464e-03 9.98423568e-01 1.12060742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.69, Y:14.90, Z:11.21 [[ 9.92703324e-01 -1.06823708e-01 -5.59357354e-02 2.00693296e+02] [ 1.06731341e-01 9.94277048e-01 -4.64469495e-03 1.49046052e+01] [ 5.61117814e-02 -1.35929193e-03 9.98423568e-01 1.12100354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.76, Y:14.91, Z:11.21 [[ 9.93377853e-01 -1.00357343e-01 -5.59360719e-02 2.00755260e+02] [ 1.00254958e-01 9.94950957e-01 -4.64063904e-03 1.49115443e+01] [ 5.61193705e-02 -9.97960509e-04 9.98423568e-01 1.12136467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.82, Y:14.92, Z:11.21 [[ 9.93552722e-01 -9.86108863e-02 -5.59364047e-02 2.00817318e+02] [ 9.85059624e-02 9.95125659e-01 -4.63662410e-03 1.49189508e+01] [ 5.61209732e-02 -9.03338878e-04 9.98423568e-01 1.12147191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.88, Y:14.92, Z:11.22 [[ 9.94056380e-01 -9.33969412e-02 -5.59367919e-02 2.00877433e+02] [ 9.32840296e-02 9.95628764e-01 -4.63194793e-03 1.49231876e+01] [ 5.61248888e-02 -6.13591960e-04 9.98423568e-01 1.12199505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.94, Y:14.93, Z:11.22 [[ 9.94468070e-01 -8.89062516e-02 -5.59368884e-02 2.00938699e+02] [ 8.87863049e-02 9.96039933e-01 -4.63078307e-03 1.49285817e+01] [ 5.61270801e-02 -3.61263716e-04 9.98423568e-01 1.12194627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.00, Y:14.93, Z:11.23 [[ 9.94426978e-01 -8.93645165e-02 -5.59371764e-02 2.00998665e+02] [ 8.92454900e-02 9.95998911e-01 -4.62730172e-03 1.49313126e+01] [ 5.61268833e-02 -3.90627050e-04 9.98423568e-01 1.12262050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.06, Y:14.94, Z:11.22 [[ 9.94107173e-01 -9.28544604e-02 -5.59372724e-02 2.01059093e+02] [ 9.27410175e-02 9.95679518e-01 -4.62613997e-03 1.49355634e+01] [ 5.61251542e-02 -5.88800633e-04 9.98423568e-01 1.12245012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.12, Y:14.94, Z:11.23 [[ 9.93988695e-01 -9.41143382e-02 -5.59371494e-02 2.01118522e+02] [ 9.40028046e-02 9.95561177e-01 -4.62762750e-03 1.49381421e+01] [ 5.61243804e-02 -6.58439497e-04 9.98423568e-01 1.12320948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.18, Y:14.94, Z:11.23 [[ 9.93515142e-01 -9.89883489e-02 -5.59371829e-02 2.01178603e+02] [ 9.88845518e-02 9.95088154e-01 -4.62722265e-03 1.49411854e+01] [ 5.61204692e-02 -9.34107482e-04 9.98423568e-01 1.12318433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.24, Y:14.94, Z:11.24 [[ 9.93013303e-01 -1.03901992e-01 -5.59370651e-02 2.01239969e+02] [ 1.03805897e-01 9.94586804e-01 -4.62864600e-03 1.49427407e+01] [ 5.61151923e-02 -1.21029017e-03 9.98423568e-01 1.12398823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.30, Y:14.95, Z:11.24 [[ 9.92647943e-01 -1.07336315e-01 -5.59372532e-02 2.01301724e+02] [ 1.07245792e-01 9.94221774e-01 -4.62637093e-03 1.49458911e+01] [ 5.61106128e-02 -1.40667747e-03 9.98423568e-01 1.12432820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.36, Y:14.95, Z:11.25 [[ 9.91926243e-01 -1.13812634e-01 -5.59375847e-02 2.01363426e+02] [ 1.13732611e-01 9.93500643e-01 -4.62235928e-03 1.49481603e+01] [ 5.61001093e-02 -1.77688807e-03 9.98423568e-01 1.12477508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.43, Y:14.95, Z:11.25 [[ 9.91454847e-01 -1.17848359e-01 -5.59379202e-02 2.01425859e+02] [ 1.17774973e-01 9.93029570e-01 -4.61829634e-03 1.49518270e+01] [ 5.60922675e-02 -2.00925473e-03 9.98423568e-01 1.12516681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.49, Y:14.95, Z:11.25 [[ 9.90763453e-01 -1.23525999e-01 -5.59384240e-02 2.01488812e+02] [ 1.23461979e-01 9.92338585e-01 -4.61218645e-03 1.49543774e+01] [ 5.60795814e-02 -2.33668273e-03 9.98423568e-01 1.12542402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.55, Y:14.96, Z:11.26 [[ 9.89869767e-01 -1.30493988e-01 -5.59389232e-02 2.01552343e+02] [ 1.30441394e-01 9.91445322e-01 -4.60612373e-03 1.49561807e+01] [ 5.60614551e-02 -2.73728852e-03 9.98423568e-01 1.12566147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.61, Y:14.96, Z:11.26 [[ 9.89299789e-01 -1.34746831e-01 -5.59394235e-02 2.01614930e+02] [ 1.34701351e-01 9.90875565e-01 -4.60003908e-03 1.49587536e+01] [ 5.60488486e-02 -2.98429825e-03 9.98423568e-01 1.12582735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.68, Y:14.96, Z:11.26 [[ 9.88751686e-01 -1.38711382e-01 -5.59397533e-02 2.01677298e+02] [ 1.38672446e-01 9.90327637e-01 -4.59602559e-03 1.49615160e+01] [ 5.60362048e-02 -3.21297436e-03 9.98423568e-01 1.12595781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.74, Y:14.97, Z:11.26 [[ 9.88849822e-01 -1.38009919e-01 -5.59400800e-02 2.01738687e+02] [ 1.37970089e-01 9.90425751e-01 -4.59204519e-03 1.49669308e+01] [ 5.60382435e-02 -3.17721478e-03 9.98423568e-01 1.12631538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.80, Y:14.97, Z:11.27 [[ 9.89572036e-01 -1.32732269e-01 -5.59404112e-02 2.01799904e+02] [ 1.32684259e-01 9.91147737e-01 -4.58800786e-03 1.49735955e+01] [ 5.60541886e-02 -2.88224773e-03 9.98423568e-01 1.12682675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.86, Y:14.98, Z:11.27 [[ 9.90223755e-01 -1.27779293e-01 -5.59407467e-02 2.01860892e+02] [ 1.27723631e-01 9.91799204e-01 -4.58391242e-03 1.49807964e+01] [ 5.60677172e-02 -2.60585631e-03 9.98423568e-01 1.12731509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.92, Y:14.99, Z:11.28 [[ 9.91175102e-01 -1.20177043e-01 -5.59409949e-02 2.01922865e+02] [ 1.20109464e-01 9.92750085e-01 -4.58088162e-03 1.49894020e+01] [ 5.60859443e-02 -2.17858713e-03 9.98423568e-01 1.12783528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.98, Y:15.00, Z:11.28 [[ 9.91853799e-01 -1.14440338e-01 -5.59414928e-02 2.01984332e+02] [ 1.14363991e-01 9.93428381e-01 -4.57479417e-03 1.49959282e+01] [ 5.60974076e-02 -1.86016538e-03 9.98423568e-01 1.12786386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.05, Y:15.01, Z:11.28 [[ 9.92534803e-01 -1.08375176e-01 -5.59418174e-02 2.02045574e+02] [ 1.08289429e-01 9.94108901e-01 -4.57082069e-03 1.50078434e+01] [ 5.61076221e-02 -1.52120884e-03 9.98423568e-01 1.12828622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.11, Y:15.01, Z:11.29 [[ 9.93078461e-01 -1.03274600e-01 -5.59421853e-02 2.02107053e+02] [ 1.03181021e-01 9.94652113e-01 -4.56631428e-03 1.50142916e+01] [ 5.61145970e-02 -1.23746343e-03 9.98423568e-01 1.12882772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26509989299996 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:202.17, Y:15.02, Z:11.29 [[ 9.93617677e-01 -9.79507054e-02 -5.59425703e-02 2.02168320e+02] [ 9.78489596e-02 9.95190822e-01 -4.56159185e-03 1.50192306e+01] [ 5.61203437e-02 -9.41444009e-04 9.98423568e-01 1.12895392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32509989299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:202.23, Y:15.02, Z:11.29 [[ 9.93636380e-01 -9.77606823e-02 -5.59427624e-02 2.02229582e+02] [ 9.76587682e-02 9.95209515e-01 -4.55923526e-03 1.50241958e+01] [ 5.61204834e-02 -9.33079240e-04 9.98423568e-01 1.12937518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.29, Y:15.03, Z:11.30 [[ 9.93645409e-01 -9.76687602e-02 -5.59429602e-02 2.02290289e+02] [ 9.75668373e-02 9.95218543e-01 -4.55680696e-03 1.50252543e+01] [ 5.61205290e-02 -9.30327385e-04 9.98423568e-01 1.12975720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.35, Y:15.03, Z:11.30 [[ 9.93119071e-01 -1.02882868e-01 -5.59430562e-02 2.02352637e+02] [ 1.02789270e-01 9.94692723e-01 -4.55562829e-03 1.50281270e+01] [ 5.61148469e-02 -1.22606456e-03 9.98423568e-01 1.13031187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.41, Y:15.03, Z:11.31 [[ 9.92598176e-01 -1.07792389e-01 -5.59433880e-02 2.02414186e+02] [ 1.07706804e-01 9.94172283e-01 -4.55154973e-03 1.50307716e+01] [ 5.61079882e-02 -1.50762355e-03 9.98423568e-01 1.13082155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.48, Y:15.03, Z:11.31 [[ 9.91515196e-01 -1.17336769e-01 -5.59437196e-02 2.02476706e+02] [ 1.17266561e-01 9.93090064e-01 -4.54747071e-03 1.50297118e+01] [ 5.60907375e-02 -2.05144128e-03 9.98423568e-01 1.13133564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.54, Y:15.03, Z:11.31 [[ 9.91264770e-01 -1.19433742e-01 -5.59440552e-02 2.02538618e+02] [ 1.19367098e-01 9.92839793e-01 -4.54333818e-03 1.50320525e+01] [ 5.60861120e-02 -2.17422847e-03 9.98423568e-01 1.13117508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.60, Y:15.04, Z:11.31 [[ 9.91942367e-01 -1.13668666e-01 -5.59443854e-02 2.02600996e+02] [ 1.13593095e-01 9.93516987e-01 -4.53926868e-03 1.50358161e+01] [ 5.60976698e-02 -1.85220296e-03 9.98423568e-01 1.13104597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.66, Y:15.04, Z:11.32 [[ 9.93482082e-01 -9.93152893e-02 -5.59448433e-02 2.02661381e+02] [ 9.92172789e-02 9.95055465e-01 -4.53361818e-03 1.50417228e+01] [ 5.61184796e-02 -1.04662669e-03 9.98423568e-01 1.13211328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.72, Y:15.05, Z:11.32 [[ 9.94762553e-01 -8.55430758e-02 -5.59450265e-02 2.02721971e+02] [ 8.54234059e-02 9.96334436e-01 -4.53135600e-03 1.50470464e+01] [ 5.61275826e-02 -2.71391452e-04 9.98423568e-01 1.13243106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.78, Y:15.05, Z:11.33 [[ 9.95252092e-01 -7.96455278e-02 -5.59451860e-02 2.02781371e+02] [ 7.95166542e-02 9.96823247e-01 -4.52938534e-03 1.50514566e+01] [ 5.61282073e-02 5.93062260e-05 9.98423568e-01 1.13281456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.84, Y:15.05, Z:11.33 [[ 9.95316993e-01 -7.88304331e-02 -5.59450213e-02 2.02839925e+02] [ 7.87001584e-02 9.96888033e-01 -4.53141869e-03 1.50505847e+01] [ 5.61281360e-02 1.07315982e-04 9.98423568e-01 1.13322452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.90, Y:15.04, Z:11.33 [[ 9.94219504e-01 -9.16398465e-02 -5.59438654e-02 2.02898613e+02] [ 9.15290113e-02 9.95792035e-01 -4.54564571e-03 1.50444223e+01] [ 5.61250178e-02 -6.01117057e-04 9.98423568e-01 1.13349879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.96, Y:15.04, Z:11.34 [[ 9.93526292e-01 -9.88733485e-02 -5.59425347e-02 2.02958547e+02] [ 9.87730427e-02 9.95099530e-01 -4.56196315e-03 1.50444584e+01] [ 5.61194466e-02 -9.93184037e-04 9.98423568e-01 1.13380714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.02, Y:15.05, Z:11.34 [[ 9.93154659e-01 -1.02539134e-01 -5.59423701e-02 2.03018035e+02] [ 1.02444521e-01 9.94728249e-01 -4.56398048e-03 1.50461369e+01] [ 5.61154425e-02 -1.19825084e-03 9.98423568e-01 1.13406320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.08, Y:15.05, Z:11.34 [[ 9.92757105e-01 -1.06319291e-01 -5.59422889e-02 2.03079605e+02] [ 1.06230613e-01 9.94331040e-01 -4.56497545e-03 1.50476316e+01] [ 5.61104993e-02 -1.41087183e-03 9.98423568e-01 1.13439321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.14, Y:15.04, Z:11.35 [[ 9.91548892e-01 -1.17052283e-01 -5.59424562e-02 2.03140021e+02] [ 1.16980752e-01 9.93123700e-01 -4.56292501e-03 1.50440451e+01] [ 5.60918799e-02 -2.01982736e-03 9.98423568e-01 1.13470186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.20, Y:15.04, Z:11.35 [[ 9.90460964e-01 -1.25926607e-01 -5.59425386e-02 2.03202020e+02] [ 1.25869238e-01 9.92036352e-01 -4.56191418e-03 1.50425863e+01] [ 5.60714983e-02 -2.52304679e-03 9.98423568e-01 1.13510621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.26, Y:15.03, Z:11.35 [[ 9.89002233e-01 -1.36912372e-01 -5.59427020e-02 2.03264851e+02] [ 1.36872605e-01 9.90578163e-01 -4.55990944e-03 1.50301033e+01] [ 5.60399270e-02 -3.14726276e-03 9.98423568e-01 1.13475967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.33, Y:15.04, Z:11.35 [[ 9.89211419e-01 -1.35392630e-01 -5.59428669e-02 2.03325604e+02] [ 1.35350557e-01 9.90787289e-01 -4.55788553e-03 1.50359531e+01] [ 5.60445856e-02 -3.06318577e-03 9.98423568e-01 1.13506786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.39, Y:15.04, Z:11.35 [[ 9.89431981e-01 -1.33771194e-01 -5.59430336e-02 2.03386748e+02] [ 1.33726653e-01 9.91007783e-01 -4.55583881e-03 1.50422093e+01] [ 5.60494217e-02 -2.97338200e-03 9.98423568e-01 1.13540098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.45, Y:15.05, Z:11.36 [[ 9.89436823e-01 -1.33735307e-01 -5.59431985e-02 2.03448294e+02] [ 1.33690822e-01 9.91012627e-01 -4.55381295e-03 1.50471884e+01] [ 5.60494217e-02 -2.97338200e-03 9.98423568e-01 1.13574805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.51, Y:15.05, Z:11.36 [[ 9.89701413e-01 -1.31762864e-01 -5.59433633e-02 2.03508572e+02] [ 1.31715353e-01 9.91277129e-01 -4.55178709e-03 1.50530821e+01] [ 5.60551331e-02 -2.86368974e-03 9.98423568e-01 1.13607068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.57, Y:15.06, Z:11.36 [[ 9.89962995e-01 -1.29782892e-01 -5.59434444e-02 2.03569238e+02] [ 1.29732285e-01 9.91538615e-01 -4.55079041e-03 1.50589677e+01] [ 5.60607001e-02 -2.75255678e-03 9.98423568e-01 1.13648850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.63, Y:15.06, Z:11.37 [[ 9.90218727e-01 -1.27817000e-01 -5.59436062e-02 2.03630541e+02] [ 1.27763377e-01 9.91794247e-01 -4.54880027e-03 1.50649378e+01] [ 5.60659608e-02 -2.64323687e-03 9.98423568e-01 1.13694491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.69, Y:15.07, Z:11.37 [[ 9.91104687e-01 -1.20755096e-01 -5.59437726e-02 2.03690104e+02] [ 1.20690359e-01 9.92679789e-01 -4.54675352e-03 1.50736721e+01] [ 5.60832960e-02 -2.24556527e-03 9.98423568e-01 1.13742735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.75, Y:15.08, Z:11.38 [[ 9.91660884e-01 -1.16098902e-01 -5.59440399e-02 2.03751138e+02] [ 1.16026953e-01 9.93235673e-01 -4.54346167e-03 1.50814424e+01] [ 5.60931071e-02 -1.98544329e-03 9.98423568e-01 1.13780213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.81, Y:15.09, Z:11.38 [[ 9.92218972e-01 -1.11228406e-01 -5.59442033e-02 2.03811102e+02] [ 1.11148840e-01 9.93793394e-01 -4.54144862e-03 1.50883175e+01] [ 5.61021178e-02 -1.71202181e-03 9.98423568e-01 1.13810739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.87, Y:15.10, Z:11.38 [[ 9.92950686e-01 -1.04494888e-01 -5.59442033e-02 2.03869953e+02] [ 1.04404643e-01 9.94524533e-01 -4.54144862e-03 1.50954510e+01] [ 5.61124408e-02 -1.33140005e-03 9.98423568e-01 1.13840518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.93, Y:15.10, Z:11.39 [[ 9.93715386e-01 -9.69535743e-02 -5.59440411e-02 2.03929485e+02] [ 9.68512711e-02 9.95288495e-01 -4.54344594e-03 1.51030863e+01] [ 5.61209638e-02 -9.03359363e-04 9.98423568e-01 1.13864316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.99, Y:15.11, Z:11.39 [[ 9.94611003e-01 -8.72882263e-02 -5.59438768e-02 2.03988667e+02] [ 8.71705207e-02 9.96183035e-01 -4.54546868e-03 1.51103008e+01] [ 5.61271069e-02 -3.55683698e-04 9.98423568e-01 1.13896322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.05, Y:15.12, Z:11.39 [[ 9.94917046e-01 -8.37279731e-02 -5.59437103e-02 2.04045360e+02] [ 8.36045268e-02 9.96488637e-01 -4.54751706e-03 1.51159526e+01] [ 5.61280260e-02 -1.52745187e-04 9.98423568e-01 1.13926065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.10, Y:15.12, Z:11.40 [[ 9.95603866e-01 -7.51219499e-02 -5.59431375e-02 2.04103401e+02] [ 7.49845236e-02 9.97174296e-01 -4.55455291e-03 1.51247638e+01] [ 5.61272056e-02 3.39660972e-04 9.98423568e-01 1.14013044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.16, Y:15.13, Z:11.40 [[ 9.96052809e-01 -6.89151778e-02 -5.59419320e-02 2.04161613e+02] [ 6.87671373e-02 9.97622274e-01 -4.56931111e-03 1.51273524e+01] [ 5.61238123e-02 7.04308649e-04 9.98423568e-01 1.14011494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.22, Y:15.13, Z:11.40 [[ 9.95614709e-01 -7.49794819e-02 -5.59412899e-02 2.04219943e+02] [ 7.48405607e-02 9.97185008e-01 -4.57715970e-03 1.51276885e+01] [ 5.61270086e-02 3.70410028e-04 9.98423568e-01 1.14041838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.28, Y:15.13, Z:11.41 [[ 9.95011801e-01 -8.25968528e-02 -5.59399375e-02 2.04278313e+02] [ 8.24690274e-02 9.96583041e-01 -4.59362829e-03 1.51292447e+01] [ 5.61282123e-02 -4.25978836e-05 9.98423568e-01 1.14065083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.34, Y:15.13, Z:11.41 [[ 9.94210871e-01 -9.17367326e-02 -5.59385032e-02 2.04335658e+02] [ 9.16223721e-02 9.95783149e-01 -4.61102897e-03 1.51294350e+01] [ 5.61256196e-02 -5.40883219e-04 9.98423569e-01 1.14111156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.39, Y:15.13, Z:11.41 [[ 9.93181174e-01 -1.02284449e-01 -5.59378850e-02 2.04394177e+02] [ 1.02186362e-01 9.94754551e-01 -4.61851562e-03 1.51268235e+01] [ 5.61168680e-02 -1.12906620e-03 9.98423569e-01 1.14133915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.45, Y:15.13, Z:11.42 [[ 9.92785697e-01 -1.06055010e-01 -5.59365297e-02 2.04453397e+02] [ 1.05961977e-01 9.94359380e-01 -4.63487263e-03 1.51273434e+01] [ 5.61125645e-02 -1.32571003e-03 9.98423569e-01 1.14159276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.51, Y:15.13, Z:11.42 [[ 9.92720652e-01 -1.06662761e-01 -5.59353391e-02 2.04512756e+02] [ 1.06569885e-01 9.94294345e-01 -4.64919672e-03 1.51322605e+01] [ 5.61120876e-02 -1.34566905e-03 9.98423569e-01 1.14216314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.57, Y:15.13, Z:11.42 [[ 9.93338558e-01 -1.00746056e-01 -5.59351597e-02 2.04572131e+02] [ 1.00643683e-01 9.94911661e-01 -4.65135418e-03 1.51329369e+01] [ 5.61191483e-02 -1.00915106e-03 9.98423569e-01 1.14207658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.63, Y:15.14, Z:11.42 [[ 9.94037366e-01 -9.36002296e-02 -5.59348951e-02 2.04629300e+02] [ 9.34863687e-02 9.95609680e-01 -4.65453449e-03 1.51378300e+01] [ 5.61249885e-02 -6.02369019e-04 9.98423569e-01 1.14249707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.69, Y:15.14, Z:11.43 [[ 9.94225454e-01 -9.15815961e-02 -5.59335141e-02 2.04686649e+02] [ 9.14636126e-02 9.95797464e-01 -4.67107082e-03 1.51429074e+01] [ 5.61262356e-02 -4.71783763e-04 9.98423569e-01 1.14290741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.75, Y:15.15, Z:11.43 [[ 9.94738105e-01 -8.58352927e-02 -5.59321380e-02 2.04745588e+02] [ 8.57073046e-02 9.96309332e-01 -4.68749102e-03 1.51475941e+01] [ 5.61280632e-02 -1.30966855e-04 9.98423569e-01 1.14300450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.80, Y:15.15, Z:11.43 [[ 9.95106114e-01 -8.14588949e-02 -5.59309387e-02 2.04803243e+02] [ 8.13231947e-02 9.96676694e-01 -4.70175756e-03 1.51513217e+01] [ 5.61280630e-02 1.30265079e-04 9.98423569e-01 1.14298661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.86, Y:15.16, Z:11.44 [[ 9.95516315e-01 -7.62828026e-02 -5.59303251e-02 2.04861216e+02] [ 7.61385271e-02 9.97086129e-01 -4.70904568e-03 1.51550968e+01] [ 5.61265706e-02 4.29479228e-04 9.98423569e-01 1.14352673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.92, Y:15.16, Z:11.44 [[ 9.95688944e-01 -7.39963380e-02 -5.59291339e-02 2.04920052e+02] [ 7.38476654e-02 9.97258349e-01 -4.72315169e-03 1.51582319e+01] [ 5.61252916e-02 5.72553952e-04 9.98423569e-01 1.14384257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.98, Y:15.16, Z:11.44 [[ 9.95614806e-01 -7.49881492e-02 -5.59279572e-02 2.04978252e+02] [ 7.48402597e-02 9.97184284e-01 -4.73704423e-03 1.51598701e+01] [ 5.61257021e-02 5.30608534e-04 9.98423569e-01 1.14427030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.04, Y:15.16, Z:11.45 [[ 9.95281463e-01 -7.92906546e-02 -5.59267572e-02 2.05035545e+02] [ 7.91487564e-02 9.96851494e-01 -4.75116905e-03 1.51606289e+01] [ 5.61273948e-02 3.02217196e-04 9.98423570e-01 1.14478900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.09, Y:15.16, Z:11.45 [[ 9.94700278e-01 -8.62763091e-02 -5.59263360e-02 2.05093114e+02] [ 8.61451586e-02 9.96271244e-01 -4.75612296e-03 1.51601879e+01] [ 5.61281410e-02 -8.68662447e-05 9.98423570e-01 1.14492109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.15, Y:15.16, Z:11.46 [[ 9.93861158e-01 -9.54586100e-02 -5.59254107e-02 2.05151303e+02] [ 9.53413622e-02 9.95433223e-01 -4.76697745e-03 1.51595676e+01] [ 5.61250609e-02 -5.94291109e-04 9.98423570e-01 1.14554216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.21, Y:15.16, Z:11.46 [[ 9.93225774e-01 -1.01857523e-01 -5.59250051e-02 2.05208973e+02] [ 1.01750135e-01 9.94798543e-01 -4.77173206e-03 1.51605316e+01] [ 5.61201503e-02 -9.50969528e-04 9.98423570e-01 1.14595986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.27, Y:15.16, Z:11.46 [[ 9.92698439e-01 -1.06875429e-01 -5.59236213e-02 2.05267298e+02] [ 1.06775080e-01 9.94271672e-01 -4.78789489e-03 1.51621062e+01] [ 5.61149808e-02 -1.21831334e-03 9.98423570e-01 1.14617577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.33, Y:15.16, Z:11.46 [[ 9.92402378e-01 -1.09591170e-01 -5.59222313e-02 2.05325631e+02] [ 1.09494214e-01 9.93975824e-01 -4.80407552e-03 1.51628056e+01] [ 5.61118301e-02 -1.35558480e-03 9.98423570e-01 1.14640419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.38, Y:15.17, Z:11.47 [[ 9.92453937e-01 -1.09123999e-01 -5.59208066e-02 2.05383890e+02] [ 1.09025372e-01 9.94027278e-01 -4.82060187e-03 1.51659708e+01] [ 5.61128506e-02 -1.31256146e-03 9.98423570e-01 1.14673592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.44, Y:15.17, Z:11.47 [[ 9.92730569e-01 -1.06578803e-01 -5.59193685e-02 2.05441041e+02] [ 1.06475206e-01 9.94303591e-01 -4.83722775e-03 1.51694132e+01] [ 5.61163748e-02 -1.15196241e-03 9.98423570e-01 1.14696247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.50, Y:15.17, Z:11.47 [[ 9.92701615e-01 -1.06848477e-01 -5.59187502e-02 2.05498871e+02] [ 1.06744905e-01 9.94274639e-01 -4.84436438e-03 1.51728830e+01] [ 5.61162081e-02 -1.16003336e-03 9.98423570e-01 1.14724787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.56, Y:15.18, Z:11.47 [[ 9.92306751e-01 -1.10456165e-01 -5.59173192e-02 2.05556390e+02] [ 1.10357385e-01 9.93880083e-01 -4.86082631e-03 1.51755411e+01] [ 5.61120181e-02 -1.34745835e-03 9.98423570e-01 1.14740394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.61, Y:15.18, Z:11.48 [[ 9.91429892e-01 -1.18068544e-01 -5.59158959e-02 2.05614340e+02] [ 1.17980923e-01 9.93003885e-01 -4.87714429e-03 1.51797030e+01] [ 5.61005392e-02 -1.76166235e-03 9.98423570e-01 1.14771052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.67, Y:15.19, Z:11.48 [[ 9.91402807e-01 -1.18296427e-01 -5.59144882e-02 2.05670454e+02] [ 1.18208261e-01 9.92976769e-01 -4.89322986e-03 1.51853580e+01] [ 5.61006394e-02 -1.75839259e-03 9.98423571e-01 1.14802796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.73, Y:15.19, Z:11.48 [[ 9.91399516e-01 -1.18324462e-01 -5.59135245e-02 2.05728346e+02] [ 1.18235721e-01 9.92973445e-01 -4.90421710e-03 1.51910649e+01] [ 5.61009339e-02 -1.74893743e-03 9.98423571e-01 1.14840476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.79, Y:15.20, Z:11.49 [[ 9.91457044e-01 -1.17842133e-01 -5.59120909e-02 2.05786281e+02] [ 1.17751709e-01 9.93030878e-01 -4.92050715e-03 1.51968058e+01] [ 5.61022758e-02 -1.70527276e-03 9.98423571e-01 1.14874062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.84, Y:15.20, Z:11.49 [[ 9.91901575e-01 -1.14040633e-01 -5.59106367e-02 2.05843374e+02] [ 1.13943248e-01 9.93474993e-01 -4.93697559e-03 1.52042037e+01] [ 5.61088353e-02 -1.47364570e-03 9.98423571e-01 1.14924474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.90, Y:15.21, Z:11.50 [[ 9.92475468e-01 -1.08933448e-01 -5.59101906e-02 2.05901328e+02] [ 1.08827682e-01 9.94048345e-01 -4.94202306e-03 1.52105859e+01] [ 5.61157840e-02 -1.17973979e-03 9.98423571e-01 1.14953628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.96, Y:15.22, Z:11.50 [[ 9.92953213e-01 -1.04489853e-01 -5.59087342e-02 2.05958950e+02] [ 1.04376123e-01 9.94525535e-01 -4.95844481e-03 1.52185203e+01] [ 5.61207709e-02 -9.12033204e-04 9.98423571e-01 1.14982290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.02, Y:15.22, Z:11.50 [[ 9.93296964e-01 -1.01170740e-01 -5.59072601e-02 2.06016235e+02] [ 1.01050824e-01 9.94868826e-01 -4.97500956e-03 1.52243425e+01] [ 5.61237156e-02 -7.07812789e-04 9.98423571e-01 1.15001646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.07, Y:15.23, Z:11.50 [[ 9.93434367e-01 -9.98133311e-02 -5.59057944e-02 2.06074193e+02] [ 9.96903429e-02 9.95005991e-01 -4.99142623e-03 1.52298450e+01] [ 5.61248112e-02 -6.14613460e-04 9.98423571e-01 1.15025797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.13, Y:15.24, Z:11.51 [[ 9.93530712e-01 -9.88505379e-02 -5.59043459e-02 2.06131333e+02] [ 9.87251168e-02 9.95102143e-01 -5.00759760e-03 1.52360038e+01] [ 5.61255381e-02 -5.43961070e-04 9.98423571e-01 1.15063138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.19, Y:15.24, Z:11.51 [[ 9.93569567e-01 -9.84600494e-02 -5.59028931e-02 2.06188538e+02] [ 9.83331012e-02 9.95140876e-01 -5.02376447e-03 1.52420261e+01] [ 5.61258941e-02 -5.05645351e-04 9.98423572e-01 1.15104804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.25, Y:15.25, Z:11.51 [[ 9.93451219e-01 -9.96479137e-02 -5.59014147e-02 2.06246619e+02] [ 9.95219218e-02 9.95022605e-01 -5.04016111e-03 1.52471128e+01] [ 5.61254128e-02 -5.56262023e-04 9.98423572e-01 1.15136167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.30, Y:15.25, Z:11.52 [[ 9.93161645e-01 -1.02494604e-01 -5.58999308e-02 2.06304319e+02] [ 1.02372193e-01 9.94733314e-01 -5.05656573e-03 1.52513693e+01] [ 5.61237941e-02 -7.00611344e-04 9.98423572e-01 1.15169966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.36, Y:15.26, Z:11.52 [[ 9.92618741e-01 -1.07626202e-01 -5.58984478e-02 2.06362420e+02] [ 1.07510995e-01 9.94190953e-01 -5.07290742e-03 1.52550912e+01] [ 5.61197088e-02 -9.74234774e-04 9.98423572e-01 1.15207507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.42, Y:15.26, Z:11.52 [[ 9.91802979e-01 -1.14901608e-01 -5.58969749e-02 2.06419905e+02] [ 1.14797021e-01 9.93375933e-01 -5.08908483e-03 1.52568113e+01] [ 5.61114537e-02 -1.36943672e-03 9.98423572e-01 1.15229273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.48, Y:15.26, Z:11.53 [[ 9.91207838e-01 -1.19927954e-01 -5.58954994e-02 2.06477365e+02] [ 1.19830432e-01 9.92781247e-01 -5.10523953e-03 1.52601650e+01] [ 5.61042645e-02 -1.63762841e-03 9.98423572e-01 1.15257107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.54, Y:15.26, Z:11.53 [[ 9.90643690e-01 -1.24502775e-01 -5.58939844e-02 2.06535173e+02] [ 1.24411587e-01 9.92217478e-01 -5.12177271e-03 1.52644782e+01] [ 5.60966632e-02 -1.88000746e-03 9.98423572e-01 1.15284188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.59, Y:15.27, Z:11.53 [[ 9.90166582e-01 -1.28242630e-01 -5.58924702e-02 2.06592290e+02] [ 1.28156456e-01 9.91740652e-01 -5.13824427e-03 1.52690846e+01] [ 5.60897768e-02 -2.07526314e-03 9.98423573e-01 1.15306083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.65, Y:15.27, Z:11.53 [[ 9.89430789e-01 -1.33801596e-01 -5.58913850e-02 2.06649381e+02] [ 1.33723600e-01 9.91005286e-01 -5.15002212e-03 1.52743431e+01] [ 5.60777391e-02 -2.37840673e-03 9.98423573e-01 1.15334875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.71, Y:15.28, Z:11.54 [[ 9.88880240e-01 -1.37811811e-01 -5.58907419e-02 2.06707092e+02] [ 1.37739806e-01 9.90455022e-01 -5.15699113e-03 1.52803607e+01] [ 5.60679603e-02 -2.59873333e-03 9.98423573e-01 1.15362387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.77, Y:15.29, Z:11.54 [[ 9.88275695e-01 -1.42082859e-01 -5.58892759e-02 2.06765595e+02] [ 1.42016764e-01 9.89850736e-01 -5.17283048e-03 1.52871869e+01] [ 5.60570115e-02 -2.82503149e-03 9.98423573e-01 1.15387516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.82, Y:15.29, Z:11.54 [[ 9.87933992e-01 -1.44440172e-01 -5.58879656e-02 2.06824673e+02] [ 1.44377039e-01 9.89509154e-01 -5.18694872e-03 1.52933439e+01] [ 5.60508574e-02 -2.94457604e-03 9.98423573e-01 1.15419043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.88, Y:15.30, Z:11.54 [[ 9.87558347e-01 -1.46986627e-01 -5.58877755e-02 2.06883800e+02] [ 1.46927439e-01 9.89133662e-01 -5.18899593e-03 1.53006633e+01] [ 5.60431931e-02 -3.08701151e-03 9.98423573e-01 1.15448996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.94, Y:15.31, Z:11.55 [[ 9.87454916e-01 -1.47679950e-01 -5.58875826e-02 2.06941927e+02] [ 1.47621752e-01 9.89030268e-01 -5.19107304e-03 1.53098092e+01] [ 5.60411282e-02 -3.12427225e-03 9.98423573e-01 1.15478163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.00, Y:15.32, Z:11.55 [[ 9.87466061e-01 -1.47605516e-01 -5.58872977e-02 2.07001244e+02] [ 1.47547026e-01 9.89041403e-01 -5.19413818e-03 1.53183329e+01] [ 5.60415348e-02 -3.11696941e-03 9.98423573e-01 1.15521875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.06, Y:15.33, Z:11.56 [[ 9.87729628e-01 -1.45831452e-01 -5.58871098e-02 2.07059835e+02] [ 1.45770018e-01 9.89304858e-01 -5.19615994e-03 1.53284590e+01] [ 5.60471527e-02 -3.01426386e-03 9.98423573e-01 1.15563694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.12, Y:15.34, Z:11.56 [[ 9.88096462e-01 -1.43324844e-01 -5.58871291e-02 2.07120082e+02] [ 1.43259425e-01 9.89671531e-01 -5.19595179e-03 1.53383720e+01] [ 5.60546096e-02 -2.87225638e-03 9.98423573e-01 1.15607689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.18, Y:15.35, Z:11.57 [[ 9.88663407e-01 -1.39360238e-01 -5.58873201e-02 2.07180326e+02] [ 1.39288618e-01 9.90238206e-01 -5.19389673e-03 1.53509382e+01] [ 5.60655823e-02 -2.64945194e-03 9.98423573e-01 1.15651317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.24, Y:15.36, Z:11.57 [[ 9.88960287e-01 -1.37237519e-01 -5.58875112e-02 2.07240149e+02] [ 1.37162634e-01 9.90534935e-01 -5.19183968e-03 1.53615804e+01] [ 5.60710474e-02 -2.53115497e-03 9.98423573e-01 1.15684151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.30, Y:15.37, Z:11.57 [[ 9.89245190e-01 -1.35168522e-01 -5.58876052e-02 2.07300811e+02] [ 1.35090400e-01 9.90819680e-01 -5.19082802e-03 1.53735722e+01] [ 5.60761756e-02 -2.41487731e-03 9.98423573e-01 1.15715477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.36, Y:15.38, Z:11.57 [[ 9.89295665e-01 -1.34798519e-01 -5.58877967e-02 2.07360856e+02] [ 1.34719925e-01 9.90870132e-01 -5.18876516e-03 1.53830593e+01] [ 5.60769863e-02 -2.39597690e-03 9.98423573e-01 1.15738385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.42, Y:15.39, Z:11.58 [[ 9.89315845e-01 -1.34650299e-01 -5.58878909e-02 2.07421430e+02] [ 1.34571526e-01 9.90890303e-01 -5.18775069e-03 1.53940418e+01] [ 5.60773013e-02 -2.38859479e-03 9.98423573e-01 1.15767635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.48, Y:15.40, Z:11.58 [[ 9.89375472e-01 -1.34211393e-01 -5.58880790e-02 2.07482639e+02] [ 1.34132036e-01 9.90949900e-01 -5.18572317e-03 1.54035058e+01] [ 5.60782694e-02 -2.36575450e-03 9.98423573e-01 1.15799143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.54, Y:15.41, Z:11.58 [[ 9.89641176e-01 -1.32237746e-01 -5.58884643e-02 2.07542659e+02] [ 1.32155483e-01 9.91215456e-01 -5.18156727e-03 1.54148403e+01] [ 5.60827084e-02 -2.25807466e-03 9.98423573e-01 1.15832640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.60, Y:15.42, Z:11.59 [[ 9.90023903e-01 -1.29341097e-01 -5.58887492e-02 2.07603220e+02] [ 1.29254401e-01 9.91597944e-01 -5.17849271e-03 1.54248210e+01] [ 5.60889607e-02 -2.09703524e-03 9.98423573e-01 1.15870642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.66, Y:15.44, Z:11.59 [[ 9.90788411e-01 -1.23348095e-01 -5.58889328e-02 2.07664701e+02] [ 1.23251988e-01 9.92361905e-01 -5.17650990e-03 1.54362835e+01] [ 5.61005605e-02 -1.75959607e-03 9.98423573e-01 1.15908493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.73, Y:15.45, Z:11.60 [[ 9.91887734e-01 -1.14171397e-01 -5.58893131e-02 2.07726221e+02] [ 1.14060960e-01 9.93460288e-01 -5.17240101e-03 1.54481545e+01] [ 5.61143533e-02 -1.24434756e-03 9.98423573e-01 1.15951395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.79, Y:15.46, Z:11.60 [[ 9.92604290e-01 -1.07763933e-01 -5.58896917e-02 2.07787343e+02] [ 1.07643574e-01 9.94176116e-01 -5.16830710e-03 1.54562001e+01] [ 5.61211537e-02 -8.86082358e-04 9.98423573e-01 1.15982688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.85, Y:15.46, Z:11.59 [[ 9.93536572e-01 -9.87998016e-02 -5.58898791e-02 2.07848496e+02] [ 9.86653734e-02 9.95107257e-01 -5.16627951e-03 1.54605454e+01] [ 5.61268517e-02 -3.81508151e-04 9.98423573e-01 1.15936741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.91, Y:15.47, Z:11.61 [[ 9.93499618e-01 -9.91707109e-02 -5.58898791e-02 2.07907250e+02] [ 9.90368690e-02 9.95070353e-01 -5.16627951e-03 1.54723209e+01] [ 5.61267053e-02 -4.02461911e-04 9.98423573e-01 1.16053036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.97, Y:15.48, Z:11.61 [[ 9.93386380e-01 -1.00298666e-01 -5.58898791e-02 2.07967079e+02] [ 1.00166607e-01 9.94957266e-01 -5.16627951e-03 1.54775887e+01] [ 5.61262122e-02 -4.66187873e-04 9.98423573e-01 1.16082115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.03, Y:15.48, Z:11.61 [[ 9.92688871e-01 -1.06981903e-01 -5.58898791e-02 2.08026395e+02] [ 1.06860420e-01 9.94260610e-01 -5.16627951e-03 1.54803858e+01] [ 5.61218037e-02 -8.43907787e-04 9.98423573e-01 1.16110742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.09, Y:15.48, Z:11.61 [[ 9.91660427e-01 -1.16128982e-01 -5.58896907e-02 2.08086462e+02] [ 1.16021879e-01 9.93233211e-01 -5.16831649e-03 1.54831744e+01] [ 5.61116883e-02 -1.35921198e-03 9.98423573e-01 1.16143861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.15, Y:15.49, Z:11.62 [[ 9.90921454e-01 -1.22274301e-01 -5.58897835e-02 2.08148814e+02] [ 1.22177007e-01 9.92494876e-01 -5.16731311e-03 1.54865472e+01] [ 5.61021533e-02 -1.70804504e-03 9.98423573e-01 1.16170956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.21, Y:15.48, Z:11.61 [[ 9.90209116e-01 -1.27914799e-01 -5.58901584e-02 2.08211758e+02] [ 1.27826695e-01 9.91783080e-01 -5.16325491e-03 1.54844030e+01] [ 5.60913701e-02 -2.03155213e-03 9.98423573e-01 1.16138478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.27, Y:15.49, Z:11.62 [[ 9.88588675e-01 -1.39888093e-01 -5.58905466e-02 2.08272236e+02] [ 1.39819279e-01 9.90163599e-01 -5.15904980e-03 1.54922743e+01] [ 5.60624744e-02 -2.71439770e-03 9.98423573e-01 1.16224893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.33, Y:15.50, Z:11.63 [[ 9.87946134e-01 -1.44355989e-01 -5.58908348e-02 2.08334508e+02] [ 1.44294472e-01 9.89521360e-01 -5.15592536e-03 1.54970564e+01] [ 5.60494635e-02 -2.97096198e-03 9.98423573e-01 1.16259387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.40, Y:15.50, Z:11.63 [[ 9.87398043e-01 -1.48058358e-01 -5.58912100e-02 2.08395662e+02] [ 1.48002976e-01 9.88973497e-01 -5.15185454e-03 1.55022598e+01] [ 5.60377005e-02 -3.18513432e-03 9.98423573e-01 1.16293039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.46, Y:15.51, Z:11.63 [[ 9.87031886e-01 -1.50479895e-01 -5.58914871e-02 2.08457029e+02] [ 1.50428547e-01 9.88607476e-01 -5.14884713e-03 1.55078074e+01] [ 5.60295399e-02 -3.32559888e-03 9.98423573e-01 1.16330276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.52, Y:15.51, Z:11.64 [[ 9.86812149e-01 -1.51914064e-01 -5.58918660e-02 2.08518239e+02] [ 1.51865238e-01 9.88387819e-01 -5.14473006e-03 1.55136476e+01] [ 5.60243964e-02 -3.41114940e-03 9.98423573e-01 1.16366478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.58, Y:15.52, Z:11.64 [[ 9.86765536e-01 -1.52216315e-01 -5.58924846e-02 2.08580557e+02] [ 1.52168351e-01 9.88341234e-01 -5.13800091e-03 1.55188928e+01] [ 5.60229348e-02 -3.43506499e-03 9.98423573e-01 1.16387380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.64, Y:15.53, Z:11.64 [[ 9.86739064e-01 -1.52387693e-01 -5.58928493e-02 2.08642594e+02] [ 1.52340227e-01 9.88314776e-01 -5.13403048e-03 1.55250608e+01] [ 5.60220919e-02 -3.44878094e-03 9.98423573e-01 1.16415380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.70, Y:15.53, Z:11.64 [[ 9.86812118e-01 -1.51913764e-01 -5.58932249e-02 2.08704243e+02] [ 1.51865772e-01 9.88387814e-01 -5.12993807e-03 1.55325127e+01] [ 5.60234906e-02 -3.42598273e-03 9.98423573e-01 1.16434371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.77, Y:15.54, Z:11.65 [[ 9.86992278e-01 -1.50738676e-01 -5.58935968e-02 2.08765740e+02] [ 1.50689037e-01 9.88567923e-01 -5.12588351e-03 1.55396077e+01] [ 5.60272858e-02 -3.36334485e-03 9.98423573e-01 1.16470733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.83, Y:15.55, Z:11.65 [[ 9.87633868e-01 -1.46475962e-01 -5.58939642e-02 2.08827555e+02] [ 1.46419747e-01 9.89209292e-01 -5.12187375e-03 1.55482141e+01] [ 5.60410602e-02 -3.12544410e-03 9.98423573e-01 1.16513234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.89, Y:15.56, Z:11.66 [[ 9.88389877e-01 -1.41284375e-01 -5.58943258e-02 2.08889100e+02] [ 1.41220105e-01 9.89964994e-01 -5.11792461e-03 1.55561727e+01] [ 5.60565087e-02 -2.83489769e-03 9.98423573e-01 1.16556781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.95, Y:15.57, Z:11.66 [[ 9.89811672e-01 -1.30952798e-01 -5.58947050e-02 2.08949051e+02] [ 1.30872313e-01 9.91386043e-01 -5.11378047e-03 1.55671383e+01] [ 5.60828942e-02 -2.25338971e-03 9.98423573e-01 1.16587736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.01, Y:15.58, Z:11.66 [[ 9.90783242e-01 -1.23386721e-01 -5.58952924e-02 2.09010810e+02] [ 1.23294572e-01 9.92356974e-01 -5.10735120e-03 1.55758382e+01] [ 5.60982625e-02 -1.83130817e-03 9.98423573e-01 1.16623145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.07, Y:15.58, Z:11.67 [[ 9.91916790e-01 -1.13915581e-01 -5.58956418e-02 2.09072161e+02] [ 1.13808617e-01 9.93489584e-01 -5.10352414e-03 1.55843828e+01] [ 5.61131089e-02 -1.29913442e-03 9.98423573e-01 1.16663679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.13, Y:15.59, Z:11.67 [[ 9.92550805e-01 -1.08252179e-01 -5.58960199e-02 2.09134304e+02] [ 1.08136474e-01 9.94122980e-01 -5.09937990e-03 1.55925062e+01] [ 5.61195369e-02 -9.83004863e-04 9.98423573e-01 1.16684725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.19, Y:15.60, Z:11.67 [[ 9.92731559e-01 -1.06581637e-01 -5.58963920e-02 2.09194815e+02] [ 1.06463515e-01 9.94303554e-01 -5.09529865e-03 1.55985690e+01] [ 5.61210465e-02 -8.92662602e-04 9.98423573e-01 1.16697852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.26, Y:15.60, Z:11.67 [[ 9.92712754e-01 -1.06756595e-01 -5.58964831e-02 2.09256378e+02] [ 1.06638806e-01 9.94284775e-01 -5.09429831e-03 1.56036250e+01] [ 5.61208721e-02 -9.03559341e-04 9.98423573e-01 1.16720520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.32, Y:15.61, Z:11.68 [[ 9.92664523e-01 -1.07204047e-01 -5.58966632e-02 2.09317231e+02] [ 1.07087079e-01 9.94236605e-01 -5.09232139e-03 1.56090878e+01] [ 5.61204261e-02 -9.30843597e-04 9.98423573e-01 1.16754854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.38, Y:15.62, Z:11.68 [[ 9.92537798e-01 -1.08370949e-01 -5.58968429e-02 2.09378398e+02] [ 1.08255940e-01 9.94110024e-01 -5.09034796e-03 1.56155041e+01] [ 5.61192577e-02 -9.98802546e-04 9.98423573e-01 1.16813676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.44, Y:15.62, Z:11.69 [[ 9.92213873e-01 -1.11297582e-01 -5.58970276e-02 2.09439341e+02] [ 1.11187325e-01 9.93786440e-01 -5.08831925e-03 1.56198053e+01] [ 5.61160257e-02 -1.16634001e-03 9.98423573e-01 1.16868390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.50, Y:15.62, Z:11.69 [[ 9.91875845e-01 -1.14270771e-01 -5.58972109e-02 2.09501172e+02] [ 1.14165340e-01 9.93448743e-01 -5.08630447e-03 1.56241639e+01] [ 5.61122299e-02 -1.33654155e-03 9.98423573e-01 1.16907564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.56, Y:15.63, Z:11.69 [[ 9.91253069e-01 -1.19552559e-01 -5.58975820e-02 2.09562780e+02] [ 1.19455738e-01 9.92826519e-01 -5.08222358e-03 1.56282036e+01] [ 5.61041946e-02 -1.63951719e-03 9.98423573e-01 1.16941221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.63, Y:15.63, Z:11.70 [[ 9.90874036e-01 -1.22654245e-01 -5.58979493e-02 2.09625207e+02] [ 1.22562577e-01 9.92447796e-01 -5.07817990e-03 1.56318708e+01] [ 5.60986569e-02 -1.81916010e-03 9.98423573e-01 1.16972883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.69, Y:15.63, Z:11.70 [[ 9.90421778e-01 -1.26254026e-01 -5.58983210e-02 2.09687680e+02] [ 1.26168307e-01 9.91995873e-01 -5.07408581e-03 1.56349567e+01] [ 5.60915275e-02 -2.02711146e-03 9.98423573e-01 1.17002058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.75, Y:15.64, Z:11.70 [[ 9.90320425e-01 -1.27046420e-01 -5.58986891e-02 2.09749963e+02] [ 1.26962190e-01 9.91894600e-01 -5.07002699e-03 1.56401976e+01] [ 5.60897366e-02 -2.07606870e-03 9.98423573e-01 1.17041590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.81, Y:15.65, Z:11.71 [[ 9.90524544e-01 -1.25444901e-01 -5.58990519e-02 2.09810827e+02] [ 1.25358352e-01 9.92098593e-01 -5.06602402e-03 1.56452053e+01] [ 5.60928776e-02 -1.98939189e-03 9.98423573e-01 1.17077428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.87, Y:15.65, Z:11.71 [[ 9.91130532e-01 -1.20563401e-01 -5.58993196e-02 2.09872834e+02] [ 1.20469264e-01 9.92704146e-01 -5.06306875e-03 1.56510421e+01] [ 5.61019071e-02 -1.71598787e-03 9.98423573e-01 1.17117086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.93, Y:15.66, Z:11.72 [[ 9.91604158e-01 -1.16603689e-01 -5.58996702e-02 2.09934351e+02] [ 1.16503486e-01 9.93177397e-01 -5.05919434e-03 1.56579753e+01] [ 5.61082097e-02 -1.49578830e-03 9.98423573e-01 1.17170413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.99, Y:15.66, Z:11.72 [[ 9.92152694e-01 -1.11840146e-01 -5.59000393e-02 2.09994784e+02] [ 1.11732619e-01 9.93725449e-01 -5.05511282e-03 1.56640715e+01] [ 5.61146562e-02 -1.23041397e-03 9.98423573e-01 1.17204550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.06, Y:15.67, Z:11.72 [[ 9.92285630e-01 -1.10654339e-01 -5.59003119e-02 2.10056247e+02] [ 1.10545101e-01 9.93858268e-01 -5.05209635e-03 1.56689426e+01] [ 5.61160236e-02 -1.16638303e-03 9.98423573e-01 1.17237395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.12, Y:15.67, Z:11.73 [[ 9.92278201e-01 -1.10720851e-01 -5.59004920e-02 2.10116786e+02] [ 1.10611831e-01 9.93850854e-01 -5.05010337e-03 1.56738786e+01] [ 5.61159034e-02 -1.17214829e-03 9.98423573e-01 1.17298444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.18, Y:15.68, Z:11.74 [[ 9.92159310e-01 -1.11781116e-01 -5.59006767e-02 2.10178123e+02] [ 1.11673892e-01 9.93732086e-01 -5.04805821e-03 1.56788667e+01] [ 5.61145736e-02 -1.23416819e-03 9.98423573e-01 1.17355521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.24, Y:15.68, Z:11.74 [[ 9.92017244e-01 -1.13034871e-01 -5.59008626e-02 2.10238675e+02] [ 1.12929751e-01 9.93590162e-01 -5.04599798e-03 1.56836675e+01] [ 5.61129209e-02 -1.30715349e-03 9.98423573e-01 1.17395181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.30, Y:15.69, Z:11.74 [[ 9.91554504e-01 -1.17024524e-01 -5.59010467e-02 2.10299672e+02] [ 1.16925847e-01 9.93127839e-01 -5.04395849e-03 1.56892837e+01] [ 5.61071525e-02 -1.53491748e-03 9.98423573e-01 1.17439452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.36, Y:15.69, Z:11.75 [[ 9.91180694e-01 -1.20149423e-01 -5.59012294e-02 2.10361744e+02] [ 1.20055820e-01 9.92754340e-01 -5.04193222e-03 1.56949793e+01] [ 5.61019734e-02 -1.71380204e-03 9.98423573e-01 1.17464280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:15.70, Z:11.75 [[ 9.90418645e-01 -1.26277147e-01 -5.59016160e-02 2.10422508e+02] [ 1.26193520e-01 9.91992852e-01 -5.03764199e-03 1.57005686e+01] [ 5.60901426e-02 -2.06504715e-03 9.98423573e-01 1.17517800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.48, Y:15.71, Z:11.76 [[ 9.89498342e-01 -1.33296694e-01 -5.59019011e-02 2.10483995e+02] [ 1.33224409e-01 9.91073111e-01 -5.03447644e-03 1.57061345e+01] [ 5.60739501e-02 -2.46589168e-03 9.98423573e-01 1.17557840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.54, Y:15.71, Z:11.76 [[ 9.88087983e-01 -1.43377385e-01 -5.59022675e-02 2.10544506e+02] [ 1.43321388e-01 9.89663415e-01 -5.03040480e-03 1.57122886e+01] [ 5.60456753e-02 -3.04150806e-03 9.98423573e-01 1.17579506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.61, Y:15.72, Z:11.76 [[ 9.87293355e-01 -1.48750590e-01 -5.59025381e-02 2.10606822e+02] [ 1.48703335e-01 9.88869073e-01 -5.02739647e-03 1.57185649e+01] [ 5.60281192e-02 -3.34937870e-03 9.98423573e-01 1.17609787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:15.73, Z:11.76 [[ 9.86689271e-01 -1.52706058e-01 -5.59029802e-02 2.10668386e+02] [ 1.52665395e-01 9.88265173e-01 -5.02247523e-03 1.57260189e+01] [ 5.60139308e-02 -3.57882813e-03 9.98423573e-01 1.17639016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.73, Y:15.73, Z:11.77 [[ 9.86736753e-01 -1.52398806e-01 -5.59033454e-02 2.10729837e+02] [ 1.52357883e-01 9.88312649e-01 -5.01840699e-03 1.57343527e+01] [ 5.60147826e-02 -3.56546872e-03 9.98423573e-01 1.17675427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.79, Y:15.74, Z:11.77 [[ 9.86925598e-01 -1.51170897e-01 -5.59037096e-02 2.10791794e+02] [ 1.51128241e-01 9.88501447e-01 -5.01434653e-03 1.57424686e+01] [ 5.60189211e-02 -3.49984238e-03 9.98423573e-01 1.17709394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.85, Y:15.75, Z:11.77 [[ 9.87294868e-01 -1.48739972e-01 -5.59040686e-02 2.10853808e+02] [ 1.48693662e-01 9.88870614e-01 -5.01034151e-03 1.57524133e+01] [ 5.60271287e-02 -3.36589619e-03 9.98423573e-01 1.17748578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02509989299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.92, Y:15.76, Z:11.78 [[ 9.87548018e-01 -1.47049604e-01 -5.59046179e-02 2.10916446e+02] [ 1.47000942e-01 9.89123693e-01 -5.00420455e-03 1.57620274e+01] [ 5.60324484e-02 -3.27613922e-03 9.98423573e-01 1.17796254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.98, Y:15.77, Z:11.78 [[ 9.88057799e-01 -1.43584113e-01 -5.59051666e-02 2.10978836e+02] [ 1.43530270e-01 9.89633306e-01 -4.99806680e-03 1.57741704e+01] [ 5.60432579e-02 -3.08570477e-03 9.98423573e-01 1.17845871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.04, Y:15.79, Z:11.79 [[ 9.88924810e-01 -1.37485522e-01 -5.59057272e-02 2.11039688e+02] [ 1.37422314e-01 9.90499969e-01 -4.99178880e-03 1.57869331e+01] [ 5.60609198e-02 -2.74619063e-03 9.98423573e-01 1.17879234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.10, Y:15.80, Z:11.79 [[ 9.89743907e-01 -1.31459108e-01 -5.59061867e-02 2.11102284e+02] [ 1.31386596e-01 9.91318665e-01 -4.98663704e-03 1.57976989e+01] [ 5.60763852e-02 -2.40982996e-03 9.98423573e-01 1.17917498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.16, Y:15.81, Z:11.80 [[ 9.91124842e-01 -1.20606744e-01 -5.59067196e-02 2.11163619e+02] [ 1.20517320e-01 9.92698730e-01 -4.98065520e-03 1.58104201e+01] [ 5.60992302e-02 -1.80127691e-03 9.98423573e-01 1.17965055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.23, Y:15.82, Z:11.80 [[ 9.91996588e-01 -1.13212927e-01 -5.59070813e-02 2.11225241e+02] [ 1.13111998e-01 9.93569781e-01 -4.97659232e-03 1.58200372e+01] [ 5.61110011e-02 -1.38699905e-03 9.98423573e-01 1.17999268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.29, Y:15.83, Z:11.80 [[ 9.93001133e-01 -1.04034162e-01 -5.59074420e-02 2.11286340e+02] [ 1.03918917e-01 9.94573342e-01 -4.97253721e-03 1.58317741e+01] [ 5.61213651e-02 -8.72105750e-04 9.98423573e-01 1.18034010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.35, Y:15.84, Z:11.81 [[ 9.93330033e-01 -1.00845249e-01 -5.59077999e-02 2.11347776e+02] [ 1.00725183e-01 9.94901880e-01 -4.96850948e-03 1.58399528e+01] [ 5.61238258e-02 -6.95953688e-04 9.98423573e-01 1.18058332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.41, Y:15.85, Z:11.81 [[ 9.93349329e-01 -1.00654802e-01 -5.59081544e-02 2.11409779e+02] [ 1.00534659e-01 9.94921171e-01 -4.96451676e-03 1.58463905e+01] [ 5.61239089e-02 -6.89207848e-04 9.98423573e-01 1.18089271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.47, Y:15.85, Z:11.81 [[ 9.92904917e-01 -1.04947911e-01 -5.59085100e-02 2.11471467e+02] [ 1.04834790e-01 9.94477280e-01 -4.96050932e-03 1.58488675e+01] [ 5.61203380e-02 -9.35842801e-04 9.98423573e-01 1.18118277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.53, Y:15.85, Z:11.82 [[ 9.92475561e-01 -1.08933286e-01 -5.59088594e-02 2.11533388e+02] [ 1.08826701e-01 9.94048380e-01 -4.95656856e-03 1.58523820e+01] [ 5.61160464e-02 -1.16510354e-03 9.98423573e-01 1.18170598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.59, Y:15.86, Z:11.82 [[ 9.92039972e-01 -1.12831077e-01 -5.59092237e-02 2.11594692e+02] [ 1.12730902e-01 9.93613213e-01 -4.95245599e-03 1.58565292e+01] [ 5.61109343e-02 -1.38966293e-03 9.98423573e-01 1.18204433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.66, Y:15.86, Z:11.83 [[ 9.91547592e-01 -1.17079037e-01 -5.59094927e-02 2.11656901e+02] [ 1.16985773e-01 9.93121258e-01 -4.94941690e-03 1.58599276e+01] [ 5.61043787e-02 -1.63303281e-03 9.98423573e-01 1.18255825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.72, Y:15.86, Z:11.83 [[ 9.91143025e-01 -1.20455768e-01 -5.59098526e-02 2.11717713e+02] [ 1.20368094e-01 9.92717012e-01 -4.94534818e-03 1.58616414e+01] [ 5.60983575e-02 -1.82821502e-03 9.98423573e-01 1.18306011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.78, Y:15.86, Z:11.83 [[ 9.90965433e-01 -1.21908039e-01 -5.59101185e-02 2.11780831e+02] [ 1.21822841e-01 9.92539555e-01 -4.94233977e-03 1.58641034e+01] [ 5.60955151e-02 -1.91344159e-03 9.98423573e-01 1.18334449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:15.87, Z:11.84 [[ 9.90896205e-01 -1.22469224e-01 -5.59106503e-02 2.11844032e+02] [ 1.22385257e-01 9.92470393e-01 -4.93631655e-03 1.58668715e+01] [ 5.60942120e-02 -1.95126195e-03 9.98423573e-01 1.18377589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.91, Y:15.87, Z:11.84 [[ 9.90877377e-01 -1.22621215e-01 -5.59111906e-02 2.11906509e+02] [ 1.22537834e-01 9.92451597e-01 -4.93018930e-03 1.58709611e+01] [ 5.60936962e-02 -1.96602317e-03 9.98423573e-01 1.18407506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.97, Y:15.87, Z:11.84 [[ 9.90943430e-01 -1.22086026e-01 -5.59117267e-02 2.11968159e+02] [ 1.22002138e-01 9.92517623e-01 -4.92410252e-03 1.58734468e+01] [ 5.60945382e-02 -1.94184317e-03 9.98423573e-01 1.18411572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.03, Y:15.88, Z:11.84 [[ 9.91125428e-01 -1.20599482e-01 -5.59119893e-02 2.12029167e+02] [ 1.20513402e-01 9.92699503e-01 -4.92111818e-03 1.58775483e+01] [ 5.60972883e-02 -1.86069865e-03 9.98423573e-01 1.18433700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.09, Y:15.88, Z:11.85 [[ 9.91711403e-01 -1.15681952e-01 -5.59122474e-02 2.12091618e+02] [ 1.15588230e-01 9.93285041e-01 -4.91818437e-03 1.58826037e+01] [ 5.61057441e-02 -1.58537819e-03 9.98423573e-01 1.18462481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.15, Y:15.89, Z:11.85 [[ 9.92633012e-01 -1.07487097e-01 -5.59126842e-02 2.12152278e+02] [ 1.07380661e-01 9.94205841e-01 -4.91321349e-03 1.58876366e+01] [ 5.61168243e-02 -1.12692309e-03 9.98423573e-01 1.18493867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.21, Y:15.89, Z:11.86 [[ 9.93517811e-01 -9.89752635e-02 -5.59129421e-02 2.12213926e+02] [ 9.88555156e-02 9.95089682e-01 -4.91027692e-03 1.58937649e+01] [ 5.61243878e-02 -6.48855143e-04 9.98423573e-01 1.18555131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.28, Y:15.90, Z:11.86 [[ 9.94101413e-01 -9.29305296e-02 -5.59132934e-02 2.12276139e+02] [ 9.28014485e-02 9.95672546e-01 -4.90627293e-03 1.58974148e+01] [ 5.61272738e-02 -3.11501769e-04 9.98423573e-01 1.18599053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.34, Y:15.90, Z:11.86 [[ 9.94186914e-01 -9.20111099e-02 -5.59136384e-02 2.12336532e+02] [ 9.18807971e-02 9.95757946e-01 -4.90233875e-03 1.59010537e+01] [ 5.61275193e-02 -2.63548629e-04 9.98423574e-01 1.18634205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.40, Y:15.90, Z:11.87 [[ 9.94035247e-01 -9.36354224e-02 -5.59136384e-02 2.12396903e+02] [ 9.35076767e-02 9.95606489e-01 -4.90233875e-03 1.59040532e+01] [ 5.61270138e-02 -3.55256910e-04 9.98423574e-01 1.18667468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.46, Y:15.91, Z:11.87 [[ 9.93605094e-01 -9.80947633e-02 -5.59136384e-02 2.12457456e+02] [ 9.79740692e-02 9.95176893e-01 -4.90233875e-03 1.59069346e+01] [ 5.61248547e-02 -6.07097921e-04 9.98423574e-01 1.18691350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.52, Y:15.91, Z:11.87 [[ 9.92956036e-01 -1.04460402e-01 -5.59136384e-02 2.12519208e+02] [ 1.04349783e-01 9.94528577e-01 -4.90233875e-03 1.59097231e+01] [ 5.61198115e-02 -9.66769183e-04 9.98423574e-01 1.18722911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.58, Y:15.91, Z:11.87 [[ 9.91871950e-01 -1.14296460e-01 -5.59138115e-02 2.12581443e+02] [ 1.14201544e-01 9.93445516e-01 -4.90036308e-03 1.59116787e+01] [ 5.61074195e-02 -1.52491093e-03 9.98423574e-01 1.18742248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.64, Y:15.91, Z:11.88 [[ 9.90842400e-01 -1.22902176e-01 -5.59141574e-02 2.12643868e+02] [ 1.22821145e-01 9.92416743e-01 -4.89641296e-03 1.59146997e+01] [ 5.60919258e-02 -2.01586727e-03 9.98423574e-01 1.18777527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.71, Y:15.92, Z:11.88 [[ 9.90050023e-01 -1.29129859e-01 -5.59145104e-02 2.12705700e+02] [ 1.29058956e-01 9.91624854e-01 -4.89237965e-03 1.59168955e+01] [ 5.60779704e-02 -2.37256775e-03 9.98423574e-01 1.18812717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.77, Y:15.92, Z:11.88 [[ 9.89524055e-01 -1.33100233e-01 -5.59148635e-02 2.12767794e+02] [ 1.33035876e-01 9.91099168e-01 -4.88834032e-03 1.59192181e+01] [ 5.60678139e-02 -2.60155250e-03 9.98423574e-01 1.18842227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.83, Y:15.92, Z:11.89 [[ 9.89361145e-01 -1.34305667e-01 -5.59152197e-02 2.12829104e+02] [ 1.34243459e-01 9.90936344e-01 -4.88426208e-03 1.59236179e+01] [ 5.60644075e-02 -2.67395337e-03 9.98423574e-01 1.18877090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.89, Y:15.93, Z:11.89 [[ 9.89341238e-01 -1.34452054e-01 -5.59156601e-02 2.12891346e+02] [ 1.34390363e-01 9.90916456e-01 -4.87921584e-03 1.59279416e+01] [ 5.60637683e-02 -2.68731641e-03 9.98423574e-01 1.18918409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.95, Y:15.93, Z:11.90 [[ 9.89506658e-01 -1.33229029e-01 -5.59160116e-02 2.12954549e+02] [ 1.33165619e-01 9.91081808e-01 -4.87518412e-03 1.59326432e+01] [ 5.60668579e-02 -2.62206314e-03 9.98423574e-01 1.18956701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.02, Y:15.94, Z:11.90 [[ 9.90087929e-01 -1.28838012e-01 -5.59165444e-02 2.13015488e+02] [ 1.28767960e-01 9.91662798e-01 -4.86906553e-03 1.59388499e+01] [ 5.60776776e-02 -2.37945632e-03 9.98423574e-01 1.18983612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.08, Y:15.95, Z:11.90 [[ 9.90879088e-01 -1.22604829e-01 -5.59168056e-02 2.13077047e+02] [ 1.22525036e-01 9.92453494e-01 -4.86606339e-03 1.59463479e+01] [ 5.60914320e-02 -2.02952817e-03 9.98423574e-01 1.19012752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.14, Y:15.95, Z:11.90 [[ 9.91711746e-01 -1.15676632e-01 -5.59171587e-02 2.13139150e+02] [ 1.15586067e-01 9.93285569e-01 -4.86200324e-03 1.59545215e+01] [ 5.61041269e-02 -1.64153872e-03 9.98423574e-01 1.19038112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.20, Y:15.96, Z:11.91 [[ 9.92229021e-01 -1.11152156e-01 -5.59175058e-02 2.13201236e+02] [ 1.11054638e-01 9.93802429e-01 -4.85800775e-03 1.59619042e+01] [ 5.61109311e-02 -1.38964210e-03 9.98423574e-01 1.19073718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.26, Y:15.97, Z:11.91 [[ 9.92889687e-01 -1.05086932e-01 -5.59178590e-02 2.13262577e+02] [ 1.04980031e-01 9.94462484e-01 -4.85393845e-03 1.59701875e+01] [ 5.61182985e-02 -1.05083314e-03 9.98423574e-01 1.19119702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.32, Y:15.98, Z:11.92 [[ 9.93226192e-01 -1.01857185e-01 -5.59182060e-02 2.13324679e+02] [ 1.01745394e-01 9.94798649e-01 -4.84993789e-03 1.59765233e+01] [ 5.61213568e-02 -8.72334539e-04 9.98423574e-01 1.19164564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.39, Y:15.98, Z:11.92 [[ 9.93482366e-01 -9.93272565e-02 -5.59185579e-02 2.13386900e+02] [ 9.92116896e-02 9.95054550e-01 -4.84587763e-03 1.59823343e+01] [ 5.61233432e-02 -7.33480633e-04 9.98423574e-01 1.19204753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48509989299995 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:213.45, Y:15.99, Z:11.92 [[ 9.93531423e-01 -9.88351518e-02 -5.59189167e-02 2.13446192e+02] [ 9.87190394e-02 9.95103567e-01 -4.84173349e-03 1.59897614e+01] [ 5.61236469e-02 -7.09847377e-04 9.98423574e-01 1.19203537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.50, Y:15.99, Z:11.93 [[ 9.93490820e-01 -9.92425130e-02 -5.59188166e-02 2.13504559e+02] [ 9.91269802e-02 9.95063007e-01 -4.84288925e-03 1.59918720e+01] [ 5.61233663e-02 -7.31697411e-04 9.98423574e-01 1.19256201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.57, Y:16.00, Z:11.93 [[ 9.93155094e-01 -1.02547937e-01 -5.59185158e-02 2.13565507e+02] [ 1.02437441e-01 9.94727643e-01 -4.84635963e-03 1.59957072e+01] [ 5.61206776e-02 -9.14962938e-04 9.98423574e-01 1.19277935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:16.00, Z:11.93 [[ 9.92982969e-01 -1.04201357e-01 -5.59186886e-02 2.13626343e+02] [ 1.04093592e-01 9.94555708e-01 -4.84436496e-03 1.60010333e+01] [ 5.61190403e-02 -1.01040527e-03 9.98423574e-01 1.19316690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.69, Y:16.01, Z:11.94 [[ 9.93055106e-01 -1.03511530e-01 -5.59188613e-02 2.13687174e+02] [ 1.03402785e-01 9.94627777e-01 -4.84237133e-03 1.60055998e+01] [ 5.61196940e-02 -9.73424405e-04 9.98423574e-01 1.19360704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:16.01, Z:11.94 [[ 9.93149700e-01 -1.02599837e-01 -5.59191171e-02 2.13748711e+02] [ 1.02489815e-01 9.94722282e-01 -4.83941470e-03 1.60098571e+01] [ 5.61205150e-02 -9.24876692e-04 9.98423574e-01 1.19403554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.81, Y:16.01, Z:11.94 [[ 9.93215457e-01 -1.01961217e-01 -5.59192870e-02 2.13809798e+02] [ 1.01850294e-01 9.94787976e-01 -4.83745124e-03 1.60133104e+01] [ 5.61210667e-02 -8.90764453e-04 9.98423574e-01 1.19440410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.87, Y:16.02, Z:11.95 [[ 9.93102800e-01 -1.03052620e-01 -5.59194569e-02 2.13870832e+02] [ 1.02943536e-01 9.94675448e-01 -4.83548596e-03 1.60162613e+01] [ 5.61200204e-02 -9.54411955e-04 9.98423574e-01 1.19467794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.93, Y:16.02, Z:11.95 [[ 9.92935174e-01 -1.04655312e-01 -5.59196309e-02 2.13931742e+02] [ 1.04548879e-01 9.94508004e-01 -4.83347294e-03 1.60189299e+01] [ 5.61183691e-02 -1.04700945e-03 9.98423574e-01 1.19487815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.99, Y:16.02, Z:11.95 [[ 9.92504260e-01 -1.08665866e-01 -5.59198037e-02 2.13993221e+02] [ 1.08565900e-01 9.94077513e-01 -4.83147363e-03 1.60208405e+01] [ 5.61136356e-02 -1.27572568e-03 9.98423574e-01 1.19512461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.05, Y:16.02, Z:11.95 [[ 9.92208262e-01 -1.11336072e-01 -5.59199766e-02 2.14053698e+02] [ 1.11240453e-01 9.93781786e-01 -4.82947159e-03 1.60246388e+01] [ 5.61099486e-02 -1.42872192e-03 9.98423574e-01 1.19535343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:16.03, Z:11.96 [[ 9.92029174e-01 -1.12920614e-01 -5.59200616e-02 2.14115575e+02] [ 1.12827564e-01 9.93602852e-01 -4.82848645e-03 1.60294598e+01] [ 5.61075684e-02 -1.51932489e-03 9.98423574e-01 1.19567956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.18, Y:16.04, Z:11.96 [[ 9.92023492e-01 -1.12970347e-01 -5.59204053e-02 2.14175935e+02] [ 1.12877600e-01 9.93597188e-01 -4.82450327e-03 1.60353808e+01] [ 5.61073832e-02 -1.52614053e-03 9.98423574e-01 1.19597799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.24, Y:16.04, Z:11.97 [[ 9.92111873e-01 -1.12191406e-01 -5.59206594e-02 2.14237131e+02] [ 1.12097589e-01 9.93685505e-01 -4.82155602e-03 1.60426424e+01] [ 5.61084858e-02 -1.48504813e-03 9.98423574e-01 1.19654904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.30, Y:16.05, Z:11.97 [[ 9.92157719e-01 -1.11785071e-01 -5.59210036e-02 2.14297666e+02] [ 1.11690835e-01 9.93731326e-01 -4.81756071e-03 1.60486671e+01] [ 5.61089844e-02 -1.46608356e-03 9.98423574e-01 1.19687474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:16.06, Z:11.97 [[ 9.92366648e-01 -1.09914732e-01 -5.59212578e-02 2.14358913e+02] [ 1.09817696e-01 9.93940085e-01 -4.81460825e-03 1.60567028e+01] [ 5.61115761e-02 -1.36328702e-03 9.98423574e-01 1.19731384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.42, Y:16.06, Z:11.98 [[ 9.92533430e-01 -1.08398179e-01 -5.59216021e-02 2.14420448e+02] [ 1.08298964e-01 9.94106731e-01 -4.81060534e-03 1.60640278e+01] [ 5.61135019e-02 -1.28156496e-03 9.98423574e-01 1.19763201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.48, Y:16.07, Z:11.98 [[ 9.92533558e-01 -1.08396829e-01 -5.59219482e-02 2.14482416e+02] [ 1.08297839e-01 9.94106873e-01 -4.80657873e-03 1.60712330e+01] [ 5.61134110e-02 -1.28553545e-03 9.98423574e-01 1.19799219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.54, Y:16.08, Z:11.98 [[ 9.92414587e-01 -1.09480520e-01 -5.59223011e-02 2.14543802e+02] [ 1.09383480e-01 9.93988023e-01 -4.80246919e-03 1.60774870e+01] [ 5.61118744e-02 -1.35093543e-03 9.98423574e-01 1.19832428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.61, Y:16.08, Z:11.99 [[ 9.92190592e-01 -1.11492090e-01 -5.59226481e-02 2.14605092e+02] [ 1.11398467e-01 9.93764236e-01 -4.79842543e-03 1.60845602e+01] [ 5.61089142e-02 -1.46874471e-03 9.98423574e-01 1.19865607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.67, Y:16.09, Z:11.99 [[ 9.92128655e-01 -1.12041737e-01 -5.59229968e-02 2.14665770e+02] [ 1.11949215e-01 9.93702364e-01 -4.79435794e-03 1.60909987e+01] [ 5.61079823e-02 -1.50391571e-03 9.98423574e-01 1.19893752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.73, Y:16.10, Z:11.99 [[ 9.92146607e-01 -1.11882367e-01 -5.59235716e-02 2.14725985e+02] [ 1.11789970e-01 9.93720323e-01 -4.78764433e-03 1.60983117e+01] [ 5.61080426e-02 -1.50164932e-03 9.98423574e-01 1.19929636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.79, Y:16.11, Z:12.00 [[ 9.92309775e-01 -1.10425705e-01 -5.59238228e-02 2.14787284e+02] [ 1.10331163e-01 9.93883364e-01 -4.78470871e-03 1.61075325e+01] [ 5.61101119e-02 -1.42222719e-03 9.98423574e-01 1.19996210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.85, Y:16.12, Z:12.00 [[ 9.92522159e-01 -1.08500007e-01 -5.59241616e-02 2.14849110e+02] [ 1.08402636e-01 9.94095575e-01 -4.78074515e-03 1.61161473e+01] [ 5.61126725e-02 -1.31733103e-03 9.98423574e-01 1.20039164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.91, Y:16.12, Z:12.01 [[ 9.92595908e-01 -1.07823062e-01 -5.59245071e-02 2.14910425e+02] [ 1.07724845e-01 9.94169272e-01 -4.77669954e-03 1.61243020e+01] [ 5.61134649e-02 -1.28312647e-03 9.98423574e-01 1.20074769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.97, Y:16.13, Z:12.01 [[ 9.92601436e-01 -1.07771986e-01 -5.59248466e-02 2.14972062e+02] [ 1.07673912e-01 9.94174808e-01 -4.77272145e-03 1.61310772e+01] [ 5.61134394e-02 -1.28423684e-03 9.98423574e-01 1.20112786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.03, Y:16.14, Z:12.01 [[ 9.92376379e-01 -1.09824837e-01 -5.59251946e-02 2.15033610e+02] [ 1.09730248e-01 9.93949965e-01 -4.76864029e-03 1.61366155e+01] [ 5.61105604e-02 -1.40439948e-03 9.98423574e-01 1.20127104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.10, Y:16.14, Z:12.01 [[ 9.92018164e-01 -1.13014587e-01 -5.59255417e-02 2.15096180e+02] [ 1.12925286e-01 9.93592058e-01 -4.76456696e-03 1.61404235e+01] [ 5.61056396e-02 -1.58887082e-03 9.98423574e-01 1.20146801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.16, Y:16.14, Z:12.02 [[ 9.91523792e-01 -1.17272613e-01 -5.59258840e-02 2.15158400e+02] [ 1.17190297e-01 9.93098067e-01 -4.76054516e-03 1.61437524e+01] [ 5.60981689e-02 -1.83377715e-03 9.98423574e-01 1.20173439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.22, Y:16.15, Z:12.02 [[ 9.91398914e-01 -1.18323496e-01 -5.59262295e-02 2.15219756e+02] [ 1.18243077e-01 9.92973288e-01 -4.75648262e-03 1.61490900e+01] [ 5.60960557e-02 -1.89731778e-03 9.98423574e-01 1.20204568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.28, Y:16.15, Z:12.02 [[ 9.91439379e-01 -1.17983840e-01 -5.59264847e-02 2.15281523e+02] [ 1.17903052e-01 9.93013733e-01 -4.75347995e-03 1.61547918e+01] [ 5.60966012e-02 -1.88111601e-03 9.98423574e-01 1.20237188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.34, Y:16.16, Z:12.03 [[ 9.91583795e-01 -1.16763730e-01 -5.59268155e-02 2.15343537e+02] [ 1.16681224e-01 9.93158061e-01 -4.74958464e-03 1.61598562e+01] [ 5.60987469e-02 -1.81599811e-03 9.98423574e-01 1.20272276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.41, Y:16.16, Z:12.03 [[ 9.91695778e-01 -1.15808620e-01 -5.59271551e-02 2.15405505e+02] [ 1.15724823e-01 9.93269976e-01 -4.74558344e-03 1.61649343e+01] [ 5.61003434e-02 -1.76598506e-03 9.98423574e-01 1.20310775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.47, Y:16.17, Z:12.03 [[ 9.92031773e-01 -1.12894090e-01 -5.59274971e-02 2.15466907e+02] [ 1.12805894e-01 9.93605731e-01 -4.74154875e-03 1.61709335e+01] [ 5.61051745e-02 -1.60518431e-03 9.98423574e-01 1.20342160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.53, Y:16.18, Z:12.04 [[ 9.92315079e-01 -1.10375998e-01 -5.59278430e-02 2.15528538e+02] [ 1.10284038e-01 9.93888820e-01 -4.73746521e-03 1.61768176e+01] [ 5.61089604e-02 -1.46689022e-03 9.98423574e-01 1.20376889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.59, Y:16.18, Z:12.04 [[ 9.92656027e-01 -1.07266260e-01 -5.59281834e-02 2.15590658e+02] [ 1.07169596e-01 9.94229487e-01 -4.73344323e-03 1.61820403e+01] [ 5.61131878e-02 -1.29511989e-03 9.98423574e-01 1.20405902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.65, Y:16.19, Z:12.04 [[ 9.92828410e-01 -1.05658643e-01 -5.59285250e-02 2.15651812e+02] [ 1.05559659e-01 9.94401725e-01 -4.72940335e-03 1.61853193e+01] [ 5.61151241e-02 -1.20831004e-03 9.98423574e-01 1.20416602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.71, Y:16.19, Z:12.04 [[ 9.92851710e-01 -1.05439334e-01 -5.59287771e-02 2.15714146e+02] [ 1.05340171e-01 9.94425014e-01 -4.72642092e-03 1.61892390e+01] [ 5.61153256e-02 -1.19891182e-03 9.98423574e-01 1.20448593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.78, Y:16.19, Z:12.05 [[ 9.92935771e-01 -1.04644580e-01 -5.59291228e-02 2.15775332e+02] [ 1.04544387e-01 9.94509010e-01 -4.72232588e-03 1.61938039e+01] [ 5.61161824e-02 -1.15810960e-03 9.98423574e-01 1.20482488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.84, Y:16.20, Z:12.05 [[ 9.93236462e-01 -1.01750847e-01 -5.59293778e-02 2.15837544e+02] [ 1.01646241e-01 9.94809414e-01 -4.71930370e-03 1.61976718e+01] [ 5.61192647e-02 -9.97626535e-04 9.98423574e-01 1.20515777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.90, Y:16.20, Z:12.06 [[ 9.93513704e-01 -9.90070031e-02 -5.59297140e-02 2.15899782e+02] [ 9.88982771e-02 9.95086376e-01 -4.71531653e-03 1.62025266e+01] [ 5.61217458e-02 -8.46620759e-04 9.98423574e-01 1.20553858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.96, Y:16.21, Z:12.06 [[ 9.93867745e-01 -9.53872844e-02 -5.59300556e-02 2.15960914e+02] [ 9.52730586e-02 9.95440027e-01 -4.71126106e-03 1.62068414e+01] [ 5.61244105e-02 -6.46257061e-04 9.98423574e-01 1.20592259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.02, Y:16.21, Z:12.06 [[ 9.94121089e-01 -9.27096018e-02 -5.59302244e-02 2.16021215e+02] [ 9.25912537e-02 9.95693066e-01 -4.70925611e-03 1.62114037e+01] [ 5.61259299e-02 -4.97078785e-04 9.98423574e-01 1.20622557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.08, Y:16.22, Z:12.07 [[ 9.94629089e-01 -8.70906145e-02 -5.59303074e-02 2.16081140e+02] [ 8.69634410e-02 9.96200378e-01 -4.70826997e-03 1.62163744e+01] [ 5.61278395e-02 -1.80909713e-04 9.98423574e-01 1.20653799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:16.22, Z:12.07 [[ 9.94945457e-01 -8.33986703e-02 -5.59303074e-02 2.16140668e+02] [ 8.32656661e-02 9.96516262e-01 -4.70826997e-03 1.62215350e+01] [ 5.61281244e-02 2.73975165e-05 9.98423574e-01 1.20688911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.20, Y:16.23, Z:12.07 [[ 9.95182493e-01 -8.05209645e-02 -5.59301350e-02 2.16198563e+02] [ 8.03833031e-02 9.96752897e-01 -4.71031697e-03 1.62253930e+01] [ 5.61278034e-02 1.91775982e-04 9.98423574e-01 1.20720246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.26, Y:16.23, Z:12.08 [[ 9.95300438e-01 -7.90500166e-02 -5.59297105e-02 2.16257155e+02] [ 7.89097513e-02 9.96870612e-01 -4.71535284e-03 1.62288251e+01] [ 5.61274334e-02 2.79793205e-04 9.98423574e-01 1.20751582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.32, Y:16.23, Z:12.08 [[ 9.95300533e-01 -7.90496462e-02 -5.59285447e-02 2.16315392e+02] [ 7.89086056e-02 9.96870637e-01 -4.72913976e-03 1.62320504e+01] [ 5.61273608e-02 2.93671847e-04 9.98423574e-01 1.20780816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.37, Y:16.23, Z:12.08 [[ 9.95075367e-01 -8.18361802e-02 -5.59272232e-02 2.16373498e+02] [ 8.16986610e-02 9.96645783e-01 -4.74471628e-03 1.62326648e+01] [ 5.61279206e-02 1.52171038e-04 9.98423574e-01 1.20807506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.43, Y:16.24, Z:12.08 [[ 9.94776211e-01 -8.53966422e-02 -5.59258792e-02 2.16430892e+02] [ 8.52638561e-02 9.96347034e-01 -4.76050592e-03 1.62351505e+01] [ 5.61281151e-02 -3.28180769e-05 9.98423574e-01 1.20836579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.49, Y:16.24, Z:12.09 [[ 9.94169191e-01 -9.21958286e-02 -5.59244929e-02 2.16490008e+02] [ 9.20728722e-02 9.95740814e-01 -4.77673609e-03 1.62354635e+01] [ 5.61266953e-02 -4.00244840e-04 9.98423574e-01 1.20863214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.55, Y:16.24, Z:12.09 [[ 9.93306489e-01 -1.01068310e-01 -5.59232940e-02 2.16550046e+02] [ 1.00958603e-01 9.94879093e-01 -4.79073160e-03 1.62365477e+01] [ 5.61211071e-02 -8.87272854e-04 9.98423574e-01 1.20896092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.61, Y:16.24, Z:12.09 [[ 9.92722900e-01 -1.06648248e-01 -5.59231208e-02 2.16610867e+02] [ 1.06547265e-01 9.94296088e-01 -4.79275273e-03 1.62384535e+01] [ 5.61152789e-02 -1.20058020e-03 9.98423574e-01 1.20922913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.67, Y:16.24, Z:12.10 [[ 9.91835131e-01 -1.14610982e-01 -5.59231208e-02 2.16671940e+02] [ 1.14522627e-01 9.93409079e-01 -4.79275273e-03 1.62400605e+01] [ 5.61038380e-02 -1.65084216e-03 9.98423574e-01 1.20960964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.73, Y:16.24, Z:12.10 [[ 9.91198993e-01 -1.19988091e-01 -5.59232915e-02 2.16732683e+02] [ 1.19908385e-01 9.92773402e-01 -4.79075958e-03 1.62436410e+01] [ 5.60939905e-02 -1.95707550e-03 9.98423574e-01 1.21004538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.79, Y:16.25, Z:12.10 [[ 9.90367761e-01 -1.26665956e-01 -5.59234612e-02 2.16794513e+02] [ 1.26596975e-01 9.91942677e-01 -4.78877822e-03 1.62464849e+01] [ 5.60794430e-02 -2.33708943e-03 9.98423574e-01 1.21032033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.86, Y:16.25, Z:12.11 [[ 9.89975101e-01 -1.29698983e-01 -5.59238079e-02 2.16856367e+02] [ 1.29635055e-01 9.91550230e-01 -4.78472536e-03 1.62510832e+01] [ 5.60718387e-02 -2.51292694e-03 9.98423574e-01 1.21053321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.92, Y:16.26, Z:12.11 [[ 9.89420684e-01 -1.33862611e-01 -5.59241609e-02 2.16917222e+02] [ 1.33805543e-01 9.90996076e-01 -4.78059609e-03 1.62557048e+01] [ 5.60605671e-02 -2.75294205e-03 9.98423575e-01 1.21089234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.98, Y:16.26, Z:12.11 [[ 9.89144486e-01 -1.35888351e-01 -5.59244211e-02 2.16979167e+02] [ 1.35834681e-01 9.90719998e-01 -4.77755069e-03 1.62611020e+01] [ 5.60546558e-02 -2.87078795e-03 9.98423575e-01 1.21110194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.04, Y:16.27, Z:12.11 [[ 9.88823158e-01 -1.38207035e-01 -5.59247562e-02 2.17041180e+02] [ 1.38157280e-01 9.90398798e-01 -4.77362465e-03 1.62674085e+01] [ 5.60475598e-02 -3.00614160e-03 9.98423575e-01 1.21135098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.10, Y:16.27, Z:12.12 [[ 9.88671812e-01 -1.39285436e-01 -5.59250976e-02 2.17101623e+02] [ 1.39237625e-01 9.90247512e-01 -4.76962149e-03 1.62738272e+01] [ 5.60440276e-02 -3.07128743e-03 9.98423575e-01 1.21163824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.16, Y:16.28, Z:12.12 [[ 9.88631345e-01 -1.39572152e-01 -5.59256463e-02 2.17163859e+02] [ 1.39525161e-01 9.90207070e-01 -4.76317903e-03 1.62805729e+01] [ 5.60427775e-02 -3.09400671e-03 9.98423575e-01 1.21198606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.23, Y:16.29, Z:12.12 [[ 9.88847291e-01 -1.38033762e-01 -5.59259815e-02 2.17225910e+02] [ 1.37984542e-01 9.90422948e-01 -4.75924033e-03 1.62881062e+01] [ 5.60473113e-02 -3.01075904e-03 9.98423575e-01 1.21248046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.29, Y:16.29, Z:12.13 [[ 9.89099236e-01 -1.36216550e-01 -5.59263175e-02 2.17287456e+02] [ 1.36164658e-01 9.90674807e-01 -4.75528893e-03 1.62947130e+01] [ 5.60525428e-02 -2.91173522e-03 9.98423575e-01 1.21290425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.35, Y:16.30, Z:12.13 [[ 9.89318947e-01 -1.34611401e-01 -5.59266601e-02 2.17348218e+02] [ 1.34557180e-01 9.90894440e-01 -4.75125601e-03 1.63021006e+01] [ 5.60569898e-02 -2.82482606e-03 9.98423575e-01 1.21317801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.41, Y:16.31, Z:12.14 [[ 9.89204938e-01 -1.35446565e-01 -5.59269129e-02 2.17409728e+02] [ 1.35393842e-01 9.90780481e-01 -4.74827895e-03 1.63095834e+01] [ 5.60544317e-02 -2.87513859e-03 9.98423575e-01 1.21354251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.47, Y:16.32, Z:12.14 [[ 9.88923312e-01 -1.37487549e-01 -5.59272536e-02 2.17470414e+02] [ 1.37438303e-01 9.90498968e-01 -4.74426255e-03 1.63152385e+01] [ 5.60481640e-02 -2.99483496e-03 9.98423575e-01 1.21383903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.53, Y:16.32, Z:12.14 [[ 9.88425538e-01 -1.41021522e-01 -5.59275053e-02 2.17532155e+02] [ 1.40978076e-01 9.90001365e-01 -4.74129350e-03 1.63208927e+01] [ 5.60369310e-02 -3.19813649e-03 9.98423575e-01 1.21423695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.59, Y:16.33, Z:12.15 [[ 9.88230014e-01 -1.42385093e-01 -5.59278521e-02 2.17594865e+02] [ 1.42344052e-01 9.89805905e-01 -4.73719900e-03 1.63266980e+01] [ 5.60322248e-02 -3.27955483e-03 9.98423575e-01 1.21456714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.66, Y:16.33, Z:12.15 [[ 9.88220090e-01 -1.42453752e-01 -5.59283735e-02 2.17656268e+02] [ 1.42413168e-01 9.89795993e-01 -4.73103552e-03 1.63339680e+01] [ 5.60316337e-02 -3.28963248e-03 9.98423575e-01 1.21484493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.72, Y:16.34, Z:12.15 [[ 9.88342945e-01 -1.41598737e-01 -5.59287140e-02 2.17718880e+02] [ 1.41557017e-01 9.89918818e-01 -4.72700673e-03 1.63395263e+01] [ 5.60342246e-02 -3.24519817e-03 9.98423575e-01 1.21518796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.78, Y:16.35, Z:12.16 [[ 9.88755570e-01 -1.38687935e-01 -5.59292383e-02 2.17781240e+02] [ 1.38641925e-01 9.90331324e-01 -4.72079433e-03 1.63463685e+01] [ 5.60431939e-02 -3.08642559e-03 9.98423575e-01 1.21557711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.84, Y:16.35, Z:12.16 [[ 9.89175088e-01 -1.35663209e-01 -5.59297688e-02 2.17843341e+02] [ 1.35612735e-01 9.90750705e-01 -4.71450190e-03 1.63541024e+01] [ 5.60520423e-02 -2.92132106e-03 9.98423575e-01 1.21596088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.90, Y:16.36, Z:12.16 [[ 9.90201263e-01 -1.27958046e-01 -5.59302928e-02 2.17904820e+02] [ 1.27895658e-01 9.91776453e-01 -4.70827717e-03 1.63640360e+01] [ 5.60728093e-02 -2.49109957e-03 9.98423575e-01 1.21623339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.97, Y:16.37, Z:12.17 [[ 9.91071716e-01 -1.21031234e-01 -5.59311474e-02 2.17966702e+02] [ 1.20958407e-01 9.92646459e-01 -4.69810319e-03 1.63721768e+01] [ 5.60884726e-02 -2.10918528e-03 9.98423575e-01 1.21665123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.03, Y:16.38, Z:12.17 [[ 9.92442840e-01 -1.09219403e-01 -5.59314844e-02 2.18028037e+02] [ 1.09128052e-01 9.94016616e-01 -4.69408692e-03 1.63824462e+01] [ 5.61095103e-02 -1.44508098e-03 9.98423575e-01 1.21709827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.09, Y:16.39, Z:12.17 [[ 9.93675860e-01 -9.73648670e-02 -5.59318205e-02 2.18089499e+02] [ 9.72549622e-02 9.95248449e-01 -4.69007949e-03 1.63927015e+01] [ 5.61227065e-02 -7.79228322e-04 9.98423575e-01 1.21748424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.15, Y:16.40, Z:12.18 [[ 9.93944652e-01 -9.45813004e-02 -5.59321642e-02 2.18149898e+02] [ 9.44672222e-02 9.95516944e-01 -4.68597673e-03 1.64002924e+01] [ 5.61246229e-02 -6.26154675e-04 9.98423575e-01 1.21800944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.21, Y:16.41, Z:12.18 [[ 9.94503208e-01 -8.85152202e-02 -5.59323342e-02 2.18210028e+02] [ 8.83916654e-02 9.96074783e-01 -4.68394653e-03 1.64066460e+01] [ 5.61273882e-02 -2.85752326e-04 9.98423575e-01 1.21796003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.27, Y:16.41, Z:12.18 [[ 9.95016024e-01 -8.25511123e-02 -5.59323342e-02 2.18269708e+02] [ 8.24181373e-02 9.96586831e-01 -4.68394653e-03 1.64134440e+01] [ 5.61280927e-02 5.07630470e-05 9.98423575e-01 1.21809197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.33, Y:16.42, Z:12.18 [[ 9.95164324e-01 -8.07436837e-02 -5.59323342e-02 2.18327464e+02] [ 8.06078559e-02 9.96734887e-01 -4.68394653e-03 1.64188643e+01] [ 5.61279079e-02 1.52710943e-04 9.98423575e-01 1.21823104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.39, Y:16.42, Z:12.19 [[ 9.95090991e-01 -8.16427633e-02 -5.59319205e-02 2.18386029e+02] [ 8.15080771e-02 9.96661652e-01 -4.68888093e-03 1.64228587e+01] [ 5.61280135e-02 1.06959877e-04 9.98423575e-01 1.21864080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.45, Y:16.43, Z:12.19 [[ 9.94951353e-01 -8.33280083e-02 -5.59307390e-02 2.18445177e+02] [ 8.31951926e-02 9.96522174e-01 -4.70293261e-03 1.64269454e+01] [ 5.61281076e-02 2.60205629e-05 9.98423575e-01 1.21908447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.50, Y:16.43, Z:12.19 [[ 9.94548034e-01 -8.80112514e-02 -5.59305694e-02 2.18504808e+02] [ 8.78857191e-02 9.96119453e-01 -4.70494952e-03 1.64291419e+01] [ 5.61276166e-02 -2.36200011e-04 9.98423575e-01 1.21949712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.57, Y:16.43, Z:12.20 [[ 9.93668270e-01 -9.74431093e-02 -5.59304016e-02 2.18565813e+02] [ 9.73323794e-02 9.95240801e-01 -4.70694344e-03 1.64331580e+01] [ 5.61228769e-02 -7.66698720e-04 9.98423575e-01 1.22001372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.63, Y:16.43, Z:12.20 [[ 9.93144924e-01 -1.02639810e-01 -5.59305795e-02 2.18626770e+02] [ 1.02537426e-01 9.94718021e-01 -4.70482744e-03 1.64325513e+01] [ 5.61180580e-02 -1.06240219e-03 9.98423575e-01 1.22028811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.69, Y:16.43, Z:12.21 [[ 9.92128401e-01 -1.12040153e-01 -5.59306674e-02 2.18689092e+02] [ 1.11952730e-01 9.93702400e-01 -4.70378271e-03 1.64330144e+01] [ 5.61054510e-02 -1.59483450e-03 9.98423575e-01 1.22075810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.75, Y:16.44, Z:12.21 [[ 9.91245520e-01 -1.19599507e-01 -5.59310107e-02 2.18750044e+02] [ 1.19524315e-01 9.92820150e-01 -4.69969764e-03 1.64382866e+01] [ 5.60915159e-02 -2.02656151e-03 9.98423575e-01 1.22091165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.81, Y:16.44, Z:12.21 [[ 9.91093929e-01 -1.20849136e-01 -5.59312926e-02 2.18812022e+02] [ 1.20776119e-01 9.92668663e-01 -4.69634047e-03 1.64418626e+01] [ 5.60887901e-02 -2.10064989e-03 9.98423575e-01 1.22130078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.87, Y:16.44, Z:12.22 [[ 9.91423013e-01 -1.18118823e-01 -5.59316766e-02 2.18872966e+02] [ 1.18041726e-01 9.92997552e-01 -4.69176185e-03 1.64417371e+01] [ 5.60942034e-02 -1.95075097e-03 9.98423575e-01 1.22181499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.93, Y:16.45, Z:12.22 [[ 9.92044570e-01 -1.12779375e-01 -5.59319626e-02 2.18933833e+02] [ 1.12693995e-01 9.93618681e-01 -4.68835053e-03 1.64465929e+01] [ 5.61037921e-02 -1.65214362e-03 9.98423575e-01 1.22216471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.00, Y:16.45, Z:12.23 [[ 9.92802349e-01 -1.05901295e-01 -5.59322110e-02 2.18995517e+02] [ 1.05805174e-01 9.94375841e-01 -4.68538523e-03 1.64521531e+01] [ 5.61138277e-02 -1.26625585e-03 9.98423575e-01 1.22251452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.06, Y:16.46, Z:12.23 [[ 9.93224358e-01 -1.01867193e-01 -5.59325456e-02 2.19056401e+02] [ 1.01764906e-01 9.94797461e-01 -4.68138699e-03 1.64562499e+01] [ 5.61184341e-02 -1.04230266e-03 9.98423575e-01 1.22255058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.12, Y:16.46, Z:12.23 [[ 9.93346736e-01 -1.00666751e-01 -5.59327096e-02 2.19116686e+02] [ 1.00562673e-01 9.94919721e-01 -4.67942731e-03 1.64605306e+01] [ 5.61196186e-02 -9.76448946e-04 9.98423575e-01 1.22273895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.18, Y:16.47, Z:12.23 [[ 9.93536047e-01 -9.87808463e-02 -5.59327096e-02 2.19176664e+02] [ 9.86737822e-02 9.95108832e-01 -4.67942731e-03 1.64659181e+01] [ 5.61213711e-02 -8.69912292e-04 9.98423575e-01 1.22310989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.24, Y:16.47, Z:12.24 [[ 9.94084419e-01 -9.31004882e-02 -5.59327096e-02 2.19236500e+02] [ 9.29844364e-02 9.95656566e-01 -4.67942731e-03 1.64723630e+01] [ 5.61254265e-02 -5.49125698e-04 9.98423575e-01 1.22377320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.30, Y:16.48, Z:12.24 [[ 9.94516470e-01 -8.83658486e-02 -5.59327096e-02 2.19295943e+02] [ 8.82423119e-02 9.96088047e-01 -4.67942731e-03 1.64782936e+01] [ 5.61274050e-02 -2.81864075e-04 9.98423575e-01 1.22445685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.36, Y:16.48, Z:12.25 [[ 9.94702266e-01 -8.62493152e-02 -5.59326249e-02 2.19355367e+02] [ 8.61223775e-02 9.96273572e-01 -4.68043953e-03 1.64833702e+01] [ 5.61278806e-02 -1.61406826e-04 9.98423575e-01 1.22494073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.41, Y:16.49, Z:12.25 [[ 9.94853346e-01 -8.44889409e-02 -5.59324564e-02 2.19413995e+02] [ 8.43591097e-02 9.96424415e-01 -4.68245183e-03 1.64880551e+01] [ 5.61280806e-02 -6.00593563e-05 9.98423575e-01 1.22542749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.47, Y:16.49, Z:12.26 [[ 9.94986694e-01 -8.29046088e-02 -5.59312517e-02 2.19472451e+02] [ 8.27714694e-02 9.96557487e-01 -4.69679821e-03 1.64913424e+01] [ 5.61280938e-02 4.37398351e-05 9.98423575e-01 1.22584386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.53, Y:16.49, Z:12.26 [[ 9.95040286e-01 -8.22597066e-02 -5.59300508e-02 2.19529712e+02] [ 8.21247479e-02 9.96610923e-01 -4.71105469e-03 1.64936901e+01] [ 5.61280296e-02 9.44478763e-05 9.98423575e-01 1.22613778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.59, Y:16.49, Z:12.26 [[ 9.95097065e-01 -8.15704147e-02 -5.59294141e-02 2.19587416e+02] [ 8.14339438e-02 9.96667571e-01 -4.71860152e-03 1.64935281e+01] [ 5.61279316e-02 1.40913752e-04 9.98423575e-01 1.22643125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.65, Y:16.49, Z:12.27 [[ 9.95176807e-01 -8.05926630e-02 -5.59280438e-02 2.19645297e+02] [ 8.04537395e-02 9.96747098e-01 -4.73478793e-03 1.64925638e+01] [ 5.61277046e-02 2.12330858e-04 9.98423575e-01 1.22666527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.70, Y:16.49, Z:12.27 [[ 9.95192629e-01 -8.03980238e-02 -5.59266381e-02 2.19702997e+02] [ 8.02578633e-02 9.96762810e-01 -4.75133504e-03 1.64927361e+01] [ 5.61275909e-02 2.39941138e-04 9.98423575e-01 1.22687042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.76, Y:16.49, Z:12.27 [[ 9.95102515e-01 -8.15067581e-02 -5.59252400e-02 2.19760971e+02] [ 8.13674254e-02 9.96672770e-01 -4.76773447e-03 1.64927757e+01] [ 5.61277664e-02 1.93891768e-04 9.98423576e-01 1.22713274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.82, Y:16.49, Z:12.27 [[ 9.94502767e-01 -8.85255273e-02 -5.59238546e-02 2.19818641e+02] [ 8.83963660e-02 9.96073891e-01 -4.78392972e-03 1.64902663e+01] [ 5.61277913e-02 -1.85834176e-04 9.98423576e-01 1.22739776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.88, Y:16.49, Z:12.28 [[ 9.93739076e-01 -9.67224755e-02 -5.59232583e-02 2.19876642e+02] [ 9.66058814e-02 9.95311183e-01 -4.79088971e-03 1.64898933e+01] [ 5.61244311e-02 -6.41621350e-04 9.98423576e-01 1.22761194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.93, Y:16.49, Z:12.28 [[ 9.92244131e-01 -1.11014991e-01 -5.59218704e-02 2.19934734e+02] [ 1.10920126e-01 9.93817699e-01 -4.80703572e-03 1.64854290e+01] [ 5.61097976e-02 -1.43310794e-03 9.98423576e-01 1.22777232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.99, Y:16.48, Z:12.28 [[ 9.91211123e-01 -1.19889160e-01 -5.59204701e-02 2.19993200e+02] [ 1.19807465e-01 9.92785429e-01 -4.82327071e-03 1.64849132e+01] [ 5.60952858e-02 -1.91881019e-03 9.98423576e-01 1.22799400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.05, Y:16.49, Z:12.28 [[ 9.90369181e-01 -1.26656290e-01 -5.59202115e-02 2.20053398e+02] [ 1.26585180e-01 9.91944000e-01 -4.82626693e-03 1.64861970e+01] [ 5.60809954e-02 -2.29888402e-03 9.98423576e-01 1.22826326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.11, Y:16.49, Z:12.29 [[ 9.89266253e-01 -1.35000847e-01 -5.59200422e-02 2.20113597e+02] [ 1.34942905e-01 9.90841612e-01 -4.82822867e-03 1.64921837e+01] [ 5.60597197e-02 -2.76960927e-03 9.98423576e-01 1.22920126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.17, Y:16.49, Z:12.29 [[ 9.89191992e-01 -1.35543836e-01 -5.59202264e-02 2.20174140e+02] [ 1.35486879e-01 9.90767387e-01 -4.82609363e-03 1.64913442e+01] [ 5.60580838e-02 -2.80252378e-03 9.98423576e-01 1.22906723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.24, Y:16.50, Z:12.30 [[ 9.89168900e-01 -1.35712216e-01 -5.59203170e-02 2.20235049e+02] [ 1.35655586e-01 9.90744307e-01 -4.82504368e-03 1.64957916e+01] [ 5.60575531e-02 -2.81312024e-03 9.98423576e-01 1.22964689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.29, Y:16.50, Z:12.30 [[ 9.89514418e-01 -1.33169496e-01 -5.59204957e-02 2.20294621e+02] [ 1.33108934e-01 9.91089678e-01 -4.82297198e-03 1.65002375e+01] [ 5.60644988e-02 -2.67111728e-03 9.98423576e-01 1.23009867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.36, Y:16.51, Z:12.30 [[ 9.90335651e-01 -1.26918035e-01 -5.59205835e-02 2.20355970e+02] [ 1.26847585e-01 9.91910500e-01 -4.82195356e-03 1.65066580e+01] [ 5.60802068e-02 -2.31803843e-03 9.98423576e-01 1.23026243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.42, Y:16.51, Z:12.30 [[ 9.91040783e-01 -1.21289056e-01 -5.59207601e-02 2.20416128e+02] [ 1.21209773e-01 9.92615212e-01 -4.81990480e-03 1.65135479e+01] [ 5.60923988e-02 -2.00142044e-03 9.98423576e-01 1.23046053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.48, Y:16.52, Z:12.31 [[ 9.92195879e-01 -1.11445976e-01 -5.59207601e-02 2.20475521e+02] [ 1.11351070e-01 9.93769444e-01 -4.81990480e-03 1.65223702e+01] [ 5.61095017e-02 -1.44454678e-03 9.98423576e-01 1.23059971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.53, Y:16.53, Z:12.31 [[ 9.92905775e-01 -1.04933361e-01 -5.59205861e-02 2.20534126e+02] [ 1.04828019e-01 9.94478675e-01 -4.82192306e-03 1.65299066e+01] [ 5.61178109e-02 -1.07432898e-03 9.98423576e-01 1.23090324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.59, Y:16.54, Z:12.31 [[ 9.93821856e-01 -9.58704523e-02 -5.59193647e-02 2.20591769e+02] [ 9.57499697e-02 9.95393669e-01 -4.83604601e-03 1.65394297e+01] [ 5.61254155e-02 -5.48109254e-04 9.98423576e-01 1.23137117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.65, Y:16.55, Z:12.32 [[ 9.94225040e-01 -9.15954768e-02 -5.59181425e-02 2.20649827e+02] [ 9.14674431e-02 9.95796256e-01 -4.85013630e-03 1.65465228e+01] [ 5.61273275e-02 -2.92562565e-04 9.98423576e-01 1.23187518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.71, Y:16.55, Z:12.32 [[ 9.94444174e-01 -8.91856597e-02 -5.59169213e-02 2.20706685e+02] [ 8.90530291e-02 9.96015009e-01 -4.86417496e-03 1.65536981e+01] [ 5.61279076e-02 -1.42420772e-04 9.98423576e-01 1.23241766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.76, Y:16.56, Z:12.33 [[ 9.94198650e-01 -9.18824823e-02 -5.59164928e-02 2.20763686e+02] [ 9.17538358e-02 9.95769816e-01 -4.86909680e-03 1.65594430e+01] [ 5.61273404e-02 -2.89703234e-04 9.98423576e-01 1.23295228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.82, Y:16.56, Z:12.33 [[ 9.93204515e-01 -1.02070046e-01 -5.59150847e-02 2.20821382e+02] [ 1.01956607e-01 9.94776852e-01 -4.88521274e-03 1.65634294e+01] [ 5.61216659e-02 -8.48896956e-04 9.98423576e-01 1.23337239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.88, Y:16.57, Z:12.34 [[ 9.91431617e-01 -1.18055114e-01 -5.59136685e-02 2.20879861e+02] [ 1.17966105e-01 9.93005526e-01 -4.90136861e-03 1.65655595e+01] [ 5.61012135e-02 -1.73654590e-03 9.98423577e-01 1.23367053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.94, Y:16.57, Z:12.34 [[ 9.90100809e-01 -1.28740778e-01 -5.59124299e-02 2.20940465e+02] [ 1.28667955e-01 9.91675550e-01 -4.91545746e-03 1.65690851e+01] [ 5.60798095e-02 -2.32733961e-03 9.98423577e-01 1.23398998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.00, Y:16.57, Z:12.34 [[ 9.88942553e-01 -1.37355111e-01 -5.59124299e-02 2.21001822e+02] [ 1.37296000e-01 9.90517868e-01 -4.91545746e-03 1.65733368e+01] [ 5.60574241e-02 -2.81544792e-03 9.98423577e-01 1.23424952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.06, Y:16.58, Z:12.35 [[ 9.87810175e-01 -1.45275047e-01 -5.59126065e-02 2.21064100e+02] [ 1.45228674e-01 9.89385916e-01 -4.91344830e-03 1.65794180e+01] [ 5.60329468e-02 -3.26655946e-03 9.98423577e-01 1.23459109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.13, Y:16.59, Z:12.35 [[ 9.87583225e-01 -1.46809785e-01 -5.59129673e-02 2.21125914e+02] [ 1.46766092e-01 9.89159043e-01 -4.90933944e-03 1.65861808e+01] [ 5.60275563e-02 -3.35774644e-03 9.98423577e-01 1.23495534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.19, Y:16.59, Z:12.35 [[ 9.87614597e-01 -1.46598459e-01 -5.59133240e-02 2.21187336e+02] [ 1.46554659e-01 9.89190412e-01 -4.90527265e-03 1.65939002e+01] [ 5.60280294e-02 -3.34983925e-03 9.98423577e-01 1.23529327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.25, Y:16.60, Z:12.36 [[ 9.87689581e-01 -1.46092273e-01 -5.59136780e-02 2.21249356e+02] [ 1.46047893e-01 9.89265379e-01 -4.90123511e-03 1.66012614e+01] [ 5.60294984e-02 -3.32517599e-03 9.98423577e-01 1.23561135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.31, Y:16.61, Z:12.36 [[ 9.87851553e-01 -1.44992866e-01 -5.59140280e-02 2.21311143e+02] [ 1.44946957e-01 9.89427307e-01 -4.89723820e-03 1.66100709e+01] [ 5.60329308e-02 -3.26682387e-03 9.98423577e-01 1.23596420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.37, Y:16.62, Z:12.36 [[ 9.88032190e-01 -1.43756652e-01 -5.59143747e-02 2.21372988e+02] [ 1.43708995e-01 9.89607892e-01 -4.89327697e-03 1.66173888e+01] [ 5.60367476e-02 -3.20068340e-03 9.98423577e-01 1.23619330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.43, Y:16.63, Z:12.37 [[ 9.88316112e-01 -1.41791419e-01 -5.59147183e-02 2.21434156e+02] [ 1.41740850e-01 9.89891724e-01 -4.88934799e-03 1.66257151e+01] [ 5.60427845e-02 -3.09317827e-03 9.98423577e-01 1.23654120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.49, Y:16.63, Z:12.37 [[ 9.88643497e-01 -1.39490284e-01 -5.59150785e-02 2.21494875e+02] [ 1.39436280e-01 9.90218995e-01 -4.88522519e-03 1.66337169e+01] [ 5.60496143e-02 -2.96684441e-03 9.98423577e-01 1.23670362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.56, Y:16.64, Z:12.37 [[ 9.89536236e-01 -1.33009446e-01 -5.59153441e-02 2.21556445e+02] [ 1.32945291e-01 9.91111353e-01 -4.88218287e-03 1.66444333e+01] [ 5.60677088e-02 -2.60258485e-03 9.98423577e-01 1.23710641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:16.65, Z:12.37 [[ 9.90465867e-01 -1.25899966e-01 -5.59156960e-02 2.21618323e+02] [ 1.25824729e-01 9.92040494e-01 -4.87814903e-03 1.66535708e+01] [ 5.60847935e-02 -2.20393720e-03 9.98423577e-01 1.23748266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.68, Y:16.67, Z:12.38 [[ 9.92109241e-01 -1.12216981e-01 -5.59160441e-02 2.21679959e+02] [ 1.12120243e-01 9.93682693e-01 -4.87415532e-03 1.66657521e+01] [ 5.61097683e-02 -1.43362590e-03 9.98423577e-01 1.23798008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.74, Y:16.68, Z:12.38 [[ 9.93183995e-01 -1.02268808e-01 -5.59163939e-02 2.21740949e+02] [ 1.02156531e-01 9.94756415e-01 -4.87013970e-03 1.66759089e+01] [ 5.61212549e-02 -8.75280048e-04 9.98423577e-01 1.23838107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.80, Y:16.69, Z:12.39 [[ 9.94396113e-01 -8.97201624e-02 -5.59165662e-02 2.21800297e+02] [ 8.95881520e-02 9.95966999e-01 -4.86816044e-03 1.66868311e+01] [ 5.61278268e-02 -1.68582014e-04 9.98423577e-01 1.23872113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.86, Y:16.69, Z:12.39 [[ 9.95155622e-01 -8.08617731e-02 -5.59165662e-02 2.21858876e+02] [ 8.07157796e-02 9.96725270e-01 -4.86816044e-03 1.66949609e+01] [ 5.61271026e-02 3.31227993e-04 9.98423577e-01 1.23901789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.92, Y:16.70, Z:12.39 [[ 9.95484769e-01 -7.67035942e-02 -5.59163080e-02 2.21916713e+02] [ 7.65508780e-02 9.97053778e-01 -4.87112414e-03 1.67017644e+01] [ 5.61251989e-02 5.68687420e-04 9.98423577e-01 1.23931097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.97, Y:16.71, Z:12.40 [[ 9.95600984e-01 -7.51811060e-02 -5.59149482e-02 2.21973799e+02] [ 7.50251167e-02 9.97169671e-01 -4.88668416e-03 1.67076600e+01] [ 5.61240768e-02 6.70162045e-04 9.98423577e-01 1.23971036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.03, Y:16.71, Z:12.40 [[ 9.95760681e-01 -7.30365884e-02 -5.59135354e-02 2.22031009e+02] [ 7.28763163e-02 9.97328935e-01 -4.90279560e-03 1.67149041e+01] [ 5.61222702e-02 8.07238593e-04 9.98423577e-01 1.24001489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.09, Y:16.72, Z:12.40 [[ 9.95550524e-01 -7.58484503e-02 -5.59121399e-02 2.22089065e+02] [ 7.56917169e-02 9.97119136e-01 -4.91865894e-03 1.67197331e+01] [ 5.61241373e-02 6.64687619e-04 9.98423577e-01 1.24027976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.15, Y:16.73, Z:12.41 [[ 9.95116479e-01 -8.13460678e-02 -5.59107449e-02 2.22147241e+02] [ 8.11971127e-02 9.96685848e-01 -4.93446559e-03 1.67263835e+01] [ 5.61268476e-02 3.70576961e-04 9.98423577e-01 1.24104796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.20, Y:16.73, Z:12.41 [[ 9.94860996e-01 -8.44140466e-02 -5.59094657e-02 2.22204812e+02] [ 8.42691192e-02 9.96430742e-01 -4.94891752e-03 1.67287220e+01] [ 5.61276685e-02 2.12043590e-04 9.98423577e-01 1.24115698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.26, Y:16.73, Z:12.42 [[ 9.94215505e-01 -9.17044789e-02 -5.59090159e-02 2.22263738e+02] [ 9.15707768e-02 9.95786248e-01 -4.95399337e-03 1.67320625e+01] [ 5.61277325e-02 -1.94294993e-04 9.98423577e-01 1.24161022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.32, Y:16.73, Z:12.42 [[ 9.93500635e-01 -9.91504302e-02 -5.59077768e-02 2.22323074e+02] [ 9.90277149e-02 9.95072274e-01 -4.96793752e-03 1.67336498e+01] [ 5.61248518e-02 -6.00770303e-04 9.98423577e-01 1.24182223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.38, Y:16.74, Z:12.42 [[ 9.93042862e-01 -1.03635005e-01 -5.59075974e-02 2.22383735e+02] [ 1.03519273e-01 9.94615031e-01 -4.96995638e-03 1.67368739e+01] [ 5.61215981e-02 -8.52134141e-04 9.98423577e-01 1.24206530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.44, Y:16.74, Z:12.42 [[ 9.92632900e-01 -1.07490778e-01 -5.59075974e-02 2.22444943e+02] [ 1.07381153e-01 9.94205506e-01 -4.96995638e-03 1.67395091e+01] [ 5.61178656e-02 -1.07008004e-03 9.98423577e-01 1.24226243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.51, Y:16.74, Z:12.42 [[ 9.92473406e-01 -1.08953473e-01 -5.59077739e-02 2.22505712e+02] [ 1.08846278e-01 9.94046180e-01 -4.96796938e-03 1.67435412e+01] [ 5.61161866e-02 -1.15477559e-03 9.98423577e-01 1.24249159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.57, Y:16.75, Z:12.43 [[ 9.92284726e-01 -1.10658586e-01 -5.59079503e-02 2.22566919e+02] [ 1.10554205e-01 9.93857689e-01 -4.96598424e-03 1.67474707e+01] [ 5.61140751e-02 -1.25318868e-03 9.98423577e-01 1.24268036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.63, Y:16.75, Z:12.43 [[ 9.92191244e-01 -1.11493575e-01 -5.59081285e-02 2.22628270e+02] [ 1.11390630e-01 9.93764301e-01 -4.96397734e-03 1.67529537e+01] [ 5.61129538e-02 -1.30242682e-03 9.98423577e-01 1.24292718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.69, Y:16.76, Z:12.43 [[ 9.92109867e-01 -1.12215297e-01 -5.59083043e-02 2.22689540e+02] [ 1.12113608e-01 9.93683007e-01 -4.96199570e-03 1.67589234e+01] [ 5.61119438e-02 -1.34523683e-03 9.98423578e-01 1.24319367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.75, Y:16.76, Z:12.44 [[ 9.91855325e-01 -1.14443243e-01 -5.59084792e-02 2.22750458e+02] [ 1.14345199e-01 9.93428696e-01 -4.96002451e-03 1.67649061e+01] [ 5.61087289e-02 -1.47323944e-03 9.98423578e-01 1.24359326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.81, Y:16.77, Z:12.44 [[ 9.91612151e-01 -1.16531387e-01 -5.59086594e-02 2.22810992e+02] [ 1.16436770e-01 9.93185731e-01 -4.95799256e-03 1.67703662e+01] [ 5.61054445e-02 -1.59341808e-03 9.98423578e-01 1.24395656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.87, Y:16.78, Z:12.44 [[ 9.91102257e-01 -1.20791179e-01 -5.59089268e-02 2.22872664e+02] [ 1.20703494e-01 9.92676239e-01 -4.95497596e-03 1.67762167e+01] [ 5.60979805e-02 -1.83751497e-03 9.98423578e-01 1.24433673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.93, Y:16.78, Z:12.45 [[ 9.90716804e-01 -1.23912731e-01 -5.59092882e-02 2.22933147e+02] [ 1.23830235e-01 9.92291067e-01 -4.95089377e-03 1.67811948e+01] [ 5.60917661e-02 -2.01832666e-03 9.98423578e-01 1.24461345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.99, Y:16.79, Z:12.45 [[ 9.90187608e-01 -1.28072583e-01 -5.59098844e-02 2.22994548e+02] [ 1.27997080e-01 9.91762221e-01 -4.94415203e-03 1.67861389e+01] [ 5.60825215e-02 -2.26066388e-03 9.98423578e-01 1.24466436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.06, Y:16.79, Z:12.45 [[ 9.89419088e-01 -1.33880289e-01 -5.59100721e-02 2.23055219e+02] [ 1.33814146e-01 9.90994122e-01 -4.94202856e-03 1.67926406e+01] [ 5.60681931e-02 -2.59182118e-03 9.98423578e-01 1.24537772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.12, Y:16.80, Z:12.46 [[ 9.89204338e-01 -1.35457812e-01 -5.59102679e-02 2.23117307e+02] [ 1.35394305e-01 9.90779481e-01 -4.93981300e-03 1.67993915e+01] [ 5.60638825e-02 -2.68344743e-03 9.98423578e-01 1.24580070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.18, Y:16.81, Z:12.46 [[ 9.89352200e-01 -1.34373461e-01 -5.59106180e-02 2.23179644e+02] [ 1.34308451e-01 9.90927282e-01 -4.93584669e-03 1.68071119e+01] [ 5.60666035e-02 -2.62597774e-03 9.98423578e-01 1.24604162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.24, Y:16.82, Z:12.47 [[ 9.89473236e-01 -1.33479047e-01 -5.59111758e-02 2.23240535e+02] [ 1.33412970e-01 9.91048273e-01 -4.92952016e-03 1.68152864e+01] [ 5.60686619e-02 -2.58164779e-03 9.98423578e-01 1.24658225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.30, Y:16.82, Z:12.47 [[ 9.89717599e-01 -1.31654712e-01 -5.59116335e-02 2.23302021e+02] [ 1.31586026e-01 9.91292524e-01 -4.92432343e-03 1.68223424e+01] [ 5.60730947e-02 -2.48350007e-03 9.98423578e-01 1.24690702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.36, Y:16.83, Z:12.47 [[ 9.90065918e-01 -1.29009025e-01 -5.59119883e-02 2.23363309e+02] [ 1.28936356e-01 9.91640664e-01 -4.92029200e-03 1.68302992e+01] [ 5.60793633e-02 -2.33767462e-03 9.98423578e-01 1.24726368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.42, Y:16.84, Z:12.48 [[ 9.90390881e-01 -1.26489966e-01 -5.59123501e-02 2.23424784e+02] [ 1.26413523e-01 9.91965449e-01 -4.91617742e-03 1.68379068e+01] [ 5.60849666e-02 -2.19913988e-03 9.98423578e-01 1.24759363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.49, Y:16.85, Z:12.48 [[ 9.90629988e-01 -1.24603358e-01 -5.59127057e-02 2.23486021e+02] [ 1.24524145e-01 9.92204419e-01 -4.91212925e-03 1.68511024e+01] [ 5.60889015e-02 -2.09637931e-03 9.98423578e-01 1.24841632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.55, Y:16.86, Z:12.49 [[ 9.91359527e-01 -1.18659139e-01 -5.59132967e-02 2.23547048e+02] [ 1.18570862e-01 9.92933476e-01 -4.90539308e-03 1.68576580e+01] [ 5.61002537e-02 -1.76667965e-03 9.98423578e-01 1.24889635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.61, Y:16.86, Z:12.49 [[ 9.92392349e-01 -1.09686187e-01 -5.59139146e-02 2.23607854e+02] [ 1.09584073e-01 9.93965461e-01 -4.89833914e-03 1.68638495e+01] [ 5.61137801e-02 -1.26620023e-03 9.98423578e-01 1.24871833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.67, Y:16.87, Z:12.49 [[ 9.92827550e-01 -1.05674308e-01 -5.59141817e-02 2.23668624e+02] [ 1.05566009e-01 9.94400248e-01 -4.89528879e-03 1.68705853e+01] [ 5.61183824e-02 -1.04245944e-03 9.98423578e-01 1.24901260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.73, Y:16.88, Z:12.50 [[ 9.93089418e-01 -1.03184223e-01 -5.59144419e-02 2.23729779e+02] [ 1.03072148e-01 9.94661851e-01 -4.89231518e-03 1.68790557e+01] [ 5.61207720e-02 -9.04715186e-04 9.98423578e-01 1.24975486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.79, Y:16.89, Z:12.50 [[ 9.93486920e-01 -9.92838014e-02 -5.59148079e-02 2.23789928e+02] [ 9.91657880e-02 9.95058919e-01 -4.88812811e-03 1.68880979e+01] [ 5.61238403e-02 -6.88544645e-04 9.98423578e-01 1.25026008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.85, Y:16.89, Z:12.50 [[ 9.93939010e-01 -9.46506633e-02 -5.59150778e-02 2.23850073e+02] [ 9.45254956e-02 9.95510456e-01 -4.88503914e-03 1.68908105e+01] [ 5.61264168e-02 -4.29969471e-04 9.98423578e-01 1.25002246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.91, Y:16.90, Z:12.50 [[ 9.94627546e-01 -8.71177433e-02 -5.59155116e-02 2.23909768e+02] [ 8.69809532e-02 9.96198022e-01 -4.88006861e-03 1.68982065e+01] [ 5.61280626e-02 -9.73384112e-06 9.98423578e-01 1.25037000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.97, Y:16.90, Z:12.51 [[ 9.95054787e-01 -8.20939560e-02 -5.59155972e-02 2.23969353e+02] [ 8.19492922e-02 9.96624557e-01 -4.87908709e-03 1.69036427e+01] [ 5.61274009e-02 2.72715347e-04 9.98423578e-01 1.25077107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.03, Y:16.91, Z:12.51 [[ 9.95468332e-01 -7.69171955e-02 -5.59155136e-02 2.24028184e+02] [ 7.67643149e-02 9.97037324e-01 -4.88004519e-03 1.69085888e+01] [ 5.61252135e-02 5.65614347e-04 9.98423578e-01 1.25121300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.09, Y:16.91, Z:12.52 [[ 9.95450131e-01 -7.71532462e-02 -5.59143392e-02 2.24085826e+02] [ 7.69999839e-02 9.97019085e-01 -4.89346513e-03 1.69126671e+01] [ 5.61252100e-02 5.65797288e-04 9.98423578e-01 1.25161720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.14, Y:16.92, Z:12.52 [[ 9.95252572e-01 -7.96621267e-02 -5.59130028e-02 2.24143045e+02] [ 7.95119645e-02 9.96821826e-01 -4.90868669e-03 1.69157857e+01] [ 5.61263380e-02 4.39630355e-04 9.98423578e-01 1.25193559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.20, Y:16.92, Z:12.52 [[ 9.94486038e-01 -8.87204596e-02 -5.59124275e-02 2.24202275e+02] [ 8.85842235e-02 9.96056563e-01 -4.91523154e-03 1.69162125e+01] [ 5.61280219e-02 -6.48298306e-05 9.98423578e-01 1.25237557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.26, Y:16.92, Z:12.53 [[ 9.93731769e-01 -9.68045044e-02 -5.59111785e-02 2.24263160e+02] [ 9.66802470e-02 9.95303286e-01 -4.92939787e-03 1.69173349e+01] [ 5.61257676e-02 -5.07007287e-04 9.98423578e-01 1.25264821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.32, Y:16.92, Z:12.53 [[ 9.92464660e-01 -1.09031368e-01 -5.59111785e-02 2.24323566e+02] [ 1.08926467e-01 9.94037588e-01 -4.92939787e-03 1.69156784e+01] [ 5.61152720e-02 -1.19795399e-03 9.98423578e-01 1.25283852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.39, Y:16.92, Z:12.53 [[ 9.91738059e-01 -1.15453678e-01 -5.59112668e-02 2.24385270e+02] [ 1.15359019e-01 9.93311637e-01 -4.92839674e-03 1.69181540e+01] [ 5.61063134e-02 -1.56219026e-03 9.98423578e-01 1.25318682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.45, Y:16.92, Z:12.53 [[ 9.91339412e-01 -1.18827861e-01 -5.59116185e-02 2.24445464e+02] [ 1.18738782e-01 9.92913315e-01 -4.92440377e-03 1.69196418e+01] [ 5.61005468e-02 -1.75712191e-03 9.98423578e-01 1.25315190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.51, Y:16.92, Z:12.54 [[ 9.90392007e-01 -1.26481394e-01 -5.59118031e-02 2.24506551e+02] [ 1.26404592e-01 9.91966557e-01 -4.92230664e-03 1.69236537e+01] [ 5.60852190e-02 -2.19249550e-03 9.98423578e-01 1.25403140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.57, Y:16.93, Z:12.55 [[ 9.90044511e-01 -1.29173197e-01 -5.59119967e-02 2.24568860e+02] [ 1.29100800e-01 9.91619270e-01 -4.92010661e-03 1.69281923e+01] [ 5.60789592e-02 -2.34715894e-03 9.98423578e-01 1.25457009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.63, Y:16.93, Z:12.55 [[ 9.89634304e-01 -1.32279074e-01 -5.59123553e-02 2.24629829e+02] [ 1.32211849e-01 9.91209292e-01 -4.91602813e-03 1.69333616e+01] [ 5.60711337e-02 -2.52720578e-03 9.98423578e-01 1.25510421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.69, Y:16.94, Z:12.55 [[ 9.89447714e-01 -1.33667368e-01 -5.59129298e-02 2.24691368e+02] [ 1.33602721e-01 9.91022810e-01 -4.90948455e-03 1.69384795e+01] [ 5.60672267e-02 -2.61244128e-03 9.98423578e-01 1.25545167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.75, Y:16.94, Z:12.56 [[ 9.89252946e-01 -1.35101126e-01 -5.59132807e-02 2.24753767e+02] [ 1.35038987e-01 9.90828143e-01 -4.90548559e-03 1.69428727e+01] [ 5.60631887e-02 -2.69770673e-03 9.98423578e-01 1.25556631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.82, Y:16.95, Z:12.56 [[ 9.89178826e-01 -1.35642601e-01 -5.59136352e-02 2.24816049e+02] [ 1.35581553e-01 9.90754066e-01 -4.90144121e-03 1.69478048e+01] [ 5.60615056e-02 -2.73245563e-03 9.98423578e-01 1.25575946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.88, Y:16.95, Z:12.56 [[ 9.89374851e-01 -1.34205182e-01 -5.59139869e-02 2.24876624e+02] [ 1.34142072e-01 9.90950009e-01 -4.89742577e-03 1.69533861e+01] [ 5.60652257e-02 -2.65502814e-03 9.98423578e-01 1.25599840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.94, Y:16.96, Z:12.56 [[ 9.90248605e-01 -1.27598188e-01 -5.59142465e-02 2.24938326e+02] [ 1.27524732e-01 9.91823314e-01 -4.89446020e-03 1.69613312e+01] [ 5.60815776e-02 -2.28371692e-03 9.98423578e-01 1.25636167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.00, Y:16.97, Z:12.57 [[ 9.91249857e-01 -1.19571228e-01 -5.59145963e-02 2.25000161e+02] [ 1.19485241e-01 9.92823932e-01 -4.89046114e-03 1.69692320e+01] [ 5.60981078e-02 -1.83330014e-03 9.98423578e-01 1.25680962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.06, Y:16.98, Z:12.58 [[ 9.92886819e-01 -1.05115568e-01 -5.59149465e-02 2.25061371e+02] [ 1.05006882e-01 9.94459490e-01 -4.88645323e-03 1.69796510e+01] [ 5.61187915e-02 -1.01975917e-03 9.98423578e-01 1.25751185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.12, Y:16.99, Z:12.58 [[ 9.93926317e-01 -9.47837301e-02 -5.59153017e-02 2.25122236e+02] [ 9.46589221e-02 9.95497790e-01 -4.88238630e-03 1.69874215e+01] [ 5.61263300e-02 -4.40149952e-04 9.98423578e-01 1.25800742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.18, Y:16.99, Z:12.58 [[ 9.94935405e-01 -8.35284368e-02 -5.59154777e-02 2.25181248e+02] [ 8.33859643e-02 9.96505375e-01 -4.88036874e-03 1.69944047e+01] [ 5.61277237e-02 1.93085617e-04 9.98423578e-01 1.25839524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.24, Y:17.00, Z:12.59 [[ 9.95234704e-01 -7.98833724e-02 -5.59153911e-02 2.25239864e+02] [ 7.97350941e-02 9.96804137e-01 -4.88136105e-03 1.69991576e+01] [ 5.61266328e-02 3.99680948e-04 9.98423578e-01 1.25873254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.30, Y:17.00, Z:12.59 [[ 9.95275569e-01 -7.93734535e-02 -5.59141814e-02 2.25298260e+02] [ 7.92235950e-02 9.96844852e-01 -4.89517847e-03 1.70004484e+01] [ 5.61263111e-02 4.42329077e-04 9.98423578e-01 1.25877099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.36, Y:17.00, Z:12.59 [[ 9.95226572e-01 -7.99862990e-02 -5.59129887e-02 2.25356613e+02] [ 7.98366436e-02 9.96795874e-01 -4.90876387e-03 1.70023686e+01] [ 5.61264703e-02 4.21426881e-04 9.98423578e-01 1.25900668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.41, Y:17.00, Z:12.59 [[ 9.95300303e-01 -7.90645455e-02 -5.59115746e-02 2.25414140e+02] [ 7.89125350e-02 9.96869379e-01 -4.92481851e-03 1.70032639e+01] [ 5.61259152e-02 4.89549265e-04 9.98423578e-01 1.25926425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.47, Y:17.00, Z:12.60 [[ 9.95410941e-01 -7.76596540e-02 -5.59109669e-02 2.25472449e+02] [ 7.75050420e-02 9.96979762e-01 -4.93170867e-03 1.70047257e+01] [ 5.61250973e-02 5.75694933e-04 9.98423578e-01 1.25969211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.53, Y:17.00, Z:12.60 [[ 9.95465324e-01 -7.69604659e-02 -5.59095349e-02 2.25531376e+02] [ 7.68038434e-02 9.97033945e-01 -4.94788972e-03 1.70034315e+01] [ 5.61244960e-02 6.31385481e-04 9.98423579e-01 1.26015345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.59, Y:17.00, Z:12.60 [[ 9.95345318e-01 -7.84981513e-02 -5.59082999e-02 2.25589233e+02] [ 7.83431705e-02 9.96914103e-01 -4.96180558e-03 1.70035015e+01] [ 5.61252652e-02 5.58676479e-04 9.98423579e-01 1.26035779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.65, Y:17.00, Z:12.61 [[ 9.95161725e-01 -8.07933205e-02 -5.59068980e-02 2.25647663e+02] [ 8.06410734e-02 9.96730777e-01 -4.97755135e-03 1.70008003e+01] [ 5.61262788e-02 4.45076328e-04 9.98423579e-01 1.26068304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.71, Y:17.00, Z:12.61 [[ 9.95098235e-01 -8.15725731e-02 -5.59054406e-02 2.25705993e+02] [ 8.14206381e-02 9.96667317e-01 -4.99386628e-03 1.69999677e+01] [ 5.61264880e-02 4.17530876e-04 9.98423579e-01 1.26107866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.76, Y:17.00, Z:12.61 [[ 9.95108841e-01 -8.14440872e-02 -5.59039857e-02 2.25764196e+02] [ 8.12910377e-02 9.96677815e-01 -5.01010061e-03 1.69992969e+01] [ 5.61263054e-02 4.41102404e-04 9.98423579e-01 1.26138309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.82, Y:17.00, Z:12.62 [[ 9.95141583e-01 -8.10440431e-02 -5.59025281e-02 2.25822090e+02] [ 8.08894522e-02 9.96710406e-01 -5.02631207e-03 1.69995879e+01] [ 5.61259841e-02 4.79967278e-04 9.98423579e-01 1.26161383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.88, Y:17.00, Z:12.62 [[ 9.95143506e-01 -8.10214401e-02 -5.59010556e-02 2.25879257e+02] [ 8.08658966e-02 9.96712235e-01 -5.04263595e-03 1.69996437e+01] [ 5.61258277e-02 4.97657434e-04 9.98423579e-01 1.26185698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.94, Y:17.00, Z:12.62 [[ 9.95026983e-01 -8.24405590e-02 -5.59004226e-02 2.25937913e+02] [ 8.22868593e-02 9.96595893e-01 -5.04964354e-03 1.69966577e+01] [ 5.61264270e-02 4.24661370e-04 9.98423579e-01 1.26202463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.00, Y:17.00, Z:12.62 [[ 9.94823138e-01 -8.48659691e-02 -5.58989412e-02 2.25996035e+02] [ 8.47151760e-02 9.96392330e-01 -5.06598955e-03 1.69964696e+01] [ 5.61272064e-02 3.04274984e-04 9.98423580e-01 1.26225948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.05, Y:16.99, Z:12.63 [[ 9.94305969e-01 -9.07254771e-02 -5.58974704e-02 2.26054497e+02] [ 9.05830220e-02 9.95875940e-01 -5.08216711e-03 1.69946551e+01] [ 5.61280279e-02 -1.01326919e-05 9.98423580e-01 1.26273587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.11, Y:16.99, Z:12.63 [[ 9.93568543e-01 -9.84743032e-02 -5.58959902e-02 2.26112383e+02] [ 9.83431790e-02 9.95139501e-01 -5.09839500e-03 1.69916861e+01] [ 5.61263686e-02 -4.31384473e-04 9.98423580e-01 1.26306541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.17, Y:16.99, Z:12.63 [[ 9.92840180e-01 -1.05566005e-01 -5.58945066e-02 2.26170801e+02] [ 1.05445189e-01 9.94411963e-01 -5.11460824e-03 1.69886182e+01] [ 5.61220948e-02 -8.15818237e-04 9.98423580e-01 1.26333683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.23, Y:16.99, Z:12.64 [[ 9.92530423e-01 -1.08440445e-01 -5.58930204e-02 2.26228633e+02] [ 1.08323268e-01 9.94102482e-01 -5.13079866e-03 1.69890504e+01] [ 5.61197764e-02 -9.62040874e-04 9.98423580e-01 1.26371594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.29, Y:16.99, Z:12.64 [[ 9.92510735e-01 -1.08621268e-01 -5.58915162e-02 2.26286080e+02] [ 1.08503459e-01 9.94082746e-01 -5.14713225e-03 1.69913312e+01] [ 5.61198800e-02 -9.55838796e-04 9.98423580e-01 1.26402193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.34, Y:16.99, Z:12.64 [[ 9.93088232e-01 -1.03208863e-01 -5.58900130e-02 2.26344440e+02] [ 1.03081570e-01 9.94659504e-01 -5.16340345e-03 1.69931107e+01] [ 5.61244416e-02 -6.33515070e-04 9.98423580e-01 1.26434719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.40, Y:17.00, Z:12.65 [[ 9.94014924e-01 -9.38658902e-02 -5.58885077e-02 2.26401086e+02] [ 9.37229140e-02 9.95584847e-01 -5.17964565e-03 1.69957112e+01] [ 5.61279434e-02 -8.93887277e-05 9.98423580e-01 1.26458430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.46, Y:17.00, Z:12.65 [[ 9.94833370e-01 -8.47532530e-02 -5.58878613e-02 2.26458747e+02] [ 8.45955054e-02 9.96401877e-01 -5.18661067e-03 1.69991895e+01] [ 5.61263520e-02 4.31951493e-04 9.98423580e-01 1.26485502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.52, Y:17.00, Z:12.65 [[ 9.95138405e-01 -8.10941909e-02 -5.58863704e-02 2.26516762e+02] [ 8.09297769e-02 9.96706227e-01 -5.20262628e-03 1.69993747e+01] [ 5.61241962e-02 6.54461733e-04 9.98423581e-01 1.26489641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.57, Y:17.00, Z:12.65 [[ 9.94339509e-01 -9.03649589e-02 -5.58848370e-02 2.26574610e+02] [ 9.02142408e-02 9.95908707e-01 -5.21904523e-03 1.70012289e+01] [ 5.61278146e-02 1.47894727e-04 9.98423581e-01 1.26520060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.63, Y:17.00, Z:12.66 [[ 9.93890819e-01 -9.51734044e-02 -5.58843737e-02 2.26631868e+02] [ 9.50299993e-02 9.95460702e-01 -5.22400163e-03 1.70049477e+01] [ 5.61278839e-02 -1.18604742e-04 9.98423581e-01 1.26550235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.69, Y:17.01, Z:12.66 [[ 9.92853843e-01 -1.05443565e-01 -5.58829180e-02 2.26689635e+02] [ 1.05315524e-01 9.94425054e-01 -5.23952835e-03 1.70071338e+01] [ 5.61238483e-02 -6.83252898e-04 9.98423581e-01 1.26590061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.75, Y:17.01, Z:12.66 [[ 9.91730852e-01 -1.15530001e-01 -5.58814418e-02 2.26746184e+02] [ 1.15417053e-01 9.93303220e-01 -5.25522481e-03 1.70087339e+01] [ 5.61143522e-02 -1.23790277e-03 9.98423581e-01 1.26615259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.81, Y:17.01, Z:12.67 [[ 9.90507035e-01 -1.25591568e-01 -5.58799765e-02 2.26805052e+02] [ 1.25493712e-01 9.92080414e-01 -5.27075998e-03 1.70106164e+01] [ 5.60993932e-02 -1.79186084e-03 9.98423581e-01 1.26659026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.86, Y:17.01, Z:12.67 [[ 9.89003522e-01 -1.36929196e-01 -5.58786914e-02 2.26862713e+02] [ 1.36848603e-01 9.90577880e-01 -5.28434907e-03 1.70135646e+01] [ 5.60757773e-02 -2.42068101e-03 9.98423581e-01 1.26702974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.92, Y:17.02, Z:12.67 [[ 9.88282928e-01 -1.42037305e-01 -5.58771766e-02 2.26920686e+02] [ 1.41963947e-01 9.89857639e-01 -5.30031841e-03 1.70187233e+01] [ 5.60632931e-02 -2.69433032e-03 9.98423581e-01 1.26734758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.98, Y:17.02, Z:12.68 [[ 9.87742439e-01 -1.45749070e-01 -5.58756044e-02 2.26978687e+02] [ 1.45680696e-01 9.89317374e-01 -5.31684188e-03 1.70239784e+01] [ 5.60536309e-02 -2.88832654e-03 9.98423581e-01 1.26765128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.04, Y:17.03, Z:12.68 [[ 9.87691345e-01 -1.46095509e-01 -5.58740430e-02 2.27036589e+02] [ 1.46026764e-01 9.89266264e-01 -5.33319924e-03 1.70308453e+01] [ 5.60534623e-02 -2.89155098e-03 9.98423582e-01 1.26800508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.09, Y:17.04, Z:12.68 [[ 9.88007304e-01 -1.43943847e-01 -5.58724978e-02 2.27093717e+02] [ 1.43870761e-01 9.89582027e-01 -5.34933914e-03 1.70409619e+01] [ 5.60604241e-02 -2.75323265e-03 9.98423582e-01 1.26831369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.15, Y:17.05, Z:12.68 [[ 9.88692483e-01 -1.39160385e-01 -5.58709410e-02 2.27150803e+02] [ 1.39078764e-01 9.90266786e-01 -5.36554965e-03 1.70524282e+01] [ 5.60738092e-02 -2.46558282e-03 9.98423582e-01 1.26843089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.21, Y:17.06, Z:12.69 [[ 9.89277876e-01 -1.34936648e-01 -5.58693562e-02 2.27208480e+02] [ 1.34847377e-01 9.90851764e-01 -5.38200169e-03 1.70621221e+01] [ 5.60844794e-02 -2.20954095e-03 9.98423582e-01 1.26865306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.27, Y:17.08, Z:12.69 [[ 9.90203792e-01 -1.27965783e-01 -5.58677798e-02 2.27265463e+02] [ 1.27864510e-01 9.91776953e-01 -5.39831585e-03 1.70769467e+01] [ 5.60991762e-02 -1.79807348e-03 9.98423582e-01 1.26893338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.32, Y:17.09, Z:12.69 [[ 9.90899555e-01 -1.22462411e-01 -5.58661849e-02 2.27321529e+02] [ 1.22351472e-01 9.92472064e-01 -5.41477119e-03 1.70875854e+01] [ 5.61087338e-02 -1.46981562e-03 9.98423582e-01 1.26918088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.38, Y:17.10, Z:12.69 [[ 9.91540056e-01 -1.17163827e-01 -5.58654996e-02 2.27378668e+02] [ 1.17044086e-01 9.93111920e-01 -5.42183228e-03 1.70980849e+01] [ 5.61159362e-02 -1.16276246e-03 9.98423582e-01 1.26949253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.44, Y:17.11, Z:12.70 [[ 9.92297811e-01 -1.10563456e-01 -5.58639130e-02 2.27435107e+02] [ 1.10432342e-01 9.93868766e-01 -5.43813094e-03 1.71113805e+01] [ 5.61226569e-02 -7.72937298e-04 9.98423582e-01 1.26983191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.49, Y:17.12, Z:12.70 [[ 9.92596647e-01 -1.07848487e-01 -5.58623313e-02 2.27492391e+02] [ 1.07712163e-01 9.94167159e-01 -5.45433074e-03 1.71216011e+01] [ 5.61247365e-02 -6.03102149e-04 9.98423583e-01 1.27014511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.55, Y:17.13, Z:12.70 [[ 9.92723494e-01 -1.06675415e-01 -5.58607153e-02 2.27548089e+02] [ 1.06536307e-01 9.94293762e-01 -5.47083081e-03 1.71321080e+01] [ 5.61255639e-02 -5.20172045e-04 9.98423583e-01 1.27049530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.60, Y:17.14, Z:12.71 [[ 9.92678517e-01 -1.07093512e-01 -5.58600207e-02 2.27604978e+02] [ 1.06954667e-01 9.94248808e-01 -5.47791445e-03 1.71390565e+01] [ 5.61254080e-02 -5.36681890e-04 9.98423583e-01 1.27088434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.66, Y:17.15, Z:12.71 [[ 9.92440472e-01 -1.09278270e-01 -5.58584708e-02 2.27661776e+02] [ 1.09141995e-01 9.94010988e-01 -5.49367340e-03 1.71490561e+01] [ 5.61242729e-02 -6.44361105e-04 9.98423583e-01 1.27135728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.72, Y:17.16, Z:12.72 [[ 9.92071843e-01 -1.12576503e-01 -5.58568622e-02 2.27717661e+02] [ 1.12444531e-01 9.93642726e-01 -5.50998021e-03 1.71568886e+01] [ 5.61220592e-02 -8.14502440e-04 9.98423583e-01 1.27171472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.78, Y:17.16, Z:12.72 [[ 9.91271566e-01 -1.19418466e-01 -5.58561697e-02 2.27775913e+02] [ 1.19296940e-01 9.92843292e-01 -5.51699183e-03 1.71636189e+01] [ 5.61152541e-02 -1.19463301e-03 9.98423583e-01 1.27202006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.83, Y:17.17, Z:12.72 [[ 9.90654313e-01 -1.24435851e-01 -5.58547372e-02 2.27834150e+02] [ 1.24321470e-01 9.92226575e-01 -5.53145675e-03 1.71697177e+01] [ 5.61088661e-02 -1.46418154e-03 9.98423583e-01 1.27231817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.89, Y:17.18, Z:12.72 [[ 9.89731970e-01 -1.31570930e-01 -5.58544349e-02 2.27893854e+02] [ 1.31467709e-01 9.91305004e-01 -5.53450731e-03 1.71768197e+01] [ 5.60969611e-02 -1.86537576e-03 9.98423583e-01 1.27248279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.95, Y:17.18, Z:12.73 [[ 9.89124486e-01 -1.36062691e-01 -5.58542361e-02 2.27953792e+02] [ 1.35966499e-01 9.90697965e-01 -5.53651320e-03 1.71828234e+01] [ 5.60879909e-02 -2.11800418e-03 9.98423583e-01 1.27273032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.01, Y:17.19, Z:12.73 [[ 9.88309587e-01 -1.41860721e-01 -5.58542361e-02 2.28014358e+02] [ 1.41773758e-01 9.89883604e-01 -5.53651320e-03 1.71890821e+01] [ 5.60746062e-02 -2.44687588e-03 9.98423583e-01 1.27296881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.07, Y:17.20, Z:12.73 [[ 9.87865476e-01 -1.44920951e-01 -5.58544408e-02 2.28074394e+02] [ 1.44838979e-01 9.89439761e-01 -5.53444686e-03 1.71963524e+01] [ 5.60666618e-02 -2.62261122e-03 9.98423583e-01 1.27320142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.14, Y:17.20, Z:12.74 [[ 9.87513888e-01 -1.47297532e-01 -5.58547880e-02 2.28135087e+02] [ 1.47219547e-01 9.89088375e-01 -5.53094064e-03 1.72039802e+01] [ 5.60600154e-02 -2.76103587e-03 9.98423583e-01 1.27350298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.19, Y:17.21, Z:12.74 [[ 9.87103834e-01 -1.50020802e-01 -5.58549887e-02 2.28194362e+02] [ 1.49947274e-01 9.88678535e-01 -5.52891345e-03 1.72135461e+01] [ 5.60520804e-02 -2.91769164e-03 9.98423583e-01 1.27378701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.26, Y:17.22, Z:12.74 [[ 9.86779361e-01 -1.52140404e-01 -5.58550874e-02 2.28256055e+02] [ 1.52070315e-01 9.88354219e-01 -5.52791605e-03 1.72235444e+01] [ 5.60456306e-02 -3.03906725e-03 9.98423583e-01 1.27411291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.32, Y:17.23, Z:12.75 [[ 9.86545875e-01 -1.53647003e-01 -5.58554857e-02 2.28317856e+02] [ 1.53579545e-01 9.88120848e-01 -5.52388826e-03 1.72330018e+01] [ 5.60406988e-02 -3.12869093e-03 9.98423583e-01 1.27460220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.38, Y:17.24, Z:12.75 [[ 9.86173191e-01 -1.56021017e-01 -5.58558910e-02 2.28378560e+02] [ 1.55957582e-01 9.87748331e-01 -5.51978758e-03 1.72435665e+01] [ 5.60327659e-02 -3.26768317e-03 9.98423583e-01 1.27506785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.44, Y:17.25, Z:12.75 [[ 9.85994933e-01 -1.57143493e-01 -5.58561908e-02 2.28439892e+02] [ 1.57082023e-01 9.87570151e-01 -5.51675139e-03 1.72529571e+01] [ 5.60288284e-02 -3.33451453e-03 9.98423583e-01 1.27548900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.50, Y:17.26, Z:12.76 [[ 9.85921015e-01 -1.57606449e-01 -5.58565990e-02 2.28501024e+02] [ 1.57545952e-01 9.87496270e-01 -5.51261546e-03 1.72639911e+01] [ 5.60270070e-02 -3.36497762e-03 9.98423583e-01 1.27578572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.56, Y:17.28, Z:12.76 [[ 9.85861305e-01 -1.57979373e-01 -5.58570030e-02 2.28562207e+02] [ 1.57919703e-01 9.87436592e-01 -5.50851867e-03 1.72754138e+01] [ 5.60254811e-02 -3.39028590e-03 9.98423583e-01 1.27598759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.62, Y:17.28, Z:12.76 [[ 9.85862532e-01 -1.57971577e-01 -5.58574044e-02 2.28623437e+02] [ 1.57912124e-01 9.87437827e-01 -5.50444593e-03 1.72849431e+01] [ 5.60252600e-02 -3.39393438e-03 9.98423583e-01 1.27628222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.68, Y:17.30, Z:12.77 [[ 9.85943299e-01 -1.57466352e-01 -5.58583848e-02 2.28684940e+02] [ 1.57406654e-01 9.87518585e-01 -5.49447862e-03 1.72973931e+01] [ 5.60263886e-02 -3.37523710e-03 9.98423583e-01 1.27672969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.75, Y:17.31, Z:12.77 [[ 9.86062299e-01 -1.56719223e-01 -5.58589907e-02 2.28745146e+02] [ 1.56658680e-01 9.87637553e-01 -5.48831224e-03 1.73078905e+01] [ 5.60285609e-02 -3.33897797e-03 9.98423583e-01 1.27711025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.81, Y:17.32, Z:12.78 [[ 9.86229884e-01 -1.55661026e-01 -5.58592879e-02 2.28806636e+02] [ 1.55598963e-01 9.87805079e-01 -5.48528587e-03 1.73191681e+01] [ 5.60319335e-02 -3.28189444e-03 9.98423583e-01 1.27755474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.87, Y:17.33, Z:12.78 [[ 9.86277884e-01 -1.55356465e-01 -5.58596784e-02 2.28867960e+02] [ 1.55294141e-01 9.87853069e-01 -5.48130579e-03 1.73282282e+01] [ 5.60327110e-02 -3.26859012e-03 9.98423583e-01 1.27798572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.93, Y:17.34, Z:12.78 [[ 9.86245365e-01 -1.55562599e-01 -5.58601611e-02 2.28929849e+02] [ 1.55500882e-01 9.87820573e-01 -5.47638186e-03 1.73373400e+01] [ 5.60317366e-02 -3.28524807e-03 9.98423583e-01 1.27843401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.99, Y:17.35, Z:12.79 [[ 9.86319522e-01 -1.55091512e-01 -5.58607497e-02 2.28991786e+02] [ 1.55029382e-01 9.87894714e-01 -5.47037224e-03 1.73454623e+01] [ 5.60329476e-02 -3.26452257e-03 9.98423583e-01 1.27867403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.05, Y:17.35, Z:12.79 [[ 9.86656193e-01 -1.52934887e-01 -5.58612336e-02 2.29053829e+02] [ 1.52869593e-01 9.88231257e-01 -5.46542625e-03 1.73537230e+01] [ 5.60396714e-02 -3.14698736e-03 9.98423583e-01 1.27875417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.12, Y:17.36, Z:12.79 [[ 9.86844896e-01 -1.51712334e-01 -5.58616089e-02 2.29115488e+02] [ 1.51645304e-01 9.88419887e-01 -5.46158688e-03 1.73620632e+01] [ 5.60433153e-02 -3.08141156e-03 9.98423583e-01 1.27908968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.18, Y:17.37, Z:12.80 [[ 9.87193382e-01 -1.49427780e-01 -5.58620119e-02 2.29175361e+02] [ 1.49357338e-01 9.88768224e-01 -5.45746265e-03 1.73722756e+01] [ 5.60500788e-02 -2.95583036e-03 9.98423583e-01 1.27952107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.24, Y:17.38, Z:12.80 [[ 9.87542111e-01 -1.47105345e-01 -5.58623092e-02 2.29237157e+02] [ 1.47031371e-01 9.89116791e-01 -5.45441771e-03 1.73807498e+01] [ 5.60567220e-02 -2.82704470e-03 9.98423583e-01 1.28005294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.30, Y:17.39, Z:12.81 [[ 9.88009382e-01 -1.43933386e-01 -5.58627060e-02 2.29299097e+02] [ 1.43854585e-01 9.89583828e-01 -5.45035069e-03 1.73905793e+01] [ 5.60653178e-02 -2.65110878e-03 9.98423583e-01 1.28052443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.36, Y:17.40, Z:12.81 [[ 9.88095522e-01 -1.43340611e-01 -5.58633015e-02 2.29361584e+02] [ 1.43261210e-01 9.89669938e-01 -5.44424052e-03 1.73974124e+01] [ 5.60666108e-02 -2.62361447e-03 9.98423583e-01 1.28088857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.42, Y:17.40, Z:12.81 [[ 9.87948750e-01 -1.44348512e-01 -5.58638922e-02 2.29423461e+02] [ 1.44271059e-01 9.89523263e-01 -5.43817248e-03 1.74034756e+01] [ 5.60636130e-02 -2.68690721e-03 9.98423583e-01 1.28128632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.49, Y:17.41, Z:12.82 [[ 9.87753398e-01 -1.45679121e-01 -5.58642777e-02 2.29485925e+02] [ 1.45604013e-01 9.89328025e-01 -5.43420945e-03 1.74083377e+01] [ 5.60597463e-02 -2.76640417e-03 9.98423583e-01 1.28177667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.55, Y:17.41, Z:12.82 [[ 9.87626047e-01 -1.46539783e-01 -5.58648730e-02 2.29546869e+02] [ 1.46466393e-01 9.89200754e-01 -5.42808206e-03 1.74139637e+01] [ 5.60570045e-02 -2.82141124e-03 9.98423583e-01 1.28215678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.61, Y:17.42, Z:12.83 [[ 9.87489823e-01 -1.47454848e-01 -5.58651652e-02 2.29609061e+02] [ 1.47383087e-01 9.89064606e-01 -5.42507322e-03 1.74205200e+01] [ 5.60542110e-02 -2.87637590e-03 9.98423583e-01 1.28257339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.67, Y:17.43, Z:12.83 [[ 9.87477742e-01 -1.47535586e-01 -5.58655486e-02 2.29670637e+02] [ 1.47464177e-01 9.89052541e-01 -5.42112285e-03 1.74273713e+01] [ 5.60537713e-02 -2.88492899e-03 9.98423583e-01 1.28308283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.73, Y:17.43, Z:12.83 [[ 9.87807986e-01 -1.45307875e-01 -5.58659442e-02 2.29732969e+02] [ 1.45233144e-01 9.89382631e-01 -5.41704253e-03 1.74332806e+01] [ 5.60599338e-02 -2.76258883e-03 9.98423583e-01 1.28349393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.79, Y:17.44, Z:12.84 [[ 9.88324371e-01 -1.41752837e-01 -5.58665421e-02 2.29794933e+02] [ 1.41672789e-01 9.89898754e-01 -5.41086930e-03 1.74399430e+01] [ 5.60692265e-02 -2.56707481e-03 9.98423583e-01 1.28393114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.86, Y:17.45, Z:12.84 [[ 9.89057106e-01 -1.36546387e-01 -5.58670336e-02 2.29856233e+02] [ 1.36458336e-01 9.90631061e-01 -5.40578976e-03 1.74475677e+01] [ 5.60817599e-02 -2.27688770e-03 9.98423583e-01 1.28444253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.92, Y:17.45, Z:12.85 [[ 9.89327062e-01 -1.34576353e-01 -5.58674243e-02 2.29918537e+02] [ 1.34485395e-01 9.90900853e-01 -5.40174872e-03 1.74538064e+01] [ 5.60860261e-02 -2.16925646e-03 9.98423583e-01 1.28477431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.98, Y:17.46, Z:12.85 [[ 9.89495195e-01 -1.33334259e-01 -5.58680134e-02 2.29980746e+02] [ 1.33241669e-01 9.91068890e-01 -5.39564982e-03 1.74584725e+01] [ 5.60884750e-02 -2.10497779e-03 9.98423583e-01 1.28498857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.04, Y:17.46, Z:12.85 [[ 9.89493760e-01 -1.33344740e-01 -5.58684100e-02 2.30042371e+02] [ 1.33252399e-01 9.91067470e-01 -5.39154025e-03 1.74628741e+01] [ 5.60882972e-02 -2.10970419e-03 9.98423583e-01 1.28536136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.10, Y:17.47, Z:12.86 [[ 9.89400766e-01 -1.34032838e-01 -5.58688002e-02 2.30104657e+02] [ 1.33941819e-01 9.90974553e-01 -5.38749354e-03 1.74676910e+01] [ 5.60866603e-02 -2.15277851e-03 9.98423583e-01 1.28556574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.17, Y:17.47, Z:12.86 [[ 9.89534285e-01 -1.33043351e-01 -5.58691848e-02 2.30167060e+02] [ 1.32950984e-01 9.91107993e-01 -5.38350193e-03 1.74727191e+01] [ 5.60886348e-02 -2.10070335e-03 9.98423584e-01 1.28582608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.23, Y:17.48, Z:12.86 [[ 9.89942625e-01 -1.29969963e-01 -5.58695645e-02 2.30228560e+02] [ 1.29872932e-01 9.91516052e-01 -5.37955823e-03 1.74792321e+01] [ 5.60947511e-02 -1.93049015e-03 9.98423584e-01 1.28637153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.29, Y:17.48, Z:12.87 [[ 9.89944184e-01 -1.29957927e-01 -5.58699396e-02 2.30291429e+02] [ 1.29861097e-01 9.91517624e-01 -5.37566011e-03 1.74847281e+01] [ 5.60946394e-02 -1.93372818e-03 9.98423584e-01 1.28672843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.35, Y:17.49, Z:12.87 [[ 9.89575625e-01 -1.32734945e-01 -5.58705280e-02 2.30353820e+02] [ 1.32642875e-01 9.91149351e-01 -5.36953804e-03 1.74894115e+01] [ 5.60887629e-02 -2.09726350e-03 9.98423584e-01 1.28701092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.42, Y:17.49, Z:12.87 [[ 9.88956631e-01 -1.37270615e-01 -5.58709247e-02 2.30415638e+02] [ 1.37185993e-01 9.90530775e-01 -5.36540734e-03 1.74935815e+01] [ 5.60783831e-02 -2.35855314e-03 9.98423584e-01 1.28729895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.48, Y:17.50, Z:12.88 [[ 9.88181406e-01 -1.42744154e-01 -5.58714152e-02 2.30478893e+02] [ 1.42668538e-01 9.89756008e-01 -5.36029472e-03 1.74968406e+01] [ 5.60642196e-02 -2.67414954e-03 9.98423584e-01 1.28767141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.54, Y:17.50, Z:12.88 [[ 9.87796866e-01 -1.45381124e-01 -5.58720069e-02 2.30540699e+02] [ 1.45310059e-01 9.89371679e-01 -5.35412015e-03 1.75013304e+01] [ 5.60565693e-02 -2.82998152e-03 9.98423584e-01 1.28818468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.60, Y:17.51, Z:12.89 [[ 9.87765374e-01 -1.45594785e-01 -5.58723966e-02 2.30602652e+02] [ 1.45524291e-01 9.89340213e-01 -5.35005025e-03 1.75065710e+01] [ 5.60557482e-02 -2.84619650e-03 9.98423584e-01 1.28876248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.66, Y:17.51, Z:12.89 [[ 9.87928816e-01 -1.44481443e-01 -5.58727849e-02 2.30664599e+02] [ 1.44409403e-01 9.89503585e-01 -5.34599159e-03 1.75110714e+01] [ 5.60587176e-02 -2.78709636e-03 9.98423584e-01 1.28926826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.73, Y:17.52, Z:12.90 [[ 9.88000733e-01 -1.43988677e-01 -5.58731769e-02 2.30726692e+02] [ 1.43916083e-01 9.89575477e-01 -5.34189140e-03 1.75158501e+01] [ 5.60598976e-02 -2.76325616e-03 9.98423584e-01 1.28953334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.79, Y:17.52, Z:12.90 [[ 9.87911106e-01 -1.44602147e-01 -5.58736606e-02 2.30788963e+02] [ 1.44530816e-01 9.89485908e-01 -5.33682804e-03 1.75201981e+01] [ 5.60579165e-02 -2.80315408e-03 9.98423584e-01 1.28982468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.85, Y:17.52, Z:12.90 [[ 9.87751740e-01 -1.45686620e-01 -5.58740499e-02 2.30851040e+02] [ 1.45617248e-01 9.89326629e-01 -5.33274887e-03 1.75233500e+01] [ 5.60545956e-02 -2.86879340e-03 9.98423584e-01 1.29001571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.91, Y:17.53, Z:12.90 [[ 9.88161973e-01 -1.42877438e-01 -5.58744431e-02 2.30911971e+02] [ 1.42803821e-01 9.89736669e-01 -5.32862551e-03 1.75276905e+01] [ 5.60623256e-02 -2.71353889e-03 9.98423584e-01 1.29035321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.97, Y:17.53, Z:12.91 [[ 9.89858708e-01 -1.30605328e-01 -5.58747337e-02 2.30974759e+02] [ 1.30512349e-01 9.91432380e-01 -5.32557731e-03 1.75340302e+01] [ 5.60915690e-02 -2.02077369e-03 9.98423584e-01 1.29104337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.04, Y:17.54, Z:12.91 [[ 9.89946660e-01 -1.29936757e-01 -5.58752993e-02 2.31036273e+02] [ 1.29843051e-01 9.91520289e-01 -5.31963609e-03 1.75397076e+01] [ 5.60927092e-02 -1.98886337e-03 9.98423584e-01 1.29147829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.10, Y:17.55, Z:12.92 [[ 9.89991490e-01 -1.29594587e-01 -5.58756853e-02 2.31098547e+02] [ 1.29500566e-01 9.91565100e-01 -5.31557894e-03 1.75454384e+01] [ 5.60932497e-02 -1.97355494e-03 9.98423584e-01 1.29182190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.16, Y:17.55, Z:12.92 [[ 9.89994606e-01 -1.29570617e-01 -5.58760709e-02 2.31160022e+02] [ 1.29476786e-01 9.91568227e-01 -5.31152177e-03 1.75509076e+01] [ 5.60931538e-02 -1.97627620e-03 9.98423584e-01 1.29214428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.22, Y:17.56, Z:12.92 [[ 9.90003926e-01 -1.29499220e-01 -5.58764521e-02 2.31222337e+02] [ 1.29405502e-01 9.91577554e-01 -5.30750946e-03 1.75567646e+01] [ 5.60931540e-02 -1.97626515e-03 9.98423584e-01 1.29249601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.28, Y:17.56, Z:12.93 [[ 9.89866479e-01 -1.30545522e-01 -5.58768339e-02 2.31284466e+02] [ 1.30453694e-01 9.91440218e-01 -5.30348610e-03 1.75613980e+01] [ 5.60908868e-02 -2.03959627e-03 9.98423584e-01 1.29279138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.35, Y:17.57, Z:12.93 [[ 9.89440231e-01 -1.33737678e-01 -5.58772167e-02 2.31346675e+02] [ 1.33651155e-01 9.91014271e-01 -5.29944992e-03 1.75653331e+01] [ 5.60838553e-02 -2.22456558e-03 9.98423584e-01 1.29284152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.41, Y:17.57, Z:12.93 [[ 9.89162885e-01 -1.35773596e-01 -5.58777076e-02 2.31408681e+02] [ 1.35690604e-01 9.90737115e-01 -5.29426863e-03 1.75687614e+01] [ 5.60789407e-02 -2.34518587e-03 9.98423584e-01 1.29326181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.47, Y:17.57, Z:12.94 [[ 9.88828706e-01 -1.38186198e-01 -5.58781273e-02 2.31469024e+02] [ 1.38107297e-01 9.90403146e-01 -5.28983547e-03 1.75739091e+01] [ 5.60728554e-02 -2.48643594e-03 9.98423584e-01 1.29387313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.53, Y:17.58, Z:12.94 [[ 9.88161218e-01 -1.42881094e-01 -5.58784354e-02 2.31530832e+02] [ 1.42809855e-01 9.89736024e-01 -5.28657930e-03 1.75783060e+01] [ 5.60602527e-02 -2.75599860e-03 9.98423584e-01 1.29439686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.59, Y:17.58, Z:12.95 [[ 9.87625409e-01 -1.46538757e-01 -5.58788285e-02 2.31591487e+02] [ 1.46473584e-01 9.89200478e-01 -5.28242050e-03 1.75821423e+01] [ 5.60494432e-02 -2.96771956e-03 9.98423584e-01 1.29465995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.65, Y:17.59, Z:12.95 [[ 9.87224137e-01 -1.49217882e-01 -5.58795729e-02 2.31653495e+02] [ 1.49157427e-01 9.88799394e-01 -5.27453493e-03 1.75857789e+01] [ 5.60407427e-02 -3.12770512e-03 9.98423584e-01 1.29502576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.72, Y:17.59, Z:12.95 [[ 9.87078782e-01 -1.50176257e-01 -5.58799523e-02 2.31715923e+02] [ 1.50117559e-01 9.88654105e-01 -5.27051134e-03 1.75906022e+01] [ 5.60374500e-02 -3.18615211e-03 9.98423584e-01 1.29526196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.78, Y:17.60, Z:12.95 [[ 9.87148093e-01 -1.49719770e-01 -5.58805193e-02 2.31778074e+02] [ 1.49660683e-01 9.88723402e-01 -5.26449388e-03 1.75952654e+01] [ 5.60385759e-02 -3.16628159e-03 9.98423584e-01 1.29549528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.84, Y:17.60, Z:12.96 [[ 9.87265456e-01 -1.48943734e-01 -5.58809846e-02 2.31838999e+02] [ 1.48883687e-01 9.88840728e-01 -5.25955020e-03 1.76008641e+01] [ 5.60407705e-02 -3.12719478e-03 9.98423584e-01 1.29577310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.90, Y:17.61, Z:12.96 [[ 9.87364652e-01 -1.48284620e-01 -5.58812579e-02 2.31901228e+02] [ 1.48223686e-01 9.88939890e-01 -5.25664397e-03 1.76067833e+01] [ 5.60426846e-02 -3.09270157e-03 9.98423584e-01 1.29619164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.96, Y:17.61, Z:12.96 [[ 9.87441848e-01 -1.47769548e-01 -5.58816384e-02 2.31963380e+02] [ 1.47708021e-01 9.89017063e-01 -5.25259588e-03 1.76125439e+01] [ 5.60440676e-02 -3.06753323e-03 9.98423584e-01 1.29639345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.03, Y:17.62, Z:12.97 [[ 9.87381076e-01 -1.48174934e-01 -5.58820152e-02 2.32026141e+02] [ 1.48114279e-01 9.88956325e-01 -5.24858485e-03 1.76190052e+01] [ 5.60425811e-02 -3.09457102e-03 9.98423584e-01 1.29676597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.09, Y:17.63, Z:12.97 [[ 9.87256726e-01 -1.49000977e-01 -5.58825994e-02 2.32087956e+02] [ 1.48941992e-01 9.88832039e-01 -5.24235736e-03 1.76258204e+01] [ 5.60396210e-02 -3.14771310e-03 9.98423584e-01 1.29700871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.15, Y:17.63, Z:12.97 [[ 9.87061524e-01 -1.50288485e-01 -5.58830787e-02 2.32149041e+02] [ 1.50231843e-01 9.88636923e-01 -5.23724305e-03 1.76322008e+01] [ 5.60351722e-02 -3.22593680e-03 9.98423584e-01 1.29726014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.21, Y:17.64, Z:12.98 [[ 9.86725281e-01 -1.52480391e-01 -5.58833569e-02 2.32211587e+02] [ 1.52427416e-01 9.88300807e-01 -5.23427234e-03 1.76389185e+01] [ 5.60276906e-02 -3.35336684e-03 9.98423584e-01 1.29764000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.27, Y:17.64, Z:12.98 [[ 9.86295273e-01 -1.55237312e-01 -5.58839138e-02 2.32272892e+02] [ 1.55189076e-01 9.87870951e-01 -5.22831970e-03 1.76445217e+01] [ 5.60177254e-02 -3.51590594e-03 9.98423584e-01 1.29820011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.33, Y:17.65, Z:12.99 [[ 9.86108208e-01 -1.56421058e-01 -5.58842942e-02 2.32333732e+02] [ 1.56374942e-01 9.87683950e-01 -5.22425111e-03 1.76500444e+01] [ 5.60132033e-02 -3.58722639e-03 9.98423584e-01 1.29859859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.40, Y:17.66, Z:12.99 [[ 9.85892600e-01 -1.57774190e-01 -5.58845752e-02 2.32395718e+02] [ 1.57730407e-01 9.87468408e-01 -5.22124374e-03 1.76554294e+01] [ 5.60080300e-02 -3.66711123e-03 9.98423584e-01 1.29909505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.46, Y:17.66, Z:13.00 [[ 9.85646156e-01 -1.59306402e-01 -5.58849380e-02 2.32458521e+02] [ 1.59265288e-01 9.87222035e-01 -5.21735692e-03 1.76607572e+01] [ 5.60020006e-02 -3.75806298e-03 9.98423584e-01 1.29951898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.52, Y:17.67, Z:13.00 [[ 9.85396748e-01 -1.60841724e-01 -5.58854964e-02 2.32520523e+02] [ 1.60803403e-01 9.86972698e-01 -5.21136921e-03 1.76656804e+01] [ 5.59956648e-02 -3.85131171e-03 9.98423584e-01 1.29981660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.58, Y:17.67, Z:13.00 [[ 9.84841857e-01 -1.64205011e-01 -5.58858753e-02 2.32582660e+02] [ 1.64172300e-01 9.86417934e-01 -5.20730224e-03 1.76698241e+01] [ 5.59818948e-02 -4.04654350e-03 9.98423584e-01 1.29999533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.64, Y:17.67, Z:13.00 [[ 9.84370536e-01 -1.67007109e-01 -5.58862568e-02 2.32644665e+02] [ 1.66979115e-01 9.85946703e-01 -5.20320506e-03 1.76737577e+01] [ 5.59698429e-02 -4.20995593e-03 9.98423584e-01 1.30017477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.71, Y:17.68, Z:13.00 [[ 9.84362043e-01 -1.67057032e-01 -5.58866345e-02 2.32707035e+02] [ 1.67029347e-01 9.85938216e-01 -5.19914540e-03 1.76787580e+01] [ 5.59693225e-02 -4.21686668e-03 9.98423584e-01 1.30049571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.77, Y:17.68, Z:13.01 [[ 9.84590576e-01 -1.65704613e-01 -5.58871960e-02 2.32768587e+02] [ 1.65675104e-01 9.86166716e-01 -5.19310240e-03 1.76833951e+01] [ 5.59746136e-02 -4.14603733e-03 9.98423584e-01 1.30098723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.83, Y:17.69, Z:13.01 [[ 9.85030649e-01 -1.63068088e-01 -5.58875629e-02 2.32830200e+02] [ 1.63034583e-01 9.86606709e-01 -5.18915047e-03 1.76888698e+01] [ 5.59852294e-02 -4.00013324e-03 9.98423584e-01 1.30145913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.89, Y:17.69, Z:13.02 [[ 9.85493691e-01 -1.60245821e-01 -5.58879409e-02 2.32893229e+02] [ 1.60208031e-01 9.87069654e-01 -5.18507596e-03 1.76947142e+01] [ 5.59961773e-02 -3.84383734e-03 9.98423584e-01 1.30183560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.95, Y:17.70, Z:13.02 [[ 9.85987498e-01 -1.57178652e-01 -5.58885012e-02 2.32954470e+02] [ 1.57136300e-01 9.87563345e-01 -5.17903028e-03 1.76992904e+01] [ 5.60074682e-02 -3.67565317e-03 9.98423584e-01 1.30220637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.02, Y:17.70, Z:13.03 [[ 9.86120418e-01 -1.56342463e-01 -5.58887760e-02 2.33017610e+02] [ 1.56298942e-01 9.87696233e-01 -5.17606329e-03 1.77037379e+01] [ 5.60103720e-02 -3.63113486e-03 9.98423584e-01 1.30257908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.08, Y:17.71, Z:13.03 [[ 9.86157004e-01 -1.56111317e-01 -5.58893500e-02 2.33080426e+02] [ 1.56067777e-01 9.87732819e-01 -5.16985799e-03 1.77084913e+01] [ 5.60108185e-02 -3.62423492e-03 9.98423584e-01 1.30284464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.14, Y:17.71, Z:13.03 [[ 9.85917092e-01 -1.57619175e-01 -5.58899230e-02 2.33141806e+02] [ 1.57578395e-01 9.87492980e-01 -5.16365604e-03 1.77130087e+01] [ 5.60047978e-02 -3.71610759e-03 9.98423584e-01 1.30305151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.20, Y:17.72, Z:13.03 [[ 9.85826605e-01 -1.58184041e-01 -5.58902040e-02 2.33204324e+02] [ 1.58144336e-01 9.87402520e-01 -5.16061251e-03 1.77173833e+01] [ 5.60024548e-02 -3.75125008e-03 9.98423584e-01 1.30340710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.27, Y:17.72, Z:13.04 [[ 9.86015839e-01 -1.56999958e-01 -5.58907662e-02 2.33267254e+02] [ 1.56958704e-01 9.87591715e-01 -5.15451629e-03 1.77222864e+01] [ 5.60065165e-02 -3.69010751e-03 9.98423584e-01 1.30382996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.33, Y:17.73, Z:13.04 [[ 9.86274019e-01 -1.55369621e-01 -5.58913281e-02 2.33329002e+02] [ 1.55326106e-01 9.87849834e-01 -5.14841671e-03 1.77278425e+01] [ 5.60121467e-02 -3.60363270e-03 9.98423584e-01 1.30419585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.39, Y:17.73, Z:13.05 [[ 9.86757467e-01 -1.52268870e-01 -5.58917891e-02 2.33392030e+02] [ 1.52220685e-01 9.88333147e-01 -5.14340711e-03 1.77332941e+01] [ 5.60228886e-02 -3.43259103e-03 9.98423584e-01 1.30467444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.45, Y:17.74, Z:13.05 [[ 9.87055796e-01 -1.50322655e-01 -5.58923546e-02 2.33453945e+02] [ 1.50271710e-01 9.88631388e-01 -5.13725432e-03 1.77375818e+01] [ 5.60291818e-02 -3.32828303e-03 9.98423584e-01 1.30499468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.52, Y:17.74, Z:13.05 [[ 9.87313736e-01 -1.48618941e-01 -5.58927273e-02 2.33516136e+02] [ 1.48565506e-01 9.88889246e-01 -5.13319594e-03 1.77421344e+01] [ 5.60346071e-02 -3.23565644e-03 9.98423584e-01 1.30533861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.58, Y:17.75, Z:13.06 [[ 9.87697543e-01 -1.46046310e-01 -5.58930958e-02 2.33577612e+02] [ 1.45988997e-01 9.89272917e-01 -5.12918075e-03 1.77465691e+01] [ 5.60426238e-02 -3.09369776e-03 9.98423584e-01 1.30572593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.64, Y:17.75, Z:13.06 [[ 9.88085485e-01 -1.43398026e-01 -5.58934712e-02 2.33639633e+02] [ 1.43336720e-01 9.89660709e-01 -5.12508656e-03 1.77517546e+01] [ 5.60504996e-02 -2.94756322e-03 9.98423584e-01 1.30604912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.70, Y:17.76, Z:13.06 [[ 9.88455480e-01 -1.40824865e-01 -5.58938442e-02 2.33701536e+02] [ 1.40759688e-01 9.90030548e-01 -5.12101509e-03 1.77566506e+01] [ 5.60577795e-02 -2.80570463e-03 9.98423584e-01 1.30631793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.76, Y:17.76, Z:13.07 [[ 9.88656659e-01 -1.39405334e-01 -5.58942203e-02 2.33763699e+02] [ 1.39338127e-01 9.90231641e-01 -5.11690761e-03 1.77615406e+01] [ 5.60615497e-02 -2.72933118e-03 9.98423584e-01 1.30656745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.83, Y:17.77, Z:13.07 [[ 9.88840084e-01 -1.38098091e-01 -5.58945949e-02 2.33825617e+02] [ 1.38029033e-01 9.90414986e-01 -5.11281158e-03 1.77665613e+01] [ 5.60649140e-02 -2.65932384e-03 9.98423584e-01 1.30691082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.89, Y:17.77, Z:13.07 [[ 9.89142299e-01 -1.35916390e-01 -5.58949658e-02 2.33886679e+02] [ 1.35844086e-01 9.90717056e-01 -5.10875348e-03 1.77717313e+01] [ 5.60704593e-02 -2.53971640e-03 9.98423584e-01 1.30705645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.95, Y:17.78, Z:13.08 [[ 9.89220894e-01 -1.35343096e-01 -5.58951670e-02 2.33947329e+02] [ 1.35270004e-01 9.90795614e-01 -5.10655208e-03 1.77777938e+01] [ 5.60718229e-02 -2.50943145e-03 9.98423584e-01 1.30769832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.01, Y:17.78, Z:13.08 [[ 9.89295018e-01 -1.34800126e-01 -5.58953733e-02 2.34009491e+02] [ 1.34726297e-01 9.90869704e-01 -5.10429298e-03 1.77837067e+01] [ 5.60730913e-02 -2.48092506e-03 9.98423584e-01 1.30808583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.07, Y:17.79, Z:13.08 [[ 9.89497607e-01 -1.33304732e-01 -5.58957424e-02 2.34069641e+02] [ 1.33228751e-01 9.91072191e-01 -5.10024775e-03 1.77886613e+01] [ 5.60766030e-02 -2.40023700e-03 9.98423584e-01 1.30811642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.13, Y:17.79, Z:13.09 [[ 9.88989865e-01 -1.37020808e-01 -5.58958411e-02 2.34128569e+02] [ 1.36950804e-01 9.90564726e-01 -5.09916510e-03 1.77949792e+01] [ 5.60671403e-02 -2.61195777e-03 9.98423584e-01 1.30880926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.19, Y:17.80, Z:13.09 [[ 9.88732054e-01 -1.38868970e-01 -5.58957441e-02 2.34190003e+02] [ 1.38801849e-01 9.90307040e-01 -5.10022909e-03 1.78034016e+01] [ 5.60622124e-02 -2.71567265e-03 9.98423584e-01 1.30905821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.25, Y:17.81, Z:13.10 [[ 9.88661023e-01 -1.39373573e-01 -5.58962335e-02 2.34250960e+02] [ 1.39307559e-01 9.90236056e-01 -5.09485909e-03 1.78077586e+01] [ 5.60605545e-02 -2.74967927e-03 9.98423584e-01 1.30953082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.31, Y:17.81, Z:13.10 [[ 9.88611761e-01 -1.39722454e-01 -5.58965279e-02 2.34312879e+02] [ 1.39657178e-01 9.90186825e-01 -5.09162727e-03 1.78138616e+01] [ 5.60594201e-02 -2.77270875e-03 9.98423584e-01 1.30976596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.37, Y:17.82, Z:13.10 [[ 9.88809872e-01 -1.38313312e-01 -5.58969037e-02 2.34373967e+02] [ 1.38246024e-01 9.90384852e-01 -5.08749869e-03 1.78208760e+01] [ 5.60631154e-02 -2.69695578e-03 9.98423584e-01 1.31000509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.44, Y:17.83, Z:13.10 [[ 9.89401844e-01 -1.34013042e-01 -5.58971811e-02 2.34435639e+02] [ 1.33939079e-01 9.90976524e-01 -5.08444892e-03 1.78290822e+01] [ 5.60741767e-02 -2.45625382e-03 9.98423584e-01 1.31026767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.50, Y:17.84, Z:13.11 [[ 9.89828454e-01 -1.30824677e-01 -5.58975417e-02 2.34496938e+02] [ 1.30745865e-01 9.91402899e-01 -5.08048188e-03 1.78361848e+01] [ 5.60816372e-02 -2.27956692e-03 9.98423584e-01 1.31076108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.56, Y:17.84, Z:13.11 [[ 9.90263632e-01 -1.27488679e-01 -5.58979125e-02 2.34557463e+02] [ 1.27404793e-01 9.91837814e-01 -5.07639877e-03 1.78430160e+01] [ 5.60888467e-02 -2.09468887e-03 9.98423584e-01 1.31133961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.62, Y:17.85, Z:13.12 [[ 9.90361190e-01 -1.26728474e-01 -5.58981865e-02 2.34619114e+02] [ 1.26643549e-01 9.91935317e-01 -5.07337988e-03 1.78493658e+01] [ 5.60903270e-02 -2.05466617e-03 9.98423584e-01 1.31180702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.68, Y:17.85, Z:13.12 [[ 9.90301619e-01 -1.27192990e-01 -5.58985451e-02 2.34681137e+02] [ 1.27109026e-01 9.91875797e-01 -5.06942512e-03 1.78545879e+01] [ 5.60892093e-02 -2.08494975e-03 9.98423584e-01 1.31214561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.74, Y:17.86, Z:13.12 [[ 9.90064514e-01 -1.29025464e-01 -5.58989144e-02 2.34742674e+02] [ 1.28944644e-01 9.91638856e-01 -5.06534981e-03 1.78594391e+01] [ 5.60850947e-02 -2.19284252e-03 9.98423584e-01 1.31243273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.80, Y:17.86, Z:13.13 [[ 9.89591738e-01 -1.32602644e-01 -5.58992841e-02 2.34804549e+02] [ 1.32527745e-01 9.91166374e-01 -5.06126660e-03 1.78644119e+01] [ 5.60766281e-02 -2.39961843e-03 9.98423584e-01 1.31262369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.87, Y:17.87, Z:13.13 [[ 9.89117579e-01 -1.36094243e-01 -5.58996523e-02 2.34866113e+02] [ 1.36025130e-01 9.90692479e-01 -5.05719644e-03 1.78692226e+01] [ 5.60676205e-02 -2.60159558e-03 9.98423584e-01 1.31294403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.93, Y:17.87, Z:13.13 [[ 9.88831214e-01 -1.38159387e-01 -5.59000275e-02 2.34927382e+02] [ 1.38093797e-01 9.90406265e-01 -5.05304604e-03 1.78741177e+01] [ 5.60618632e-02 -2.72283741e-03 9.98423584e-01 1.31333807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.99, Y:17.88, Z:13.14 [[ 9.88530093e-01 -1.40297583e-01 -5.59003045e-02 2.34989041e+02] [ 1.40235573e-01 9.90105288e-01 -5.04997942e-03 1.78789041e+01] [ 5.60556871e-02 -2.84715460e-03 9.98423584e-01 1.31368766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.05, Y:17.88, Z:13.14 [[ 9.88397626e-01 -1.41227641e-01 -5.59006803e-02 2.35050038e+02] [ 1.41167347e-01 9.89972888e-01 -5.04581671e-03 1.78841861e+01] [ 5.60527667e-02 -2.90407747e-03 9.98423584e-01 1.31400799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.11, Y:17.89, Z:13.15 [[ 9.87534376e-01 -1.47142580e-01 -5.59009581e-02 2.35110533e+02] [ 1.47091892e-01 9.89109977e-01 -5.04273683e-03 1.78944114e+01] [ 5.60341967e-02 -3.24270173e-03 9.98423584e-01 1.31518608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.17, Y:17.90, Z:13.15 [[ 9.87368338e-01 -1.48252503e-01 -5.59013486e-02 2.35172561e+02] [ 1.48203831e-01 9.88944002e-01 -5.03840489e-03 1.78952740e+01] [ 5.60302595e-02 -3.31003253e-03 9.98423584e-01 1.31470792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.23, Y:17.90, Z:13.15 [[ 9.86623895e-01 -1.53128374e-01 -5.59016235e-02 2.35233166e+02] [ 1.53087658e-01 9.88199785e-01 -5.03535254e-03 1.79012598e+01] [ 5.60130276e-02 -3.58984950e-03 9.98423584e-01 1.31496459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.29, Y:17.91, Z:13.15 [[ 9.86420438e-01 -1.54433476e-01 -5.59018942e-02 2.35294950e+02] [ 1.54395015e-01 9.87996384e-01 -5.03234584e-03 1.79077378e+01] [ 5.60080320e-02 -3.66696502e-03 9.98423584e-01 1.31519201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.36, Y:17.92, Z:13.16 [[ 9.86389923e-01 -1.54628127e-01 -5.59022478e-02 2.35357015e+02] [ 1.54590199e-01 9.87965883e-01 -5.02841408e-03 1.79155894e+01] [ 5.60070479e-02 -3.68196263e-03 9.98423584e-01 1.31554582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.42, Y:17.92, Z:13.16 [[ 9.86454373e-01 -1.54216300e-01 -5.59026165e-02 2.35419254e+02] [ 1.54177945e-01 9.88030322e-01 -5.02431173e-03 1.79220605e+01] [ 5.60083110e-02 -3.66269628e-03 9.98423584e-01 1.31590329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.48, Y:17.93, Z:13.16 [[ 9.86608853e-01 -1.53224696e-01 -5.59031703e-02 2.35481974e+02] [ 1.53185106e-01 9.88184771e-01 -5.01814312e-03 1.79295930e+01] [ 5.60115650e-02 -3.61258862e-03 9.98423584e-01 1.31629019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.54, Y:17.94, Z:13.16 [[ 9.86812513e-01 -1.51907332e-01 -5.59037285e-02 2.35542612e+02] [ 1.51865989e-01 9.88388386e-01 -5.01191597e-03 1.79377471e+01] [ 5.60159428e-02 -3.54405364e-03 9.98423584e-01 1.31644535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.61, Y:17.94, Z:13.17 [[ 9.86723010e-01 -1.52487519e-01 -5.59040026e-02 2.35605151e+02] [ 1.52447274e-01 9.88298912e-01 -5.00885768e-03 1.79441154e+01] [ 5.60136532e-02 -3.58005769e-03 9.98423584e-01 1.31674761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.67, Y:17.95, Z:13.17 [[ 9.86505192e-01 -1.53890183e-01 -5.59045455e-02 2.35666657e+02] [ 1.53852522e-01 9.88081157e-01 -5.00279033e-03 1.79504153e+01] [ 5.60081084e-02 -3.66577667e-03 9.98423584e-01 1.31706460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.73, Y:17.96, Z:13.17 [[ 9.86378372e-01 -1.54700838e-01 -5.59049007e-02 2.35728989e+02] [ 1.54664696e-01 9.87954373e-01 -4.99881782e-03 1.79569327e+01] [ 5.60048125e-02 -3.71578868e-03 9.98423584e-01 1.31747020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.79, Y:17.96, Z:13.18 [[ 9.86049808e-01 -1.56781243e-01 -5.59054381e-02 2.35790563e+02] [ 1.56748765e-01 9.87625889e-01 -4.99280088e-03 1.79629379e+01] [ 5.59964355e-02 -3.83995803e-03 9.98423584e-01 1.31789587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.85, Y:17.97, Z:13.18 [[ 9.85753658e-01 -1.58632488e-01 -5.59058071e-02 2.35851364e+02] [ 1.58603203e-01 9.87329802e-01 -4.98866535e-03 1.79682575e+01] [ 5.59888338e-02 -3.94924497e-03 9.98423584e-01 1.31814463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.91, Y:17.97, Z:13.18 [[ 9.85370415e-01 -1.60995822e-01 -5.59060796e-02 2.35912983e+02] [ 1.60970489e-01 9.86946627e-01 -4.98560956e-03 1.79747908e+01] [ 5.59789790e-02 -4.08655683e-03 9.98423584e-01 1.31841336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.97, Y:17.98, Z:13.19 [[ 9.85133242e-01 -1.62440654e-01 -5.59064321e-02 2.35974923e+02] [ 1.62417855e-01 9.86709493e-01 -4.98165424e-03 1.79813172e+01] [ 5.59726304e-02 -4.17260961e-03 9.98423584e-01 1.31862284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.04, Y:17.99, Z:13.19 [[ 9.85126343e-01 -1.62482342e-01 -5.59068497e-02 2.36036026e+02] [ 1.62459876e-01 9.86702599e-01 -4.97696272e-03 1.79866813e+01] [ 5.59721025e-02 -4.17968276e-03 9.98423584e-01 1.31932173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.10, Y:17.99, Z:13.20 [[ 9.85325036e-01 -1.61272947e-01 -5.59071633e-02 2.36097438e+02] [ 1.61248744e-01 9.86901265e-01 -4.97343812e-03 1.79922595e+01] [ 5.59769312e-02 -4.11450677e-03 9.98423584e-01 1.31971087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.16, Y:18.00, Z:13.20 [[ 9.85853544e-01 -1.58009931e-01 -5.59075267e-02 2.36158221e+02] [ 1.57980740e-01 9.87429689e-01 -4.96934907e-03 1.79982374e+01] [ 5.59899582e-02 -3.93326206e-03 9.98423584e-01 1.32006464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.22, Y:18.00, Z:13.20 [[ 9.86014340e-01 -1.57003310e-01 -5.59077948e-02 2.36220434e+02] [ 1.56972681e-01 9.87590458e-01 -4.96633093e-03 1.80029594e+01] [ 5.59937351e-02 -3.87912290e-03 9.98423584e-01 1.32043447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.28, Y:18.01, Z:13.21 [[ 9.85812373e-01 -1.58266366e-01 -5.59081543e-02 2.36283033e+02] [ 1.58237984e-01 9.87388533e-01 -4.96228137e-03 1.80059015e+01] [ 5.59884327e-02 -3.95491527e-03 9.98423584e-01 1.32072200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.34, Y:18.01, Z:13.21 [[ 9.85250361e-01 -1.61727992e-01 -5.59087017e-02 2.36344506e+02] [ 1.61705496e-01 9.86826616e-01 -4.95610613e-03 1.80092574e+01] [ 5.59737360e-02 -4.15773897e-03 9.98423585e-01 1.32090760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.41, Y:18.01, Z:13.21 [[ 9.84591360e-01 -1.65692612e-01 -5.59089708e-02 2.36406717e+02] [ 1.65676631e-01 9.86167694e-01 -4.95306869e-03 1.80120652e+01] [ 5.59563077e-02 -4.38606130e-03 9.98423585e-01 1.32108602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.47, Y:18.02, Z:13.21 [[ 9.84372371e-01 -1.66988572e-01 -5.59093266e-02 2.36469042e+02] [ 1.66974894e-01 9.85948727e-01 -4.94904851e-03 1.80160670e+01] [ 5.59501639e-02 -4.46374727e-03 9.98423585e-01 1.32139061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.53, Y:18.02, Z:13.22 [[ 9.84457090e-01 -1.66488243e-01 -5.59097662e-02 2.36530495e+02] [ 1.66474044e-01 9.86033442e-01 -4.94407750e-03 1.80193335e+01] [ 5.59520300e-02 -4.44029274e-03 9.98423585e-01 1.32189320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.59, Y:18.02, Z:13.22 [[ 9.84871569e-01 -1.64018478e-01 -5.59100274e-02 2.36592104e+02] [ 1.64000492e-01 9.86447882e-01 -4.94112167e-03 1.80246409e+01] [ 5.59627634e-02 -4.30290175e-03 9.98423585e-01 1.32236640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.65, Y:18.03, Z:13.23 [[ 9.85676764e-01 -1.59107976e-01 -5.59103731e-02 2.36654816e+02] [ 1.59082355e-01 9.87252971e-01 -4.93720670e-03 1.80311649e+01] [ 5.59832310e-02 -4.02786392e-03 9.98423585e-01 1.32286672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.72, Y:18.04, Z:13.23 [[ 9.85808462e-01 -1.58289749e-01 -5.59109266e-02 2.36717938e+02] [ 1.58263174e-01 9.87384653e-01 -4.93093085e-03 1.80364627e+01] [ 5.59861067e-02 -3.98768736e-03 9.98423585e-01 1.32324502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.78, Y:18.04, Z:13.23 [[ 9.85910754e-01 -1.57651175e-01 -5.59114731e-02 2.36779822e+02] [ 1.57623929e-01 9.87486934e-01 -4.92472651e-03 1.80390330e+01] [ 5.59882381e-02 -3.95764523e-03 9.98423585e-01 1.32343173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.84, Y:18.04, Z:13.24 [[ 9.85965337e-01 -1.57309285e-01 -5.59119215e-02 2.36841905e+02] [ 1.57281780e-01 9.87541513e-01 -4.91963090e-03 1.80438947e+01] [ 5.59892471e-02 -3.94334099e-03 9.98423585e-01 1.32379546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.90, Y:18.05, Z:13.24 [[ 9.86394994e-01 -1.54592120e-01 -5.59123580e-02 2.36903690e+02] [ 1.54560552e-01 9.87971094e-01 -4.91466434e-03 1.80490371e+01] [ 5.59995619e-02 -3.79404463e-03 9.98423585e-01 1.32407593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.97, Y:18.05, Z:13.24 [[ 9.86926199e-01 -1.51163643e-01 -5.59127104e-02 2.36966008e+02] [ 1.51126825e-01 9.88502184e-01 -4.91065279e-03 1.80537813e+01] [ 5.60121485e-02 -3.60345850e-03 9.98423585e-01 1.32449890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.03, Y:18.06, Z:13.25 [[ 9.87313385e-01 -1.48613623e-01 -5.59130598e-02 2.37027993e+02] [ 1.48572959e-01 9.88889276e-01 -4.90667057e-03 1.80589207e+01] [ 5.60210233e-02 -3.46274721e-03 9.98423585e-01 1.32499343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.09, Y:18.06, Z:13.25 [[ 9.87916682e-01 -1.44548674e-01 -5.59134184e-02 2.37088652e+02] [ 1.44501754e-01 9.89492399e-01 -4.90258108e-03 1.80637221e+01] [ 5.60345641e-02 -3.23624542e-03 9.98423585e-01 1.32532006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.15, Y:18.07, Z:13.26 [[ 9.88363226e-01 -1.41463047e-01 -5.59136831e-02 2.37151074e+02] [ 1.41411378e-01 9.89938794e-01 -4.89955975e-03 1.80669789e+01] [ 5.60442307e-02 -3.06428629e-03 9.98423585e-01 1.32561501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.21, Y:18.07, Z:13.26 [[ 9.88558528e-01 -1.40091599e-01 -5.59140430e-02 2.37212897e+02] [ 1.40037976e-01 9.90134031e-01 -4.89544904e-03 1.80714739e+01] [ 5.60482081e-02 -2.99065153e-03 9.98423585e-01 1.32599476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.27, Y:18.08, Z:13.26 [[ 9.88571641e-01 -1.39998896e-01 -5.59144003e-02 2.37274995e+02] [ 1.39945355e-01 9.90147147e-01 -4.89136518e-03 1.80761251e+01] [ 5.60482696e-02 -2.98949570e-03 9.98423585e-01 1.32644990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.34, Y:18.08, Z:13.27 [[ 9.88720032e-01 -1.38946888e-01 -5.59147585e-02 2.37337364e+02] [ 1.38891902e-01 9.90295488e-01 -4.88726768e-03 1.80807867e+01] [ 5.60512037e-02 -2.93396769e-03 9.98423585e-01 1.32684034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.40, Y:18.09, Z:13.27 [[ 9.88781049e-01 -1.38511864e-01 -5.59151180e-02 2.37398825e+02] [ 1.38456417e-01 9.90356489e-01 -4.88315112e-03 1.80861047e+01] [ 5.60522743e-02 -2.91343962e-03 9.98423585e-01 1.32718081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.46, Y:18.09, Z:13.28 [[ 9.88884528e-01 -1.37771006e-01 -5.59154732e-02 2.37460464e+02] [ 1.37714608e-01 9.90459934e-01 -4.87908026e-03 1.80921034e+01] [ 5.60542317e-02 -2.87553050e-03 9.98423585e-01 1.32755157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.52, Y:18.10, Z:13.28 [[ 9.88852296e-01 -1.38002022e-01 -5.59158252e-02 2.37522437e+02] [ 1.37946220e-01 9.90427723e-01 -4.87504257e-03 1.80997848e+01] [ 5.60533492e-02 -2.89267968e-03 9.98423585e-01 1.32809386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.58, Y:18.10, Z:13.28 [[ 9.89055913e-01 -1.36534902e-01 -5.59161996e-02 2.37583226e+02] [ 1.36477005e-01 9.90631265e-01 -4.87074492e-03 1.81043892e+01] [ 5.60573622e-02 -2.81383639e-03 9.98423585e-01 1.32816488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.64, Y:18.11, Z:13.29 [[ 9.88958406e-01 -1.37239280e-01 -5.59164752e-02 2.37644940e+02] [ 1.37182684e-01 9.90533805e-01 -4.86757855e-03 1.81112285e+01] [ 5.60551819e-02 -2.85693942e-03 9.98423585e-01 1.32864687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.71, Y:18.12, Z:13.29 [[ 9.88502620e-01 -1.40484445e-01 -5.59168218e-02 2.37707058e+02] [ 1.40433245e-01 9.90078204e-01 -4.86359397e-03 1.81165341e+01] [ 5.60452857e-02 -3.04490535e-03 9.98423585e-01 1.32915135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.77, Y:18.12, Z:13.29 [[ 9.87580186e-01 -1.46828623e-01 -5.59171841e-02 2.37768703e+02] [ 1.46787775e-01 9.89156072e-01 -4.85942458e-03 1.81206691e+01] [ 5.60243248e-02 -3.40888764e-03 9.98423585e-01 1.32941637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.83, Y:18.12, Z:13.30 [[ 9.87148702e-01 -1.49701935e-01 -5.59175408e-02 2.37830586e+02] [ 1.49665906e-01 9.88724705e-01 -4.85531715e-03 1.81245494e+01] [ 5.60139044e-02 -3.57602936e-03 9.98423585e-01 1.32956808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.89, Y:18.13, Z:13.30 [[ 9.86776588e-01 -1.52135314e-01 -5.59178961e-02 2.37892857e+02] [ 1.52103401e-01 9.88352681e-01 -4.85122117e-03 1.81288810e+01] [ 5.60046446e-02 -3.71823069e-03 9.98423585e-01 1.32986281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.95, Y:18.13, Z:13.30 [[ 9.86308516e-01 -1.55140780e-01 -5.59182477e-02 2.37954588e+02] [ 1.55113898e-01 9.87884702e-01 -4.84716483e-03 1.81333215e+01] [ 5.59927744e-02 -3.89289744e-03 9.98423585e-01 1.33020388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.02, Y:18.14, Z:13.31 [[ 9.85661473e-01 -1.59199787e-01 -5.59185939e-02 2.38016847e+02] [ 1.59179619e-01 9.87237759e-01 -4.84316759e-03 1.81373057e+01] [ 5.59759786e-02 -4.12737680e-03 9.98423585e-01 1.33063442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.08, Y:18.14, Z:13.31 [[ 9.85344653e-01 -1.61148953e-01 -5.59189494e-02 2.38078410e+02] [ 1.61132134e-01 9.86920979e-01 -4.83906006e-03 1.81414185e+01] [ 5.59673937e-02 -4.24219771e-03 9.98423585e-01 1.33098771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.14, Y:18.14, Z:13.31 [[ 9.85005449e-01 -1.63209334e-01 -5.59193887e-02 2.38140475e+02] [ 1.63196099e-01 9.86581809e-01 -4.83397851e-03 1.81449979e+01] [ 5.59580020e-02 -4.36433090e-03 9.98423585e-01 1.33149143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.20, Y:18.15, Z:13.32 [[ 9.85602900e-01 -1.59561608e-01 -5.59197363e-02 2.38202293e+02] [ 1.59542764e-01 9.87179203e-01 -4.82995375e-03 1.81487404e+01] [ 5.59734759e-02 -4.16117287e-03 9.98423585e-01 1.33166882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.26, Y:18.15, Z:13.32 [[ 9.85741592e-01 -1.58702408e-01 -5.59201133e-02 2.38263327e+02] [ 1.58682436e-01 9.87317881e-01 -4.82558538e-03 1.81539584e+01] [ 5.59767597e-02 -4.11675960e-03 9.98423585e-01 1.33230205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.33, Y:18.16, Z:13.33 [[ 9.86032873e-01 -1.56882419e-01 -5.59203043e-02 2.38325337e+02] [ 1.56859662e-01 9.87609124e-01 -4.82337071e-03 1.81589893e+01] [ 5.59841048e-02 -4.01563797e-03 9.98423585e-01 1.33279501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.39, Y:18.16, Z:13.33 [[ 9.86252396e-01 -1.55496279e-01 -5.59206526e-02 2.38386886e+02] [ 1.55471535e-01 9.87828617e-01 -4.81932925e-03 1.81625204e+01] [ 5.59894086e-02 -3.94099467e-03 9.98423585e-01 1.33308660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.45, Y:18.17, Z:13.33 [[ 9.86659362e-01 -1.52892593e-01 -5.59209946e-02 2.38449102e+02] [ 1.52863913e-01 9.88235517e-01 -4.81535683e-03 1.81669097e+01] [ 5.59993454e-02 -3.79718517e-03 9.98423585e-01 1.33347229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.51, Y:18.17, Z:13.34 [[ 9.87632181e-01 -1.46476886e-01 -5.59213426e-02 2.38510655e+02] [ 1.46438191e-01 9.89208121e-01 -4.81131316e-03 1.81726810e+01] [ 5.60225924e-02 -3.43721254e-03 9.98423585e-01 1.33383370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.57, Y:18.18, Z:13.34 [[ 9.88835459e-01 -1.38120231e-01 -5.59216976e-02 2.38572856e+02] [ 1.38068444e-01 9.90411024e-01 -4.80718275e-03 1.81795333e+01] [ 5.60494350e-02 -2.96750903e-03 9.98423585e-01 1.33412869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.63, Y:18.19, Z:13.35 [[ 9.89492448e-01 -1.33331991e-01 -5.59220465e-02 2.38634543e+02] [ 1.33272808e-01 9.91067752e-01 -4.80312051e-03 1.81859633e+01] [ 5.60629465e-02 -2.70023668e-03 9.98423585e-01 1.33453178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.70, Y:18.19, Z:13.35 [[ 9.90184604e-01 -1.28090342e-01 -5.59223888e-02 2.38696064e+02] [ 1.28023042e-01 9.91759582e-01 -4.79913177e-03 1.81907136e+01] [ 5.60762874e-02 -2.40732793e-03 9.98423585e-01 1.33500978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.76, Y:18.19, Z:13.35 [[ 9.90707773e-01 -1.23978801e-01 -5.59228442e-02 2.38756566e+02] [ 1.23905263e-01 9.92282472e-01 -4.79381912e-03 1.81949658e+01] [ 5.60855901e-02 -2.17986087e-03 9.98423585e-01 1.33543781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.82, Y:18.20, Z:13.36 [[ 9.90746383e-01 -1.23669844e-01 -5.59229351e-02 2.38817351e+02] [ 1.23595875e-01 9.92321062e-01 -4.79275849e-03 1.82000891e+01] [ 5.60862261e-02 -2.16343597e-03 9.98423585e-01 1.33574553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.88, Y:18.21, Z:13.37 [[ 9.90175485e-01 -1.28160510e-01 -5.59230998e-02 2.38878024e+02] [ 1.28093789e-01 9.91750487e-01 -4.79083687e-03 1.82104677e+01] [ 5.60757575e-02 -2.41963253e-03 9.98423585e-01 1.33687345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.94, Y:18.21, Z:13.36 [[ 9.90511786e-01 -1.25534756e-01 -5.59233961e-02 2.38938738e+02] [ 1.25464055e-01 9.92086615e-01 -4.78737485e-03 1.82085507e+01] [ 5.60818347e-02 -2.27442481e-03 9.98423585e-01 1.33637871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.00, Y:18.21, Z:13.37 [[ 9.89725679e-01 -1.31588771e-01 -5.59238330e-02 2.38998281e+02] [ 1.31527988e-01 9.91300922e-01 -4.78226562e-03 1.82117023e+01] [ 5.60666397e-02 -2.62241817e-03 9.98423585e-01 1.33659252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.06, Y:18.22, Z:13.37 [[ 9.89282795e-01 -1.34878038e-01 -5.59237533e-02 2.39060542e+02] [ 1.34822439e-01 9.90858229e-01 -4.78319835e-03 1.82157512e+01] [ 5.60576596e-02 -2.80784099e-03 9.98423585e-01 1.33714199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.12, Y:18.22, Z:13.37 [[ 9.88832249e-01 -1.38142236e-01 -5.59241033e-02 2.39121709e+02] [ 1.38092068e-01 9.90407866e-01 -4.77910191e-03 1.82207488e+01] [ 5.60478677e-02 -2.99694501e-03 9.98423585e-01 1.33749232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.18, Y:18.23, Z:13.38 [[ 9.88716149e-01 -1.38970544e-01 -5.59246397e-02 2.39183089e+02] [ 1.38922050e-01 9.90291818e-01 -4.77281755e-03 1.82267534e+01] [ 5.60449941e-02 -3.05020379e-03 9.98423585e-01 1.33810790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.24, Y:18.23, Z:13.39 [[ 9.88655266e-01 -1.39402876e-01 -5.59249864e-02 2.39244891e+02] [ 1.39355301e-01 9.90230963e-01 -4.76875164e-03 1.82327846e+01] [ 5.60434308e-02 -3.07879186e-03 9.98423585e-01 1.33872099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.31, Y:18.24, Z:13.40 [[ 9.88077782e-01 -1.43438676e-01 -5.59253378e-02 2.39306197e+02] [ 1.43397768e-01 9.89653666e-01 -4.76462631e-03 1.82435923e+01] [ 5.60301473e-02 -3.31174723e-03 9.98423585e-01 1.33952102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.37, Y:18.24, Z:13.39 [[ 9.88062004e-01 -1.43547183e-01 -5.59256893e-02 2.39367492e+02] [ 1.43506681e-01 9.89637899e-01 -4.76049738e-03 1.82434943e+01] [ 5.60295376e-02 -3.32204347e-03 9.98423585e-01 1.33944907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.43, Y:18.25, Z:13.40 [[ 9.87537264e-01 -1.47113696e-01 -5.59259501e-02 2.39429246e+02] [ 1.47079057e-01 9.89113299e-01 -4.75743198e-03 1.82489528e+01] [ 5.60169844e-02 -3.52739462e-03 9.98423585e-01 1.33981220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.49, Y:18.25, Z:13.40 [[ 9.87222197e-01 -1.49213216e-01 -5.59262857e-02 2.39490811e+02] [ 1.49182151e-01 9.88798306e-01 -4.75348264e-03 1.82543461e+01] [ 5.60090990e-02 -3.65046001e-03 9.98423585e-01 1.34014059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.55, Y:18.26, Z:13.40 [[ 9.86890317e-01 -1.51392582e-01 -5.59266288e-02 2.39552815e+02] [ 1.51365225e-01 9.88466495e-01 -4.74944290e-03 1.82604149e+01] [ 5.60006292e-02 -3.77816752e-03 9.98423585e-01 1.34039381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.62, Y:18.27, Z:13.41 [[ 9.86846908e-01 -1.51675161e-01 -5.59269721e-02 2.39615024e+02] [ 1.51648483e-01 9.88423097e-01 -4.74539712e-03 1.82671981e+01] [ 5.59992698e-02 -3.79826000e-03 9.98423585e-01 1.34074744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.68, Y:18.27, Z:13.41 [[ 9.86978526e-01 -1.50816198e-01 -5.59273132e-02 2.39675219e+02] [ 1.50788375e-01 9.88554695e-01 -4.74137395e-03 1.82739330e+01] [ 5.60022840e-02 -3.75355439e-03 9.98423585e-01 1.34119196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.74, Y:18.29, Z:13.42 [[ 9.86446562e-01 -1.54257244e-01 -5.59274815e-02 2.39736499e+02] [ 1.54235030e-01 9.88022820e-01 -4.73938784e-03 1.82867142e+01] [ 5.59887129e-02 -3.95082396e-03 9.98423585e-01 1.34236298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.80, Y:18.29, Z:13.42 [[ 9.87023630e-01 -1.50520504e-01 -5.59279198e-02 2.39798329e+02] [ 1.50492613e-01 9.88599798e-01 -4.73420921e-03 1.82877061e+01] [ 5.60029258e-02 -3.74396245e-03 9.98423585e-01 1.34222648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.86, Y:18.29, Z:13.42 [[ 9.86870892e-01 -1.51518584e-01 -5.59281801e-02 2.39858897e+02] [ 1.51492461e-01 9.88447090e-01 -4.73113248e-03 1.82949808e+01] [ 5.59989014e-02 -3.80368071e-03 9.98423585e-01 1.34245487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.92, Y:18.30, Z:13.43 [[ 9.86744976e-01 -1.52336227e-01 -5.59287548e-02 2.39920795e+02] [ 1.52311793e-01 9.88321202e-01 -4.72432926e-03 1.83010164e+01] [ 5.59952606e-02 -3.85690077e-03 9.98423585e-01 1.34280208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.98, Y:18.31, Z:13.43 [[ 9.86584320e-01 -1.53373129e-01 -5.59290930e-02 2.39981315e+02] [ 1.53350578e-01 9.88160573e-01 -4.72032202e-03 1.83075048e+01] [ 5.59908951e-02 -3.91976306e-03 9.98423585e-01 1.34317097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.04, Y:18.31, Z:13.44 [[ 9.86564146e-01 -1.53502747e-01 -5.59293430e-02 2.40043315e+02] [ 1.53480571e-01 9.88140405e-01 -4.71735719e-03 1.83144829e+01] [ 5.59901710e-02 -3.93009203e-03 9.98423585e-01 1.34368923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.11, Y:18.32, Z:13.44 [[ 9.86457182e-01 -1.54188518e-01 -5.59296795e-02 2.40105830e+02] [ 1.54167663e-01 9.88033459e-01 -4.71336460e-03 1.83202993e+01] [ 5.59871414e-02 -3.97301561e-03 9.98423585e-01 1.34415469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.17, Y:18.33, Z:13.44 [[ 9.86244402e-01 -1.55543539e-01 -5.59301963e-02 2.40167357e+02] [ 1.55525195e-01 9.87820710e-01 -4.70722483e-03 1.83250741e+01] [ 5.59811846e-02 -4.05608054e-03 9.98423585e-01 1.34440359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.23, Y:18.33, Z:13.45 [[ 9.86036028e-01 -1.56858932e-01 -5.59305479e-02 2.40228699e+02] [ 1.56842926e-01 9.87612362e-01 -4.70304255e-03 1.83299471e+01] [ 5.59754148e-02 -4.13494141e-03 9.98423585e-01 1.34460228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.29, Y:18.34, Z:13.45 [[ 9.85573311e-01 -1.59740391e-01 -5.59308072e-02 2.40290370e+02] [ 1.59729168e-01 9.87149686e-01 -4.69995705e-03 1.83350385e+01] [ 5.59628518e-02 -4.30162905e-03 9.98423585e-01 1.34483021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.35, Y:18.34, Z:13.45 [[ 9.85590642e-01 -1.59633306e-01 -5.59311496e-02 2.40352196e+02] [ 1.59622141e-01 9.87167018e-01 -4.69587939e-03 1.83403461e+01] [ 5.59630049e-02 -4.29963509e-03 9.98423585e-01 1.34526028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.41, Y:18.35, Z:13.46 [[ 9.85845348e-01 -1.58052579e-01 -5.59314976e-02 2.40414017e+02] [ 1.58039120e-01 9.87421705e-01 -4.69173025e-03 1.83469586e+01] [ 5.59695148e-02 -4.21404423e-03 9.98423585e-01 1.34580461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.48, Y:18.35, Z:13.46 [[ 9.86357896e-01 -1.54821604e-01 -5.59318437e-02 2.40475948e+02] [ 1.54803214e-01 9.87934204e-01 -4.68760041e-03 1.83530841e+01] [ 5.59827233e-02 -4.03477748e-03 9.98423585e-01 1.34626867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.54, Y:18.36, Z:13.47 [[ 9.86673236e-01 -1.52798940e-01 -5.59321898e-02 2.40537316e+02] [ 1.52777551e-01 9.88249506e-01 -4.68346697e-03 1.83583746e+01] [ 5.59905877e-02 -3.92413146e-03 9.98423585e-01 1.34655176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.60, Y:18.37, Z:13.47 [[ 9.86932012e-01 -1.51118382e-01 -5.59324452e-02 2.40599434e+02] [ 1.51094481e-01 9.88508246e-01 -4.68041527e-03 1.83651029e+01] [ 5.59969801e-02 -3.83183209e-03 9.98423585e-01 1.34695566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.66, Y:18.37, Z:13.47 [[ 9.86787171e-01 -1.52061182e-01 -5.59327803e-02 2.40660848e+02] [ 1.52039012e-01 9.88363430e-01 -4.67640777e-03 1.83709813e+01] [ 5.59930146e-02 -3.88934548e-03 9.98423585e-01 1.34733696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.72, Y:18.38, Z:13.48 [[ 9.86615466e-01 -1.53171170e-01 -5.59331230e-02 2.40723332e+02] [ 1.53151005e-01 9.88191752e-01 -4.67230494e-03 1.83760715e+01] [ 5.59883132e-02 -3.95644569e-03 9.98423585e-01 1.34767145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.78, Y:18.38, Z:13.48 [[ 9.86452235e-01 -1.54218726e-01 -5.59336433e-02 2.40784088e+02] [ 1.54200586e-01 9.88028546e-01 -4.66606832e-03 1.83811470e+01] [ 5.59836313e-02 -4.02214706e-03 9.98423585e-01 1.34786698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.85, Y:18.39, Z:13.48 [[ 9.86346273e-01 -1.54894894e-01 -5.59338984e-02 2.40846690e+02] [ 1.54878008e-01 9.87922598e-01 -4.66300805e-03 1.83874497e+01] [ 5.59806383e-02 -4.06359016e-03 9.98423585e-01 1.34820955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.91, Y:18.39, Z:13.49 [[ 9.86340293e-01 -1.54932793e-01 -5.59343889e-02 2.40909502e+02] [ 1.54916300e-01 9.87916622e-01 -4.65711630e-03 1.83929087e+01] [ 5.59800526e-02 -4.07164710e-03 9.98423585e-01 1.34867297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.97, Y:18.40, Z:13.49 [[ 9.86356076e-01 -1.54832092e-01 -5.59349081e-02 2.40971470e+02] [ 1.54815791e-01 9.87932407e-01 -4.65087182e-03 1.83985707e+01] [ 5.59800126e-02 -4.07219134e-03 9.98423585e-01 1.34898927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.03, Y:18.40, Z:13.49 [[ 9.86444793e-01 -1.54265710e-01 -5.59353339e-02 2.41033875e+02] [ 1.54248792e-01 9.88021117e-01 -4.64574558e-03 1.84037923e+01] [ 5.59819703e-02 -4.04518616e-03 9.98423585e-01 1.34935981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.10, Y:18.41, Z:13.50 [[ 9.86813777e-01 -1.51887293e-01 -5.59358509e-02 2.41096816e+02] [ 1.51866926e-01 9.88390060e-01 -4.63951215e-03 1.84099247e+01] [ 5.59911220e-02 -3.91647124e-03 9.98423585e-01 1.34960754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.16, Y:18.42, Z:13.50 [[ 9.87113238e-01 -1.49928578e-01 -5.59363636e-02 2.41158836e+02] [ 1.49905433e-01 9.88689483e-01 -4.63332251e-03 1.84156700e+01] [ 5.59983619e-02 -3.81155081e-03 9.98423585e-01 1.34986976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.22, Y:18.42, Z:13.50 [[ 9.87384976e-01 -1.48128116e-01 -5.59372000e-02 2.41221278e+02] [ 1.48102667e-01 9.88961185e-01 -4.62320359e-03 1.84218086e+01] [ 5.60045460e-02 -3.71956673e-03 9.98423585e-01 1.35023746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.28, Y:18.43, Z:13.51 [[ 9.87478812e-01 -1.47501082e-01 -5.59377094e-02 2.41282210e+02] [ 1.47474980e-01 9.89055010e-01 -4.61703117e-03 1.84271147e+01] [ 5.60064889e-02 -3.69019212e-03 9.98423585e-01 1.35054129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.34, Y:18.43, Z:13.51 [[ 9.87586273e-01 -1.46779610e-01 -5.59383518e-02 2.41343876e+02] [ 1.46752796e-01 9.89162460e-01 -4.60923513e-03 1.84327995e+01] [ 5.60086594e-02 -3.65709219e-03 9.98423585e-01 1.35090895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.41, Y:18.44, Z:13.51 [[ 9.87699384e-01 -1.46016404e-01 -5.59386921e-02 2.41405783e+02] [ 1.45988605e-01 9.89275553e-01 -4.60510121e-03 1.84381842e+01] [ 5.60112009e-02 -3.61795601e-03 9.98423585e-01 1.35111364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.47, Y:18.44, Z:13.51 [[ 9.87602641e-01 -1.46669147e-01 -5.59391119e-02 2.41468976e+02] [ 1.46642678e-01 9.89178834e-01 -4.59999603e-03 1.84422231e+01] [ 5.60084630e-02 -3.66009294e-03 9.98423585e-01 1.35149363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.53, Y:18.45, Z:13.52 [[ 9.87535642e-01 -1.47119391e-01 -5.59396105e-02 2.41531741e+02] [ 1.47093983e-01 9.89111852e-01 -4.59392487e-03 1.84466284e+01] [ 5.60063872e-02 -3.69171558e-03 9.98423585e-01 1.35177208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.59, Y:18.45, Z:13.52 [[ 9.87564105e-01 -1.46928019e-01 -5.59401178e-02 2.41592903e+02] [ 1.46902654e-01 9.89140315e-01 -4.58774013e-03 1.84516786e+01] [ 5.60066933e-02 -3.68706430e-03 9.98423585e-01 1.35202289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.66, Y:18.46, Z:13.52 [[ 9.87632253e-01 -1.46468997e-01 -5.59407314e-02 2.41655765e+02] [ 1.46443323e-01 9.89208459e-01 -4.58024481e-03 1.84564888e+01] [ 5.60079086e-02 -3.66854907e-03 9.98423585e-01 1.35237903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.72, Y:18.46, Z:13.53 [[ 9.87784936e-01 -1.45435541e-01 -5.59412427e-02 2.41717779e+02] [ 1.45408570e-01 9.89361120e-01 -4.57399232e-03 1.84613549e+01] [ 5.60113116e-02 -3.61621539e-03 9.98423585e-01 1.35269558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.78, Y:18.47, Z:13.53 [[ 9.87776029e-01 -1.45495866e-01 -5.59416620e-02 2.41779196e+02] [ 1.45469280e-01 9.89352219e-01 -4.56885832e-03 1.84665069e+01] [ 5.60107574e-02 -3.62478459e-03 9.98423585e-01 1.35308606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.84, Y:18.47, Z:13.54 [[ 9.87946141e-01 -1.44336089e-01 -5.59420718e-02 2.41841561e+02] [ 1.44307936e-01 9.89522304e-01 -4.56383466e-03 1.84717272e+01] [ 5.60146539e-02 -3.56406208e-03 9.98423585e-01 1.35350795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.90, Y:18.48, Z:13.54 [[ 9.88429402e-01 -1.40988454e-01 -5.59425798e-02 2.41902856e+02] [ 1.40955314e-01 9.90005469e-01 -4.55759974e-03 1.84776971e+01] [ 5.60260288e-02 -3.38053830e-03 9.98423585e-01 1.35381513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.96, Y:18.48, Z:13.54 [[ 9.88765207e-01 -1.38613660e-01 -5.59429956e-02 2.41964286e+02] [ 1.38577022e-01 9.90341196e-01 -4.55248987e-03 1.84839857e+01] [ 5.60336904e-02 -3.25107015e-03 9.98423586e-01 1.35427488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.03, Y:18.49, Z:13.55 [[ 9.89075376e-01 -1.36382717e-01 -5.59433242e-02 2.42027024e+02] [ 1.36342752e-01 9.90651284e-01 -4.54844848e-03 1.84887118e+01] [ 5.60406557e-02 -3.12870839e-03 9.98423586e-01 1.35473360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.09, Y:18.49, Z:13.55 [[ 9.89329816e-01 -1.34524362e-01 -5.59438306e-02 2.42088067e+02] [ 1.34481787e-01 9.90905655e-01 -4.54221147e-03 1.84934347e+01] [ 5.60460962e-02 -3.02968110e-03 9.98423586e-01 1.35505360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.15, Y:18.50, Z:13.55 [[ 9.89510681e-01 -1.33187231e-01 -5.59443875e-02 2.42149963e+02] [ 1.33142915e-01 9.91086472e-01 -4.53534146e-03 1.84985338e+01] [ 5.60497752e-02 -2.96083002e-03 9.98423586e-01 1.35537268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.21, Y:18.50, Z:13.56 [[ 9.89717719e-01 -1.31639760e-01 -5.59447155e-02 2.42211453e+02] [ 1.31593208e-01 9.91293446e-01 -4.53129268e-03 1.85031870e+01] [ 5.60541280e-02 -2.87724391e-03 9.98423586e-01 1.35563274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.27, Y:18.51, Z:13.56 [[ 9.89779010e-01 -1.31177984e-01 -5.59450433e-02 2.42272338e+02] [ 1.31130925e-01 9.91354722e-01 -4.52724171e-03 1.85068001e+01] [ 5.60552573e-02 -2.85515645e-03 9.98423586e-01 1.35582348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.33, Y:18.51, Z:13.56 [[ 9.89861940e-01 -1.30550619e-01 -5.59452848e-02 2.42334699e+02] [ 1.30502730e-01 9.91437627e-01 -4.52425560e-03 1.85107379e+01] [ 5.60569048e-02 -2.82262395e-03 9.98423586e-01 1.35628500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.40, Y:18.51, Z:13.57 [[ 9.90266800e-01 -1.27443131e-01 -5.59456185e-02 2.42396531e+02] [ 1.27390529e-01 9.91842337e-01 -4.52012520e-03 1.85143059e+01] [ 5.60652919e-02 -2.65081204e-03 9.98423586e-01 1.35670029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.46, Y:18.52, Z:13.57 [[ 9.90812390e-01 -1.23129439e-01 -5.59459529e-02 2.42458140e+02] [ 1.23070210e-01 9.92387691e-01 -4.51598265e-03 1.85182022e+01] [ 5.60761254e-02 -2.41078860e-03 9.98423586e-01 1.35706002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.52, Y:18.52, Z:13.57 [[ 9.91337669e-01 -1.18826090e-01 -5.59462855e-02 2.42519581e+02] [ 1.18760253e-01 9.92912708e-01 -4.51185755e-03 1.85219776e+01] [ 5.60859043e-02 -2.17142070e-03 9.98423586e-01 1.35735523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.58, Y:18.53, Z:13.58 [[ 9.91561239e-01 -1.16945566e-01 -5.59468006e-02 2.42580775e+02] [ 1.16877103e-01 9.93136166e-01 -4.50546245e-03 1.85257343e+01] [ 5.60896848e-02 -2.07145805e-03 9.98423586e-01 1.35768388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.64, Y:18.53, Z:13.58 [[ 9.91638417e-01 -1.16289205e-01 -5.59470383e-02 2.42642783e+02] [ 1.16219866e-01 9.93213305e-01 -4.50250831e-03 1.85295603e+01] [ 5.60909360e-02 -2.03729710e-03 9.98423586e-01 1.35812699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.70, Y:18.53, Z:13.58 [[ 9.91561919e-01 -1.16939527e-01 -5.59473670e-02 2.42703903e+02] [ 1.16871451e-01 9.93136863e-01 -4.49841984e-03 1.85316432e+01] [ 5.60894357e-02 -2.07818819e-03 9.98423586e-01 1.35838106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.76, Y:18.53, Z:13.59 [[ 9.91384514e-01 -1.18433991e-01 -5.59476097e-02 2.42764906e+02] [ 1.18368459e-01 9.92959566e-01 -4.49539955e-03 1.85319739e+01] [ 5.60861224e-02 -2.16576287e-03 9.98423586e-01 1.35862783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.83, Y:18.53, Z:13.59 [[ 9.91386539e-01 -1.18416961e-01 -5.59477712e-02 2.42827480e+02] [ 1.18351515e-01 9.92961595e-01 -4.49338933e-03 1.85341234e+01] [ 5.60860816e-02 -2.16681779e-03 9.98423586e-01 1.35897615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.89, Y:18.54, Z:13.59 [[ 9.91390992e-01 -1.18379521e-01 -5.59481000e-02 2.42888845e+02] [ 1.18314247e-01 9.92966054e-01 -4.48929159e-03 1.85378645e+01] [ 5.60860043e-02 -2.16881405e-03 9.98423586e-01 1.35927091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.95, Y:18.54, Z:13.60 [[ 9.91264520e-01 -1.19433844e-01 -5.59482621e-02 2.42949059e+02] [ 1.19370359e-01 9.92839656e-01 -4.48727028e-03 1.85384304e+01] [ 5.60835852e-02 -2.23049232e-03 9.98423586e-01 1.35955789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.01, Y:18.54, Z:13.60 [[ 9.90967030e-01 -1.21877511e-01 -5.59483419e-02 2.43010778e+02] [ 1.21817966e-01 9.92542320e-01 -4.48627537e-03 1.85396070e+01] [ 5.60778731e-02 -2.36976219e-03 9.98423586e-01 1.35977127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.07, Y:18.54, Z:13.60 [[ 9.90692979e-01 -1.24085398e-01 -5.59485067e-02 2.43071138e+02] [ 1.24029479e-01 9.92268401e-01 -4.48421807e-03 1.85424960e+01] [ 5.60723613e-02 -2.49678078e-03 9.98423586e-01 1.36003940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.13, Y:18.55, Z:13.60 [[ 9.90363968e-01 -1.26684519e-01 -5.59485878e-02 2.43131242e+02] [ 1.26632791e-01 9.91939533e-01 -4.48320660e-03 1.85453445e+01] [ 5.60655689e-02 -2.64491955e-03 9.98423586e-01 1.36027643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.19, Y:18.55, Z:13.61 [[ 9.89892040e-01 -1.30320778e-01 -5.59485878e-02 2.43191229e+02] [ 1.30274836e-01 9.91467785e-01 -4.48320660e-03 1.85468301e+01] [ 5.60554774e-02 -2.85080260e-03 9.98423586e-01 1.36061694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.25, Y:18.55, Z:13.61 [[ 9.89604277e-01 -1.32488227e-01 -5.59485878e-02 2.43252375e+02] [ 1.32445737e-01 9.91180119e-01 -4.48320660e-03 1.85499035e+01] [ 5.60491000e-02 -2.97355151e-03 9.98423586e-01 1.36098182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.31, Y:18.55, Z:13.61 [[ 9.89375111e-01 -1.34188772e-01 -5.59487474e-02 2.43313356e+02] [ 1.34149102e-01 9.90951027e-01 -4.48121358e-03 1.85529878e+01] [ 5.60437972e-02 -3.07187304e-03 9.98423586e-01 1.36128220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.37, Y:18.56, Z:13.62 [[ 9.89350572e-01 -1.34369506e-01 -5.59489103e-02 2.43374544e+02] [ 1.34330239e-01 9.90926498e-01 -4.47917908e-03 1.85575238e+01] [ 5.60431228e-02 -3.08415213e-03 9.98423586e-01 1.36159372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.43, Y:18.56, Z:13.62 [[ 9.89483344e-01 -1.33388207e-01 -5.59490726e-02 2.43434514e+02] [ 1.33347491e-01 9.91059232e-01 -4.47715108e-03 1.85618579e+01] [ 5.60460441e-02 -3.03060204e-03 9.98423586e-01 1.36175260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.50, Y:18.57, Z:13.62 [[ 9.89644890e-01 -1.32184282e-01 -5.59491524e-02 2.43495263e+02] [ 1.32141705e-01 9.91220729e-01 -4.47615346e-03 1.85680650e+01] [ 5.60496368e-02 -2.96341400e-03 9.98423586e-01 1.36209004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.56, Y:18.57, Z:13.62 [[ 9.89640391e-01 -1.32217891e-01 -5.59493162e-02 2.43556050e+02] [ 1.32175483e-01 9.91216235e-01 -4.47410563e-03 1.85741364e+01] [ 5.60494273e-02 -2.96737224e-03 9.98423586e-01 1.36241175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.62, Y:18.58, Z:13.63 [[ 9.89580803e-01 -1.32663067e-01 -5.59494792e-02 2.43616773e+02] [ 1.32621483e-01 9.91156669e-01 -4.47206633e-03 1.85798855e+01] [ 5.60479774e-02 -2.99463192e-03 9.98423586e-01 1.36273917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.68, Y:18.59, Z:13.63 [[ 9.89572859e-01 -1.32722245e-01 -5.59496419e-02 2.43677933e+02] [ 1.32680870e-01 9.91148730e-01 -4.47002898e-03 1.85876501e+01] [ 5.60476889e-02 -3.00002781e-03 9.98423586e-01 1.36304961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.74, Y:18.60, Z:13.63 [[ 9.89644589e-01 -1.32186261e-01 -5.59498046e-02 2.43738257e+02] [ 1.32144147e-01 9.91220440e-01 -4.46799163e-03 1.85953370e+01] [ 5.60491971e-02 -2.97171548e-03 9.98423586e-01 1.36336652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.80, Y:18.60, Z:13.64 [[ 9.89863933e-01 -1.30533538e-01 -5.59498846e-02 2.43799816e+02] [ 1.30488849e-01 9.91439714e-01 -4.46699033e-03 1.86047496e+01] [ 5.60540296e-02 -2.87912343e-03 9.98423586e-01 1.36368195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.86, Y:18.61, Z:13.64 [[ 9.89917852e-01 -1.30123861e-01 -5.59502109e-02 2.43861424e+02] [ 1.30078751e-01 9.91493621e-01 -4.46289946e-03 1.86128149e+01] [ 5.60550069e-02 -2.86002972e-03 9.98423586e-01 1.36405591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:18.62, Z:13.64 [[ 9.89762034e-01 -1.31303667e-01 -5.59505389e-02 2.43921461e+02] [ 1.31260667e-01 9.91337862e-01 -4.45878384e-03 1.86224774e+01] [ 5.60513422e-02 -2.93097010e-03 9.98423586e-01 1.36437485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:18.63, Z:13.65 [[ 9.89500861e-01 -1.33257480e-01 -5.59507811e-02 2.43981825e+02] [ 1.33217763e-01 9.91076775e-01 -4.45574251e-03 1.86323727e+01] [ 5.60452807e-02 -3.04467685e-03 9.98423586e-01 1.36463279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66509989299996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.04, Y:18.64, Z:13.65 [[ 9.89275192e-01 -1.34922489e-01 -5.59510190e-02 2.44042911e+02] [ 1.34885593e-01 9.90851174e-01 -4.45275235e-03 1.86425636e+01] [ 5.60399094e-02 -3.14198893e-03 9.98423586e-01 1.36503362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.10, Y:18.65, Z:13.66 [[ 9.89237324e-01 -1.35199720e-01 -5.59513381e-02 2.44104752e+02] [ 1.35163491e-01 9.90813322e-01 -4.44873972e-03 1.86512840e+01] [ 5.60387995e-02 -3.16171881e-03 9.98423586e-01 1.36554973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.17, Y:18.66, Z:13.66 [[ 9.89520349e-01 -1.33112327e-01 -5.59516538e-02 2.44166169e+02] [ 1.33072998e-01 9.91096272e-01 -4.44476512e-03 1.86616878e+01] [ 5.60451286e-02 -3.04746878e-03 9.98423586e-01 1.36593946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84509989299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:18.67, Z:13.66 [[ 9.89836213e-01 -1.30742683e-01 -5.59519660e-02 2.44227843e+02] [ 1.30699802e-01 9.91412044e-01 -4.44083148e-03 1.86703372e+01] [ 5.60520592e-02 -2.91721506e-03 9.98423586e-01 1.36638611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:18.68, Z:13.67 [[ 9.90392167e-01 -1.26462244e-01 -5.59522738e-02 2.44289427e+02] [ 1.26412770e-01 9.91967804e-01 -4.43694987e-03 1.86799836e+01] [ 5.60639609e-02 -2.67876153e-03 9.98423586e-01 1.36665748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:18.69, Z:13.67 [[ 9.90955725e-01 -1.21967449e-01 -5.59525971e-02 2.44350583e+02] [ 1.21911057e-01 9.92531130e-01 -4.43287019e-03 1.86901398e+01] [ 5.60753603e-02 -2.42846214e-03 9.98423586e-01 1.36690961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:18.70, Z:13.67 [[ 9.91367056e-01 -1.18577534e-01 -5.59529158e-02 2.44411771e+02] [ 1.18515980e-01 9.92942268e-01 -4.42884305e-03 1.86988183e+01] [ 5.60831764e-02 -2.24070558e-03 9.98423586e-01 1.36724328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:18.71, Z:13.68 [[ 9.91762547e-01 -1.15222759e-01 -5.59532425e-02 2.44473111e+02] [ 1.15156110e-01 9.93337552e-01 -4.42471163e-03 1.87067648e+01] [ 5.60902844e-02 -2.05509446e-03 9.98423586e-01 1.36760691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.53, Y:18.72, Z:13.68 [[ 9.92165858e-01 -1.11696507e-01 -5.59535665e-02 2.44534792e+02] [ 1.11624490e-01 9.93740626e-01 -4.42061128e-03 1.87160156e+01] [ 5.60970990e-02 -1.85980872e-03 9.98423586e-01 1.36811076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.60, Y:18.72, Z:13.69 [[ 9.92472047e-01 -1.08942174e-01 -5.59538900e-02 2.44595645e+02] [ 1.08866017e-01 9.94046621e-01 -4.41651266e-03 1.87241903e+01] [ 5.61019198e-02 -1.70821180e-03 9.98423586e-01 1.36854535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26509989299996 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:244.66, Y:18.73, Z:13.69 [[ 9.92311306e-01 -1.10396541e-01 -5.59542330e-02 2.44656363e+02] [ 1.10322936e-01 9.93886001e-01 -4.41216305e-03 1.87295576e+01] [ 5.60992164e-02 -1.79479600e-03 9.98423586e-01 1.36892578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.72, Y:18.73, Z:13.70 [[ 9.91778227e-01 -1.15087153e-01 -5.59544133e-02 2.44717191e+02] [ 1.15021124e-01 9.93353257e-01 -4.40987496e-03 1.87338808e+01] [ 5.60900187e-02 -2.06232151e-03 9.98423586e-01 1.36951815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.78, Y:18.74, Z:13.70 [[ 9.91222770e-01 -1.19776891e-01 -5.59546001e-02 2.44778645e+02] [ 1.19718446e-01 9.92798100e-01 -4.40750354e-03 1.87371081e+01] [ 5.60795377e-02 -2.32997993e-03 9.98423586e-01 1.36972692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.84, Y:18.74, Z:13.70 [[ 9.90676516e-01 -1.24213779e-01 -5.59551355e-02 2.44840569e+02] [ 1.24162772e-01 9.92252105e-01 -4.40069552e-03 1.87393136e+01] [ 5.60682280e-02 -2.58787903e-03 9.98423586e-01 1.36984596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.90, Y:18.74, Z:13.70 [[ 9.90380719e-01 -1.26550463e-01 -5.59554499e-02 2.44902777e+02] [ 1.26503398e-01 9.91956430e-01 -4.39669397e-03 1.87419993e+01] [ 5.60617720e-02 -2.72415362e-03 9.98423586e-01 1.37014746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.96, Y:18.74, Z:13.71 [[ 9.90186180e-01 -1.28063584e-01 -5.59557702e-02 2.44964479e+02] [ 1.28019157e-01 9.91761968e-01 -4.39261452e-03 1.87448588e+01] [ 5.60573387e-02 -2.81390435e-03 9.98423586e-01 1.37054881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.03, Y:18.75, Z:13.71 [[ 9.89864282e-01 -1.30528232e-01 -5.59560901e-02 2.45025919e+02] [ 1.30487958e-01 9.91440182e-01 -4.38853504e-03 1.87460578e+01] [ 5.60499439e-02 -2.95754184e-03 9.98423586e-01 1.37093511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.09, Y:18.75, Z:13.71 [[ 9.89647678e-01 -1.32160369e-01 -5.59563259e-02 2.45088400e+02] [ 1.32122863e-01 9.91223646e-01 -4.38552666e-03 1.87480297e+01] [ 5.60448262e-02 -3.05298372e-03 9.98423586e-01 1.37123177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.15, Y:18.75, Z:13.71 [[ 9.89572504e-01 -1.32721936e-01 -5.59566453e-02 2.45151226e+02] [ 1.32685555e-01 9.91148499e-01 -4.38144714e-03 1.87491897e+01] [ 5.60428592e-02 -3.08887890e-03 9.98423586e-01 1.37139913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.21, Y:18.75, Z:13.72 [[ 9.89639646e-01 -1.32220160e-01 -5.59571329e-02 2.45213643e+02] [ 1.32183331e-01 9.91215630e-01 -4.37521135e-03 1.87531103e+01] [ 5.60440759e-02 -3.06671762e-03 9.98423586e-01 1.37167834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.28, Y:18.76, Z:13.72 [[ 9.89765044e-01 -1.31277961e-01 -5.59576144e-02 2.45276071e+02] [ 1.31239979e-01 9.91341001e-01 -4.36904465e-03 1.87571434e+01] [ 5.60466367e-02 -3.01954849e-03 9.98423586e-01 1.37201413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.34, Y:18.76, Z:13.72 [[ 9.90223315e-01 -1.27775181e-01 -5.59579297e-02 2.45337512e+02] [ 1.27731852e-01 9.91799133e-01 -4.36500265e-03 1.87616070e+01] [ 5.60567652e-02 -2.82528258e-03 9.98423586e-01 1.37244075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.40, Y:18.77, Z:13.73 [[ 9.90849892e-01 -1.22821686e-01 -5.59582443e-02 2.45399266e+02] [ 1.22770704e-01 9.92425481e-01 -4.36096574e-03 1.87664278e+01] [ 5.60700087e-02 -2.54897063e-03 9.98423586e-01 1.37285134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.46, Y:18.77, Z:13.73 [[ 9.91236362e-01 -1.19662506e-01 -5.59585547e-02 2.45460992e+02] [ 1.19606727e-01 9.92811789e-01 -4.35697861e-03 1.87709856e+01] [ 5.60776798e-02 -2.37422394e-03 9.98423586e-01 1.37322975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.52, Y:18.77, Z:13.73 [[ 9.91244467e-01 -1.19595205e-01 -5.59588637e-02 2.45523066e+02] [ 1.19539542e-01 9.92819898e-01 -4.35300722e-03 1.87749673e+01] [ 5.60776721e-02 -2.37440263e-03 9.98423586e-01 1.37346431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.58, Y:18.78, Z:13.74 [[ 9.90981399e-01 -1.21755648e-01 -5.59591725e-02 2.45584793e+02] [ 1.21703643e-01 9.92556955e-01 -4.34903416e-03 1.87784338e+01] [ 5.60721853e-02 -2.50062320e-03 9.98423586e-01 1.37371098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.65, Y:18.78, Z:13.74 [[ 9.90060103e-01 -1.29033053e-01 -5.59594788e-02 2.45646692e+02] [ 1.28992848e-01 9.91636005e-01 -4.34508942e-03 1.87801284e+01] [ 5.60520941e-02 -2.91647284e-03 9.98423586e-01 1.37375071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.71, Y:18.78, Z:13.74 [[ 9.89720222e-01 -1.31614525e-01 -5.59597903e-02 2.45708368e+02] [ 1.31578656e-01 9.91296228e-01 -4.34107281e-03 1.87845363e+01] [ 5.60440773e-02 -3.06666644e-03 9.98423586e-01 1.37407249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.77, Y:18.79, Z:13.74 [[ 9.89678724e-01 -1.31926074e-01 -5.59601076e-02 2.45769115e+02] [ 1.31890932e-01 9.91254747e-01 -4.33697946e-03 1.87893846e+01] [ 5.60428829e-02 -3.08841443e-03 9.98423586e-01 1.37447639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.83, Y:18.80, Z:13.75 [[ 9.90363233e-01 -1.26684951e-01 -5.59606075e-02 2.45831001e+02] [ 1.26641830e-01 9.91939057e-01 -4.33051922e-03 1.87952686e+01] [ 5.60581239e-02 -2.79816674e-03 9.98423586e-01 1.37497264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.89, Y:18.80, Z:13.75 [[ 9.91072586e-01 -1.21010344e-01 -5.59609310e-02 2.45892132e+02] [ 1.20958434e-01 9.92648145e-01 -4.32633467e-03 1.88018172e+01] [ 5.60730456e-02 -2.48123490e-03 9.98423586e-01 1.37535807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.95, Y:18.81, Z:13.76 [[ 9.92129255e-01 -1.12017362e-01 -5.59611697e-02 2.45953767e+02] [ 1.11951340e-01 9.93704286e-01 -4.32324449e-03 1.88102533e+01] [ 5.60931326e-02 -1.97571059e-03 9.98423586e-01 1.37581410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.02, Y:18.82, Z:13.76 [[ 9.92748058e-01 -1.06393639e-01 -5.59614812e-02 2.46015334e+02] [ 1.06318920e-01 9.94322700e-01 -4.31920949e-03 1.88166738e+01] [ 5.61033075e-02 -1.66187740e-03 9.98423586e-01 1.37619566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.08, Y:18.82, Z:13.76 [[ 9.92871606e-01 -1.05234269e-01 -5.59617940e-02 2.46077249e+02] [ 1.05157939e-01 9.94446171e-01 -4.31515216e-03 1.88224009e+01] [ 5.61050937e-02 -1.60043489e-03 9.98423586e-01 1.37648626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.14, Y:18.83, Z:13.77 [[ 9.92602871e-01 -1.07739423e-01 -5.59621101e-02 2.46137539e+02] [ 1.07667299e-01 9.94177634e-01 -4.31104942e-03 1.88273802e+01] [ 5.61007482e-02 -1.74612919e-03 9.98423586e-01 1.37656909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.20, Y:18.83, Z:13.77 [[ 9.92247323e-01 -1.10966135e-01 -5.59621875e-02 2.46199645e+02] [ 1.10899187e-01 9.93822315e-01 -4.31004473e-03 1.88319367e+01] [ 5.60947397e-02 -1.92953074e-03 9.98423586e-01 1.37675328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.26, Y:18.84, Z:13.77 [[ 9.91742589e-01 -1.15389931e-01 -5.59624976e-02 2.46261528e+02] [ 1.15330235e-01 9.93317872e-01 -4.30601351e-03 1.88365846e+01] [ 5.60854197e-02 -2.18371100e-03 9.98423586e-01 1.37690315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.32, Y:18.84, Z:13.77 [[ 9.91376465e-01 -1.18494171e-01 -5.59628052e-02 2.46323618e+02] [ 1.18439632e-01 9.92951935e-01 -4.30201311e-03 1.88424102e+01] [ 5.60781392e-02 -2.36329953e-03 9.98423586e-01 1.37734089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.39, Y:18.85, Z:13.78 [[ 9.91277857e-01 -1.19316139e-01 -5.59631097e-02 2.46385604e+02] [ 1.19263130e-01 9.92853379e-01 -4.29804843e-03 1.88477891e+01] [ 5.60759891e-02 -2.41377537e-03 9.98423586e-01 1.37776057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.45, Y:18.85, Z:13.78 [[ 9.91323139e-01 -1.18939193e-01 -5.59634118e-02 2.46446891e+02] [ 1.18885806e-01 9.92898648e-01 -4.29411075e-03 1.88536764e+01] [ 5.60767340e-02 -2.39640399e-03 9.98423586e-01 1.37821045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.51, Y:18.86, Z:13.78 [[ 9.91369639e-01 -1.18550831e-01 -5.59637250e-02 2.46507498e+02] [ 1.18497058e-01 9.92945136e-01 -4.29002458e-03 1.88590221e+01] [ 5.60774945e-02 -2.37853663e-03 9.98423586e-01 1.37843130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.57, Y:18.86, Z:13.79 [[ 9.91255209e-01 -1.19503710e-01 -5.59640342e-02 2.46569020e+02] [ 1.19451678e-01 9.92830764e-01 -4.28598770e-03 1.88640524e+01] [ 5.60750063e-02 -2.43649017e-03 9.98423586e-01 1.37882537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.63, Y:18.87, Z:13.79 [[ 9.91002575e-01 -1.21580788e-01 -5.59643544e-02 2.46630332e+02] [ 1.21532295e-01 9.92578243e-01 -4.28180242e-03 1.88683052e+01] [ 5.60695855e-02 -2.55819919e-03 9.98423586e-01 1.37905944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.69, Y:18.87, Z:13.79 [[ 9.90795735e-01 -1.23254922e-01 -5.59645863e-02 2.46691986e+02] [ 1.23209261e-01 9.92371488e-01 -4.27877000e-03 1.88727952e+01] [ 5.60650392e-02 -2.65596825e-03 9.98423586e-01 1.37924396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.75, Y:18.88, Z:13.79 [[ 9.90627202e-01 -1.24602079e-01 -5.59648907e-02 2.46752662e+02] [ 1.24558786e-01 9.92203021e-01 -4.27478408e-03 1.88776221e+01] [ 5.60611806e-02 -2.73620146e-03 9.98423586e-01 1.37938102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.81, Y:18.88, Z:13.80 [[ 9.90537915e-01 -1.25309792e-01 -5.59651160e-02 2.46814158e+02] [ 1.25267791e-01 9.92113770e-01 -4.27183295e-03 1.88837097e+01] [ 5.60590647e-02 -2.77921395e-03 9.98423586e-01 1.37960814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.88, Y:18.89, Z:13.80 [[ 9.90709184e-01 -1.23948319e-01 -5.59654101e-02 2.46875918e+02] [ 1.23904369e-01 9.92284985e-01 -4.26797594e-03 1.88905415e+01] [ 5.60626446e-02 -2.70603589e-03 9.98423586e-01 1.38010652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.94, Y:18.90, Z:13.81 [[ 9.90984030e-01 -1.21731219e-01 -5.59657227e-02 2.46937784e+02] [ 1.21683975e-01 9.92559736e-01 -4.26387294e-03 1.88971755e+01] [ 5.60683694e-02 -2.58470160e-03 9.98423586e-01 1.38061939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.00, Y:18.90, Z:13.81 [[ 9.91228989e-01 -1.19720063e-01 -5.59660378e-02 2.46998835e+02] [ 1.19669855e-01 9.92804603e-01 -4.25973341e-03 1.89031857e+01] [ 5.60733155e-02 -2.47507638e-03 9.98423586e-01 1.38104898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.06, Y:18.91, Z:13.82 [[ 9.91484474e-01 -1.17585223e-01 -5.59665446e-02 2.47060311e+02] [ 1.17531998e-01 9.93059989e-01 -4.25306449e-03 1.89097236e+01] [ 5.60782337e-02 -2.36101238e-03 9.98423586e-01 1.38151881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.12, Y:18.91, Z:13.82 [[ 9.91496774e-01 -1.17481309e-01 -5.59668520e-02 2.47122672e+02] [ 1.17428146e-01 9.93072292e-01 -4.24901582e-03 1.89148190e+01] [ 5.60783099e-02 -2.35919821e-03 9.98423586e-01 1.38185301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.18, Y:18.92, Z:13.82 [[ 9.91509939e-01 -1.17370003e-01 -5.59671561e-02 2.47183699e+02] [ 1.17316890e-01 9.93085458e-01 -4.24500629e-03 1.89200151e+01] [ 5.60784052e-02 -2.35692676e-03 9.98423586e-01 1.38174840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.25, Y:18.92, Z:13.82 [[ 9.91898976e-01 -1.14035406e-01 -5.59673807e-02 2.47246577e+02] [ 1.13977162e-01 9.93474314e-01 -4.24204312e-03 1.89214068e+01] [ 5.60858982e-02 -2.17132499e-03 9.98423586e-01 1.38167260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.31, Y:18.93, Z:13.82 [[ 9.92020849e-01 -1.12970139e-01 -5.59676928e-02 2.47308127e+02] [ 1.12910436e-01 9.93596132e-01 -4.23792092e-03 1.89276405e+01] [ 5.60880416e-02 -2.11523070e-03 9.98423586e-01 1.38202469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.37, Y:18.94, Z:13.83 [[ 9.92034365e-01 -1.12851186e-01 -5.59681039e-02 2.47368001e+02] [ 1.12791601e-01 9.93609652e-01 -4.23248517e-03 1.89386006e+01] [ 5.60880892e-02 -2.11396128e-03 9.98423586e-01 1.38282317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.43, Y:18.95, Z:13.83 [[ 9.92332194e-01 -1.10201455e-01 -5.59683511e-02 2.47429492e+02] [ 1.10137847e-01 9.93907324e-01 -4.22921368e-03 1.89458663e+01] [ 5.60934195e-02 -1.96744880e-03 9.98423586e-01 1.38339639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.49, Y:18.95, Z:13.84 [[ 9.92355214e-01 -1.09993815e-01 -5.59686508e-02 2.47491579e+02] [ 1.09930101e-01 9.93930340e-01 -4.22524367e-03 1.89515759e+01] [ 5.60936908e-02 -1.95969683e-03 9.98423586e-01 1.38371326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.55, Y:18.96, Z:13.84 [[ 9.92006094e-01 -1.13099008e-01 -5.59689519e-02 2.47553668e+02] [ 1.13040448e-01 9.93581420e-01 -4.22125161e-03 1.89570438e+01] [ 5.60871300e-02 -2.13924809e-03 9.98423586e-01 1.38394322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.62, Y:18.96, Z:13.84 [[ 9.91578149e-01 -1.16791341e-01 -5.59692544e-02 2.47615278e+02] [ 1.16738873e-01 9.93153689e-01 -4.21723644e-03 1.89621782e+01] [ 5.60786082e-02 -2.35206820e-03 9.98423586e-01 1.38428309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.68, Y:18.97, Z:13.85 [[ 9.91091730e-01 -1.20849458e-01 -5.59695570e-02 2.47676945e+02] [ 1.20803666e-01 9.92667479e-01 -4.21321701e-03 1.89674784e+01] [ 5.60683240e-02 -2.58564315e-03 9.98423586e-01 1.38455389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.74, Y:18.97, Z:13.85 [[ 9.91154287e-01 -1.20335172e-01 -5.59698643e-02 2.47738886e+02] [ 1.20288794e-01 9.92730018e-01 -4.20913039e-03 1.89725813e+01] [ 5.60694709e-02 -2.56064983e-03 9.98423586e-01 1.38487793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.80, Y:18.98, Z:13.85 [[ 9.91538567e-01 -1.17126470e-01 -5.59701667e-02 2.47800639e+02] [ 1.17075218e-01 9.93114148e-01 -4.20510584e-03 1.89786931e+01] [ 5.60772936e-02 -2.38319487e-03 9.98423586e-01 1.38540694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.86, Y:18.98, Z:13.86 [[ 9.91895453e-01 -1.14064526e-01 -5.59704709e-02 2.47862435e+02] [ 1.14008638e-01 9.93470876e-01 -4.20105303e-03 1.89849741e+01] [ 5.60842239e-02 -2.21411174e-03 9.98423586e-01 1.38590921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.92, Y:18.99, Z:13.86 [[ 9.92022100e-01 -1.12957626e-01 -5.59707727e-02 2.47923947e+02] [ 1.12900206e-01 9.93597468e-01 -4.19702843e-03 1.89900293e+01] [ 5.60865044e-02 -2.15556682e-03 9.98423586e-01 1.38623161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.99, Y:18.99, Z:13.87 [[ 9.92076857e-01 -1.12475542e-01 -5.59710774e-02 2.47985718e+02] [ 1.12417586e-01 9.93652205e-01 -4.19296091e-03 1.89948898e+01] [ 5.60873900e-02 -2.13239392e-03 9.98423586e-01 1.38650999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.05, Y:19.00, Z:13.87 [[ 9.92126919e-01 -1.12032945e-01 -5.59713793e-02 2.48048139e+02] [ 1.11974514e-01 9.93702250e-01 -4.18892690e-03 1.90002712e+01] [ 5.60881833e-02 -2.11142086e-03 9.98423586e-01 1.38676461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.11, Y:19.00, Z:13.87 [[ 9.92023268e-01 -1.12946885e-01 -5.59717511e-02 2.48108928e+02] [ 1.12890186e-01 9.93598662e-01 -4.18395284e-03 1.90038606e+01] [ 5.60860214e-02 -2.16808280e-03 9.98423586e-01 1.38692426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.17, Y:19.01, Z:13.87 [[ 9.91911965e-01 -1.13920116e-01 -5.59719708e-02 2.48171303e+02] [ 1.13865128e-01 9.93487419e-01 -4.18101197e-03 1.90078844e+01] [ 5.60837502e-02 -2.22605981e-03 9.98423586e-01 1.38734688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.23, Y:19.01, Z:13.88 [[ 9.92010094e-01 -1.13062270e-01 -5.59722750e-02 2.48232477e+02] [ 1.13006149e-01 9.93585509e-01 -4.17693479e-03 1.90119565e+01] [ 5.60854951e-02 -2.18164980e-03 9.98423586e-01 1.38767324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.29, Y:19.02, Z:13.88 [[ 9.92092162e-01 -1.12339755e-01 -5.59725003e-02 2.48293849e+02] [ 1.12282657e-01 9.93667542e-01 -4.17391476e-03 1.90162207e+01] [ 5.60869533e-02 -2.14383292e-03 9.98423586e-01 1.38800227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.36, Y:19.02, Z:13.88 [[ 9.92394350e-01 -1.09638077e-01 -5.59727208e-02 2.48355408e+02] [ 1.09576856e-01 9.93969575e-01 -4.17095562e-03 1.90197238e+01] [ 5.60924770e-02 -1.99408197e-03 9.98423586e-01 1.38848891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.42, Y:19.02, Z:13.89 [[ 9.92487218e-01 -1.08794042e-01 -5.59730097e-02 2.48417185e+02] [ 1.08731701e-01 9.94062399e-01 -4.16707414e-03 1.90233801e+01] [ 5.60940172e-02 -1.95027271e-03 9.98423586e-01 1.38906126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.48, Y:19.03, Z:13.90 [[ 9.92021847e-01 -1.12958590e-01 -5.59733129e-02 2.48477699e+02] [ 1.12903089e-01 9.93597284e-01 -4.16299733e-03 1.90318328e+01] [ 5.60851780e-02 -2.18977565e-03 9.98423586e-01 1.38995629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.54, Y:19.03, Z:13.90 [[ 9.92062351e-01 -1.12602233e-01 -5.59734702e-02 2.48540366e+02] [ 1.12546286e-01 9.93637771e-01 -4.16088229e-03 1.90328528e+01] [ 5.60858788e-02 -2.17175150e-03 9.98423586e-01 1.38994394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.60, Y:19.03, Z:13.90 [[ 9.92404347e-01 -1.09546948e-01 -5.59739064e-02 2.48602140e+02] [ 1.09486481e-01 9.93979601e-01 -4.15500525e-03 1.90306331e+01] [ 5.60920893e-02 -2.00494077e-03 9.98423586e-01 1.39008633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.66, Y:19.04, Z:13.91 [[ 9.91946749e-01 -1.13615751e-01 -5.59741688e-02 2.48664009e+02] [ 1.13561944e-01 9.93522244e-01 -4.15146729e-03 1.90373246e+01] [ 5.60832539e-02 -2.23850094e-03 9.98423586e-01 1.39080311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.73, Y:19.04, Z:13.91 [[ 9.91878160e-01 -1.14212757e-01 -5.59746520e-02 2.48725793e+02] [ 1.14160266e-01 9.93453700e-01 -4.14494217e-03 1.90380315e+01] [ 5.60816304e-02 -2.27880353e-03 9.98423586e-01 1.39123567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.79, Y:19.04, Z:13.92 [[ 9.91469234e-01 -1.17709635e-01 -5.59749871e-02 2.48788032e+02] [ 1.17662955e-01 9.93044957e-01 -4.14041224e-03 1.90404652e+01] [ 5.60730450e-02 -2.48109103e-03 9.98423586e-01 1.39215627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.85, Y:19.04, Z:13.93 [[ 9.91352994e-01 -1.18684436e-01 -5.59754117e-02 2.48850318e+02] [ 1.18639629e-01 9.92928770e-01 -4.13466394e-03 1.90418623e+01] [ 5.60703170e-02 -2.54199061e-03 9.98423586e-01 1.39262825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.91, Y:19.04, Z:13.93 [[ 9.91673628e-01 -1.15974707e-01 -5.59757317e-02 2.48913092e+02] [ 1.15925838e-01 9.93249284e-01 -4.13032749e-03 1.90398888e+01] [ 5.60768689e-02 -2.39309676e-03 9.98423586e-01 1.39266330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.97, Y:19.03, Z:13.92 [[ 9.92464580e-01 -1.08998751e-01 -5.59761485e-02 2.48974284e+02] [ 1.08939122e-01 9.94039866e-01 -4.12467046e-03 1.90341109e+01] [ 5.60921071e-02 -2.00440316e-03 9.98423586e-01 1.39229875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.03, Y:19.04, Z:13.94 [[ 9.92181892e-01 -1.11542614e-01 -5.59762317e-02 2.49034095e+02] [ 1.11487088e-01 9.93757327e-01 -4.12354122e-03 1.90444044e+01] [ 5.60867410e-02 -2.14932413e-03 9.98423586e-01 1.39374451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.10, Y:19.04, Z:13.93 [[ 9.93251604e-01 -1.01577030e-01 -5.59764023e-02 2.49095865e+02] [ 1.01505822e-01 9.94826409e-01 -4.12122476e-03 1.90371944e+01] [ 5.61054250e-02 -1.58851762e-03 9.98423586e-01 1.39319496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.16, Y:19.04, Z:13.94 [[ 9.93566363e-01 -9.84505048e-02 -5.59766070e-02 2.49155941e+02] [ 9.83744976e-02 9.95140943e-01 -4.11844180e-03 1.90388434e+01] [ 5.61100762e-02 -1.41472536e-03 9.98423586e-01 1.39350998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.22, Y:19.04, Z:13.94 [[ 9.93804410e-01 -9.60177849e-02 -5.59766070e-02 2.49216937e+02] [ 9.59379231e-02 9.95378799e-01 -4.11844180e-03 1.90392659e+01] [ 5.61133715e-02 -1.27735380e-03 9.98423586e-01 1.39391333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.28, Y:19.05, Z:13.95 [[ 9.93215170e-01 -1.01932556e-01 -5.59766070e-02 2.49275379e+02] [ 1.01862069e-01 9.94790007e-01 -4.11844180e-03 1.90481788e+01] [ 5.61047726e-02 -1.61139413e-03 9.98423586e-01 1.39507617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.34, Y:19.05, Z:13.95 [[ 9.93097548e-01 -1.03072046e-01 -5.59768991e-02 2.49336318e+02] [ 1.03003589e-01 9.94672475e-01 -4.11446736e-03 1.90463083e+01] [ 5.61027674e-02 -1.67975406e-03 9.98423586e-01 1.39549299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.40, Y:19.05, Z:13.96 [[ 9.92860765e-01 -1.05328436e-01 -5.59769777e-02 2.49397263e+02] [ 1.05263618e-01 9.94435845e-01 -4.11339786e-03 1.90467589e+01] [ 5.60987709e-02 -1.80830786e-03 9.98423586e-01 1.39604440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.46, Y:19.04, Z:13.96 [[ 9.92459263e-01 -1.09046652e-01 -5.59771338e-02 2.49459036e+02] [ 1.08987854e-01 9.94034579e-01 -4.11127279e-03 1.90439013e+01] [ 5.60915272e-02 -2.02055693e-03 9.98423586e-01 1.39649437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.52, Y:19.04, Z:13.96 [[ 9.92041786e-01 -1.12781370e-01 -5.59772919e-02 2.49520681e+02] [ 1.12728623e-01 9.93617317e-01 -4.10911869e-03 1.90398918e+01] [ 5.60834387e-02 -2.23382561e-03 9.98423586e-01 1.39645649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.58, Y:19.03, Z:13.96 [[ 9.92183977e-01 -1.11523459e-01 -5.59774494e-02 2.49580527e+02] [ 1.11468835e-01 9.93759443e-01 -4.10697209e-03 1.90344644e+01] [ 5.60861427e-02 -2.16486920e-03 9.98423586e-01 1.39602157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.64, Y:19.04, Z:13.97 [[ 9.91122117e-01 -1.20596401e-01 -5.59772944e-02 2.49640913e+02] [ 1.20556075e-01 9.92698015e-01 -4.10908358e-03 1.90403680e+01] [ 5.60640897e-02 -2.67579930e-03 9.98423586e-01 1.39685620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.70, Y:19.04, Z:13.97 [[ 9.90936283e-01 -1.22113949e-01 -5.59773718e-02 2.49701996e+02] [ 1.22076096e-01 9.92512242e-01 -4.10802982e-03 1.90407739e+01] [ 5.60598745e-02 -2.76270318e-03 9.98423586e-01 1.39684196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.76, Y:19.04, Z:13.97 [[ 9.90937437e-01 -1.22104552e-01 -5.59774480e-02 2.49763232e+02] [ 1.22066742e-01 9.92513397e-01 -4.10699060e-03 1.90438063e+01] [ 5.60598493e-02 -2.76321397e-03 9.98423586e-01 1.39731025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.82, Y:19.04, Z:13.97 [[ 9.91664765e-01 -1.16049562e-01 -5.59776061e-02 2.49822773e+02] [ 1.16002248e-01 9.93240469e-01 -4.10483453e-03 1.90429034e+01] [ 5.60755880e-02 -2.42290840e-03 9.98423586e-01 1.39727434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.88, Y:19.06, Z:13.98 [[ 9.91510189e-01 -1.17362949e-01 -5.59775283e-02 2.49882620e+02] [ 1.17317663e-01 9.93085952e-01 -4.10589498e-03 1.90550159e+01] [ 5.60723769e-02 -2.49611611e-03 9.98423586e-01 1.39843409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.94, Y:19.06, Z:13.99 [[ 9.92176258e-01 -1.11592025e-01 -5.59776041e-02 2.49943205e+02] [ 1.11537630e-01 9.93751733e-01 -4.10486199e-03 1.90596100e+01] [ 5.60859109e-02 -2.17086266e-03 9.98423586e-01 1.39854087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.00, Y:19.06, Z:13.98 [[ 9.93003711e-01 -1.03971809e-01 -5.59776041e-02 2.50003092e+02] [ 1.03905320e-01 9.94578722e-01 -4.10486199e-03 1.90596807e+01] [ 5.61009239e-02 -1.74022769e-03 9.98423586e-01 1.39818767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.06, Y:19.07, Z:13.99 [[ 9.92620535e-01 -1.07568536e-01 -5.59775268e-02 2.50061854e+02] [ 1.07507694e-01 9.94195774e-01 -4.10591576e-03 1.90700005e+01] [ 5.60942879e-02 -1.94239853e-03 9.98423586e-01 1.39908436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.12, Y:19.07, Z:13.99 [[ 9.92919011e-01 -1.04777727e-01 -5.59773702e-02 2.50120707e+02] [ 1.04712337e-01 9.94494068e-01 -4.10804973e-03 1.90706202e+01] [ 5.60995947e-02 -1.78256057e-03 9.98423586e-01 1.39872383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.18, Y:19.08, Z:13.99 [[ 9.92786435e-01 -1.06026664e-01 -5.59771388e-02 2.50178113e+02] [ 1.05963078e-01 9.94361566e-01 -4.11120056e-03 1.90755757e+01] [ 5.60974123e-02 -1.84996576e-03 9.98423586e-01 1.39893093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.24, Y:19.09, Z:14.00 [[ 9.92128229e-01 -1.12018651e-01 -5.59767645e-02 2.50236793e+02] [ 1.11964290e-01 9.93703705e-01 -4.11628960e-03 1.90872179e+01] [ 5.60854196e-02 -2.18351156e-03 9.98423586e-01 1.40040296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.30, Y:19.09, Z:14.01 [[ 9.91878243e-01 -1.14211119e-01 -5.59765323e-02 2.50296416e+02] [ 1.14160062e-01 9.93453829e-01 -4.11944491e-03 1.90943188e+01] [ 5.60805868e-02 -2.30429660e-03 9.98423586e-01 1.40078020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.36, Y:19.09, Z:14.00 [[ 9.92360772e-01 -1.09939612e-01 -5.59766091e-02 2.50356633e+02] [ 1.09881830e-01 9.93936126e-01 -4.11840184e-03 1.90927457e+01] [ 5.60899495e-02 -2.06387181e-03 9.98423586e-01 1.40006896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.42, Y:19.10, Z:14.00 [[ 9.92206814e-01 -1.11320551e-01 -5.59765335e-02 2.50415570e+02] [ 1.11264904e-01 9.93782245e-01 -4.11942904e-03 1.90990985e+01] [ 5.60870623e-02 -2.14089806e-03 9.98423586e-01 1.40042227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.47, Y:19.11, Z:14.01 [[ 9.92018113e-01 -1.12989853e-01 -5.59763855e-02 2.50474113e+02] [ 1.12936744e-01 9.93593632e-01 -4.12143931e-03 1.91060874e+01] [ 5.60834610e-02 -2.23324825e-03 9.98423586e-01 1.40080353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.53, Y:19.12, Z:14.02 [[ 9.91420103e-01 -1.18122103e-01 -5.59763126e-02 2.50534057e+02] [ 1.18077092e-01 9.92995874e-01 -4.12242827e-03 1.91172068e+01] [ 5.60711974e-02 -2.52246193e-03 9.98423586e-01 1.40188743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.59, Y:19.12, Z:14.02 [[ 9.91397322e-01 -1.18313083e-01 -5.59764719e-02 2.50594640e+02] [ 1.18268497e-01 9.92973104e-01 -4.12026515e-03 1.91233777e+01] [ 5.60706123e-02 -2.53543335e-03 9.98423586e-01 1.40202681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.65, Y:19.13, Z:14.03 [[ 9.91045695e-01 -1.21223092e-01 -5.59767057e-02 2.50654754e+02] [ 1.21183312e-01 9.92621607e-01 -4.11708621e-03 1.91338700e+01] [ 5.60627735e-02 -2.70322201e-03 9.98423586e-01 1.40291374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.72, Y:19.14, Z:14.03 [[ 9.91055923e-01 -1.21139376e-01 -5.59768609e-02 2.50716268e+02] [ 1.21099582e-01 9.92631834e-01 -4.11497527e-03 1.91392504e+01] [ 5.60628996e-02 -2.70060384e-03 9.98423586e-01 1.40284613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.78, Y:19.15, Z:14.03 [[ 9.90777586e-01 -1.23395057e-01 -5.59770905e-02 2.50777331e+02] [ 1.23359027e-01 9.92353588e-01 -4.11184909e-03 1.91474258e+01] [ 5.60564484e-02 -2.83135147e-03 9.98423586e-01 1.40338352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.84, Y:19.15, Z:14.04 [[ 9.90448844e-01 -1.26006425e-01 -5.59773916e-02 2.50839352e+02] [ 1.25974780e-01 9.92024940e-01 -4.10774524e-03 1.91546999e+01] [ 5.60485709e-02 -2.98322810e-03 9.98423586e-01 1.40393962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.90, Y:19.16, Z:14.05 [[ 9.90211230e-01 -1.27860139e-01 -5.59777133e-02 2.50900093e+02] [ 1.27831691e-01 9.91787387e-01 -4.10335729e-03 1.91637300e+01] [ 5.60426458e-02 -3.09253529e-03 9.98423587e-01 1.40471465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.96, Y:19.17, Z:14.05 [[ 9.90439670e-01 -1.26078304e-01 -5.59778727e-02 2.50961942e+02] [ 1.26047143e-01 9.92015775e-01 -4.10118128e-03 1.91704508e+01] [ 5.60480028e-02 -2.99387832e-03 9.98423587e-01 1.40498343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.02, Y:19.18, Z:14.05 [[ 9.90590632e-01 -1.24886521e-01 -5.59781890e-02 2.51024228e+02] [ 1.24853707e-01 9.92166703e-01 -4.09685937e-03 1.91756353e+01] [ 5.60513378e-02 -2.93077391e-03 9.98423587e-01 1.40534084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.09, Y:19.18, Z:14.06 [[ 9.91038189e-01 -1.21283617e-01 -5.59785050e-02 2.51086143e+02] [ 1.21245316e-01 9.92614137e-01 -4.09253743e-03 1.91847172e+01] [ 5.60614132e-02 -2.73127064e-03 9.98423587e-01 1.40600871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.15, Y:19.19, Z:14.06 [[ 9.91433182e-01 -1.18011053e-01 -5.59789057e-02 2.51147953e+02] [ 1.17967859e-01 9.93009003e-01 -4.08704935e-03 1.91907970e+01] [ 5.60698743e-02 -2.55167532e-03 9.98423587e-01 1.40615314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.21, Y:19.20, Z:14.06 [[ 9.91636091e-01 -1.16293547e-01 -5.59792215e-02 2.51208652e+02] [ 1.16247867e-01 9.93211843e-01 -4.08271903e-03 1.91981503e+01] [ 5.60740196e-02 -2.45889355e-03 9.98423587e-01 1.40641301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.27, Y:19.20, Z:14.07 [[ 9.91803264e-01 -1.14858979e-01 -5.59794561e-02 2.51269278e+02] [ 1.14811201e-01 9.93378954e-01 -4.07949990e-03 1.92041780e+01] [ 5.60773807e-02 -2.38100729e-03 9.98423587e-01 1.40656268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.33, Y:19.21, Z:14.07 [[ 9.91854926e-01 -1.14411753e-01 -5.59799725e-02 2.51331106e+02] [ 1.14363665e-01 9.93430605e-01 -4.07240126e-03 1.92097535e+01] [ 5.60781486e-02 -2.36284359e-03 9.98423587e-01 1.40704751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.39, Y:19.22, Z:14.07 [[ 9.92060308e-01 -1.12616846e-01 -5.59802853e-02 2.51393431e+02] [ 1.12566149e-01 9.93635906e-01 -4.06809675e-03 1.92150481e+01] [ 5.60821577e-02 -2.26568781e-03 9.98423587e-01 1.40736252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.46, Y:19.22, Z:14.08 [[ 9.92105909e-01 -1.12214252e-01 -5.59806020e-02 2.51455433e+02] [ 1.12163161e-01 9.93681494e-01 -4.06373415e-03 1.92203530e+01] [ 5.60828971e-02 -2.24730662e-03 9.98423587e-01 1.40769255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.52, Y:19.23, Z:14.08 [[ 9.91979575e-01 -1.13325465e-01 -5.59809136e-02 2.51515961e+02] [ 1.13276381e-01 9.93555224e-01 -4.05943783e-03 1.92260941e+01] [ 5.60801668e-02 -2.31443590e-03 9.98423587e-01 1.40798520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.58, Y:19.23, Z:14.08 [[ 9.91704201e-01 -1.15710366e-01 -5.59811435e-02 2.51577614e+02] [ 1.15665250e-01 9.93279969e-01 -4.05626499e-03 1.92309724e+01] [ 5.60743003e-02 -2.45245792e-03 9.98423587e-01 1.40835835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.64, Y:19.24, Z:14.09 [[ 9.91129761e-01 -1.20531639e-01 -5.59814409e-02 2.51639173e+02] [ 1.20494418e-01 9.92705735e-01 -4.05215509e-03 1.92359115e+01] [ 5.60615103e-02 -2.72923962e-03 9.98423587e-01 1.40860104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.70, Y:19.24, Z:14.09 [[ 9.90761662e-01 -1.23520735e-01 -5.59817542e-02 2.51702021e+02] [ 1.23488512e-01 9.92337746e-01 -4.04782261e-03 1.92416464e+01] [ 5.60527978e-02 -2.90267609e-03 9.98423587e-01 1.40882789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.76, Y:19.25, Z:14.09 [[ 9.90450714e-01 -1.25989572e-01 -5.59822319e-02 2.51763060e+02] [ 1.25961650e-01 9.92026880e-01 -4.04120539e-03 1.92481998e+01] [ 5.60450286e-02 -3.04899954e-03 9.98423587e-01 1.40868983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.82, Y:19.25, Z:14.08 [[ 9.90638320e-01 -1.24505754e-01 -5.59824662e-02 2.51824887e+02] [ 1.24475654e-01 9.92214446e-01 -4.03795760e-03 1.92484694e+01] [ 5.60493606e-02 -2.96829858e-03 9.98423587e-01 1.40846821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.89, Y:19.26, Z:14.09 [[ 9.90029025e-01 -1.29261241e-01 -5.59826859e-02 2.51886166e+02] [ 1.29238881e-01 9.91605280e-01 -4.03490903e-03 1.92600156e+01] [ 5.60342842e-02 -3.24046265e-03 9.98423587e-01 1.40949903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.95, Y:19.26, Z:14.10 [[ 9.90231110e-01 -1.27703770e-01 -5.59829961e-02 2.51947156e+02] [ 1.27679174e-01 9.91807332e-01 -4.03059994e-03 1.92649620e+01] [ 5.60390688e-02 -3.15663725e-03 9.98423587e-01 1.40966855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.01, Y:19.27, Z:14.10 [[ 9.90290506e-01 -1.27242256e-01 -5.59832257e-02 2.52009166e+02] [ 1.27217105e-01 9.91866719e-01 -4.02740859e-03 1.92711613e+01] [ 5.60403549e-02 -3.13371943e-03 9.98423587e-01 1.41005838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.07, Y:19.27, Z:14.10 [[ 9.90394436e-01 -1.26430634e-01 -5.59835366e-02 2.52071624e+02] [ 1.26404435e-01 9.91970631e-01 -4.02308235e-03 1.92743718e+01] [ 5.60426650e-02 -3.09212896e-03 9.98423587e-01 1.41020236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.13, Y:19.28, Z:14.11 [[ 9.90328110e-01 -1.26948978e-01 -5.59838421e-02 2.52133691e+02] [ 1.26923845e-01 9.91904323e-01 -4.01882700e-03 1.92805112e+01] [ 5.60408010e-02 -3.12572712e-03 9.98423587e-01 1.41072473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.20, Y:19.29, Z:14.11 [[ 9.90434860e-01 -1.26113297e-01 -5.59841476e-02 2.52195369e+02] [ 1.26087073e-01 9.92011055e-01 -4.01456593e-03 1.92863007e+01] [ 5.60431835e-02 -3.08271125e-03 9.98423587e-01 1.41127680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.26, Y:19.29, Z:14.11 [[ 9.91486015e-01 -1.17563694e-01 -5.59844573e-02 2.52256539e+02] [ 1.17524116e-01 9.93061932e-01 -4.01024209e-03 1.92885562e+01] [ 5.60674922e-02 -2.60342492e-03 9.98423587e-01 1.41091693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.32, Y:19.30, Z:14.11 [[ 9.91942860e-01 -1.13644563e-01 -5.59846098e-02 2.52318153e+02] [ 1.13598878e-01 9.93518611e-01 -4.00811264e-03 1.92954010e+01] [ 5.60772520e-02 -2.38397013e-03 9.98423587e-01 1.41122174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.38, Y:19.30, Z:14.11 [[ 9.92128983e-01 -1.12007911e-01 -5.59849016e-02 2.52378933e+02] [ 1.11959856e-01 9.93704664e-01 -4.00403280e-03 1.93005139e+01] [ 5.60809412e-02 -2.29554455e-03 9.98423587e-01 1.41149971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.44, Y:19.31, Z:14.12 [[ 9.92219422e-01 -1.11203672e-01 -5.59853680e-02 2.52440580e+02] [ 1.11154707e-01 9.93795075e-01 -3.99750131e-03 1.93051333e+01] [ 5.60825198e-02 -2.25663875e-03 9.98423587e-01 1.41205765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.50, Y:19.31, Z:14.12 [[ 9.92134100e-01 -1.11962202e-01 -5.59856582e-02 2.52502097e+02] [ 1.11914672e-01 9.93709796e-01 -3.99343272e-03 1.93087266e+01] [ 5.60806105e-02 -2.30359577e-03 9.98423587e-01 1.41246229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.56, Y:19.31, Z:14.12 [[ 9.92265901e-01 -1.10787890e-01 -5.59859454e-02 2.52562188e+02] [ 1.10738721e-01 9.93841547e-01 -3.98940150e-03 1.93106998e+01] [ 5.60831360e-02 -2.24126494e-03 9.98423587e-01 1.41238815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.62, Y:19.31, Z:14.13 [[ 9.92131897e-01 -1.11981533e-01 -5.59860237e-02 2.52623420e+02] [ 1.11934323e-01 9.93707603e-01 -3.98830313e-03 1.93139720e+01] [ 5.60803537e-02 -2.30983488e-03 9.98423587e-01 1.41283084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.68, Y:19.32, Z:14.14 [[ 9.91772466e-01 -1.15121341e-01 -5.59861799e-02 2.52683508e+02] [ 1.15079242e-01 9.93348317e-01 -3.98610905e-03 1.93241600e+01] [ 5.60726638e-02 -2.48953394e-03 9.98423587e-01 1.41387150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.75, Y:19.33, Z:14.14 [[ 9.91647459e-01 -1.16193190e-01 -5.59862482e-02 2.52745563e+02] [ 1.16152848e-01 9.93223356e-01 -3.98514936e-03 1.93267465e+01] [ 5.60698965e-02 -2.55109895e-03 9.98423587e-01 1.41420427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.81, Y:19.33, Z:14.14 [[ 9.92297212e-01 -1.10506794e-01 -5.59865394e-02 2.52807572e+02] [ 1.10457649e-01 9.93872859e-01 -3.98105408e-03 1.93253875e+01] [ 5.60834355e-02 -2.23375268e-03 9.98423587e-01 1.41360061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.87, Y:19.33, Z:14.14 [[ 9.92565504e-01 -1.08070403e-01 -5.59866832e-02 2.52868679e+02] [ 1.08017504e-01 9.94141029e-01 -3.97903117e-03 1.93313603e+01] [ 5.60886743e-02 -2.09809272e-03 9.98423587e-01 1.41404488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.93, Y:19.34, Z:14.15 [[ 9.92769465e-01 -1.06180185e-01 -5.59871237e-02 2.52930314e+02] [ 1.06124636e-01 9.94344899e-01 -3.97282354e-03 1.93357071e+01] [ 5.60923460e-02 -1.99751523e-03 9.98423587e-01 1.41453361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.99, Y:19.34, Z:14.15 [[ 9.92857910e-01 -1.05349795e-01 -5.59874116e-02 2.52992096e+02] [ 1.05293158e-01 9.94433306e-01 -3.96876218e-03 1.93399094e+01] [ 5.60938551e-02 -1.95467442e-03 9.98423587e-01 1.41493865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.05, Y:19.34, Z:14.15 [[ 9.92928286e-01 -1.04684266e-01 -5.59876990e-02 2.53053198e+02] [ 1.04626801e-01 9.94503652e-01 -3.96470297e-03 1.93435667e+01] [ 5.60950131e-02 -1.92114813e-03 9.98423587e-01 1.41544391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.12, Y:19.35, Z:14.15 [[ 9.92681251e-01 -1.07001217e-01 -5.59881536e-02 2.53115078e+02] [ 1.06947790e-01 9.94256759e-01 -3.95827261e-03 1.93456517e+01] [ 5.60901401e-02 -2.05850632e-03 9.98423587e-01 1.41545851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.18, Y:19.35, Z:14.16 [[ 9.92410117e-01 -1.09487238e-01 -5.59884390e-02 2.53175888e+02] [ 1.09437986e-01 9.93985760e-01 -3.95423182e-03 1.93486585e+01] [ 5.60846490e-02 -2.20304236e-03 9.98423587e-01 1.41561843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.24, Y:19.35, Z:14.16 [[ 9.91824078e-01 -1.14674498e-01 -5.59889135e-02 2.53237403e+02] [ 1.14633864e-01 9.93399967e-01 -3.94750129e-03 1.93527620e+01] [ 5.60720626e-02 -2.50299865e-03 9.98423587e-01 1.41636690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.30, Y:19.36, Z:14.17 [[ 9.91593861e-01 -1.16648316e-01 -5.59891534e-02 2.53299138e+02] [ 1.16611010e-01 9.93169833e-01 -3.94409701e-03 1.93564286e+01] [ 5.60668103e-02 -2.61800937e-03 9.98423587e-01 1.41669853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.36, Y:19.36, Z:14.16 [[ 9.91788703e-01 -1.14979778e-01 -5.59894572e-02 2.53360618e+02] [ 1.14940064e-01 9.93364616e-01 -3.93977914e-03 1.93591958e+01] [ 5.60709406e-02 -2.52800337e-03 9.98423587e-01 1.41637638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.42, Y:19.37, Z:14.17 [[ 9.91969743e-01 -1.13407159e-01 -5.59896805e-02 2.53422331e+02] [ 1.13365126e-01 9.93545596e-01 -3.93660264e-03 1.93660606e+01] [ 5.60747394e-02 -2.44228645e-03 9.98423587e-01 1.41747370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.48, Y:19.37, Z:14.18 [[ 9.92345649e-01 -1.10069222e-01 -5.59899831e-02 2.53483231e+02] [ 1.10022130e-01 9.93921359e-01 -3.93229495e-03 1.93733103e+01] [ 5.60824647e-02 -2.25794141e-03 9.98423587e-01 1.41814902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.54, Y:19.38, Z:14.18 [[ 9.92799674e-01 -1.05895721e-01 -5.59902049e-02 2.53544566e+02] [ 1.05842182e-01 9.94375178e-01 -3.92913350e-03 1.93754418e+01] [ 5.60913484e-02 -2.02528299e-03 9.98423587e-01 1.41790884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.61, Y:19.38, Z:14.18 [[ 9.92726373e-01 -1.06580590e-01 -5.59904179e-02 2.53607040e+02] [ 1.06528308e-01 9.94301919e-01 -3.92609584e-03 1.93795094e+01] [ 5.60898256e-02 -2.06702562e-03 9.98423587e-01 1.41813439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.67, Y:19.39, Z:14.19 [[ 9.92140913e-01 -1.11899289e-01 -5.59906984e-02 2.53667780e+02] [ 1.11855677e-01 9.93716723e-01 -3.92209177e-03 1.93869951e+01] [ 5.60777726e-02 -2.37160977e-03 9.98423587e-01 1.41910863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.73, Y:19.39, Z:14.19 [[ 9.91665454e-01 -1.16037284e-01 -5.59908487e-02 2.53729548e+02] [ 1.16000368e-01 9.93241435e-01 -3.91994514e-03 1.93899082e+01] [ 5.60672907e-02 -2.60768487e-03 9.98423587e-01 1.41923634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.79, Y:19.39, Z:14.19 [[ 9.91849897e-01 -1.14449875e-01 -5.59911489e-02 2.53790898e+02] [ 1.14410678e-01 9.93425822e-01 -3.91565239e-03 1.93900907e+01] [ 5.60711991e-02 -2.52224588e-03 9.98423587e-01 1.41885654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.85, Y:19.40, Z:14.19 [[ 9.92089677e-01 -1.12352298e-01 -5.59913707e-02 2.53852454e+02] [ 1.12309948e-01 9.93665521e-01 -3.91247898e-03 1.93954948e+01] [ 5.60762705e-02 -2.40685791e-03 9.98423587e-01 1.41943111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.91, Y:19.40, Z:14.20 [[ 9.92429185e-01 -1.09312610e-01 -5.59916667e-02 2.53913124e+02] [ 1.09265671e-01 9.94004899e-01 -3.90823770e-03 1.94010885e+01] [ 5.60832106e-02 -2.23931790e-03 9.98423587e-01 1.41983223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.97, Y:19.41, Z:14.21 [[ 9.92851678e-01 -1.05406136e-01 -5.59918845e-02 2.53974665e+02] [ 1.05353172e-01 9.94427202e-01 -3.90511513e-03 1.94078642e+01] [ 5.60914761e-02 -2.02172253e-03 9.98423587e-01 1.42053036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.04, Y:19.41, Z:14.21 [[ 9.93146158e-01 -1.02594281e-01 -5.59921714e-02 2.54036747e+02] [ 1.02537089e-01 9.94721533e-01 -3.90099691e-03 1.94120254e+01] [ 5.60968385e-02 -1.86701415e-03 9.98423587e-01 1.42071790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.10, Y:19.42, Z:14.21 [[ 9.93072803e-01 -1.03301762e-01 -5.59924541e-02 2.54098587e+02] [ 1.03245920e-01 9.94648226e-01 -3.89693519e-03 1.94178522e+01] [ 5.60953554e-02 -1.91105208e-03 9.98423587e-01 1.42120324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.16, Y:19.42, Z:14.21 [[ 9.93135379e-01 -1.02698245e-01 -5.59927586e-02 2.54159377e+02] [ 1.02641692e-01 9.94710778e-01 -3.89255462e-03 1.94203759e+01] [ 5.60963590e-02 -1.88135779e-03 9.98423587e-01 1.42128542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.22, Y:19.43, Z:14.22 [[ 9.92861210e-01 -1.05315734e-01 -5.59929831e-02 2.54220829e+02] [ 1.05263516e-01 9.94436758e-01 -3.88932343e-03 1.94253966e+01] [ 5.60910875e-02 -2.03245991e-03 9.98423587e-01 1.42173036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.28, Y:19.43, Z:14.22 [[ 9.92629901e-01 -1.07473865e-01 -5.59932812e-02 2.54281379e+02] [ 1.07425314e-01 9.94205566e-01 -3.88502616e-03 1.94289021e+01] [ 5.60863706e-02 -2.15870270e-03 9.98423587e-01 1.42207967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.34, Y:19.43, Z:14.22 [[ 9.92447167e-01 -1.09148286e-01 -5.59935022e-02 2.54342149e+02] [ 1.09102574e-01 9.94022917e-01 -3.88183885e-03 1.94339719e+01] [ 5.60825204e-02 -2.25651523e-03 9.98423587e-01 1.42246976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.40, Y:19.44, Z:14.23 [[ 9.92231617e-01 -1.11090605e-01 -5.59937122e-02 2.54403624e+02] [ 1.11048148e-01 9.93807458e-01 -3.87880647e-03 1.94386483e+01] [ 5.60778678e-02 -2.36932361e-03 9.98423587e-01 1.42294556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.47, Y:19.44, Z:14.23 [[ 9.91653646e-01 -1.16136639e-01 -5.59939918e-02 2.54465277e+02] [ 1.16102426e-01 9.93229688e-01 -3.87476698e-03 1.94432463e+01] [ 5.60648974e-02 -2.65861148e-03 9.98423587e-01 1.42336427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.53, Y:19.45, Z:14.24 [[ 9.91339325e-01 -1.18789662e-01 -5.59942704e-02 2.54527723e+02] [ 1.18759893e-01 9.92915457e-01 -3.87073686e-03 1.94468344e+01] [ 5.60573801e-02 -2.81265989e-03 9.98423587e-01 1.42370329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.59, Y:19.45, Z:14.24 [[ 9.91361736e-01 -1.18602351e-01 -5.59945544e-02 2.54590109e+02] [ 1.18572516e-01 9.92937867e-01 -3.86662424e-03 1.94507325e+01] [ 5.60577041e-02 -2.80619188e-03 9.98423587e-01 1.42411816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.65, Y:19.46, Z:14.25 [[ 9.91452990e-01 -1.17836948e-01 -5.59948380e-02 2.54650663e+02] [ 1.17806128e-01 9.93029102e-01 -3.86251290e-03 1.94553304e+01] [ 5.60596504e-02 -2.76703506e-03 9.98423587e-01 1.42463035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.71, Y:19.46, Z:14.25 [[ 9.91619498e-01 -1.16427343e-01 -5.59950466e-02 2.54712867e+02] [ 1.16394453e-01 9.93195568e-01 -3.85948590e-03 1.94597985e+01] [ 5.60633818e-02 -2.69037134e-03 9.98423587e-01 1.42497274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.77, Y:19.46, Z:14.25 [[ 9.91735290e-01 -1.15436729e-01 -5.59953240e-02 2.54773854e+02] [ 1.15402492e-01 9.93311331e-01 -3.85545740e-03 1.94641337e+01] [ 5.60658512e-02 -2.63840674e-03 9.98423587e-01 1.42523171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.84, Y:19.47, Z:14.26 [[ 9.91751137e-01 -1.15300407e-01 -5.59955283e-02 2.54835842e+02] [ 1.15266121e-01 9.93327177e-01 -3.85248752e-03 1.94684877e+01] [ 5.60660734e-02 -2.63367844e-03 9.98423587e-01 1.42567898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.90, Y:19.47, Z:14.26 [[ 9.91736444e-01 -1.15426579e-01 -5.59958054e-02 2.54897089e+02] [ 1.15392719e-01 9.93312493e-01 -3.84845559e-03 1.94725638e+01] [ 5.60655472e-02 -2.64485460e-03 9.98423587e-01 1.42589444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.96, Y:19.48, Z:14.26 [[ 9.91703838e-01 -1.15706287e-01 -5.59960094e-02 2.54959160e+02] [ 1.15673040e-01 9.93279900e-01 -3.84548568e-03 1.94771371e+01] [ 5.60646575e-02 -2.66364573e-03 9.98423587e-01 1.42632641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.02, Y:19.48, Z:14.27 [[ 9.91737111e-01 -1.15420615e-01 -5.59962892e-02 2.55019640e+02] [ 1.15387143e-01 9.93313169e-01 -3.84140720e-03 1.94823797e+01] [ 5.60652290e-02 -2.65158574e-03 9.98423587e-01 1.42668665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.08, Y:19.49, Z:14.27 [[ 9.91979019e-01 -1.13322632e-01 -5.59964954e-02 2.55081055e+02] [ 1.13285997e-01 9.93555006e-01 -3.83839826e-03 1.94881088e+01] [ 5.60705757e-02 -2.53600824e-03 9.98423587e-01 1.42724952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.14, Y:19.49, Z:14.28 [[ 9.92236747e-01 -1.11043230e-01 -5.59967742e-02 2.55142344e+02] [ 1.11003203e-01 9.93812652e-01 -3.83432669e-03 1.94935365e+01] [ 5.60760787e-02 -2.41126146e-03 9.98423587e-01 1.42769562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.20, Y:19.50, Z:14.28 [[ 9.92823180e-01 -1.05671530e-01 -5.59969815e-02 2.55204320e+02] [ 1.05623145e-01 9.94398850e-01 -3.83129703e-03 1.94992087e+01] [ 5.60881930e-02 -2.11077678e-03 9.98423587e-01 1.42818399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.27, Y:19.50, Z:14.29 [[ 9.93241195e-01 -1.01667277e-01 -5.59972642e-02 2.55266584e+02] [ 1.01612772e-01 9.94816665e-01 -3.82716057e-03 1.95039877e+01] [ 5.60961086e-02 -1.88874369e-03 9.98423587e-01 1.42854276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.33, Y:19.51, Z:14.29 [[ 9.93782591e-01 -9.62311608e-02 -5.59975415e-02 2.55327913e+02] [ 9.61682649e-02 9.95357749e-01 -3.82309847e-03 1.95100533e+01] [ 5.61054881e-02 -1.58585770e-03 9.98423587e-01 1.42896051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.39, Y:19.51, Z:14.29 [[ 9.94248962e-01 -9.12866120e-02 -5.59978192e-02 2.55389100e+02] [ 9.12161108e-02 9.95823798e-01 -3.81902682e-03 1.95149247e+01] [ 5.61125870e-02 -1.31083983e-03 9.98423587e-01 1.42937033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.45, Y:19.52, Z:14.30 [[ 9.94554916e-01 -8.78905403e-02 -5.59979556e-02 2.55449961e+02] [ 8.78147738e-02 9.96129508e-01 -3.81702661e-03 1.95187480e+01] [ 5.61166964e-02 -1.12120522e-03 9.98423587e-01 1.42973786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.51, Y:19.52, Z:14.30 [[ 9.95015956e-01 -8.25073427e-02 -5.59980929e-02 2.55509288e+02] [ 8.24231699e-02 9.96590120e-01 -3.81501097e-03 1.95233055e+01] [ 5.61219125e-02 -8.19543539e-04 9.98423587e-01 1.43004521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.57, Y:19.53, Z:14.31 [[ 9.95313030e-01 -7.88428430e-02 -5.59980252e-02 2.55568894e+02] [ 7.87528184e-02 9.96886870e-01 -3.81600382e-03 1.95285715e+01] [ 5.61245607e-02 -6.11883988e-04 9.98423587e-01 1.43051072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.63, Y:19.53, Z:14.31 [[ 9.95379729e-01 -7.79963603e-02 -5.59978892e-02 2.55627224e+02] [ 7.79048851e-02 9.96953485e-01 -3.81799930e-03 1.95326520e+01] [ 5.61250808e-02 -5.62150009e-04 9.98423587e-01 1.43088318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.69, Y:19.54, Z:14.31 [[ 9.95292826e-01 -7.90982451e-02 -5.59969420e-02 2.55685030e+02] [ 7.90077335e-02 9.96866639e-01 -3.83184026e-03 1.95350708e+01] [ 5.61245752e-02 -6.10388346e-04 9.98423587e-01 1.43129053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.74, Y:19.54, Z:14.32 [[ 9.95044585e-01 -8.21623579e-02 -5.59966091e-02 2.55744487e+02] [ 8.20764191e-02 9.96618654e-01 -3.83669939e-03 1.95372419e+01] [ 5.61224975e-02 -7.78314202e-04 9.98423587e-01 1.43173421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.80, Y:19.54, Z:14.32 [[ 9.94424995e-01 -8.93494511e-02 -5.59964687e-02 2.55804447e+02] [ 8.92747719e-02 9.95999638e-01 -3.83874772e-03 1.95374289e+01] [ 5.61154526e-02 -1.18172529e-03 9.98423587e-01 1.43198068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.86, Y:19.54, Z:14.32 [[ 9.93593138e-01 -9.81686633e-02 -5.59963290e-02 2.55863799e+02] [ 9.81078429e-02 9.95168377e-01 -3.84078468e-03 1.95357463e+01] [ 5.61028206e-02 -1.67750175e-03 9.98423587e-01 1.43220784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.92, Y:19.54, Z:14.33 [[ 9.92963241e-01 -1.04347564e-01 -5.59963226e-02 2.55924883e+02] [ 1.04296538e-01 9.94538828e-01 -3.84087792e-03 1.95365822e+01] [ 5.60913033e-02 -2.02637202e-03 9.98423587e-01 1.43257531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.99, Y:19.54, Z:14.33 [[ 9.91997348e-01 -1.13162089e-01 -5.59964593e-02 2.55987247e+02] [ 1.13125171e-01 9.93573328e-01 -3.83888319e-03 1.95362069e+01] [ 5.60710045e-02 -2.52644711e-03 9.98423587e-01 1.43298645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.05, Y:19.54, Z:14.33 [[ 9.91200242e-01 -1.19943507e-01 -5.59967401e-02 2.56049810e+02] [ 1.19917598e-01 9.92776442e-01 -3.83478320e-03 1.95357685e+01] [ 5.60522018e-02 -2.91395656e-03 9.98423587e-01 1.43316750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.11, Y:19.54, Z:14.33 [[ 9.90793750e-01 -1.23256151e-01 -5.59970199e-02 2.56110948e+02] [ 1.23235742e-01 9.92370031e-01 -3.83069285e-03 1.95373453e+01] [ 5.60419208e-02 -3.10540777e-03 9.98423587e-01 1.43341025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.17, Y:19.54, Z:14.34 [[ 9.90514669e-01 -1.25479089e-01 -5.59972268e-02 2.56173399e+02] [ 1.25462388e-01 9.92090993e-01 -3.82766573e-03 1.95398945e+01] [ 5.60346364e-02 -3.23418675e-03 9.98423587e-01 1.43379990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.23, Y:19.54, Z:14.34 [[ 9.90553083e-01 -1.25175354e-01 -5.59975037e-02 2.56234855e+02] [ 1.25158397e-01 9.92129405e-01 -3.82361097e-03 1.95435689e+01] [ 5.60353919e-02 -3.22106819e-03 9.98423587e-01 1.43422554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.30, Y:19.55, Z:14.35 [[ 9.90641695e-01 -1.24472004e-01 -5.59977816e-02 2.56296922e+02] [ 1.24454158e-01 9.92218007e-01 -3.81953759e-03 1.95466096e+01] [ 5.60374327e-02 -3.18536357e-03 9.98423587e-01 1.43456923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.36, Y:19.55, Z:14.35 [[ 9.90664535e-01 -1.24289970e-01 -5.59980556e-02 2.56358234e+02] [ 1.24272061e-01 9.92240846e-01 -3.81551485e-03 1.95497686e+01] [ 5.60377883e-02 -3.17909855e-03 9.98423587e-01 1.43483088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.42, Y:19.55, Z:14.35 [[ 9.90651321e-01 -1.24395154e-01 -5.59982576e-02 2.56420567e+02] [ 1.24377580e-01 9.92227636e-01 -3.81254882e-03 1.95523757e+01] [ 5.60372814e-02 -3.18802122e-03 9.98423587e-01 1.43504977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.48, Y:19.56, Z:14.35 [[ 9.90618656e-01 -1.24654894e-01 -5.59985335e-02 2.56482503e+02] [ 1.24637962e-01 9.92194978e-01 -3.80849227e-03 1.95563263e+01] [ 5.60362109e-02 -3.20677957e-03 9.98423587e-01 1.43539990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.54, Y:19.56, Z:14.36 [[ 9.90550661e-01 -1.25193937e-01 -5.59988048e-02 2.56544890e+02] [ 1.25178088e-01 9.92126994e-01 -3.80449851e-03 1.95608315e+01] [ 5.60342260e-02 -3.24127478e-03 9.98423587e-01 1.43574060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.61, Y:19.57, Z:14.36 [[ 9.90668471e-01 -1.24258133e-01 -5.59990772e-02 2.56606238e+02] [ 1.24241021e-01 9.92244791e-01 -3.80048457e-03 1.95667568e+01] [ 5.60370338e-02 -3.19236227e-03 9.98423587e-01 1.43601603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.025099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.67, Y:19.57, Z:14.37 [[ 9.90799872e-01 -1.23205799e-01 -5.59995130e-02 2.56668050e+02] [ 1.23187374e-01 9.92376177e-01 -3.79405317e-03 1.95723319e+01] [ 5.60400319e-02 -3.13928557e-03 9.98423587e-01 1.43650572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.085099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.73, Y:19.58, Z:14.37 [[ 9.91361041e-01 -1.18605698e-01 -5.59997752e-02 2.56730171e+02] [ 1.18580176e-01 9.92937247e-01 -3.79017851e-03 1.95785468e+01] [ 5.60537994e-02 -2.88302787e-03 9.98423587e-01 1.43708882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.145099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.79, Y:19.58, Z:14.37 [[ 9.91813757e-01 -1.14758292e-01 -5.60000511e-02 2.56791661e+02] [ 1.14726884e-01 9.93389857e-01 -3.78609757e-03 1.95844968e+01] [ 5.60643688e-02 -2.66960771e-03 9.98423587e-01 1.43749488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.205099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.85, Y:19.59, Z:14.38 [[ 9.92333885e-01 -1.10169979e-01 -5.60003247e-02 2.56853831e+02] [ 1.10131510e-01 9.93909828e-01 -3.78204693e-03 1.95916540e+01] [ 5.60759411e-02 -2.41434698e-03 9.98423587e-01 1.43796537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.92, Y:19.60, Z:14.38 [[ 9.92508925e-01 -1.08581616e-01 -5.60005941e-02 2.56916279e+02] [ 1.08540849e-01 9.94084810e-01 -3.77805304e-03 1.95959954e+01] [ 5.60795671e-02 -2.32860069e-03 9.98423587e-01 1.43829257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.98, Y:19.60, Z:14.39 [[ 9.92496233e-01 -1.08697427e-01 -5.60008637e-02 2.56977559e+02] [ 1.08657070e-01 9.94072129e-01 -3.77405327e-03 1.95996235e+01] [ 5.60791277e-02 -2.33915611e-03 9.98423587e-01 1.43858755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.04, Y:19.60, Z:14.39 [[ 9.92237878e-01 -1.11030966e-01 -5.60010628e-02 2.57039503e+02] [ 1.10994481e-01 9.93813868e-01 -3.77109660e-03 1.96024283e+01] [ 5.60733413e-02 -2.47398400e-03 9.98423587e-01 1.43896237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.10, Y:19.60, Z:14.39 [[ 9.91987758e-01 -1.13243716e-01 -5.60013372e-02 2.57101733e+02] [ 1.13210976e-01 9.93563830e-01 -3.76701775e-03 1.96044377e+01] [ 5.60674941e-02 -2.60313054e-03 9.98423587e-01 1.43922243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.16, Y:19.61, Z:14.39 [[ 9.91928470e-01 -1.13761720e-01 -5.60016173e-02 2.57162406e+02] [ 1.13730038e-01 9.93504564e-01 -3.76284799e-03 1.96081696e+01] [ 5.60659305e-02 -2.63659000e-03 9.98423587e-01 1.43940912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.22, Y:19.62, Z:14.40 [[ 9.91795189e-01 -1.14917788e-01 -5.60018242e-02 2.57224737e+02] [ 1.14888117e-01 9.93371323e-01 -3.75976687e-03 1.96161957e+01] [ 5.60626703e-02 -2.70502543e-03 9.98423587e-01 1.43953273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.29, Y:19.62, Z:14.40 [[ 9.92353597e-01 -1.09991319e-01 -5.60022177e-02 2.57285433e+02] [ 1.09954152e-01 9.93929571e-01 -3.75389625e-03 1.96176431e+01] [ 5.60751562e-02 -2.43248393e-03 9.98423587e-01 1.44002775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.35, Y:19.63, Z:14.41 [[ 9.92502552e-01 -1.08638896e-01 -5.60024543e-02 2.57346840e+02] [ 1.08599780e-01 9.94078479e-01 -3.75036392e-03 1.96252038e+01] [ 5.60782699e-02 -2.35960846e-03 9.98423587e-01 1.44062090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.41, Y:19.63, Z:14.41 [[ 9.93065128e-01 -1.03369946e-01 -5.60027385e-02 2.57407545e+02] [ 1.03322706e-01 9.94640832e-01 -3.74611377e-03 1.96275702e+01] [ 5.60898461e-02 -2.06621955e-03 9.98423587e-01 1.44087858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.47, Y:19.63, Z:14.41 [[ 9.93267894e-01 -1.01402830e-01 -5.60031846e-02 2.57468369e+02] [ 1.01352845e-01 9.94843514e-01 -3.73943347e-03 1.96314767e+01] [ 5.60935941e-02 -1.96182289e-03 9.98423587e-01 1.44107439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.53, Y:19.63, Z:14.41 [[ 9.93407289e-01 -1.00027931e-01 -5.60033186e-02 2.57528859e+02] [ 9.99758788e-02 9.94982842e-01 -3.73742591e-03 1.96341441e+01] [ 5.60961881e-02 -1.88619485e-03 9.98423587e-01 1.44131917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.59, Y:19.64, Z:14.42 [[ 9.93411373e-01 -9.99873288e-02 -5.60033843e-02 2.57590277e+02] [ 9.99352677e-02 9.94986925e-01 -3.73644021e-03 1.96369993e+01] [ 5.60962319e-02 -1.88489101e-03 9.98423587e-01 1.44151513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.65, Y:19.64, Z:14.42 [[ 9.93381855e-01 -1.00280091e-01 -5.60035210e-02 2.57651921e+02] [ 1.00228610e-01 9.94957426e-01 -3.73439149e-03 1.96402663e+01] [ 5.60956042e-02 -1.90347829e-03 9.98423587e-01 1.44164588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.71, Y:19.64, Z:14.42 [[ 9.93286081e-01 -1.01224260e-01 -5.60036564e-02 2.57712831e+02] [ 1.01174391e-01 9.94861705e-01 -3.73235891e-03 1.96437561e+01] [ 5.60936984e-02 -1.95883567e-03 9.98423587e-01 1.44180380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.77, Y:19.65, Z:14.42 [[ 9.93336964e-01 -1.00723671e-01 -5.60037231e-02 2.57773863e+02] [ 1.00673064e-01 9.94912565e-01 -3.73135785e-03 1.96485035e+01] [ 5.60946439e-02 -1.93157075e-03 9.98423587e-01 1.44206371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.84, Y:19.65, Z:14.43 [[ 9.93415486e-01 -9.99461875e-02 -5.60038564e-02 2.57835022e+02] [ 9.98944601e-02 9.94991050e-01 -3.72935658e-03 1.96540166e+01] [ 5.60960708e-02 -1.88967442e-03 9.98423587e-01 1.44256253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.90, Y:19.66, Z:14.43 [[ 9.93443621e-01 -9.96660642e-02 -5.60039913e-02 2.57896083e+02] [ 9.96140067e-02 9.95019174e-01 -3.72732960e-03 1.96600338e+01] [ 5.60965334e-02 -1.87589015e-03 9.98423587e-01 1.44316393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.96, Y:19.66, Z:14.43 [[ 9.93409154e-01 -1.00008953e-01 -5.60041256e-02 2.57956644e+02] [ 9.99575533e-02 9.94984728e-01 -3.72531096e-03 1.96642566e+01] [ 5.60958141e-02 -1.89727735e-03 9.98423587e-01 1.44332216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.02, Y:19.67, Z:14.44 [[ 9.93068976e-01 -1.03332182e-01 -5.60041917e-02 2.58018274e+02] [ 1.03286110e-01 9.94644715e-01 -3.72431684e-03 1.96683696e+01] [ 5.60891151e-02 -2.08595158e-03 9.98423587e-01 1.44365739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.08, Y:19.67, Z:14.44 [[ 9.92736879e-01 -1.06475361e-01 -5.60043449e-02 2.58079916e+02] [ 1.06434407e-01 9.94312759e-01 -3.72201202e-03 1.96718644e+01] [ 5.60821372e-02 -2.26581065e-03 9.98423587e-01 1.44390075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.14, Y:19.68, Z:14.44 [[ 9.92463650e-01 -1.08992668e-01 -5.60044758e-02 2.58141340e+02] [ 1.08955822e-01 9.94039632e-01 -3.72004010e-03 1.96761150e+01] [ 5.60761257e-02 -2.41000912e-03 9.98423587e-01 1.44424495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.525099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.20, Y:19.68, Z:14.45 [[ 9.92377788e-01 -1.09771625e-01 -5.60046109e-02 2.58202916e+02] [ 1.09736130e-01 9.93953801e-01 -3.71800553e-03 1.96809631e+01] [ 5.60741274e-02 -2.45606317e-03 9.98423587e-01 1.44457834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.585099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.26, Y:19.69, Z:14.45 [[ 9.92471149e-01 -1.08924150e-01 -5.60048832e-02 2.58264547e+02] [ 1.08887541e-01 9.94047137e-01 -3.71389966e-03 1.96865120e+01] [ 5.60760271e-02 -2.41229577e-03 9.98423587e-01 1.44493993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.645099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.33, Y:19.69, Z:14.45 [[ 9.92728326e-01 -1.06554650e-01 -5.60051518e-02 2.58326343e+02] [ 1.06514508e-01 9.94304227e-01 -3.70984435e-03 1.96937375e+01] [ 5.60814604e-02 -2.28249360e-03 9.98423587e-01 1.44529475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.705099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.39, Y:19.70, Z:14.46 [[ 9.92831880e-01 -1.05585281e-01 -5.60054171e-02 2.58388417e+02] [ 1.05543825e-01 9.94407747e-01 -3.70583543e-03 1.97005325e+01] [ 5.60835023e-02 -2.23175439e-03 9.98423587e-01 1.44574481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.45, Y:19.70, Z:14.46 [[ 9.92708866e-01 -1.06735522e-01 -5.60056819e-02 2.58450757e+02] [ 1.06696118e-01 9.94284786e-01 -3.70182818e-03 1.97049286e+01] [ 5.60807140e-02 -2.30075118e-03 9.98423587e-01 1.44606401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.51, Y:19.71, Z:14.46 [[ 9.92508713e-01 -1.08580795e-01 -5.60059468e-02 2.58511747e+02] [ 1.08544547e-01 9.94084708e-01 -3.69781712e-03 1.97084876e+01] [ 5.60761672e-02 -2.40902440e-03 9.98423588e-01 1.44627175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.57, Y:19.71, Z:14.47 [[ 9.92227053e-01 -1.11125096e-01 -5.60061428e-02 2.58573648e+02] [ 1.11093056e-01 9.93803140e-01 -3.69484545e-03 1.97119952e+01] [ 5.60696707e-02 -2.55576794e-03 9.98423588e-01 1.44662429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.64, Y:19.72, Z:14.47 [[ 9.91825745e-01 -1.14651529e-01 -5.60064172e-02 2.58635854e+02] [ 1.14625326e-01 9.93401940e-01 -3.69068125e-03 1.97160662e+01] [ 5.60600258e-02 -2.75924118e-03 9.98423588e-01 1.44694920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.70, Y:19.72, Z:14.47 [[ 9.91694409e-01 -1.15781910e-01 -5.60066874e-02 2.58696716e+02] [ 1.15757734e-01 9.93270636e-01 -3.68657700e-03 1.97213919e+01] [ 5.60566369e-02 -2.82724945e-03 9.98423588e-01 1.44722096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.76, Y:19.73, Z:14.48 [[ 9.91751335e-01 -1.15293182e-01 -5.60068871e-02 2.58757137e+02] [ 1.15268401e-01 9.93327553e-01 -3.68354101e-03 1.97290539e+01] [ 5.60578712e-02 -2.80266758e-03 9.98423588e-01 1.44776652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.82, Y:19.73, Z:14.48 [[ 9.91767614e-01 -1.15152859e-01 -5.60073059e-02 2.58819353e+02] [ 1.15128215e-01 9.93343834e-01 -3.67716167e-03 1.97343581e+01] [ 5.60579477e-02 -2.80113128e-03 9.98423588e-01 1.44820620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.88, Y:19.74, Z:14.49 [[ 9.91776340e-01 -1.15077555e-01 -5.60075706e-02 2.58880800e+02] [ 1.15053018e-01 9.93352561e-01 -3.67312505e-03 1.97401921e+01] [ 5.60579580e-02 -2.80092152e-03 9.98423588e-01 1.44865131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.94, Y:19.75, Z:14.49 [[ 9.91692519e-01 -1.15797535e-01 -5.60078371e-02 2.58942832e+02] [ 1.15774372e-01 9.93268762e-01 -3.66905703e-03 1.97474437e+01] [ 5.60557028e-02 -2.84569575e-03 9.98423588e-01 1.44887305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.00, Y:19.75, Z:14.49 [[ 9.92134796e-01 -1.11944739e-01 -5.60082330e-02 2.59004230e+02] [ 1.11915794e-01 9.93710943e-01 -3.66300486e-03 1.97504257e+01] [ 5.60660481e-02 -2.63401128e-03 9.98423588e-01 1.44910453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.07, Y:19.76, Z:14.49 [[ 9.92259927e-01 -1.10829997e-01 -5.60084710e-02 2.59066110e+02] [ 1.10799487e-01 9.93836044e-01 -3.65936112e-03 1.97561371e+01] [ 5.60688043e-02 -2.57467245e-03 9.98423588e-01 1.44948431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.13, Y:19.76, Z:14.50 [[ 9.92287414e-01 -1.10583501e-01 -5.60087276e-02 2.59127569e+02] [ 1.10552820e-01 9.93863528e-01 -3.65543038e-03 1.97614691e+01] [ 5.60692619e-02 -2.56468522e-03 9.98423588e-01 1.44989473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.19, Y:19.76, Z:14.50 [[ 9.92335268e-01 -1.10153112e-01 -5.60089902e-02 2.59189217e+02] [ 1.10121975e-01 9.93911373e-01 -3.65140134e-03 1.97648419e+01] [ 5.60701856e-02 -2.54440631e-03 9.98423588e-01 1.45017865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.25, Y:19.77, Z:14.51 [[ 9.92401956e-01 -1.09550546e-01 -5.60092532e-02 2.59251312e+02] [ 1.09518679e-01 9.93978046e-01 -3.64736290e-03 1.97691699e+01] [ 5.60715387e-02 -2.51440935e-03 9.98423588e-01 1.45061465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.31, Y:19.77, Z:14.51 [[ 9.92447307e-01 -1.09138793e-01 -5.60095159e-02 2.59312796e+02] [ 1.09106500e-01 9.94023389e-01 -3.64332444e-03 1.97729987e+01] [ 5.60723969e-02 -2.49519472e-03 9.98423588e-01 1.45101104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.37, Y:19.78, Z:14.51 [[ 9.92366819e-01 -1.09868109e-01 -5.60097863e-02 2.59373452e+02] [ 1.09837208e-01 9.93942928e-01 -3.63916361e-03 1.97765070e+01] [ 5.60703590e-02 -2.54057333e-03 9.98423588e-01 1.45128778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.43, Y:19.78, Z:14.52 [[ 9.92099877e-01 -1.12252912e-01 -5.60099852e-02 2.59434280e+02] [ 1.12225972e-01 9.93676059e-01 -3.63609953e-03 1.97788436e+01] [ 5.60639441e-02 -2.67840113e-03 9.98423588e-01 1.45155416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.50, Y:19.78, Z:14.52 [[ 9.91753183e-01 -1.15275688e-01 -5.60101796e-02 2.59496321e+02] [ 1.15253720e-01 9.93329442e-01 -3.63310214e-03 1.97812272e+01] [ 5.60553688e-02 -2.85224097e-03 9.98423588e-01 1.45188487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.56, Y:19.78, Z:14.52 [[ 9.91373204e-01 -1.18498951e-01 -5.60104384e-02 2.59558717e+02] [ 1.18482332e-01 9.92949529e-01 -3.62910755e-03 1.97825766e+01] [ 5.60455839e-02 -3.03844740e-03 9.98423588e-01 1.45234307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.62, Y:19.78, Z:14.53 [[ 9.91078513e-01 -1.20938759e-01 -5.60106983e-02 2.59621160e+02] [ 1.20926246e-01 9.92654875e-01 -3.62509278e-03 1.97847366e+01] [ 5.60377069e-02 -3.18041193e-03 9.98423588e-01 1.45276220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.68, Y:19.79, Z:14.53 [[ 9.90947196e-01 -1.22009948e-01 -5.60109554e-02 2.59683215e+02] [ 1.21999363e-01 9.92523573e-01 -3.62111604e-03 1.97863279e+01] [ 5.60340057e-02 -3.24496610e-03 9.98423588e-01 1.45300031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.025099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.74, Y:19.79, Z:14.54 [[ 9.90608178e-01 -1.24732395e-01 -5.60113109e-02 2.59744997e+02] [ 1.24726453e-01 9.92184579e-01 -3.61560880e-03 1.97879244e+01] [ 5.60245425e-02 -3.40444049e-03 9.98423588e-01 1.45354352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.085099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.81, Y:19.79, Z:14.54 [[ 9.90481541e-01 -1.25733928e-01 -5.60115771e-02 2.59807349e+02] [ 1.25729812e-01 9.92057948e-01 -3.61147934e-03 1.97901683e+01] [ 5.60208157e-02 -3.46522145e-03 9.98423588e-01 1.45405525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.145099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.87, Y:19.79, Z:14.54 [[ 9.90430748e-01 -1.26133291e-01 -5.60118406e-02 2.59868511e+02] [ 1.26130041e-01 9.92007157e-01 -3.60738836e-03 1.97904641e+01] [ 5.60191585e-02 -3.49190741e-03 9.98423588e-01 1.45439037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.205099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.93, Y:19.79, Z:14.55 [[ 9.90590653e-01 -1.24871171e-01 -5.60120348e-02 2.59930728e+02] [ 1.24866082e-01 9.92167058e-01 -3.60437034e-03 1.97926217e+01] [ 5.60233777e-02 -3.42354777e-03 9.98423588e-01 1.45476303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.99, Y:19.79, Z:14.55 [[ 9.91098262e-01 -1.20776069e-01 -5.60122930e-02 2.59992918e+02] [ 1.20764692e-01 9.92674633e-01 -3.60035377e-03 1.97949755e+01] [ 5.60368190e-02 -3.19600295e-03 9.98423588e-01 1.45507742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.05, Y:19.80, Z:14.55 [[ 9.92052904e-01 -1.12666013e-01 -5.60125481e-02 2.60054591e+02] [ 1.12641967e-01 9.93629133e-01 -3.59638023e-03 1.97982659e+01] [ 5.60608894e-02 -2.74156414e-03 9.98423588e-01 1.45536013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.12, Y:19.80, Z:14.56 [[ 9.92724425e-01 -1.06586967e-01 -5.60128040e-02 2.60116252e+02] [ 1.06553491e-01 9.94300482e-01 -3.59239090e-03 1.98024145e+01] [ 5.60764600e-02 -2.40210562e-03 9.98423588e-01 1.45581365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.18, Y:19.81, Z:14.56 [[ 9.93543566e-01 -9.86596107e-02 -5.60130678e-02 2.60177246e+02] [ 9.86137872e-02 9.95119312e-01 -3.58827245e-03 1.98062112e+01] [ 5.60937031e-02 -1.95855574e-03 9.98423588e-01 1.45557855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.24, Y:19.81, Z:14.56 [[ 9.94193284e-01 -9.18816698e-02 -5.60131403e-02 2.60236400e+02] [ 9.18251651e-02 9.95768684e-01 -3.58713997e-03 1.98081810e+01] [ 5.61057234e-02 -1.57710539e-03 9.98423588e-01 1.45600826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.29, Y:19.81, Z:14.57 [[ 9.94793192e-01 -8.51413599e-02 -5.60129873e-02 2.60293977e+02] [ 8.50740447e-02 9.96368166e-01 -3.58952736e-03 1.98089281e+01] [ 5.61151747e-02 -1.19441401e-03 9.98423588e-01 1.45691089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.35, Y:19.81, Z:14.57 [[ 9.94982555e-01 -8.28993555e-02 -5.60126115e-02 2.60353066e+02] [ 8.28281618e-02 9.96557359e-01 -3.59538242e-03 1.98102963e+01] [ 5.61178351e-02 -1.06207886e-03 9.98423588e-01 1.45736494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.41, Y:19.81, Z:14.58 [[ 9.94868337e-01 -8.42595975e-02 -5.60117212e-02 2.60411014e+02] [ 8.41897793e-02 9.96443202e-01 -3.60919918e-03 1.98115921e+01] [ 5.61166085e-02 -1.12493646e-03 9.98423588e-01 1.45771299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.47, Y:19.81, Z:14.58 [[ 9.94522978e-01 -8.82431365e-02 -5.60106768e-02 2.60469042e+02] [ 8.81787175e-02 9.96098073e-01 -3.62533455e-03 1.98108723e+01] [ 5.61120382e-02 -1.33347114e-03 9.98423588e-01 1.45782651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.53, Y:19.81, Z:14.58 [[ 9.94242255e-01 -9.13519447e-02 -5.60103561e-02 2.60527830e+02] [ 9.12921719e-02 9.95817534e-01 -3.63028253e-03 1.98112893e+01] [ 5.61077281e-02 -1.50392676e-03 9.98423588e-01 1.45819215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.59, Y:19.81, Z:14.58 [[ 9.94133852e-01 -9.25247413e-02 -5.60094317e-02 2.60586215e+02] [ 9.24660270e-02 9.95709170e-01 -3.64449012e-03 1.98104266e+01] [ 5.61063102e-02 -1.55585862e-03 9.98423588e-01 1.45844530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.64, Y:19.81, Z:14.59 [[ 9.94194709e-01 -9.18687160e-02 -5.60091068e-02 2.60643929e+02] [ 9.18086815e-02 9.95769977e-01 -3.64947574e-03 1.98117490e+01] [ 5.61074597e-02 -1.51383278e-03 9.98423588e-01 1.45886568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.70, Y:19.81, Z:14.59 [[ 9.94198452e-01 -9.18283878e-02 -5.60087876e-02 2.60702270e+02] [ 9.17680139e-02 9.95773708e-01 -3.65436831e-03 1.98111176e+01] [ 5.61076528e-02 -1.50664788e-03 9.98423588e-01 1.45930464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.76, Y:19.81, Z:14.60 [[ 9.94073365e-01 -9.31732865e-02 -5.60078836e-02 2.60760366e+02] [ 9.31142667e-02 9.95648672e-01 -3.66817171e-03 1.98113345e+01] [ 5.61059505e-02 -1.56870121e-03 9.98423588e-01 1.45968304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.82, Y:19.81, Z:14.60 [[ 9.93629235e-01 -9.77966100e-02 -5.60068421e-02 2.60818052e+02] [ 9.77440274e-02 9.95204769e-01 -3.68400552e-03 1.98096816e+01] [ 5.60985596e-02 -1.81379871e-03 9.98423588e-01 1.45998811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.88, Y:19.81, Z:14.60 [[ 9.93258947e-01 -1.01488999e-01 -5.60057815e-02 2.60876872e+02] [ 1.01441369e-01 9.94834639e-01 -3.70005938e-03 1.98101219e+01] [ 5.60920067e-02 -2.00618605e-03 9.98423588e-01 1.46019338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.94, Y:19.81, Z:14.61 [[ 9.92867491e-01 -1.05250186e-01 -5.60048577e-02 2.60935855e+02] [ 1.05207740e-01 9.94443331e-01 -3.71398988e-03 1.98101718e+01] [ 5.60845553e-02 -2.20464467e-03 9.98423589e-01 1.46050658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.99, Y:19.81, Z:14.61 [[ 9.92888000e-01 -1.05057035e-01 -5.60039238e-02 2.60994177e+02] [ 1.05013491e-01 9.94463810e-01 -3.72801836e-03 1.98113468e+01] [ 5.60855300e-02 -2.17966287e-03 9.98423589e-01 1.46081872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.05, Y:19.81, Z:14.61 [[ 9.93087389e-01 -1.03155718e-01 -5.60029996e-02 2.61052929e+02] [ 1.03108379e-01 9.94663089e-01 -3.74185156e-03 1.98142458e+01] [ 5.60901099e-02 -2.05839290e-03 9.98423589e-01 1.46117566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.11, Y:19.82, Z:14.62 [[ 9.93851659e-01 -9.55125539e-02 -5.60020666e-02 2.61111940e+02] [ 9.54523101e-02 9.95426919e-01 -3.75576251e-03 1.98164845e+01] [ 5.61046871e-02 -1.61285583e-03 9.98423589e-01 1.46168277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.17, Y:19.82, Z:14.62 [[ 9.94396526e-01 -8.96628569e-02 -5.60010767e-02 2.61170826e+02] [ 8.95925173e-02 9.95971367e-01 -3.77046592e-03 1.98182879e+01] [ 5.61135397e-02 -1.26793922e-03 9.98423589e-01 1.46207380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.525099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.23, Y:19.82, Z:14.62 [[ 9.94628342e-01 -8.70542889e-02 -5.60001002e-02 2.61228492e+02] [ 8.69790057e-02 9.96202955e-01 -3.78491407e-03 1.98212446e+01] [ 5.61169583e-02 -1.10625022e-03 9.98423589e-01 1.46235105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.585099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.29, Y:19.82, Z:14.63 [[ 9.94688624e-01 -8.63635056e-02 -5.59989760e-02 2.61286437e+02] [ 8.62861969e-02 9.96263138e-01 -3.80147402e-03 1.98242009e+01] [ 5.61180242e-02 -1.05065570e-03 9.98423589e-01 1.46264746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.645099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.34, Y:19.83, Z:14.63 [[ 9.94621344e-01 -8.71356532e-02 -5.59978599e-02 2.61343726e+02] [ 8.70586454e-02 9.96195872e-01 -3.81784478e-03 1.98257865e+01] [ 5.61175073e-02 -1.07778792e-03 9.98423589e-01 1.46299882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.40, Y:19.83, Z:14.63 [[ 9.94475560e-01 -8.87842211e-02 -5.59975168e-02 2.61401683e+02] [ 8.87095405e-02 9.96050201e-01 -3.82287031e-03 1.98283461e+01] [ 5.61157484e-02 -1.16576289e-03 9.98423589e-01 1.46334369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.46, Y:19.83, Z:14.64 [[ 9.94236636e-01 -9.14216178e-02 -5.59964215e-02 2.61459340e+02] [ 9.13502146e-02 9.95811429e-01 -3.83884798e-03 1.98317024e+01] [ 5.61128301e-02 -1.29856182e-03 9.98423589e-01 1.46366551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.52, Y:19.83, Z:14.64 [[ 9.93929805e-01 -9.46998749e-02 -5.59953185e-02 2.61517262e+02] [ 9.46327635e-02 9.95504787e-01 -3.85486891e-03 1.98348908e+01] [ 5.61086632e-02 -1.46752263e-03 9.98423590e-01 1.46391952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.57, Y:19.84, Z:14.64 [[ 9.93650351e-01 -9.75890774e-02 -5.59942083e-02 2.61574802e+02] [ 9.75256408e-02 9.95225485e-01 -3.87092932e-03 1.98383494e+01] [ 5.61046235e-02 -1.61452076e-03 9.98423590e-01 1.46406966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.63, Y:19.84, Z:14.64 [[ 9.93169407e-01 -1.02368462e-01 -5.59931058e-02 2.61632729e+02] [ 1.02311710e-01 9.94744795e-01 -3.88681170e-03 1.98419697e+01] [ 5.60967375e-02 -1.86848791e-03 9.98423590e-01 1.46432306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.69, Y:19.85, Z:14.65 [[ 9.92716033e-01 -1.06676023e-01 -5.59919970e-02 2.61690812e+02] [ 1.06625210e-01 9.94291624e-01 -3.90271922e-03 1.98459095e+01] [ 5.60887002e-02 -2.09586648e-03 9.98423590e-01 1.46470474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.75, Y:19.85, Z:14.65 [[ 9.91930681e-01 -1.13747740e-01 -5.59908613e-02 2.61749483e+02] [ 1.13707242e-01 9.93506570e-01 -3.91894619e-03 1.98493535e+01] [ 5.60730598e-02 -2.47924346e-03 9.98423590e-01 1.46506888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.81, Y:19.86, Z:14.66 [[ 9.91305022e-01 -1.19077659e-01 -5.59898564e-02 2.61808294e+02] [ 1.19044826e-01 9.92881090e-01 -3.93325094e-03 1.98554242e+01] [ 5.60596319e-02 -2.76625131e-03 9.98423590e-01 1.46560767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.87, Y:19.86, Z:14.66 [[ 9.91023619e-01 -1.21397438e-01 -5.59897116e-02 2.61867736e+02] [ 1.21368178e-01 9.92599758e-01 -3.93531051e-03 1.98609714e+01] [ 5.60531108e-02 -2.89538361e-03 9.98423590e-01 1.46603883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.93, Y:19.87, Z:14.66 [[ 9.90618565e-01 -1.24659615e-01 -5.59896404e-02 2.61927977e+02] [ 1.24635487e-01 9.92194790e-01 -3.93632377e-03 1.98660657e+01] [ 5.60433301e-02 -3.07890071e-03 9.98423590e-01 1.46632159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.99, Y:19.87, Z:14.67 [[ 9.90305053e-01 -1.27126170e-01 -5.59896404e-02 2.61988149e+02] [ 1.27105968e-01 9.91881333e-01 -3.93632377e-03 1.98725583e+01] [ 5.60354889e-02 -3.21845609e-03 9.98423590e-01 1.46662612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.05, Y:19.88, Z:14.67 [[ 9.90249302e-01 -1.27559708e-01 -5.59896404e-02 2.62048764e+02] [ 1.27540196e-01 9.91825591e-01 -3.93632377e-03 1.98790013e+01] [ 5.60340745e-02 -3.24298782e-03 9.98423590e-01 1.46695226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.11, Y:19.89, Z:14.67 [[ 9.90714786e-01 -1.23892526e-01 -5.59897840e-02 2.62109198e+02] [ 1.23867292e-01 9.92290993e-01 -3.93428038e-03 1.98875850e+01] [ 5.60455863e-02 -3.03755318e-03 9.98423590e-01 1.46732744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.17, Y:19.90, Z:14.68 [[ 9.91648245e-01 -1.16184704e-01 -5.59899256e-02 2.62169600e+02] [ 1.16147328e-01 9.93224212e-01 -3.93226291e-03 1.98990793e+01] [ 5.60674186e-02 -2.60365865e-03 9.98423590e-01 1.46805091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.23, Y:19.91, Z:14.68 [[ 9.92506870e-01 -1.08605820e-01 -5.59900704e-02 2.62229127e+02] [ 1.08556522e-01 9.94082509e-01 -3.93020008e-03 1.99099683e+01] [ 5.60855923e-02 -2.17733672e-03 9.98423590e-01 1.46849578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.29, Y:19.92, Z:14.69 [[ 9.92726711e-01 -1.06577500e-01 -5.59903047e-02 2.62288639e+02] [ 1.06525170e-01 9.94302252e-01 -3.92686066e-03 1.99176522e+01] [ 5.60898010e-02 -2.06607727e-03 9.98423590e-01 1.46890661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.35, Y:19.93, Z:14.69 [[ 9.92670913e-01 -1.07095959e-01 -5.59903047e-02 2.62348341e+02] [ 1.07044452e-01 9.94246481e-01 -3.92686066e-03 1.99262854e+01] [ 5.60887143e-02 -2.09537113e-03 9.98423590e-01 1.46885048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.41, Y:19.93, Z:14.69 [[ 9.92405978e-01 -1.09523792e-01 -5.59903047e-02 2.62407958e+02] [ 1.09476139e-01 9.93981667e-01 -3.92686066e-03 1.99330869e+01] [ 5.60834210e-02 -2.23256239e-03 9.98423590e-01 1.46936229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.47, Y:19.94, Z:14.70 [[ 9.91929472e-01 -1.13758549e-01 -5.59903047e-02 2.62469319e+02] [ 1.13717622e-01 9.93505351e-01 -3.92686066e-03 1.99403855e+01] [ 5.60733812e-02 -2.47191550e-03 9.98423590e-01 1.46976192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.53, Y:19.95, Z:14.70 [[ 9.91483546e-01 -1.17581626e-01 -5.59905202e-02 2.62530128e+02] [ 1.17546948e-01 9.93059575e-01 -3.92378452e-03 1.99465977e+01] [ 5.60632872e-02 -2.69114699e-03 9.98423590e-01 1.46987618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.59, Y:19.95, Z:14.70 [[ 9.91340475e-01 -1.18781737e-01 -5.59907337e-02 2.62591899e+02] [ 1.18749139e-01 9.92916547e-01 -3.92073551e-03 1.99516496e+01] [ 5.60598378e-02 -2.76206760e-03 9.98423590e-01 1.47022778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.65, Y:19.96, Z:14.71 [[ 9.91073676e-01 -1.20987505e-01 -5.59910104e-02 2.62653467e+02] [ 1.20958637e-01 9.92649821e-01 -3.91677997e-03 1.99576077e+01] [ 5.60533479e-02 -2.89077880e-03 9.98423590e-01 1.47072939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.025099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.71, Y:19.96, Z:14.71 [[ 9.90853696e-01 -1.22775928e-01 -5.59912982e-02 2.62713969e+02] [ 1.22750136e-01 9.92429894e-01 -3.91266181e-03 1.99641781e+01] [ 5.60478189e-02 -2.99606405e-03 9.98423590e-01 1.47092929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.085099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.78, Y:19.97, Z:14.72 [[ 9.90764603e-01 -1.23492603e-01 -5.59917790e-02 2.62775404e+02] [ 1.23468340e-01 9.92340826e-01 -3.90576928e-03 1.99709162e+01] [ 5.60452618e-02 -3.04351403e-03 9.98423590e-01 1.47150283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.145099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.84, Y:19.98, Z:14.72 [[ 9.90837097e-01 -1.22909462e-01 -5.59920697e-02 2.62836241e+02] [ 1.22884506e-01 9.92413309e-01 -3.90159795e-03 1.99770286e+01] [ 5.60468185e-02 -3.01470986e-03 9.98423590e-01 1.47182082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.90, Y:19.98, Z:14.72 [[ 9.90922577e-01 -1.22218289e-01 -5.59922815e-02 2.62898441e+02] [ 1.22192405e-01 9.92498775e-01 -3.89855565e-03 1.99842296e+01] [ 5.60487456e-02 -2.97866471e-03 9.98423590e-01 1.47215589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.96, Y:19.99, Z:14.72 [[ 9.90966161e-01 -1.21864270e-01 -5.59925586e-02 2.62960115e+02] [ 1.21838048e-01 9.92542353e-01 -3.89457151e-03 1.99900895e+01] [ 5.60495950e-02 -2.96263545e-03 9.98423590e-01 1.47247193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.02, Y:20.00, Z:14.73 [[ 9.91198954e-01 -1.19955976e-01 -5.59928373e-02 2.63021527e+02] [ 1.19926945e-01 9.92775096e-01 -3.89056139e-03 1.99969806e+01] [ 5.60549905e-02 -2.85872953e-03 9.98423590e-01 1.47283083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.08, Y:20.00, Z:14.73 [[ 9.91440620e-01 -1.17941802e-01 -5.59931169e-02 2.63083518e+02] [ 1.17909795e-01 9.93016704e-01 -3.88653305e-03 2.00033760e+01] [ 5.60604851e-02 -2.74887022e-03 9.98423590e-01 1.47308083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.15, Y:20.01, Z:14.73 [[ 9.91845739e-01 -1.14484806e-01 -5.59933925e-02 2.63145626e+02] [ 1.14447528e-01 9.93421708e-01 -3.88255756e-03 2.00121564e+01] [ 5.60695455e-02 -2.55740722e-03 9.98423590e-01 1.47328450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.21, Y:20.02, Z:14.74 [[ 9.92113019e-01 -1.12144847e-01 -5.59936656e-02 2.63207311e+02] [ 1.12104075e-01 9.93688901e-01 -3.87861571e-03 2.00199038e+01] [ 5.60752508e-02 -2.42909292e-03 9.98423590e-01 1.47361971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.27, Y:20.03, Z:14.74 [[ 9.92301825e-01 -1.10461609e-01 -5.59939443e-02 2.63269421e+02] [ 1.10418390e-01 9.93877642e-01 -3.87458775e-03 2.00279805e+01] [ 5.60791225e-02 -2.33800069e-03 9.98423590e-01 1.47399159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.33, Y:20.04, Z:14.74 [[ 9.92605670e-01 -1.07696936e-01 -5.59942224e-02 2.63330763e+02] [ 1.07649554e-01 9.94181368e-01 -3.87056529e-03 2.00373257e+01] [ 5.60852606e-02 -2.18580801e-03 9.98423590e-01 1.47449060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.39, Y:20.04, Z:14.75 [[ 9.92730531e-01 -1.06539700e-01 -5.59945040e-02 2.63392290e+02] [ 1.06490711e-01 9.94306180e-01 -3.86648649e-03 2.00443410e+01] [ 5.60876157e-02 -2.12451536e-03 9.98423590e-01 1.47484408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.45, Y:20.05, Z:14.75 [[ 9.92817176e-01 -1.05729084e-01 -5.59947820e-02 2.63453829e+02] [ 1.05679035e-01 9.94392791e-01 -3.86245633e-03 2.00506273e+01] [ 5.60891815e-02 -2.08276156e-03 9.98423590e-01 1.47520738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.52, Y:20.06, Z:14.76 [[ 9.92773802e-01 -1.06135437e-01 -5.59950579e-02 2.63516035e+02] [ 1.06086259e-01 9.94349445e-01 -3.85845195e-03 2.00573969e+01] [ 5.60881732e-02 -2.10973622e-03 9.98423590e-01 1.47550990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.58, Y:20.06, Z:14.76 [[ 9.92613850e-01 -1.07620936e-01 -5.59953408e-02 2.63577128e+02] [ 1.07574347e-01 9.94189571e-01 -3.85434280e-03 2.00639387e+01] [ 5.60847918e-02 -2.19778819e-03 9.98423590e-01 1.47580351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.64, Y:20.07, Z:14.76 [[ 9.92535746e-01 -1.08338779e-01 -5.59955495e-02 2.63638656e+02] [ 1.08293501e-01 9.94111505e-01 -3.85130742e-03 2.00697717e+01] [ 5.60830660e-02 -2.24139380e-03 9.98423590e-01 1.47611920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.70, Y:20.08, Z:14.76 [[ 9.92584383e-01 -1.07892126e-01 -5.59958247e-02 2.63700553e+02] [ 1.07846364e-01 9.94160128e-01 -3.84730255e-03 2.00750692e+01] [ 5.60839099e-02 -2.22017367e-03 9.98423590e-01 1.47644151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.76, Y:20.09, Z:14.77 [[ 9.92391265e-01 -1.09654067e-01 -5.59960964e-02 2.63761621e+02] [ 1.09611325e-01 9.93967095e-01 -3.84334459e-03 2.00872103e+01] [ 5.60797156e-02 -2.32370474e-03 9.98423590e-01 1.47738087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.82, Y:20.09, Z:14.77 [[ 9.92994196e-01 -1.04052542e-01 -5.59963780e-02 2.63823307e+02] [ 1.04001141e-01 9.94569768e-01 -3.83923712e-03 2.00863721e+01] [ 5.60917870e-02 -2.01134702e-03 9.98423590e-01 1.47715153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.89, Y:20.09, Z:14.77 [[ 9.93135673e-01 -1.02693320e-01 -5.59965878e-02 2.63885587e+02] [ 1.02639934e-01 9.94711178e-01 -3.83617508e-03 2.00911905e+01] [ 5.60943813e-02 -1.93764378e-03 9.98423590e-01 1.47746842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.95, Y:20.10, Z:14.78 [[ 9.93190627e-01 -1.02160311e-01 -5.59968627e-02 2.63947917e+02] [ 1.02106306e-01 9.94766112e-01 -3.83215749e-03 2.00965970e+01] [ 5.60952758e-02 -1.91156991e-03 9.98423590e-01 1.47782258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.01, Y:20.10, Z:14.78 [[ 9.93184752e-01 -1.02217261e-01 -5.59971395e-02 2.64009810e+02] [ 1.02163574e-01 9.94760247e-01 -3.82810879e-03 2.01013805e+01] [ 5.60950271e-02 -1.91884864e-03 9.98423590e-01 1.47806973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.07, Y:20.10, Z:14.78 [[ 9.93181528e-01 -1.02248437e-01 -5.59974130e-02 2.64071436e+02] [ 1.02195026e-01 9.94757032e-01 -3.82410424e-03 2.01046609e+01] [ 5.60948290e-02 -1.92462736e-03 9.98423590e-01 1.47842734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.13, Y:20.11, Z:14.79 [[ 9.93266656e-01 -1.01417991e-01 -5.59976908e-02 2.64133639e+02] [ 1.01363492e-01 9.94842123e-01 -3.82003132e-03 2.01081514e+01] [ 5.60962815e-02 -1.88181174e-03 9.98423590e-01 1.47878579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.20, Y:20.12, Z:14.80 [[ 9.92907717e-01 -1.04873703e-01 -5.59979635e-02 2.64195289e+02] [ 1.04824911e-01 9.94483371e-01 -3.81603008e-03 2.01184759e+01] [ 5.60892447e-02 -2.08101585e-03 9.98423590e-01 1.47975126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.525099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.26, Y:20.12, Z:14.79 [[ 9.93434806e-01 -9.97570522e-02 -5.59983663e-02 2.64256760e+02] [ 9.97004775e-02 9.95010200e-01 -3.81010910e-03 2.01161234e+01] [ 5.60990309e-02 -1.79796887e-03 9.98423590e-01 1.47934703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.585099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.32, Y:20.12, Z:14.80 [[ 9.93266923e-01 -1.01414698e-01 -5.59989159e-02 2.64318538e+02] [ 1.01361208e-01 9.94842425e-01 -3.80201473e-03 2.01184560e+01] [ 5.60956774e-02 -1.89970232e-03 9.98423591e-01 1.47954961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.645099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.38, Y:20.12, Z:14.80 [[ 9.93123087e-01 -1.02813543e-01 -5.59991858e-02 2.64380281e+02] [ 1.02762496e-01 9.94698670e-01 -3.79803509e-03 2.01220469e+01] [ 5.60928051e-02 -1.98269977e-03 9.98423591e-01 1.47990221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.44, Y:20.13, Z:14.80 [[ 9.93146114e-01 -1.02590725e-01 -5.59994550e-02 2.64442048e+02] [ 1.02539548e-01 9.94721693e-01 -3.79406247e-03 2.01258077e+01] [ 5.60931083e-02 -1.97410040e-03 9.98423591e-01 1.48029352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.50, Y:20.13, Z:14.81 [[ 9.93154097e-01 -1.02513270e-01 -5.59997218e-02 2.64503884e+02] [ 1.02462193e-01 9.94729679e-01 -3.79012020e-03 2.01282577e+01] [ 5.60931229e-02 -1.97368087e-03 9.98423591e-01 1.48066803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.56, Y:20.13, Z:14.81 [[ 9.93124352e-01 -1.02800885e-01 -5.59999953e-02 2.64564850e+02] [ 1.02750492e-01 9.94699956e-01 -3.78607471e-03 2.01312770e+01] [ 5.60924047e-02 -1.99398406e-03 9.98423591e-01 1.48095193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.63, Y:20.13, Z:14.81 [[ 9.92867060e-01 -1.05256732e-01 -5.60001974e-02 2.64626510e+02] [ 1.05210405e-01 9.94442788e-01 -3.78308318e-03 2.01335047e+01] [ 5.60871874e-02 -2.13570476e-03 9.98423591e-01 1.48126902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.69, Y:20.14, Z:14.82 [[ 9.92523219e-01 -1.08450948e-01 -5.60004653e-02 2.64688959e+02] [ 1.08409914e-01 9.94099094e-01 -3.77911256e-03 2.01363878e+01] [ 5.60798602e-02 -2.32014866e-03 9.98423591e-01 1.48159328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.75, Y:20.14, Z:14.82 [[ 9.92382260e-01 -1.09733159e-01 -5.60007433e-02 2.64750983e+02] [ 1.09694394e-01 9.93958193e-01 -3.77498924e-03 2.01393181e+01] [ 5.60766391e-02 -2.39673523e-03 9.98423591e-01 1.48193209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.81, Y:20.14, Z:14.82 [[ 9.92295730e-01 -1.10512760e-01 -5.60010181e-02 2.64812879e+02] [ 1.10475463e-01 9.93871698e-01 -3.77090823e-03 2.01420081e+01] [ 5.60745604e-02 -2.44488225e-03 9.98423591e-01 1.48221667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.88, Y:20.14, Z:14.83 [[ 9.92201958e-01 -1.11351384e-01 -5.60012939e-02 2.64875263e+02] [ 1.11315649e-01 9.93777962e-01 -3.76680835e-03 2.01449629e+01] [ 5.60722910e-02 -2.49638575e-03 9.98423591e-01 1.48250341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.94, Y:20.15, Z:14.83 [[ 9.92190591e-01 -1.11452483e-01 -5.60015705e-02 2.64935813e+02] [ 1.11417141e-01 9.93766604e-01 -3.76269075e-03 2.01481117e+01] [ 5.60718518e-02 -2.50622850e-03 9.98423591e-01 1.48285102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.00, Y:20.15, Z:14.83 [[ 9.92339029e-01 -1.10122776e-01 -5.60020236e-02 2.64996895e+02] [ 1.10085702e-01 9.93915002e-01 -3.75593553e-03 2.01511080e+01] [ 5.60748654e-02 -2.43786068e-03 9.98423591e-01 1.48318843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.06, Y:20.16, Z:14.84 [[ 9.92780861e-01 -1.06065611e-01 -5.60022232e-02 2.65058479e+02] [ 1.06022264e-01 9.94356674e-01 -3.75295603e-03 2.01552623e+01] [ 5.60842440e-02 -2.21161958e-03 9.98423591e-01 1.48353526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.12, Y:20.16, Z:14.84 [[ 9.93316529e-01 -1.00925694e-01 -5.60024843e-02 2.65120291e+02] [ 1.00874411e-01 9.94892104e-01 -3.74905704e-03 2.01604434e+01] [ 5.60948056e-02 -1.92521730e-03 9.98423591e-01 1.48379139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.18, Y:20.17, Z:14.84 [[ 9.93778478e-01 -9.62706008e-02 -5.60027532e-02 2.65182552e+02] [ 9.62121626e-02 9.95353804e-01 -3.74503522e-03 2.01652771e+01] [ 5.61030902e-02 -1.66641059e-03 9.98423591e-01 1.48407598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.24, Y:20.17, Z:14.84 [[ 9.93964872e-01 -9.43265312e-02 -5.60030222e-02 2.65243590e+02] [ 9.42652383e-02 9.95540089e-01 -3.74100830e-03 2.01689204e+01] [ 5.61061301e-02 -1.56070740e-03 9.98423591e-01 1.48437119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.30, Y:20.17, Z:14.84 [[ 9.94132887e-01 -9.25389102e-02 -5.60031552e-02 2.65303833e+02] [ 9.24748968e-02 9.95707996e-01 -3.73901605e-03 2.01729723e+01] [ 5.61087939e-02 -1.46180718e-03 9.98423591e-01 1.48426954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.36, Y:20.18, Z:14.85 [[ 9.93938852e-01 -9.46001980e-02 -5.60032246e-02 2.65364443e+02] [ 9.45395095e-02 9.95514093e-01 -3.73797673e-03 2.01771849e+01] [ 5.61056126e-02 -1.57919708e-03 9.98423591e-01 1.48490018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.43, Y:20.18, Z:14.85 [[ 9.93803674e-01 -9.60098371e-02 -5.60032951e-02 2.65425349e+02] [ 9.59514424e-02 9.95379001e-01 -3.73692004e-03 2.01799587e+01] [ 5.61032850e-02 -1.65983208e-03 9.98423591e-01 1.48524326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.49, Y:20.18, Z:14.86 [[ 9.93721601e-01 -9.68555402e-02 -5.60034312e-02 2.65485576e+02] [ 9.67986010e-02 9.95296982e-01 -3.73487986e-03 2.01833367e+01] [ 5.61017898e-02 -1.70962299e-03 9.98423591e-01 1.48557728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.55, Y:20.19, Z:14.86 [[ 9.93617494e-01 -9.79177399e-02 -5.60034981e-02 2.65547022e+02] [ 9.78625413e-02 9.95192937e-01 -3.73387570e-03 2.01871085e+01] [ 5.60998984e-02 -1.77060043e-03 9.98423591e-01 1.48596839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.61, Y:20.19, Z:14.86 [[ 9.93625221e-01 -9.78392244e-02 -5.60036336e-02 2.65608617e+02] [ 9.77840157e-02 9.95200663e-01 -3.73184291e-03 2.01911326e+01] [ 5.60999739e-02 -1.76820695e-03 9.98423591e-01 1.48632034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.67, Y:20.19, Z:14.87 [[ 9.93656418e-01 -9.75217989e-02 -5.60037672e-02 2.65669396e+02] [ 9.74662000e-02 9.95231846e-01 -3.72983598e-03 2.01945379e+01] [ 5.61004730e-02 -1.75229892e-03 9.98423591e-01 1.48661369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.73, Y:20.20, Z:14.87 [[ 9.93548301e-01 -9.86171250e-02 -5.60038990e-02 2.65731128e+02] [ 9.85633743e-02 9.95123793e-01 -3.72785629e-03 2.01976970e+01] [ 5.60984429e-02 -1.81612797e-03 9.98423591e-01 1.48681582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.025099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.79, Y:20.20, Z:14.87 [[ 9.93364022e-01 -1.00456304e-01 -5.60040331e-02 2.65792656e+02] [ 1.00405584e-01 9.94939615e-01 -3.72584129e-03 2.02010181e+01] [ 5.60949153e-02 -1.92200093e-03 9.98423591e-01 1.48717714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.085099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.85, Y:20.20, Z:14.87 [[ 9.92989060e-01 -1.04097285e-01 -5.60043045e-02 2.65854650e+02] [ 1.04052571e-01 9.94564835e-01 -3.72175655e-03 2.02032218e+01] [ 5.60873366e-02 -2.13172834e-03 9.98423591e-01 1.48744934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.145099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.92, Y:20.21, Z:14.88 [[ 9.92480340e-01 -1.08840534e-01 -5.60045744e-02 2.65916632e+02] [ 1.08803579e-01 9.94056316e-01 -3.71769050e-03 2.02055081e+01] [ 5.60763364e-02 -2.40376339e-03 9.98423591e-01 1.48766391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.98, Y:20.21, Z:14.88 [[ 9.91820412e-01 -1.14698417e-01 -5.60048476e-02 2.65978061e+02] [ 1.14670999e-01 9.93396583e-01 -3.71357089e-03 2.02075758e+01] [ 5.60609649e-02 -2.73893640e-03 9.98423591e-01 1.48800425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.04, Y:20.21, Z:14.88 [[ 9.91262623e-01 -1.19422974e-01 -5.60050493e-02 2.66040578e+02] [ 1.19403238e-01 9.92838909e-01 -3.71052660e-03 2.02091421e+01] [ 5.60471141e-02 -3.00907791e-03 9.98423591e-01 1.48838577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.10, Y:20.21, Z:14.89 [[ 9.91106844e-01 -1.20708856e-01 -5.60053241e-02 2.66101733e+02] [ 1.20691399e-01 9.92683156e-01 -3.70637426e-03 2.02125031e+01] [ 5.60429341e-02 -3.08594804e-03 9.98423591e-01 1.48880798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.16, Y:20.22, Z:14.89 [[ 9.91132883e-01 -1.20494772e-01 -5.60055271e-02 2.66163787e+02] [ 1.20477147e-01 9.92709193e-01 -3.70330449e-03 2.02169193e+01] [ 5.60434304e-02 -3.07691928e-03 9.98423591e-01 1.48929233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.23, Y:20.22, Z:14.90 [[ 9.91387421e-01 -1.18382141e-01 -5.60058008e-02 2.66225404e+02] [ 1.18361390e-01 9.92963694e-01 -3.69915977e-03 2.02209893e+01] [ 5.60496413e-02 -2.96162398e-03 9.98423591e-01 1.48975787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.29, Y:20.22, Z:14.90 [[ 9.91533269e-01 -1.17154158e-01 -5.60060742e-02 2.66287527e+02] [ 1.17131688e-01 9.93109518e-01 -3.69501683e-03 2.02248153e+01] [ 5.60530519e-02 -2.89635391e-03 9.98423591e-01 1.49019391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.35, Y:20.23, Z:14.90 [[ 9.91639574e-01 -1.16250786e-01 -5.60063464e-02 2.66349554e+02] [ 1.16227114e-01 9.93215805e-01 -3.69088551e-03 2.02293234e+01] [ 5.60554568e-02 -2.84942785e-03 9.98423591e-01 1.49048576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.41, Y:20.23, Z:14.91 [[ 9.91754363e-01 -1.15267266e-01 -5.60066182e-02 2.66412128e+02] [ 1.15242262e-01 9.93330574e-01 -3.68675597e-03 2.02335844e+01] [ 5.60580485e-02 -2.79797308e-03 9.98423591e-01 1.49065859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.47, Y:20.24, Z:14.91 [[ 9.92128461e-01 -1.12001506e-01 -5.60069519e-02 2.66474098e+02] [ 1.11971599e-01 9.93704587e-01 -3.68168033e-03 2.02392012e+01] [ 5.60667187e-02 -2.61848813e-03 9.98423591e-01 1.49093618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.54, Y:20.24, Z:14.91 [[ 9.92266268e-01 -1.10773848e-01 -5.60072154e-02 2.66535732e+02] [ 1.10742218e-01 9.93842360e-01 -3.67766793e-03 2.02438271e+01] [ 5.60697325e-02 -2.55313740e-03 9.98423591e-01 1.49126372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.60, Y:20.25, Z:14.92 [[ 9.92527020e-01 -1.08412530e-01 -5.60074772e-02 2.66597099e+02] [ 1.08377374e-01 9.94103037e-01 -3.67367688e-03 2.02497449e+01] [ 5.60754758e-02 -2.42371971e-03 9.98423591e-01 1.49163184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.66, Y:20.26, Z:14.92 [[ 9.92910411e-01 -1.04842971e-01 -5.60077355e-02 2.66657678e+02] [ 1.04802370e-01 9.94486298e-01 -3.66973446e-03 2.02564484e+01] [ 5.60836714e-02 -2.22602588e-03 9.98423591e-01 1.49214536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.72, Y:20.26, Z:14.93 [[ 9.93301855e-01 -1.01066997e-01 -5.60079262e-02 2.66719813e+02] [ 1.01020568e-01 9.94877580e-01 -3.66682164e-03 2.02623502e+01] [ 5.60916247e-02 -2.01569180e-03 9.98423591e-01 1.49264633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.78, Y:20.27, Z:14.93 [[ 9.93531738e-01 -9.87814176e-02 -5.60081922e-02 2.66781046e+02] [ 9.87315933e-02 9.95107359e-01 -3.66275315e-03 2.02692126e+01] [ 5.60959762e-02 -1.89071656e-03 9.98423591e-01 1.49312374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.84, Y:20.27, Z:14.94 [[ 9.93504569e-01 -9.90541510e-02 -5.60084542e-02 2.66842127e+02] [ 9.90049850e-02 9.95080211e-01 -3.65874234e-03 2.02742234e+01] [ 5.60953181e-02 -1.91013895e-03 9.98423591e-01 1.49350396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.90, Y:20.28, Z:14.94 [[ 9.93424052e-01 -9.98583571e-02 -5.60085846e-02 2.66902871e+02] [ 9.98105791e-02 9.94999737e-01 -3.65674614e-03 2.02786825e+01] [ 5.60936836e-02 -1.95754969e-03 9.98423591e-01 1.49381172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.96, Y:20.28, Z:14.94 [[ 9.93328187e-01 -1.00807421e-01 -5.60087159e-02 2.66964966e+02] [ 1.00761262e-01 9.94903921e-01 -3.65473288e-03 2.02829185e+01] [ 5.60917153e-02 -2.01315971e-03 9.98423591e-01 1.49413271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.03, Y:20.29, Z:14.94 [[ 9.93464765e-01 -9.94522699e-02 -5.60089843e-02 2.67025397e+02] [ 9.94041930e-02 9.95040441e-01 -3.65061520e-03 2.02895772e+01] [ 5.60942664e-02 -1.94077032e-03 9.98423591e-01 1.49445037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.09, Y:20.29, Z:14.95 [[ 9.93699341e-01 -9.70803363e-02 -5.60091821e-02 2.67087529e+02] [ 9.70286690e-02 9.95274903e-01 -3.64757908e-03 2.02948244e+01] [ 5.60986414e-02 -1.80989946e-03 9.98423591e-01 1.49487178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.15, Y:20.30, Z:14.95 [[ 9.94114125e-01 -9.27364452e-02 -5.60094487e-02 2.67149256e+02] [ 9.26781231e-02 9.95689455e-01 -3.64348036e-03 2.03007126e+01] [ 5.61059008e-02 -1.56881528e-03 9.98423591e-01 1.49531766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.21, Y:20.31, Z:14.96 [[ 9.94493710e-01 -8.85729797e-02 -5.60097112e-02 2.67210384e+02] [ 8.85082891e-02 9.96068791e-01 -3.63943975e-03 2.03069869e+01] [ 5.61118814e-02 -1.33792378e-03 9.98423591e-01 1.49569462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.27, Y:20.31, Z:14.96 [[ 9.94694095e-01 -8.62934198e-02 -5.60098425e-02 2.67271893e+02] [ 8.62252332e-02 9.96269029e-01 -3.63741813e-03 2.03122598e+01] [ 5.61147567e-02 -1.21134340e-03 9.98423591e-01 1.49597322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.525099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.33, Y:20.32, Z:14.96 [[ 9.94951549e-01 -8.32724304e-02 -5.60099721e-02 2.67332736e+02] [ 8.31995739e-02 9.96526274e-01 -3.63542125e-03 2.03167528e+01] [ 5.61181392e-02 -1.04293781e-03 9.98423591e-01 1.49635278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.585099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.39, Y:20.32, Z:14.97 [[ 9.95229265e-01 -7.98847783e-02 -5.60101010e-02 2.67392186e+02] [ 7.98066730e-02 9.96803739e-01 -3.63343517e-03 2.03205401e+01] [ 5.61213342e-02 -8.53878802e-04 9.98423591e-01 1.49672013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.645099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.45, Y:20.32, Z:14.97 [[ 9.95369510e-01 -7.81179987e-02 -5.60099728e-02 2.67451113e+02] [ 7.80369876e-02 9.96943836e-01 -3.63540961e-03 2.03249953e+01] [ 5.61227881e-02 -7.52273672e-04 9.98423591e-01 1.49706190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.51, Y:20.33, Z:14.97 [[ 9.95426054e-01 -7.73947996e-02 -5.60090775e-02 2.67509824e+02] [ 7.73118716e-02 9.97000280e-01 -3.64915184e-03 2.03282579e+01] [ 5.61234913e-02 -6.97705795e-04 9.98423591e-01 1.49723126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.57, Y:20.33, Z:14.97 [[ 9.95235146e-01 -7.98128494e-02 -5.60081601e-02 2.67568256e+02] [ 7.97329569e-02 9.96809529e-01 -3.66317821e-03 2.03304702e+01] [ 5.61218364e-02 -8.19972516e-04 9.98423591e-01 1.49743139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.63, Y:20.33, Z:14.98 [[ 9.94904974e-01 -8.38288797e-02 -5.60072388e-02 2.67627049e+02] [ 8.37545522e-02 9.96479630e-01 -3.67721069e-03 2.03329681e+01] [ 5.61183290e-02 -1.03238599e-03 9.98423591e-01 1.49763344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.69, Y:20.34, Z:14.98 [[ 9.94596713e-01 -8.74104685e-02 -5.60070445e-02 2.67686509e+02] [ 8.73416446e-02 9.96171618e-01 -3.68016696e-03 2.03355596e+01] [ 5.61143133e-02 -1.23146542e-03 9.98423591e-01 1.49796318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.75, Y:20.34, Z:14.98 [[ 9.94064985e-01 -9.32632358e-02 -5.60069116e-02 2.67746055e+02] [ 9.32035693e-02 9.95640264e-01 -3.68218941e-03 2.03371257e+01] [ 5.61061492e-02 -1.55970851e-03 9.98423591e-01 1.49830866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.81, Y:20.34, Z:14.99 [[ 9.93503839e-01 -9.90623797e-02 -5.60068461e-02 2.67807398e+02] [ 9.90118505e-02 9.95079438e-01 -3.68318469e-03 2.03379350e+01] [ 5.60961260e-02 -1.88608335e-03 9.98423591e-01 1.49867766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.87, Y:20.34, Z:14.99 [[ 9.93002313e-01 -1.03969350e-01 -5.60069774e-02 2.67869103e+02] [ 1.03926717e-01 9.94578145e-01 -3.68118792e-03 2.03393167e+01] [ 5.60860464e-02 -2.16519320e-03 9.98423591e-01 1.49909206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.93, Y:20.34, Z:14.99 [[ 9.92780370e-01 -1.06067555e-01 -5.60072468e-02 2.67931440e+02] [ 1.06028484e-01 9.94356294e-01 -3.67708363e-03 2.03414477e+01] [ 5.60811777e-02 -2.28782702e-03 9.98423591e-01 1.49941599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.99, Y:20.34, Z:15.00 [[ 9.92541364e-01 -1.08281109e-01 -5.60075140e-02 2.67992404e+02] [ 1.08245782e-01 9.94117377e-01 -3.67300999e-03 2.03428853e+01] [ 5.60757605e-02 -2.41696281e-03 9.98423591e-01 1.49959069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.05, Y:20.34, Z:15.00 [[ 9.92346251e-01 -1.10054784e-01 -5.60077111e-02 2.68054140e+02] [ 1.10022442e-01 9.93922328e-01 -3.67000171e-03 2.03447806e+01] [ 5.60712158e-02 -2.52019273e-03 9.98423591e-01 1.49974518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.12, Y:20.35, Z:15.00 [[ 9.92210409e-01 -1.11272688e-01 -5.60079713e-02 2.68116547e+02] [ 1.11242505e-01 9.93786529e-01 -3.66602726e-03 2.03465775e+01] [ 5.60678961e-02 -2.59299661e-03 9.98423591e-01 1.49991549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.18, Y:20.35, Z:15.00 [[ 9.92217963e-01 -1.11205179e-01 -5.60082335e-02 2.68177332e+02] [ 1.11175115e-01 9.93794085e-01 -3.66201647e-03 2.03499811e+01] [ 5.60678864e-02 -2.59320326e-03 9.98423591e-01 1.49993006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.24, Y:20.36, Z:15.01 [[ 9.92500051e-01 -1.08658691e-01 -5.60083737e-02 2.68237682e+02] [ 1.08624703e-01 9.94076093e-01 -3.65987159e-03 2.03552667e+01] [ 5.60742621e-02 -2.45147021e-03 9.98423591e-01 1.50066884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.30, Y:20.36, Z:15.01 [[ 9.92898239e-01 -1.04957804e-01 -5.60084435e-02 2.68299149e+02] [ 1.04918001e-01 9.94474146e-01 -3.65880208e-03 2.03610201e+01] [ 5.60829688e-02 -2.24347578e-03 9.98423591e-01 1.50126743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.36, Y:20.37, Z:15.02 [[ 9.93226377e-01 -1.01805643e-01 -5.60087097e-02 2.68360137e+02] [ 1.01761068e-01 9.94802155e-01 -3.65472224e-03 2.03657649e+01] [ 5.60896565e-02 -2.06953957e-03 9.98423591e-01 1.50160510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.42, Y:20.37, Z:15.02 [[ 9.93320564e-01 -1.00882280e-01 -5.60091287e-02 2.68420747e+02] [ 1.00836602e-01 9.94896311e-01 -3.64829005e-03 2.03700944e+01] [ 5.60913234e-02 -2.02384869e-03 9.98423591e-01 1.50206149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.48, Y:20.37, Z:15.02 [[ 9.93328984e-01 -1.00799271e-01 -5.60092583e-02 2.68480985e+02] [ 1.00753573e-01 9.94904730e-01 -3.64629925e-03 2.03739226e+01] [ 5.60914203e-02 -2.02115820e-03 9.98423591e-01 1.50238886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.54, Y:20.38, Z:15.03 [[ 9.93229971e-01 -1.01770231e-01 -5.60093221e-02 2.68540833e+02] [ 1.01726129e-01 9.94805763e-01 -3.64532002e-03 2.03769858e+01] [ 5.60893814e-02 -2.07697044e-03 9.98423591e-01 1.50260353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.60, Y:20.38, Z:15.03 [[ 9.93062415e-01 -1.03392402e-01 -5.60093836e-02 2.68602328e+02] [ 1.03350927e-01 9.94638278e-01 -3.64437408e-03 2.03807827e+01] [ 5.60858775e-02 -2.16953082e-03 9.98423591e-01 1.50286854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.66, Y:20.38, Z:15.03 [[ 9.92946621e-01 -1.04498529e-01 -5.60095136e-02 2.68664129e+02] [ 1.04458922e-01 9.94522532e-01 -3.64237513e-03 2.03843693e+01] [ 5.60833461e-02 -2.23400933e-03 9.98423591e-01 1.50316305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.73, Y:20.39, Z:15.03 [[ 9.92789136e-01 -1.05984134e-01 -5.60097804e-02 2.68725057e+02] [ 1.05947117e-01 9.94365110e-01 -3.63826845e-03 2.03873870e+01] [ 5.60797701e-02 -2.32204137e-03 9.98423591e-01 1.50346246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.79, Y:20.39, Z:15.04 [[ 9.92801599e-01 -1.05867087e-01 -5.60102170e-02 2.68785377e+02] [ 1.05830263e-01 9.94377578e-01 -3.63153460e-03 2.03915388e+01] [ 5.60797639e-02 -2.32218262e-03 9.98423591e-01 1.50366105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.025099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.85, Y:20.39, Z:15.04 [[ 9.92646892e-01 -1.07307912e-01 -5.60103512e-02 2.68846681e+02] [ 1.07273492e-01 9.94222925e-01 -3.62946250e-03 2.03949864e+01] [ 5.60762453e-02 -2.40565131e-03 9.98423591e-01 1.50437233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.085099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.91, Y:20.40, Z:15.05 [[ 9.92465456e-01 -1.08973135e-01 -5.60104891e-02 2.68909194e+02] [ 1.08941479e-01 9.94041547e-01 -3.62733427e-03 2.03978241e+01] [ 5.60720352e-02 -2.50186157e-03 9.98423591e-01 1.50475034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.145099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.97, Y:20.40, Z:15.05 [[ 9.92345330e-01 -1.10061541e-01 -5.60107479e-02 2.68971587e+02] [ 1.10031839e-01 9.93921459e-01 -3.62333379e-03 2.04009881e+01] [ 5.60690739e-02 -2.56736723e-03 9.98423591e-01 1.50509173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.03, Y:20.40, Z:15.06 [[ 9.92229795e-01 -1.11098161e-01 -5.60110060e-02 2.69033484e+02] [ 1.11070331e-01 9.93805958e-01 -3.61933916e-03 2.04043670e+01] [ 5.60661734e-02 -2.62994481e-03 9.98423591e-01 1.50556005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.10, Y:20.41, Z:15.06 [[ 9.92291849e-01 -1.10542404e-01 -5.60112735e-02 2.69095768e+02] [ 1.10513924e-01 9.93868001e-01 -3.61519404e-03 2.04075240e+01] [ 5.60674447e-02 -2.60269806e-03 9.98423591e-01 1.50586784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.16, Y:20.41, Z:15.06 [[ 9.92526022e-01 -1.08419573e-01 -5.60115369e-02 2.69157014e+02] [ 1.08387952e-01 9.94102113e-01 -3.61110832e-03 2.04117140e+01] [ 5.60727021e-02 -2.48685680e-03 9.98423591e-01 1.50608237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.22, Y:20.42, Z:15.06 [[ 9.92878088e-01 -1.05146505e-01 -5.60117316e-02 2.69217625e+02] [ 1.05109858e-01 9.94454071e-01 -3.60808584e-03 2.04156932e+01] [ 5.60804722e-02 -2.30499580e-03 9.98423591e-01 1.50645347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.28, Y:20.42, Z:15.07 [[ 9.93327355e-01 -1.00813871e-01 -5.60118583e-02 2.69278720e+02] [ 1.00770459e-01 9.94903166e-01 -3.60611832e-03 2.04190708e+01] [ 5.60899219e-02 -2.06228472e-03 9.98423591e-01 1.50677047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.34, Y:20.42, Z:15.07 [[ 9.93681707e-01 -9.72590530e-02 -5.60119835e-02 2.69338482e+02] [ 9.72101130e-02 9.95257356e-01 -3.60417227e-03 2.04237497e+01] [ 5.60968770e-02 -1.86353120e-03 9.98423591e-01 1.50713184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.40, Y:20.43, Z:15.08 [[ 9.93791539e-01 -9.61303003e-02 -5.60119835e-02 2.69399330e+02] [ 9.60795707e-02 9.95367131e-01 -3.60417227e-03 2.04284971e+01] [ 5.60989575e-02 -1.79981142e-03 9.98423591e-01 1.50750913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.46, Y:20.43, Z:15.08 [[ 9.93878718e-01 -9.52246666e-02 -5.60121134e-02 2.69460173e+02] [ 9.51726149e-02 9.95454267e-01 -3.60215335e-03 2.04326859e+01] [ 5.61005111e-02 -1.75071574e-03 9.98423591e-01 1.50770070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.52, Y:20.44, Z:15.08 [[ 9.94099602e-01 -9.28903124e-02 -5.60122453e-02 2.69520667e+02] [ 9.28346762e-02 9.95675028e-01 -3.60010124e-03 2.04384275e+01] [ 5.61044084e-02 -1.62101945e-03 9.98423591e-01 1.50800713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.58, Y:20.44, Z:15.08 [[ 9.94336126e-01 -9.03232876e-02 -5.60122453e-02 2.69579508e+02] [ 9.02635839e-02 9.95911404e-01 -3.60010124e-03 2.04439653e+01] [ 5.61084068e-02 -1.47615528e-03 9.98423591e-01 1.50813733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.64, Y:20.45, Z:15.09 [[ 9.94340207e-01 -9.02783565e-02 -5.60122453e-02 2.69638803e+02] [ 9.02185817e-02 9.95915482e-01 -3.60010124e-03 2.04507158e+01] [ 5.61084734e-02 -1.47361992e-03 9.98423591e-01 1.50876828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.70, Y:20.46, Z:15.09 [[ 9.94238286e-01 -9.13940562e-02 -5.60121117e-02 2.69698554e+02] [ 9.13359322e-02 9.95813623e-01 -3.60217731e-03 2.04559000e+01] [ 5.61068415e-02 -1.53449584e-03 9.98423591e-01 1.50904282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.76, Y:20.46, Z:15.09 [[ 9.94055852e-01 -9.33574117e-02 -5.60121117e-02 2.69759336e+02] [ 9.33023990e-02 9.95631301e-01 -3.60217731e-03 2.04608289e+01] [ 5.61037016e-02 -1.64529896e-03 9.98423591e-01 1.50947512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.82, Y:20.47, Z:15.10 [[ 9.93574697e-01 -9.83460713e-02 -5.60122415e-02 2.69820606e+02] [ 9.82990812e-02 9.95150405e-01 -3.60015818e-03 2.04656074e+01] [ 5.60946663e-02 -1.92892580e-03 9.98423591e-01 1.50993587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.88, Y:20.47, Z:15.10 [[ 9.93312698e-01 -1.00957906e-01 -5.60123721e-02 2.69882479e+02] [ 1.00915173e-01 9.94888527e-01 -3.59812615e-03 2.04701886e+01] [ 5.60893256e-02 -2.07843381e-03 9.98423591e-01 1.51032550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.94, Y:20.47, Z:15.11 [[ 9.92880888e-01 -1.05119584e-01 -5.60126388e-02 2.69943245e+02] [ 1.05083689e-01 9.94456888e-01 -3.59396919e-03 2.04741142e+01] [ 5.60799510e-02 -2.31763141e-03 9.98423591e-01 1.51057550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.01, Y:20.48, Z:15.11 [[ 9.92705806e-01 -1.06760226e-01 -5.60128360e-02 2.70005676e+02] [ 1.06727109e-01 9.94281866e-01 -3.59089342e-03 2.04776866e+01] [ 5.60759117e-02 -2.41338728e-03 9.98423591e-01 1.51100509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.07, Y:20.48, Z:15.11 [[ 9.93050070e-01 -1.03508891e-01 -5.60130968e-02 2.70066242e+02] [ 1.03470843e-01 9.94626020e-01 -3.58682066e-03 2.04832567e+01] [ 5.60833513e-02 -2.23382982e-03 9.98423591e-01 1.51142271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.13, Y:20.49, Z:15.12 [[ 9.93446363e-01 -9.96335059e-02 -5.60132896e-02 2.70128169e+02] [ 9.95894784e-02 9.95022157e-01 -3.58380637e-03 2.04891866e+01] [ 5.60915314e-02 -2.01801489e-03 9.98423591e-01 1.51204332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.19, Y:20.49, Z:15.12 [[ 9.94105626e-01 -9.28250376e-02 -5.60135493e-02 2.70189285e+02] [ 9.27704440e-02 9.95681089e-01 -3.57974356e-03 2.04940901e+01] [ 5.61039215e-02 -1.63775863e-03 9.98423591e-01 1.51223907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.25, Y:20.50, Z:15.13 [[ 9.94423904e-01 -8.93508071e-02 -5.60136766e-02 2.70250400e+02] [ 8.92908211e-02 9.95999171e-01 -3.57774990e-03 2.04986950e+01] [ 5.61092503e-02 -1.44370715e-03 9.98423591e-01 1.51259718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.31, Y:20.50, Z:15.13 [[ 9.94742577e-01 -8.57301530e-02 -5.60138083e-02 2.70310660e+02] [ 8.56645489e-02 9.96317620e-01 -3.57568641e-03 2.05040348e+01] [ 5.61140883e-02 -1.24151012e-03 9.98423591e-01 1.51298668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.525099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.37, Y:20.51, Z:15.13 [[ 9.94764528e-01 -8.54750306e-02 -5.60138730e-02 2.70371018e+02] [ 8.54090796e-02 9.96339556e-01 -3.57467289e-03 2.05084753e+01] [ 5.61143826e-02 -1.22813555e-03 9.98423591e-01 1.51342120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.585099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.43, Y:20.51, Z:15.14 [[ 9.94827629e-01 -8.47374500e-02 -5.60138730e-02 2.70431745e+02] [ 8.46703313e-02 9.96402608e-01 -3.57467289e-03 2.05122320e+01] [ 5.61152778e-02 -1.18652983e-03 9.98423591e-01 1.51377714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.645099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.49, Y:20.52, Z:15.14 [[ 9.94748210e-01 -8.56647273e-02 -5.60138730e-02 2.70491831e+02] [ 8.55990767e-02 9.96323251e-01 -3.57467289e-03 2.05168895e+01] [ 5.61141474e-02 -1.23883636e-03 9.98423591e-01 1.51425855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.55, Y:20.52, Z:15.15 [[ 9.94537728e-01 -8.80747075e-02 -5.60138730e-02 2.70551361e+02] [ 8.80128734e-02 9.96112923e-01 -3.57467289e-03 2.05203120e+01] [ 5.61109811e-02 -1.37479486e-03 9.98423591e-01 1.51461565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.61, Y:20.52, Z:15.15 [[ 9.93920028e-01 -9.47915141e-02 -5.60138095e-02 2.70611771e+02] [ 9.47402669e-02 9.95495603e-01 -3.57566830e-03 2.05219780e+01] [ 5.61004441e-02 -1.75283493e-03 9.98423591e-01 1.51485003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.67, Y:20.52, Z:15.15 [[ 9.93437905e-01 -9.97175077e-02 -5.60138095e-02 2.70673471e+02] [ 9.96740717e-02 9.95013715e-01 -3.57566830e-03 2.05248289e+01] [ 5.60910654e-02 -2.03092004e-03 9.98423591e-01 1.51511906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.74, Y:20.53, Z:15.15 [[ 9.92941605e-01 -1.04543806e-01 -5.60139355e-02 2.70735911e+02] [ 1.04508139e-01 9.94517610e-01 -3.57369359e-03 2.05283607e+01] [ 5.60804528e-02 -2.30544311e-03 9.98423591e-01 1.51544864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.80, Y:20.53, Z:15.16 [[ 9.92289899e-01 -1.10558428e-01 -5.60141912e-02 2.70798202e+02] [ 1.10532537e-01 9.93866095e-01 -3.56968025e-03 2.05310791e+01] [ 5.60652638e-02 -2.64923302e-03 9.98423591e-01 1.51578119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.86, Y:20.53, Z:15.16 [[ 9.91914716e-01 -1.13875275e-01 -5.60144519e-02 2.70859012e+02] [ 1.13854885e-01 9.93490992e-01 -3.56558468e-03 2.05338295e+01] [ 5.60558854e-02 -2.84076307e-03 9.98423591e-01 1.51617858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.92, Y:20.54, Z:15.17 [[ 9.91953460e-01 -1.13537189e-01 -5.60146453e-02 2.70921489e+02] [ 1.13516433e-01 9.93529732e-01 -3.56254408e-03 2.05372242e+01] [ 5.60566968e-02 -2.82470479e-03 9.98423591e-01 1.51654417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.98, Y:20.54, Z:15.17 [[ 9.92021938e-01 -1.12937176e-01 -5.60149032e-02 2.70983637e+02] [ 1.12915696e-01 9.93598200e-01 -3.55848461e-03 2.05417704e+01] [ 5.60581922e-02 -2.79486695e-03 9.98423591e-01 1.51681705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.05, Y:20.55, Z:15.17 [[ 9.91886855e-01 -1.14117342e-01 -5.60151628e-02 2.71045172e+02] [ 1.14097967e-01 9.93463145e-01 -3.55439339e-03 2.05464436e+01] [ 5.60546177e-02 -2.86566013e-03 9.98423591e-01 1.51709710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.11, Y:20.55, Z:15.17 [[ 9.91850607e-01 -1.14431836e-01 -5.60154206e-02 2.71107106e+02] [ 1.14413190e-01 9.93426906e-01 -3.55032655e-03 2.05500931e+01] [ 5.60534963e-02 -2.88750941e-03 9.98423591e-01 1.51742177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.17, Y:20.55, Z:15.18 [[ 9.91763473e-01 -1.15184454e-01 -5.60156764e-02 2.71168760e+02] [ 1.15167232e-01 9.93339787e-01 -3.54628594e-03 2.05536635e+01] [ 5.60510771e-02 -2.93409352e-03 9.98423591e-01 1.51776623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.23, Y:20.56, Z:15.18 [[ 9.91975300e-01 -1.13345573e-01 -5.60159357e-02 2.71230081e+02] [ 1.13325659e-01 9.93551583e-01 -3.54218454e-03 2.05580307e+01] [ 5.60562125e-02 -2.83428327e-03 9.98423591e-01 1.51809995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.29, Y:20.56, Z:15.19 [[ 9.92241968e-01 -1.10986800e-01 -5.60161271e-02 2.71292090e+02] [ 1.10963309e-01 9.93818202e-01 -3.53915512e-03 2.05625720e+01] [ 5.60626462e-02 -2.70403657e-03 9.98423591e-01 1.51855370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.35, Y:20.57, Z:15.19 [[ 9.92562322e-01 -1.08084237e-01 -5.60163837e-02 2.71353235e+02] [ 1.08056365e-01 9.94138484e-01 -3.53508993e-03 2.05663473e+01] [ 5.60701302e-02 -2.54412972e-03 9.98423591e-01 1.51877031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.42, Y:20.57, Z:15.19 [[ 9.92594974e-01 -1.07783864e-01 -5.60165725e-02 2.71415095e+02] [ 1.07755684e-01 9.94171131e-01 -3.53209470e-03 2.05700671e+01] [ 5.60707621e-02 -2.53016463e-03 9.98423591e-01 1.51920688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.48, Y:20.57, Z:15.20 [[ 9.92524754e-01 -1.08428446e-01 -5.60168247e-02 2.71477314e+02] [ 1.08401515e-01 9.94100933e-01 -3.52809044e-03 2.05742502e+01] [ 5.60689231e-02 -2.57059155e-03 9.98423591e-01 1.51952072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.54, Y:20.58, Z:15.20 [[ 9.92584319e-01 -1.07881680e-01 -5.60170734e-02 2.71539681e+02] [ 1.07854103e-01 9.94160486e-01 -3.52413796e-03 2.05774294e+01] [ 5.60701509e-02 -2.54366716e-03 9.98423591e-01 1.51978040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.60, Y:20.58, Z:15.20 [[ 9.92722445e-01 -1.06603027e-01 -5.60173338e-02 2.71600694e+02] [ 1.06573653e-01 9.94298580e-01 -3.51999418e-03 2.05812562e+01] [ 5.60731975e-02 -2.47559469e-03 9.98423591e-01 1.52012694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.66, Y:20.58, Z:15.21 [[ 9.92917370e-01 -1.04771811e-01 -5.60175258e-02 2.71662970e+02] [ 1.04739702e-01 9.94493452e-01 -3.51693654e-03 2.05847499e+01] [ 5.60775384e-02 -2.37523158e-03 9.98423591e-01 1.52056715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.72, Y:20.59, Z:15.21 [[ 9.93061738e-01 -1.03394360e-01 -5.60177794e-02 2.71724873e+02] [ 1.03360293e-01 9.94637778e-01 -3.51289192e-03 2.05885647e+01] [ 5.60806128e-02 -2.30149553e-03 9.98423591e-01 1.52107469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.79, Y:20.59, Z:15.21 [[ 9.93268584e-01 -1.01387867e-01 -5.60180352e-02 2.71786700e+02] [ 1.01350846e-01 9.94844558e-01 -3.50880747e-03 2.05924550e+01] [ 5.60849880e-02 -2.19228704e-03 9.98423591e-01 1.52142904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.85, Y:20.60, Z:15.22 [[ 9.93365680e-01 -1.00431958e-01 -5.60182866e-02 2.71848773e+02] [ 1.00393646e-01 9.94941623e-01 -3.50479048e-03 2.05960482e+01] [ 5.60869179e-02 -2.14234146e-03 9.98423591e-01 1.52167641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.025099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.91, Y:20.60, Z:15.22 [[ 9.93404754e-01 -1.00044577e-01 -5.60185362e-02 2.71910333e+02] [ 1.00005876e-01 9.94980688e-01 -3.50079531e-03 2.05989042e+01] [ 5.60875973e-02 -2.12447609e-03 9.98423591e-01 1.52182954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.085099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.97, Y:20.60, Z:15.22 [[ 9.93448151e-01 -9.96126607e-02 -5.60186586e-02 2.71972661e+02] [ 9.95733847e-02 9.95024070e-01 -3.49883624e-03 2.06023773e+01] [ 5.60884420e-02 -2.10205505e-03 9.98423591e-01 1.52227273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.145099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.03, Y:20.61, Z:15.23 [[ 9.93504081e-01 -9.90531303e-02 -5.60189108e-02 2.72033587e+02] [ 9.90131945e-02 9.95079984e-01 -3.49479325e-03 2.06054703e+01] [ 5.60894671e-02 -2.07451996e-03 9.98423591e-01 1.52258337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.10, Y:20.61, Z:15.23 [[ 9.93450236e-01 -9.95916520e-02 -5.60190360e-02 2.72095230e+02] [ 9.95526835e-02 9.95026162e-01 -3.49278512e-03 2.06070618e+01] [ 5.60882587e-02 -2.10693716e-03 9.98423591e-01 1.52284902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.16, Y:20.61, Z:15.23 [[ 9.93167348e-01 -1.02374177e-01 -5.60191606e-02 2.72156600e+02] [ 1.02339735e-01 9.94743380e-01 -3.49078603e-03 2.06086497e+01] [ 5.60820555e-02 -2.26605136e-03 9.98423592e-01 1.52309088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.22, Y:20.61, Z:15.23 [[ 9.92935811e-01 -1.04595966e-01 -5.60192826e-02 2.72217480e+02] [ 1.04565162e-01 9.94511918e-01 -3.48882675e-03 2.06102008e+01] [ 5.60767614e-02 -2.39348433e-03 9.98423592e-01 1.52331354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.28, Y:20.61, Z:15.24 [[ 9.92539618e-01 -1.08290959e-01 -5.60194078e-02 2.72279659e+02] [ 1.08266134e-01 9.94115831e-01 -3.48681586e-03 2.06111836e+01] [ 5.60673708e-02 -2.60420183e-03 9.98423592e-01 1.52370294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.34, Y:20.61, Z:15.24 [[ 9.92357165e-01 -1.09950239e-01 -5.60196604e-02 2.72342143e+02] [ 1.09928278e-01 9.93933420e-01 -3.48275216e-03 2.06139762e+01] [ 5.60627421e-02 -2.70201076e-03 9.98423592e-01 1.52411896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.40, Y:20.62, Z:15.25 [[ 9.92243633e-01 -1.10970008e-01 -5.60199145e-02 2.72403389e+02] [ 1.10949897e-01 9.93819913e-01 -3.47866014e-03 2.06171300e+01] [ 5.60597335e-02 -2.76372540e-03 9.98423592e-01 1.52461068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.47, Y:20.62, Z:15.25 [[ 9.92295474e-01 -1.10505385e-01 -5.60201022e-02 2.72465624e+02] [ 1.10484706e-01 9.93871747e-01 -3.47563594e-03 2.06193393e+01] [ 5.60608733e-02 -2.74050673e-03 9.98423592e-01 1.52485734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.53, Y:20.62, Z:15.25 [[ 9.92515545e-01 -1.08510891e-01 -5.60203549e-02 2.72528111e+02] [ 1.08487274e-01 9.94091776e-01 -3.47155744e-03 2.06213857e+01] [ 5.60660759e-02 -2.63192089e-03 9.98423592e-01 1.52528532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.59, Y:20.63, Z:15.26 [[ 9.92716639e-01 -1.06655360e-01 -5.60206030e-02 2.72589914e+02] [ 1.06629023e-01 9.94292828e-01 -3.46754912e-03 2.06253883e+01] [ 5.60707165e-02 -2.53112846e-03 9.98423592e-01 1.52561887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.65, Y:20.63, Z:15.26 [[ 9.92828210e-01 -1.05611594e-01 -5.60208521e-02 2.72652375e+02] [ 1.05583827e-01 9.94404374e-01 -3.46352049e-03 2.06286322e+01] [ 5.60731683e-02 -2.47621511e-03 9.98423592e-01 1.52572844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.71, Y:20.63, Z:15.26 [[ 9.92899354e-01 -1.04940507e-01 -5.60210999e-02 2.72714019e+02] [ 1.04911900e-01 9.94475502e-01 -3.45950709e-03 2.06322610e+01] [ 5.60746539e-02 -2.44233768e-03 9.98423592e-01 1.52597948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.77, Y:20.64, Z:15.26 [[ 9.93174394e-01 -1.02304668e-01 -5.60212229e-02 2.72774870e+02] [ 1.02271990e-01 9.94750464e-01 -3.45751419e-03 2.06357561e+01] [ 5.60808573e-02 -2.29548738e-03 9.98423592e-01 1.52633577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.83, Y:20.64, Z:15.27 [[ 9.93849346e-01 -9.55253204e-02 -5.60213478e-02 2.72834546e+02] [ 9.54820028e-02 9.95425159e-01 -3.45549003e-03 2.06405359e+01] [ 5.60951458e-02 -1.91479398e-03 9.98423592e-01 1.52671786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.89, Y:20.65, Z:15.27 [[ 9.94340504e-01 -9.02693914e-02 -5.60214092e-02 2.72894438e+02] [ 9.02177990e-02 9.95916068e-01 -3.45449373e-03 2.06456797e+01] [ 5.61044566e-02 -1.61918520e-03 9.98423592e-01 1.52724882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.96, Y:20.65, Z:15.28 [[ 9.94837963e-01 -8.46110467e-02 -5.60214092e-02 2.72955065e+02] [ 8.45504916e-02 9.96413208e-01 -3.45449373e-03 2.06495471e+01] [ 5.61127604e-02 -1.29997619e-03 9.98423592e-01 1.52769369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.01, Y:20.65, Z:15.28 [[ 9.94798893e-01 -8.50691758e-02 -5.60214092e-02 2.73014117e+02] [ 8.50093462e-02 9.96374165e-01 -3.45449373e-03 2.06521159e+01] [ 5.61121558e-02 -1.32581683e-03 9.98423592e-01 1.52804694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.07, Y:20.65, Z:15.28 [[ 9.94606259e-01 -8.72931351e-02 -5.60205234e-02 2.73074040e+02] [ 8.72360224e-02 9.96181632e-01 -3.46879971e-03 2.06547721e+01] [ 5.61094188e-02 -1.43691773e-03 9.98423592e-01 1.52840621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.13, Y:20.66, Z:15.29 [[ 9.94011112e-01 -9.38276296e-02 -5.60203960e-02 2.73133450e+02] [ 9.37807554e-02 9.95586823e-01 -3.47085554e-03 2.06561391e+01] [ 5.60988303e-02 -1.80356609e-03 9.98423592e-01 1.52859169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.19, Y:20.66, Z:15.29 [[ 9.93514737e-01 -9.89454245e-02 -5.60202696e-02 2.73193056e+02] [ 9.89065508e-02 9.95090666e-01 -3.47289532e-03 2.06593839e+01] [ 5.60888744e-02 -2.09039896e-03 9.98423592e-01 1.52880040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.25, Y:20.66, Z:15.29 [[ 9.93008771e-01 -1.03900470e-01 -5.60202889e-02 2.73254085e+02] [ 1.03869476e-01 9.94584875e-01 -3.47258289e-03 2.06627143e+01] [ 5.60777350e-02 -2.37049277e-03 9.98423592e-01 1.52936214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.31, Y:20.67, Z:15.30 [[ 9.92870563e-01 -1.05212920e-01 -5.60204151e-02 2.73313926e+02] [ 1.05184124e-01 9.94446708e-01 -3.47054580e-03 2.06672120e+01] [ 5.60744637e-02 -2.44665553e-03 9.98423592e-01 1.52968935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.38, Y:20.67, Z:15.30 [[ 9.92907957e-01 -1.04859402e-01 -5.60204773e-02 2.73375973e+02] [ 1.04830101e-01 9.94484093e-01 -3.46954144e-03 2.06728596e+01] [ 5.60752877e-02 -2.42769700e-03 9.98423592e-01 1.52999150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.525099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.44, Y:20.68, Z:15.30 [[ 9.92955871e-01 -1.04404578e-01 -5.60207326e-02 2.73437408e+02] [ 1.04374788e-01 9.94531998e-01 -3.46541533e-03 2.06772631e+01] [ 5.60762163e-02 -2.40614757e-03 9.98423592e-01 1.53032835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.585099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.50, Y:20.68, Z:15.31 [[ 9.93017065e-01 -1.03820715e-01 -5.60211459e-02 2.73498843e+02] [ 1.03790375e-01 9.94593181e-01 -3.45871982e-03 2.06826592e+01] [ 5.60773365e-02 -2.37988794e-03 9.98423592e-01 1.53076407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.645099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.56, Y:20.69, Z:15.31 [[ 9.92996391e-01 -1.04018196e-01 -5.60212689e-02 2.73559661e+02] [ 1.03988282e-01 9.94572515e-01 -3.45672692e-03 2.06880088e+01] [ 5.60767768e-02 -2.39303813e-03 9.98423592e-01 1.53114806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.62, Y:20.69, Z:15.32 [[ 9.92910792e-01 -1.04832073e-01 -5.60213911e-02 2.73621368e+02] [ 1.04803562e-01 9.94486942e-01 -3.45474580e-03 2.06945272e+01] [ 5.60747101e-02 -2.44098694e-03 9.98423592e-01 1.53158978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.68, Y:20.70, Z:15.32 [[ 9.92893951e-01 -1.04991326e-01 -5.60216323e-02 2.73682786e+02] [ 1.04963289e-01 9.94470110e-01 -3.45082988e-03 2.06993790e+01] [ 5.60741460e-02 -2.45390667e-03 9.98423592e-01 1.53192430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.74, Y:20.71, Z:15.33 [[ 9.92904664e-01 -1.04889905e-01 -5.60217543e-02 2.73744484e+02] [ 1.04861818e-01 9.94480822e-01 -3.44884874e-03 2.07069902e+01] [ 5.60743096e-02 -2.45016501e-03 9.98423592e-01 1.53263307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.81, Y:20.71, Z:15.33 [[ 9.92877157e-01 -1.05149831e-01 -5.60219956e-02 2.73806202e+02] [ 1.05122378e-01 9.94453326e-01 -3.44492435e-03 2.07114059e+01] [ 5.60734931e-02 -2.46877870e-03 9.98423592e-01 1.53312692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.87, Y:20.72, Z:15.33 [[ 9.93050412e-01 -1.03500662e-01 -5.60222430e-02 2.73867227e+02] [ 1.03470817e-01 9.94626538e-01 -3.44089605e-03 2.07160704e+01] [ 5.60773446e-02 -2.37968404e-03 9.98423592e-01 1.53270509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.93, Y:20.72, Z:15.34 [[ 9.93059290e-01 -1.03415370e-01 -5.60223874e-02 2.73926593e+02] [ 1.03385523e-01 9.94635416e-01 -3.43854368e-03 2.07220889e+01] [ 5.60774488e-02 -2.37722609e-03 9.98423592e-01 1.53378940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.99, Y:20.73, Z:15.34 [[ 9.93339290e-01 -1.00690205e-01 -5.60226503e-02 2.73988002e+02] [ 1.00656275e-01 9.94915333e-01 -3.43425414e-03 2.07274550e+01] [ 5.60835896e-02 -2.22765173e-03 9.98423592e-01 1.53353342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.05, Y:20.73, Z:15.34 [[ 9.93477006e-01 -9.93220881e-02 -5.60228658e-02 2.74047660e+02] [ 9.92861858e-02 9.95053005e-01 -3.43073576e-03 2.07332843e+01] [ 5.60864688e-02 -2.15393957e-03 9.98423592e-01 1.53443907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.11, Y:20.74, Z:15.35 [[ 9.93618775e-01 -9.78936151e-02 -5.60229377e-02 2.74109426e+02] [ 9.78555131e-02 9.95194723e-01 -3.42956165e-03 2.07404569e+01] [ 5.60894641e-02 -2.07447646e-03 9.98423592e-01 1.53491368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.17, Y:20.74, Z:15.35 [[ 9.93530787e-01 -9.87824812e-02 -5.60231794e-02 2.74171083e+02] [ 9.87460116e-02 9.95106773e-01 -3.42560916e-03 2.07441872e+01] [ 5.60874354e-02 -2.12861736e-03 9.98423592e-01 1.53549510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.23, Y:20.75, Z:15.36 [[ 9.93409361e-01 -9.99960828e-02 -5.60234310e-02 2.74232687e+02] [ 9.99617705e-02 9.94985396e-01 -3.42148818e-03 2.07470715e+01] [ 5.60846311e-02 -2.20126297e-03 9.98423592e-01 1.53600643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.30, Y:20.75, Z:15.36 [[ 9.93436452e-01 -9.97264428e-02 -5.60236780e-02 2.74295165e+02] [ 9.96919307e-02 9.95012482e-01 -3.41743927e-03 2.07495246e+01] [ 5.60850680e-02 -2.19009988e-03 9.98423592e-01 1.53587862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.36, Y:20.75, Z:15.37 [[ 9.93219436e-01 -1.01864963e-01 -5.60239293e-02 2.74355705e+02] [ 1.01834076e-01 9.94795542e-01 -3.41331425e-03 2.07534811e+01] [ 5.60800523e-02 -2.31497503e-03 9.98423592e-01 1.53661204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.42, Y:20.76, Z:15.37 [[ 9.93138371e-01 -1.02652205e-01 -5.60241149e-02 2.74417615e+02] [ 1.02622739e-01 9.94714503e-01 -3.41026635e-03 2.07565694e+01] [ 5.60780710e-02 -2.36248177e-03 9.98423592e-01 1.53684180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.48, Y:20.76, Z:15.37 [[ 9.92901231e-01 -1.04920999e-01 -5.60243626e-02 2.74480087e+02] [ 1.04895363e-01 9.94477431e-01 -3.40619104e-03 2.07573959e+01] [ 5.60723452e-02 -2.49468461e-03 9.98423592e-01 1.53662462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.54, Y:20.76, Z:15.37 [[ 9.92398216e-01 -1.09576561e-01 -5.60246138e-02 2.74542222e+02] [ 1.09558551e-01 9.93974522e-01 -3.40205480e-03 2.07599541e+01] [ 5.60598242e-02 -2.76178239e-03 9.98423592e-01 1.53746120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.60, Y:20.76, Z:15.38 [[ 9.92056815e-01 -1.12625441e-01 -5.60248618e-02 2.74604686e+02] [ 1.12612506e-01 9.93633170e-01 -3.39796637e-03 2.07618184e+01] [ 5.60508585e-02 -2.93812437e-03 9.98423592e-01 1.53790354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.67, Y:20.76, Z:15.38 [[ 9.91932829e-01 -1.13712137e-01 -5.60251105e-02 2.74666460e+02] [ 1.13701160e-01 9.93509199e-01 -3.39386078e-03 2.07634002e+01] [ 5.60473858e-02 -3.00363812e-03 9.98423592e-01 1.53809827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.73, Y:20.77, Z:15.38 [[ 9.91926693e-01 -1.13765528e-01 -5.60253567e-02 2.74728354e+02] [ 1.13754864e-01 9.93503065e-01 -3.38979104e-03 2.07657373e+01] [ 5.60470050e-02 -3.01073264e-03 9.98423592e-01 1.53840016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.79, Y:20.77, Z:15.39 [[ 9.92021023e-01 -1.12939906e-01 -5.60256000e-02 2.74789440e+02] [ 1.12928157e-01 9.93597387e-01 -3.38576588e-03 2.07675171e+01] [ 5.60492778e-02 -2.96811680e-03 9.98423592e-01 1.53882731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.85, Y:20.77, Z:15.39 [[ 9.92238966e-01 -1.11008763e-01 -5.60257796e-02 2.74851153e+02] [ 1.10994114e-01 9.93815307e-01 -3.38279038e-03 2.07707307e+01] [ 5.60547967e-02 -2.86199533e-03 9.98423592e-01 1.53914218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.91, Y:20.77, Z:15.39 [[ 9.92620770e-01 -1.07541119e-01 -5.60260234e-02 2.74912875e+02] [ 1.07521190e-01 9.94197052e-01 -3.37874859e-03 2.07734954e+01] [ 5.60642617e-02 -2.67016866e-03 9.98423592e-01 1.53939662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.025099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.97, Y:20.78, Z:15.40 [[ 9.93343830e-01 -1.00643393e-01 -5.60262725e-02 2.74974729e+02] [ 1.00612747e-01 9.94919940e-01 -3.37461224e-03 2.07776824e+01] [ 5.60812881e-02 -2.28480696e-03 9.98423592e-01 1.53966013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.085099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.04, Y:20.78, Z:15.40 [[ 9.93688894e-01 -9.71772165e-02 -5.60265235e-02 2.75035576e+02] [ 9.71413071e-02 9.95264893e-01 -3.37044016e-03 2.07822793e+01] [ 5.60887619e-02 -2.09332078e-03 9.98423592e-01 1.53996374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.145099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.10, Y:20.79, Z:15.40 [[ 9.93876611e-01 -9.52380663e-02 -5.60267086e-02 2.75097122e+02] [ 9.51992551e-02 9.95452542e-01 -3.36736065e-03 2.07860471e+01] [ 5.60926304e-02 -1.98695993e-03 9.98423592e-01 1.54031115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.16, Y:20.79, Z:15.41 [[ 9.94321916e-01 -9.04705567e-02 -5.60268308e-02 2.75158806e+02] [ 9.04243026e-02 9.95897645e-01 -3.36532701e-03 2.07892761e+01] [ 5.61014518e-02 -1.71996869e-03 9.98423592e-01 1.54059003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.22, Y:20.79, Z:15.41 [[ 9.94689346e-01 -8.63370451e-02 -5.60269515e-02 2.75219092e+02] [ 8.62843553e-02 9.96264873e-01 -3.36331565e-03 2.07937635e+01] [ 5.61080625e-02 -1.48879515e-03 9.98423592e-01 1.54101233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.28, Y:20.80, Z:15.41 [[ 9.94936950e-01 -8.34352773e-02 -5.60269515e-02 2.75278136e+02] [ 8.33779921e-02 9.96512317e-01 -3.36331565e-03 2.07979524e+01] [ 5.61121664e-02 -1.32512771e-03 9.98423592e-01 1.54117188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.34, Y:20.80, Z:15.41 [[ 9.95316815e-01 -7.87745681e-02 -5.60268317e-02 2.75335860e+02] [ 7.87097931e-02 9.96891891e-01 -3.36531029e-03 2.08013996e+01] [ 5.61177951e-02 -1.06031041e-03 9.98423592e-01 1.54138520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.39, Y:20.81, Z:15.42 [[ 9.95661418e-01 -7.42930225e-02 -5.60257667e-02 2.75393360e+02] [ 7.42201652e-02 9.97236142e-01 -3.38294737e-03 2.08054139e+01] [ 5.61222489e-02 -7.89971489e-04 9.98423592e-01 1.54180980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.45, Y:20.81, Z:15.42 [[ 9.95813940e-01 -7.22207537e-02 -5.60246380e-02 2.75451523e+02] [ 7.21435735e-02 9.97388457e-01 -3.40153781e-03 2.08086424e+01] [ 5.61239889e-02 -6.54518820e-04 9.98423592e-01 1.54205324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.51, Y:20.81, Z:15.42 [[ 9.95831077e-01 -7.19848420e-02 -5.60236400e-02 2.75509700e+02] [ 7.19063685e-02 9.97405530e-01 -3.41789748e-03 2.08108762e+01] [ 5.61243251e-02 -6.24807969e-04 9.98423592e-01 1.54230089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.57, Y:20.81, Z:15.43 [[ 9.95757821e-01 -7.29919572e-02 -5.60226463e-02 2.75567433e+02] [ 7.29141643e-02 9.97332307e-01 -3.43410717e-03 2.08126727e+01] [ 5.61238573e-02 -6.65305367e-04 9.98423592e-01 1.54270846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.62, Y:20.81, Z:15.43 [[ 9.95670972e-01 -7.41679919e-02 -5.60216354e-02 2.75624065e+02] [ 7.40911353e-02 9.97245505e-01 -3.45052033e-03 2.08144866e+01] [ 5.61232423e-02 -7.15123638e-04 9.98423593e-01 1.54308885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.68, Y:20.82, Z:15.44 [[ 9.95390681e-01 -7.78396927e-02 -5.60212006e-02 2.75681621e+02] [ 7.77682473e-02 9.96965468e-01 -3.45756600e-03 2.08151541e+01] [ 5.61203383e-02 -9.15041609e-04 9.98423593e-01 1.54361639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.74, Y:20.81, Z:15.44 [[ 9.94872418e-01 -8.42057463e-02 -5.60202213e-02 2.75740044e+02] [ 8.41434876e-02 9.96447595e-01 -3.47336101e-03 2.08147197e+01] [ 5.61136917e-02 -1.25818573e-03 9.98423593e-01 1.54385437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.80, Y:20.81, Z:15.44 [[ 9.94229113e-01 -9.14894517e-02 -5.60192029e-02 2.75797858e+02] [ 9.14378102e-02 9.95804674e-01 -3.48970914e-03 2.08140657e+01] [ 5.61034556e-02 -1.65270281e-03 9.98423593e-01 1.54389075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.86, Y:20.82, Z:15.44 [[ 9.93780064e-01 -9.62448395e-02 -5.60188899e-02 2.75857827e+02] [ 9.62004537e-02 9.95355846e-01 -3.49472549e-03 2.08150339e+01] [ 5.60950788e-02 -1.91605411e-03 9.98423593e-01 1.54412460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.92, Y:20.82, Z:15.44 [[ 9.93322535e-01 -1.00857527e-01 -5.60187619e-02 2.75917125e+02] [ 1.00820342e-01 9.94898503e-01 -3.49677639e-03 2.08157111e+01] [ 5.60856586e-02 -2.17440392e-03 9.98423593e-01 1.54442526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.98, Y:20.82, Z:15.45 [[ 9.93068682e-01 -1.03327139e-01 -5.60186988e-02 2.75978736e+02] [ 1.03293815e-01 9.94644737e-01 -3.49778643e-03 2.08183471e+01] [ 5.60801202e-02 -2.31284298e-03 9.98423593e-01 1.54476241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.04, Y:20.82, Z:15.45 [[ 9.92769816e-01 -1.06160183e-01 -5.60188232e-02 2.76039477e+02] [ 1.06131469e-01 9.94345961e-01 -3.49579361e-03 2.08215832e+01] [ 5.60732047e-02 -2.47484162e-03 9.98423593e-01 1.54536175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.10, Y:20.82, Z:15.45 [[ 9.92365740e-01 -1.09873176e-01 -5.60189480e-02 2.76100113e+02] [ 1.09850471e-01 9.93941984e-01 -3.49379161e-03 2.08237463e+01] [ 5.60634583e-02 -2.68658874e-03 9.98423593e-01 1.54519752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.16, Y:20.83, Z:15.46 [[ 9.91703753e-01 -1.15695883e-01 -5.60190095e-02 2.76159997e+02] [ 1.15682485e-01 9.93280103e-01 -3.49280523e-03 2.08272990e+01] [ 5.60466708e-02 -3.01659020e-03 9.98423593e-01 1.54570522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.22, Y:20.83, Z:15.46 [[ 9.91552664e-01 -1.16983670e-01 -5.60190700e-02 2.76220920e+02] [ 1.16972375e-01 9.93129030e-01 -3.49183538e-03 2.08311182e+01] [ 5.60426524e-02 -3.09034498e-03 9.98423593e-01 1.54593214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.28, Y:20.83, Z:15.46 [[ 9.91395893e-01 -1.18304832e-01 -5.60191918e-02 2.76281952e+02] [ 1.18295747e-01 9.92972274e-01 -3.48987970e-03 2.08349087e+01] [ 5.60383739e-02 -3.16697976e-03 9.98423593e-01 1.54615887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.34, Y:20.84, Z:15.46 [[ 9.91122739e-01 -1.20571773e-01 -5.60193125e-02 2.76343277e+02] [ 1.20566403e-01 9.92699137e-01 -3.48794110e-03 2.08390881e+01] [ 5.60308705e-02 -3.29706925e-03 9.98423593e-01 1.54630938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.40, Y:20.84, Z:15.47 [[ 9.91120271e-01 -1.20592001e-01 -5.60194323e-02 2.76404852e+02] [ 1.20586771e-01 9.92696670e-01 -3.48601713e-03 2.08436241e+01] [ 5.60306896e-02 -3.30014020e-03 9.98423593e-01 1.54674256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.525099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.47, Y:20.85, Z:15.47 [[ 9.91669219e-01 -1.15991188e-01 -5.60196794e-02 2.76466971e+02] [ 1.15978867e-01 9.93245578e-01 -3.48204186e-03 2.08505839e+01] [ 5.60451850e-02 -3.04406520e-03 9.98423593e-01 1.54734121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.585099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.53, Y:20.86, Z:15.48 [[ 9.92281413e-01 -1.10631668e-01 -5.60199291e-02 2.76529008e+02] [ 1.10611056e-01 9.93857685e-01 -3.47801880e-03 2.08563273e+01] [ 5.60606161e-02 -2.74525010e-03 9.98423593e-01 1.54778733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.59, Y:20.86, Z:15.48 [[ 9.93159429e-01 -1.02450419e-01 -5.60201832e-02 2.76590953e+02] [ 1.02417049e-01 9.94735482e-01 -3.47392105e-03 2.08641715e+01] [ 5.60811687e-02 -2.28726439e-03 9.98423593e-01 1.54823808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.65, Y:20.87, Z:15.48 [[ 9.93703172e-01 -9.70346132e-02 -5.60204418e-02 2.76651097e+02] [ 9.69928862e-02 9.95279027e-01 -3.46974579e-03 2.08706153e+01] [ 5.60926563e-02 -1.98568695e-03 9.98423593e-01 1.54843949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.71, Y:20.88, Z:15.49 [[ 9.94104905e-01 -9.28285590e-02 -5.60205052e-02 2.76710438e+02] [ 9.27802212e-02 9.95680571e-01 -3.46872325e-03 2.08759649e+01] [ 5.61005251e-02 -1.74932006e-03 9.98423593e-01 1.54867409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.77, Y:20.88, Z:15.49 [[ 9.94354832e-01 -9.01120308e-02 -5.60204431e-02 2.76770582e+02] [ 9.00593316e-02 9.95930358e-01 -3.46972505e-03 2.08813692e+01] [ 5.61051239e-02 -1.59502580e-03 9.98423593e-01 1.54909262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.83, Y:20.89, Z:15.49 [[ 9.94636295e-01 -8.69502746e-02 -5.60204431e-02 2.76830099e+02] [ 8.68925667e-02 9.96211646e-01 -3.46972505e-03 2.08870160e+01] [ 5.61099114e-02 -1.41664562e-03 9.98423593e-01 1.54946093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.89, Y:20.90, Z:15.51 [[ 9.94547909e-01 -8.79555237e-02 -5.60203809e-02 2.76889784e+02] [ 8.78993515e-02 9.96123315e-01 -3.47072958e-03 2.08998563e+01] [ 5.61084773e-02 -1.47234830e-03 9.98423593e-01 1.55082635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.95, Y:20.90, Z:15.50 [[ 9.95201948e-01 -8.02171675e-02 -5.60204266e-02 2.76949289e+02] [ 8.01487848e-02 9.96776871e-01 -3.46999209e-03 2.08985333e+01] [ 5.61182185e-02 -1.03662622e-03 9.98423593e-01 1.55006182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.01, Y:20.90, Z:15.50 [[ 9.94837338e-01 -8.46190811e-02 -5.60203685e-02 2.77006652e+02] [ 8.45576138e-02 9.96412546e-01 -3.47092868e-03 2.09028387e+01] [ 5.61131049e-02 -1.28393923e-03 9.98423593e-01 1.55029840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.07, Y:20.91, Z:15.51 [[ 9.94551013e-01 -8.79207020e-02 -5.60199272e-02 2.77066449e+02] [ 8.78640634e-02 9.96126402e-01 -3.47803648e-03 2.09064759e+01] [ 5.61087200e-02 -1.46305373e-03 9.98423593e-01 1.55069013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.13, Y:20.91, Z:15.51 [[ 9.94399406e-01 -8.96192126e-02 -5.60198023e-02 2.77125651e+02] [ 8.95651515e-02 9.95974886e-01 -3.48004810e-03 2.09101999e+01] [ 5.61061953e-02 -1.55686431e-03 9.98423593e-01 1.55109623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.19, Y:20.91, Z:15.51 [[ 9.94269578e-01 -9.10483545e-02 -5.60196767e-02 2.77186005e+02] [ 9.09964441e-02 9.95845130e-01 -3.48206909e-03 2.09139548e+01] [ 5.61039588e-02 -1.63547602e-03 9.98423593e-01 1.55149119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.25, Y:20.92, Z:15.53 [[ 9.93494482e-01 -9.91489257e-02 -5.60196767e-02 2.77245273e+02] [ 9.91098582e-02 9.95070405e-01 -3.48206909e-03 2.09220570e+01] [ 5.60887658e-02 -2.09268579e-03 9.98423593e-01 1.55264253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.31, Y:20.92, Z:15.52 [[ 9.93639452e-01 -9.76853857e-02 -5.60196767e-02 2.77307107e+02] [ 9.76439969e-02 9.95215316e-01 -3.48206908e-03 2.09206725e+01] [ 5.60917875e-02 -2.01006391e-03 9.98423593e-01 1.55230755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.37, Y:20.92, Z:15.53 [[ 9.93222829e-01 -1.01834150e-01 -5.60198041e-02 2.77367399e+02] [ 1.01799458e-01 9.94798854e-01 -3.48001779e-03 2.09239034e+01] [ 5.60828216e-02 -2.24635257e-03 9.98423593e-01 1.55250426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.43, Y:20.93, Z:15.53 [[ 9.92914723e-01 -1.04795648e-01 -5.60198669e-02 2.77429063e+02] [ 1.04765714e-01 9.94490845e-01 -3.47900696e-03 2.09268659e+01] [ 5.60758295e-02 -2.41460410e-03 9.98423593e-01 1.55285952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.49, Y:20.93, Z:15.53 [[ 9.92582615e-01 -1.07895780e-01 -5.60201192e-02 2.77490624e+02] [ 1.07870997e-01 9.94158827e-01 -3.47493933e-03 2.09298971e+01] [ 5.60678272e-02 -2.59378173e-03 9.98423593e-01 1.55315734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.55, Y:20.93, Z:15.54 [[ 9.92666139e-01 -1.07124549e-01 -5.60202442e-02 2.77552860e+02] [ 1.07098654e-01 9.94242333e-01 -3.47292183e-03 2.09345662e+01] [ 5.60697335e-02 -2.55224085e-03 9.98423593e-01 1.55351140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.61, Y:20.94, Z:15.54 [[ 9.92938876e-01 -1.04566214e-01 -5.60204919e-02 2.77614499e+02] [ 1.04536483e-01 9.94515003e-01 -3.46892275e-03 2.09395686e+01] [ 5.60759517e-02 -2.41175692e-03 9.98423593e-01 1.55389482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.68, Y:20.95, Z:15.54 [[ 9.93546471e-01 -9.86259937e-02 -5.60207378e-02 2.77675635e+02] [ 9.85870608e-02 9.95122397e-01 -3.46494740e-03 2.09452342e+01] [ 5.60892247e-02 -2.08033362e-03 9.98423593e-01 1.55438879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.74, Y:20.95, Z:15.55 [[ 9.94168457e-01 -9.21452249e-02 -5.60208596e-02 2.77736096e+02] [ 9.20961276e-02 9.95744099e-01 -3.46297591e-03 2.09516325e+01] [ 5.61015371e-02 -1.71652282e-03 9.98423593e-01 1.55495919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.80, Y:20.96, Z:15.55 [[ 9.94493953e-01 -8.85631204e-02 -5.60209824e-02 2.77795870e+02] [ 8.85084589e-02 9.96069412e-01 -3.46098944e-03 2.09564461e+01] [ 5.61073030e-02 -1.51639774e-03 9.98423593e-01 1.55537411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.86, Y:20.96, Z:15.56 [[ 9.94694687e-01 -8.62793633e-02 -5.60209824e-02 2.77855783e+02] [ 8.62210845e-02 9.96270017e-01 -3.46098944e-03 2.09603290e+01] [ 5.61106370e-02 -1.38756204e-03 9.98423593e-01 1.55562035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.91, Y:20.97, Z:15.56 [[ 9.94930073e-01 -8.35212529e-02 -5.60209824e-02 2.77914984e+02] [ 8.34586067e-02 9.96505235e-01 -3.46098944e-03 2.09655723e+01] [ 5.61142683e-02 -1.23199066e-03 9.98423593e-01 1.55595936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.025099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.97, Y:20.97, Z:15.56 [[ 9.95223125e-01 -7.99536096e-02 -5.60209854e-02 2.77973458e+02] [ 7.98853192e-02 9.96798053e-01 -3.46094061e-03 2.09711387e+01] [ 5.61183238e-02 -1.03084617e-03 9.98423593e-01 1.55633988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.085099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.03, Y:20.97, Z:15.57 [[ 9.95380002e-01 -7.79764087e-02 -5.60208030e-02 2.78032111e+02] [ 7.79048238e-02 9.96954783e-01 -3.46388998e-03 2.09749396e+01] [ 5.61203092e-02 -9.16403968e-04 9.98423593e-01 1.55686027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.09, Y:20.98, Z:15.57 [[ 9.95372557e-01 -7.80720270e-02 -5.60199193e-02 2.78090447e+02] [ 7.79997926e-02 9.96947308e-01 -3.47812316e-03 2.09784299e+01] [ 5.61204519e-02 -9.07513741e-04 9.98423593e-01 1.55724779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.15, Y:20.98, Z:15.58 [[ 9.95347959e-01 -7.83856486e-02 -5.60190241e-02 2.78148575e+02] [ 7.83131025e-02 9.96922695e-01 -3.49248208e-03 2.09818366e+01] [ 5.61203970e-02 -9.10788664e-04 9.98423593e-01 1.55754800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.21, Y:20.99, Z:15.58 [[ 9.95129055e-01 -8.11175322e-02 -5.60188356e-02 2.78205908e+02] [ 8.10491388e-02 9.96703977e-01 -3.49550386e-03 2.09852150e+01] [ 5.61177429e-02 -1.06180092e-03 9.98423593e-01 1.55772598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.27, Y:20.99, Z:15.58 [[ 9.94868871e-01 -8.42487661e-02 -5.60185270e-02 2.78265209e+02] [ 8.41850514e-02 9.96443989e-01 -3.50044131e-03 2.09875958e+01] [ 5.61142324e-02 -1.23344248e-03 9.98423593e-01 1.55815342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.33, Y:20.99, Z:15.58 [[ 9.94351566e-01 -9.01493354e-02 -5.60184026e-02 2.78325055e+02] [ 9.00948542e-02 9.95927031e-01 -3.50243212e-03 2.09893362e+01] [ 5.61059833e-02 -1.56432095e-03 9.98423593e-01 1.55839947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.39, Y:20.99, Z:15.59 [[ 9.94031918e-01 -9.36082131e-02 -5.60182779e-02 2.78385560e+02] [ 9.35591012e-02 9.95607560e-01 -3.50442478e-03 2.09919323e+01] [ 5.61002639e-02 -1.75750964e-03 9.98423593e-01 1.55877635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.45, Y:20.99, Z:15.59 [[ 9.93628842e-01 -9.77940505e-02 -5.60182779e-02 2.78445738e+02] [ 9.77515752e-02 9.95204677e-01 -3.50442478e-03 2.09934665e+01] [ 5.60923640e-02 -1.99377737e-03 9.98423593e-01 1.55910041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.51, Y:21.00, Z:15.60 [[ 9.93314679e-01 -1.00935103e-01 -5.60183391e-02 2.78507602e+02] [ 1.00897665e-01 9.94890641e-01 -3.50344670e-03 2.09959163e+01] [ 5.60857420e-02 -2.17209456e-03 9.98423593e-01 1.55956880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.57, Y:21.00, Z:15.60 [[ 9.92902489e-01 -1.04912170e-01 -5.60185958e-02 2.78569942e+02] [ 1.04881275e-01 9.94478593e-01 -3.49933761e-03 2.09987962e+01] [ 5.60764174e-02 -2.40080072e-03 9.98423593e-01 1.55998429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.63, Y:21.00, Z:15.60 [[ 9.92623798e-01 -1.07516899e-01 -5.60188496e-02 2.78631571e+02] [ 1.07490369e-01 9.94199982e-01 -3.49526879e-03 2.10013429e+01] [ 5.60697397e-02 -2.55199982e-03 9.98423593e-01 1.56022872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.69, Y:21.00, Z:15.61 [[ 9.92283884e-01 -1.10609920e-01 -5.60190990e-02 2.78694137e+02] [ 1.10588528e-01 9.93860145e-01 -3.49126771e-03 2.10036218e+01] [ 5.60613187e-02 -2.73074101e-03 9.98423593e-01 1.56056224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.76, Y:21.01, Z:15.61 [[ 9.92166249e-01 -1.11660048e-01 -5.60193475e-02 2.78756478e+02] [ 1.11640549e-01 9.93742535e-01 -3.48727625e-03 2.10074365e+01] [ 5.60581978e-02 -2.79407289e-03 9.98423593e-01 1.56101774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.82, Y:21.01, Z:15.61 [[ 9.92419970e-01 -1.09381934e-01 -5.60195968e-02 2.78818944e+02] [ 1.09359041e-01 9.93996211e-01 -3.48326633e-03 2.10098750e+01] [ 5.60642734e-02 -2.66938633e-03 9.98423593e-01 1.56142237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.88, Y:21.01, Z:15.62 [[ 9.92612219e-01 -1.07623233e-01 -5.60198470e-02 2.78879890e+02] [ 1.07597775e-01 9.94188420e-01 -3.47923820e-03 2.10132518e+01] [ 5.60687300e-02 -2.57407653e-03 9.98423593e-01 1.56180658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.94, Y:21.02, Z:15.62 [[ 9.92777924e-01 -1.06083688e-01 -5.60200316e-02 2.78941383e+02] [ 1.06055952e-01 9.94354087e-01 -3.47626300e-03 2.10171892e+01] [ 5.60725222e-02 -2.49010064e-03 9.98423593e-01 1.56219217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.00, Y:21.02, Z:15.62 [[ 9.93109060e-01 -1.02937464e-01 -5.60202878e-02 2.79003585e+02] [ 1.02904968e-01 9.94685132e-01 -3.47212888e-03 2.10202381e+01] [ 5.60799595e-02 -2.31656325e-03 9.98423593e-01 1.56248001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.07, Y:21.02, Z:15.63 [[ 9.93603721e-01 -9.80476610e-02 -5.60205441e-02 2.79065985e+02] [ 9.80076395e-02 9.95179620e-01 -3.46798891e-03 2.10234901e+01] [ 5.60905320e-02 -2.04463461e-03 9.98423593e-01 1.56276599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.13, Y:21.03, Z:15.63 [[ 9.94256984e-01 -9.11850855e-02 -5.60207981e-02 2.79127291e+02] [ 9.11344156e-02 9.95832576e-01 -3.46388187e-03 2.10288466e+01] [ 5.61031900e-02 -1.66143395e-03 9.98423593e-01 1.56304832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.19, Y:21.03, Z:15.63 [[ 9.95000469e-01 -8.26784364e-02 -5.60209227e-02 2.79187035e+02] [ 8.26144068e-02 9.96575574e-01 -3.46186435e-03 2.10341040e+01] [ 5.61153048e-02 -1.18357865e-03 9.98423593e-01 1.56339389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.25, Y:21.04, Z:15.64 [[ 9.95724965e-01 -7.34401131e-02 -5.60209227e-02 2.79245909e+02] [ 7.33614673e-02 9.97299409e-01 -3.46186435e-03 2.10386676e+01] [ 5.61238728e-02 -6.62712338e-04 9.98423593e-01 1.56385922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.30, Y:21.04, Z:15.64 [[ 9.96070485e-01 -6.85955021e-02 -5.60200521e-02 2.79303619e+02] [ 6.85084092e-02 9.97644484e-01 -3.47589687e-03 2.10433141e+01] [ 5.61265268e-02 -3.75606371e-04 9.98423593e-01 1.56428848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.36, Y:21.05, Z:15.65 [[ 9.96453672e-01 -6.27849096e-02 -5.60190636e-02 2.79361240e+02] [ 6.26877465e-02 9.98027081e-01 -3.49175551e-03 2.10475909e+01] [ 5.61277721e-02 -3.23362596e-05 9.98423594e-01 1.56461159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.42, Y:21.05, Z:15.65 [[ 9.96954834e-01 -5.42497374e-02 -5.60180841e-02 2.79419664e+02] [ 5.41382255e-02 9.98527291e-01 -3.50739887e-03 2.10504736e+01] [ 5.61258613e-02 4.63998591e-04 9.98423594e-01 1.56504777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.525099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.48, Y:21.05, Z:15.65 [[ 9.97141878e-01 -5.06966461e-02 -5.60171844e-02 2.79477705e+02] [ 5.05787274e-02 9.98713868e-01 -3.52171060e-03 2.10530383e+01] [ 5.61236778e-02 6.78367227e-04 9.98423594e-01 1.56536628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.585099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.54, Y:21.05, Z:15.66 [[ 9.97053955e-01 -5.23984644e-02 -5.60161657e-02 2.79535683e+02] [ 5.22823228e-02 9.98626077e-01 -3.53783989e-03 2.10539961e+01] [ 5.61245812e-02 5.98762004e-04 9.98423594e-01 1.56562381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.59, Y:21.05, Z:15.66 [[ 9.96921421e-01 -5.48633665e-02 -5.60150949e-02 2.79593830e+02] [ 5.47501640e-02 9.98493757e-01 -3.55471387e-03 2.10522190e+01] [ 5.61257461e-02 4.76934776e-04 9.98423594e-01 1.56594589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.65, Y:21.05, Z:15.66 [[ 9.96560935e-01 -6.10626644e-02 -5.60147623e-02 2.79651520e+02] [ 6.09589492e-02 9.98133926e-01 -3.55994651e-03 2.10513053e+01] [ 5.61276144e-02 1.33102571e-04 9.98423594e-01 1.56630054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.71, Y:21.05, Z:15.67 [[ 9.95785025e-01 -7.26267563e-02 -5.60137341e-02 2.79710708e+02] [ 7.25404016e-02 9.97359064e-01 -3.57605253e-03 2.10466843e+01] [ 5.61255225e-02 -5.02279203e-04 9.98423594e-01 1.56674093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.77, Y:21.04, Z:15.67 [[ 9.94897189e-01 -8.39174978e-02 -5.60128240e-02 2.79769223e+02] [ 8.38482042e-02 9.96472071e-01 -3.59025123e-03 2.10428400e+01] [ 5.61164997e-02 -1.12464385e-03 9.98423594e-01 1.56722142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.83, Y:21.04, Z:15.68 [[ 9.94329765e-01 -9.03931323e-02 -5.60124961e-02 2.79827600e+02] [ 9.03338061e-02 9.95905054e-01 -3.59535988e-03 2.10414029e+01] [ 5.61081238e-02 -1.48484861e-03 9.98423594e-01 1.56754974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.89, Y:21.04, Z:15.68 [[ 9.93524294e-01 -9.88539987e-02 -5.60121728e-02 2.79885551e+02] [ 9.88078010e-02 9.95100023e-01 -3.60038937e-03 2.10374766e+01] [ 5.60936273e-02 -1.95736532e-03 9.98423594e-01 1.56780239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.94, Y:21.04, Z:15.68 [[ 9.92819865e-01 -1.05694783e-01 -5.60118542e-02 2.79944573e+02] [ 1.05659161e-01 9.94395868e-01 -3.60533954e-03 2.10358251e+01] [ 5.60790220e-02 -2.33871280e-03 9.98423594e-01 1.56806585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.00, Y:21.04, Z:15.68 [[ 9.92613035e-01 -1.07620337e-01 -5.60109417e-02 2.80004151e+02] [ 1.07586976e-01 9.94189088e-01 -3.61945975e-03 2.10380302e+01] [ 5.60749945e-02 -2.43332493e-03 9.98423594e-01 1.56829838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.06, Y:21.04, Z:15.68 [[ 9.92235700e-01 -1.11045471e-01 -5.60108775e-02 2.80063303e+02] [ 1.11017495e-01 9.93811858e-01 -3.62045283e-03 2.10389986e+01] [ 5.60663091e-02 -2.62584475e-03 9.98423594e-01 1.56845352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.12, Y:21.04, Z:15.69 [[ 9.91735386e-01 -1.15428449e-01 -5.60106893e-02 2.80123434e+02] [ 1.15407273e-01 9.93311649e-01 -3.62336243e-03 2.10400817e+01] [ 5.60543093e-02 -2.87062417e-03 9.98423594e-01 1.56867995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.18, Y:21.04, Z:15.69 [[ 9.91455177e-01 -1.17811070e-01 -5.60105635e-02 2.80183588e+02] [ 1.17793572e-01 9.93031486e-01 -3.62530555e-03 2.10436735e+01] [ 5.60473543e-02 -3.00335639e-03 9.98423594e-01 1.56900071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.24, Y:21.05, Z:15.69 [[ 9.91328957e-01 -1.18868484e-01 -5.60105635e-02 2.80243723e+02] [ 1.18852667e-01 9.92905283e-01 -3.62530555e-03 2.10469317e+01] [ 5.60441190e-02 -3.06313446e-03 9.98423594e-01 1.56928777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.30, Y:21.05, Z:15.70 [[ 9.91449639e-01 -1.17857670e-01 -5.60105635e-02 2.80304245e+02] [ 1.17840245e-01 9.93025948e-01 -3.62530555e-03 2.10518244e+01] [ 5.60472130e-02 -3.00599067e-03 9.98423594e-01 1.56977292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.36, Y:21.06, Z:15.70 [[ 9.91692661e-01 -1.15795003e-01 -5.60105635e-02 2.80364133e+02] [ 1.15774300e-01 9.93268931e-01 -3.62530555e-03 2.10573138e+01] [ 5.60533448e-02 -2.88939486e-03 9.98423594e-01 1.57012252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.42, Y:21.06, Z:15.70 [[ 9.91829122e-01 -1.14620285e-01 -5.60105635e-02 2.80424080e+02] [ 1.14597715e-01 9.93405366e-01 -3.62530555e-03 2.10612265e+01] [ 5.60567279e-02 -2.82299897e-03 9.98423594e-01 1.57044846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.48, Y:21.07, Z:15.71 [[ 9.92101605e-01 -1.12237348e-01 -5.60105635e-02 2.80484316e+02] [ 1.12210991e-01 9.93677790e-01 -3.62530555e-03 2.10658457e+01] [ 5.60633477e-02 -2.68832939e-03 9.98423594e-01 1.57080991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.54, Y:21.07, Z:15.71 [[ 9.92490072e-01 -1.08748672e-01 -5.60105635e-02 2.80544801e+02] [ 1.08716774e-01 9.94066155e-01 -3.62530555e-03 2.10716214e+01] [ 5.60724527e-02 -2.49120800e-03 9.98423594e-01 1.57118575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.61, Y:21.08, Z:15.72 [[ 9.93401447e-01 -1.00081879e-01 -5.60105635e-02 2.80605243e+02] [ 1.00036225e-01 9.94977191e-01 -3.62530555e-03 2.10781141e+01] [ 5.60920606e-02 -2.00170158e-03 9.98423594e-01 1.57154705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.66, Y:21.09, Z:15.72 [[ 9.94531383e-01 -8.81484247e-02 -5.60105635e-02 2.80663577e+02] [ 8.80838572e-02 9.96106466e-01 -3.62530555e-03 2.10858217e+01] [ 5.61120495e-02 -1.32814634e-03 9.98423594e-01 1.57187041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.72, Y:21.09, Z:15.72 [[ 9.95218735e-01 -8.00156818e-02 -5.60103656e-02 2.80720700e+02] [ 7.99380691e-02 9.96793228e-01 -3.62836039e-03 2.10929140e+01] [ 5.61210789e-02 -8.66348239e-04 9.98423594e-01 1.57219520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.78, Y:21.10, Z:15.73 [[ 9.96046682e-01 -6.89489977e-02 -5.60093143e-02 2.80777758e+02] [ 6.88529809e-02 9.97620160e-01 -3.64451756e-03 2.11004694e+01] [ 5.61273070e-02 -2.26298625e-04 9.98423595e-01 1.57255671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.84, Y:21.11, Z:15.73 [[ 9.96469703e-01 -6.25389729e-02 -5.60089919e-02 2.80835389e+02] [ 6.24325563e-02 9.98042513e-01 -3.64946543e-03 2.11061484e+01] [ 5.61275888e-02 1.39797192e-04 9.98423595e-01 1.57293166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.89, Y:21.12, Z:15.75 [[ 9.96472536e-01 -6.24947538e-02 -5.60079498e-02 2.80894004e+02] [ 6.23873723e-02 9.98045280e-01 -3.66538933e-03 2.11208566e+01] [ 5.61275375e-02 1.58270992e-04 9.98423595e-01 1.57470356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.025099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.95, Y:21.12, Z:15.75 [[ 9.96508671e-01 -6.19159553e-02 -5.60078814e-02 2.80951551e+02] [ 6.18076016e-02 9.98081348e-01 -3.66643485e-03 2.11244099e+01] [ 5.61274325e-02 1.91921304e-04 9.98423595e-01 1.57503236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.085099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.01, Y:21.12, Z:15.75 [[ 9.96239370e-01 -6.61080413e-02 -5.60075443e-02 2.81010304e+02] [ 6.60060162e-02 9.97812470e-01 -3.67157608e-03 2.11245797e+01] [ 5.61277468e-02 -3.90662386e-05 9.98423595e-01 1.57507029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.07, Y:21.13, Z:15.75 [[ 9.95932607e-01 -7.05797721e-02 -5.60065866e-02 2.81068377e+02] [ 7.04839919e-02 9.97506100e-01 -3.68612819e-03 2.11266923e+01] [ 5.61270778e-02 -2.76432536e-04 9.98423595e-01 1.57527254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.13, Y:21.13, Z:15.76 [[ 9.95198103e-01 -8.02748688e-02 -5.60060802e-02 2.81126900e+02] [ 8.01939839e-02 9.96772432e-01 -3.69380510e-03 2.11256395e+01] [ 5.61218365e-02 -8.15282870e-04 9.98423595e-01 1.57552553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.19, Y:21.12, Z:15.76 [[ 9.94456143e-01 -8.89966663e-02 -5.60051077e-02 2.81185951e+02] [ 8.89287599e-02 9.96031085e-01 -3.70849203e-03 2.11222199e+01] [ 5.61128717e-02 -1.29253209e-03 9.98423595e-01 1.57558467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.24, Y:21.12, Z:15.75 [[ 9.94411663e-01 -8.94929229e-02 -5.60041116e-02 2.81244556e+02] [ 8.94249591e-02 9.95986603e-01 -3.72347487e-03 2.11169026e+01] [ 5.61125695e-02 -1.30549855e-03 9.98423595e-01 1.57502701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.30, Y:21.12, Z:15.75 [[ 9.94173703e-01 -9.20990071e-02 -5.60037616e-02 2.81303044e+02] [ 9.20348756e-02 9.95748803e-01 -3.72873126e-03 2.11172466e+01] [ 5.61090910e-02 -1.44729267e-03 9.98423595e-01 1.57498353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.36, Y:21.12, Z:15.76 [[ 9.94067931e-01 -9.32343872e-02 -5.60026551e-02 2.81360805e+02] [ 9.31711231e-02 9.95643066e-01 -3.74527753e-03 2.11229240e+01] [ 5.61078438e-02 -1.49476999e-03 9.98423595e-01 1.57568061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.42, Y:21.12, Z:15.76 [[ 9.94700706e-01 -8.62225847e-02 -5.60015283e-02 2.81418823e+02] [ 8.61472715e-02 9.96275311e-01 -3.76205107e-03 2.11226919e+01] [ 5.61173137e-02 -1.08226401e-03 9.98423595e-01 1.57582750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.48, Y:21.13, Z:15.76 [[ 9.95220596e-01 -7.99989540e-02 -5.60011815e-02 2.81476570e+02] [ 7.99135029e-02 9.96794683e-01 -3.76720615e-03 2.11281723e+01] [ 5.61230525e-02 -7.26049430e-04 9.98423595e-01 1.57617381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.53, Y:21.13, Z:15.76 [[ 9.95959659e-01 -7.02022384e-02 -5.60000380e-02 2.81534746e+02] [ 7.01003511e-02 9.97532767e-01 -3.78412866e-03 2.11299740e+01] [ 5.61275271e-02 -1.56782838e-04 9.98423596e-01 1.57627888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.59, Y:21.13, Z:15.76 [[ 9.96557846e-01 -6.11268659e-02 -5.59996872e-02 2.81593617e+02] [ 6.10103617e-02 9.98129940e-01 -3.78931327e-03 2.11321005e+01] [ 5.61265932e-02 3.59708704e-04 9.98423596e-01 1.57646023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.65, Y:21.14, Z:15.77 [[ 9.96867492e-01 -5.58511292e-02 -5.59987078e-02 2.81651084e+02] [ 5.57254956e-02 9.98438882e-01 -3.80373072e-03 2.11351614e+01] [ 5.61237299e-02 6.71259757e-04 9.98423596e-01 1.57681397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.71, Y:21.14, Z:15.77 [[ 9.97062005e-01 -5.22649716e-02 -5.59975911e-02 2.81709915e+02] [ 5.21327672e-02 9.98632856e-01 -3.82010140e-03 2.11374632e+01] [ 5.61206918e-02 8.89568586e-04 9.98423596e-01 1.57726778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.77, Y:21.14, Z:15.77 [[ 9.97136881e-01 -5.08174958e-02 -5.59966249e-02 2.81767792e+02] [ 5.06822190e-02 9.98707470e-01 -3.83421146e-03 2.11365020e+01] [ 5.61190927e-02 9.85200452e-04 9.98423596e-01 1.57748570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.83, Y:21.14, Z:15.78 [[ 9.96852301e-01 -5.61244163e-02 -5.59958972e-02 2.81826039e+02] [ 5.59969062e-02 9.98423539e-01 -3.84480973e-03 2.11365226e+01] [ 5.61234096e-02 6.97110417e-04 9.98423596e-01 1.57787704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.88, Y:21.14, Z:15.78 [[ 9.96428421e-01 -6.32059751e-02 -5.59947047e-02 2.81883758e+02] [ 6.30886609e-02 9.98000453e-01 -3.86209969e-03 2.11361360e+01] [ 5.61268485e-02 3.15674958e-04 9.98423596e-01 1.57821774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.94, Y:21.13, Z:15.79 [[ 9.95447046e-01 -7.71350190e-02 -5.59943598e-02 2.81942337e+02] [ 7.70394204e-02 9.97020548e-01 -3.86709337e-03 2.11325533e+01] [ 5.61258156e-02 -4.64286360e-04 9.98423596e-01 1.57871820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.00, Y:21.13, Z:15.79 [[ 9.94614491e-01 -8.72167155e-02 -5.59933755e-02 2.82000343e+02] [ 8.71362651e-02 9.96188841e-01 -3.88129363e-03 2.11319137e+01] [ 5.61184895e-02 -1.01866272e-03 9.98423596e-01 1.57908820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.06, Y:21.13, Z:15.79 [[ 9.93219001e-01 -1.01886639e-01 -5.59922245e-02 2.82058908e+02] [ 1.01828502e-01 9.94794332e-01 -3.89782828e-03 2.11302784e+01] [ 5.60978842e-02 -1.83020724e-03 9.98423596e-01 1.57933509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.12, Y:21.13, Z:15.79 [[ 9.91441012e-01 -1.17939472e-01 -5.59910831e-02 2.82117486e+02] [ 1.17905905e-01 9.93017058e-01 -3.91415571e-03 2.11287294e+01] [ 5.60617340e-02 -2.72102485e-03 9.98423596e-01 1.57948955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.18, Y:21.13, Z:15.80 [[ 9.90347264e-01 -1.26796781e-01 -5.59899312e-02 2.82175214e+02] [ 1.26776378e-01 9.91923536e-01 -3.93056378e-03 2.11348136e+01] [ 5.60361134e-02 -3.20557759e-03 9.98423597e-01 1.58019655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.23, Y:21.14, Z:15.80 [[ 9.90341194e-01 -1.26844639e-01 -5.59888934e-02 2.82233775e+02] [ 1.26823482e-01 9.91917456e-01 -3.94529204e-03 2.11386919e+01] [ 5.60367998e-02 -3.19352119e-03 9.98423597e-01 1.58006883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.29, Y:21.14, Z:15.80 [[ 9.90333341e-01 -1.26906068e-01 -5.59886096e-02 2.82290919e+02] [ 1.26884783e-01 9.91909600e-01 -3.94931580e-03 2.11434319e+01] [ 5.60368315e-02 -3.19296345e-03 9.98423597e-01 1.58028263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.35, Y:21.15, Z:15.80 [[ 9.90378502e-01 -1.26553301e-01 -5.59882608e-02 2.82349475e+02] [ 1.26531175e-01 9.91954750e-01 -3.95425468e-03 2.11492918e+01] [ 5.60382452e-02 -3.16805160e-03 9.98423597e-01 1.58049673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.525099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.41, Y:21.16, Z:15.81 [[ 9.90583534e-01 -1.24938741e-01 -5.59872617e-02 2.82407881e+02] [ 1.24913252e-01 9.92159731e-01 -3.96834956e-03 2.11560196e+01] [ 5.60441071e-02 -3.06256922e-03 9.98423597e-01 1.58078083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.585099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.47, Y:21.17, Z:15.81 [[ 9.91169088e-01 -1.20205572e-01 -5.59862475e-02 2.82465763e+02] [ 1.20171751e-01 9.92745128e-01 -3.98260712e-03 2.11661602e+01] [ 5.60588060e-02 -2.78052834e-03 9.98423597e-01 1.58114312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.52, Y:21.18, Z:15.81 [[ 9.91936521e-01 -1.13699574e-01 -5.59852216e-02 2.82523534e+02] [ 1.13654603e-01 9.93512282e-01 -3.99697745e-03 2.11774372e+01] [ 5.60764599e-02 -2.39823025e-03 9.98423597e-01 1.58146525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.58, Y:21.19, Z:15.82 [[ 9.92847315e-01 -1.05451306e-01 -5.59842015e-02 2.82581002e+02] [ 1.05392438e-01 9.94422618e-01 -4.01121473e-03 2.11886906e+01] [ 5.60949441e-02 -1.91778771e-03 9.98423597e-01 1.58191296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.64, Y:21.20, Z:15.82 [[ 9.93939750e-01 -9.46026244e-02 -5.59831804e-02 2.82639301e+02] [ 9.45257574e-02 9.95514278e-01 -4.02541566e-03 2.12003663e+01] [ 5.61128703e-02 -1.29083190e-03 9.98423597e-01 1.58236235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.70, Y:21.21, Z:15.83 [[ 9.94651576e-01 -8.68000029e-02 -5.59821488e-02 2.82695269e+02] [ 8.67099781e-02 9.96225406e-01 -4.03971184e-03 2.12092715e+01] [ 5.61214859e-02 -8.36105143e-04 9.98423597e-01 1.58268002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.75, Y:21.22, Z:15.83 [[ 9.95438270e-01 -7.72574024e-02 -5.59816426e-02 2.82752045e+02] [ 7.71518951e-02 9.97011138e-01 -4.04671415e-03 2.12188993e+01] [ 5.61269598e-02 -2.90835686e-04 9.98423597e-01 1.58289616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.81, Y:21.23, Z:15.83 [[ 9.95676140e-01 -7.41293942e-02 -5.59808570e-02 2.82809191e+02] [ 7.40183360e-02 9.97248626e-01 -4.05755348e-03 2.12264818e+01] [ 5.61276167e-02 -1.03600698e-04 9.98423597e-01 1.58314070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.87, Y:21.23, Z:15.84 [[ 9.95663668e-01 -7.42975766e-02 -5.59797253e-02 2.82866182e+02] [ 7.41859096e-02 9.97236111e-01 -4.07310710e-03 2.12333379e+01] [ 5.61276255e-02 -9.74620862e-05 9.98423598e-01 1.58351419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.92, Y:21.24, Z:15.84 [[ 9.95403030e-01 -7.77123286e-02 -5.59785878e-02 2.82922466e+02] [ 7.76051800e-02 9.96975786e-01 -4.08868103e-03 2.12378230e+01] [ 5.61270375e-02 -2.74342892e-04 9.98423598e-01 1.58385862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.98, Y:21.24, Z:15.84 [[ 9.94823272e-01 -8.48123933e-02 -5.59778092e-02 2.82980132e+02] [ 8.47158708e-02 9.96396717e-01 -4.09931203e-03 2.12398019e+01] [ 5.61237778e-02 -6.64117843e-04 9.98423598e-01 1.58423475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.04, Y:21.24, Z:15.85 [[ 9.93529792e-01 -9.88189193e-02 -5.59765483e-02 2.83036432e+02] [ 9.87436073e-02 9.95104394e-01 -4.11645882e-03 2.12433268e+01] [ 5.61092932e-02 -1.43750183e-03 9.98423598e-01 1.58466363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.09, Y:21.24, Z:15.85 [[ 9.92280897e-01 -1.10658525e-01 -5.59760069e-02 2.83093777e+02] [ 1.10601579e-01 9.93856270e-01 -4.12380714e-03 2.12444239e+01] [ 5.60884399e-02 -2.09905972e-03 9.98423598e-01 1.58464914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.15, Y:21.25, Z:15.85 [[ 9.91330297e-01 -1.18873972e-01 -5.59751863e-02 2.83152762e+02] [ 1.18829452e-01 9.92906070e-01 -4.13491650e-03 2.12473436e+01] [ 5.60696362e-02 -2.55243269e-03 9.98423598e-01 1.58522548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.21, Y:21.25, Z:15.86 [[ 9.90923195e-01 -1.22221179e-01 -5.59750407e-02 2.83213370e+02] [ 1.22181869e-01 9.92499107e-01 -4.13688605e-03 2.12514330e+01] [ 5.60607930e-02 -2.73979877e-03 9.98423598e-01 1.58576467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.27, Y:21.26, Z:15.86 [[ 9.90688395e-01 -1.24109958e-01 -5.59751985e-02 2.83273799e+02] [ 1.24073774e-01 9.92264381e-01 -4.13474987e-03 2.12554042e+01] [ 5.60553594e-02 -2.84880540e-03 9.98423598e-01 1.58579302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.33, Y:21.26, Z:15.86 [[ 9.90657481e-01 -1.24356443e-01 -5.59752760e-02 2.83333546e+02] [ 1.24320709e-01 9.92233477e-01 -4.13370086e-03 2.12607356e+01] [ 5.60545951e-02 -2.86380432e-03 9.98423598e-01 1.58611282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.39, Y:21.27, Z:15.87 [[ 9.90673079e-01 -1.24232085e-01 -5.59753513e-02 2.83394580e+02] [ 1.24196211e-01 9.92249073e-01 -4.13268057e-03 2.12671026e+01] [ 5.60549020e-02 -2.85779115e-03 9.98423598e-01 1.58652887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.45, Y:21.27, Z:15.87 [[ 9.90791928e-01 -1.23280567e-01 -5.59755017e-02 2.83454080e+02] [ 1.23243294e-01 9.92367890e-01 -4.13064337e-03 2.12735369e+01] [ 5.60575185e-02 -2.80599713e-03 9.98423598e-01 1.58688060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.52, Y:21.28, Z:15.87 [[ 9.90993046e-01 -1.21653189e-01 -5.59757503e-02 2.83515324e+02] [ 1.21613518e-01 9.92568949e-01 -4.12727173e-03 2.12796603e+01] [ 5.60618874e-02 -2.71731031e-03 9.98423598e-01 1.58719971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.57, Y:21.29, Z:15.87 [[ 9.91478150e-01 -1.17634081e-01 -5.59759005e-02 2.83574863e+02] [ 1.17588135e-01 9.93053882e-01 -4.12523343e-03 2.12864358e+01] [ 5.60723533e-02 -2.49202295e-03 9.98423598e-01 1.58745996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.63, Y:21.29, Z:15.88 [[ 9.91949337e-01 -1.13592178e-01 -5.59761478e-02 2.83634754e+02] [ 1.13540000e-01 9.93524876e-01 -4.12187444e-03 2.12924391e+01] [ 5.60819080e-02 -2.26684123e-03 9.98423598e-01 1.58778840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.69, Y:21.30, Z:15.88 [[ 9.92917534e-01 -1.04792371e-01 -5.59761478e-02 2.83694853e+02] [ 1.04726225e-01 9.94492548e-01 -4.12187444e-03 2.13006215e+01] [ 5.60998029e-02 -1.76948927e-03 9.98423598e-01 1.58833830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.75, Y:21.31, Z:15.89 [[ 9.93279910e-01 -1.01300010e-01 -5.59761478e-02 2.83754832e+02] [ 1.01228326e-01 9.94854681e-01 -4.12187444e-03 2.13066120e+01] [ 5.61056786e-02 -1.57219667e-03 9.98423598e-01 1.58873693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.81, Y:21.31, Z:15.89 [[ 9.93956169e-01 -9.44341294e-02 -5.59761478e-02 2.83813976e+02] [ 9.43515656e-02 9.95530407e-01 -4.12187444e-03 2.13134017e+01] [ 5.61152029e-02 -1.18447466e-03 9.98423598e-01 1.58915649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.025099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.87, Y:21.32, Z:15.90 [[ 9.94643751e-01 -8.68935861e-02 -5.59759982e-02 2.83871582e+02] [ 8.67989719e-02 9.96217312e-01 -4.12390588e-03 2.13188072e+01] [ 5.61225994e-02 -7.56841872e-04 9.98423598e-01 1.58953937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.085099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.93, Y:21.32, Z:15.90 [[ 9.95092268e-01 -8.15972261e-02 -5.59756300e-02 2.83929397e+02] [ 8.14939553e-02 9.96665284e-01 -4.12889739e-03 2.13232829e+01] [ 5.61258737e-02 -4.53041619e-04 9.98423598e-01 1.58992630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.99, Y:21.33, Z:15.90 [[ 9.95270293e-01 -7.93971598e-02 -5.59744206e-02 2.83986170e+02] [ 7.92894934e-02 9.96843013e-01 -4.14522829e-03 2.13275601e+01] [ 5.61268294e-02 -3.12560880e-04 9.98423598e-01 1.59016416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.04, Y:21.33, Z:15.90 [[ 9.95326884e-01 -7.86849134e-02 -5.59739010e-02 2.84043845e+02] [ 7.85757277e-02 9.96899500e-01 -4.15223257e-03 2.13298382e+01] [ 5.61270720e-02 -2.65361293e-04 9.98423598e-01 1.59036829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.10, Y:21.33, Z:15.91 [[ 9.95124715e-01 -8.12025987e-02 -5.59726647e-02 2.84101377e+02] [ 8.10964580e-02 9.96697540e-01 -4.16883155e-03 2.13304480e+01] [ 5.61263372e-02 -3.90677549e-04 9.98423598e-01 1.59071657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.16, Y:21.33, Z:15.91 [[ 9.94859648e-01 -8.43888519e-02 -5.59714371e-02 2.84158350e+02] [ 8.42868248e-02 9.96432745e-01 -4.18524873e-03 2.13320889e+01] [ 5.61249611e-02 -5.53919638e-04 9.98423598e-01 1.59106954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.22, Y:21.33, Z:15.92 [[ 9.94245482e-01 -9.13410078e-02 -5.59709089e-02 2.84215919e+02] [ 9.12495825e-02 9.95819230e-01 -4.19230072e-03 2.13311211e+01] [ 5.61198364e-02 -9.39146025e-04 9.98423598e-01 1.59152193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.27, Y:21.33, Z:15.92 [[ 9.93696192e-01 -9.71353172e-02 -5.59697010e-02 2.84273796e+02] [ 9.70521630e-02 9.95270399e-01 -4.20836618e-03 2.13310449e+01] [ 5.61137676e-02 -1.25014309e-03 9.98423599e-01 1.59185868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.33, Y:21.33, Z:15.92 [[ 9.92770328e-01 -1.06181941e-01 -5.59684887e-02 2.84331846e+02] [ 1.06112224e-01 9.94345187e-01 -4.22442727e-03 2.13299001e+01] [ 5.61005552e-02 -1.74505476e-03 9.98423599e-01 1.59226842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.39, Y:21.33, Z:15.93 [[ 9.92214294e-01 -1.11258537e-01 -5.59672477e-02 2.84390184e+02] [ 1.11195954e-01 9.93789452e-01 -4.24080581e-03 2.13312653e+01] [ 5.60914863e-02 -2.01554333e-03 9.98423599e-01 1.59259532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.45, Y:21.33, Z:15.93 [[ 9.91679761e-01 -1.15926882e-01 -5.59661544e-02 2.84449022e+02] [ 1.15870901e-01 9.93255167e-01 -4.25518457e-03 2.13315119e+01] [ 5.60819624e-02 -2.26506835e-03 9.98423599e-01 1.59282758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.51, Y:21.33, Z:15.93 [[ 9.91535083e-01 -1.17157993e-01 -5.59659239e-02 2.84508769e+02] [ 1.17103798e-01 9.93110552e-01 -4.25821468e-03 2.13329769e+01] [ 5.60792334e-02 -2.33165302e-03 9.98423599e-01 1.59307387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.57, Y:21.34, Z:15.93 [[ 9.91892966e-01 -1.14088458e-01 -5.59657725e-02 2.84568004e+02] [ 1.14029275e-01 9.93468256e-01 -4.26020361e-03 2.13367478e+01] [ 5.60862584e-02 -2.15607047e-03 9.98423599e-01 1.59336085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.63, Y:21.34, Z:15.94 [[ 9.92987744e-01 -1.04130634e-01 -5.59656172e-02 2.84626560e+02] [ 1.04055534e-01 9.94562356e-01 -4.26224315e-03 2.13418705e+01] [ 5.61051261e-02 -1.59117696e-03 9.98423599e-01 1.59367093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.68, Y:21.35, Z:15.94 [[ 9.94223765e-01 -9.15804610e-02 -5.59653879e-02 2.84684294e+02] [ 9.14853093e-02 9.95797292e-01 -4.26525125e-03 2.13477827e+01] [ 5.61207954e-02 -8.79396665e-04 9.98423599e-01 1.59400949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.74, Y:21.35, Z:15.94 [[ 9.94818391e-01 -8.48786189e-02 -5.59641730e-02 2.84741937e+02] [ 8.47719724e-02 9.96391181e-01 -4.28113329e-03 2.13527884e+01] [ 5.61255851e-02 -4.85243192e-04 9.98423599e-01 1.59438103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.80, Y:21.36, Z:15.95 [[ 9.95177786e-01 -8.05563444e-02 -5.59629344e-02 2.84798295e+02] [ 8.04419597e-02 9.96750031e-01 -4.29726303e-03 2.13568547e+01] [ 5.61272284e-02 -2.25227406e-04 9.98423599e-01 1.59458189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.86, Y:21.36, Z:15.95 [[ 9.95049636e-01 -8.21244837e-02 -5.59624026e-02 2.84856549e+02] [ 8.20121879e-02 9.96622032e-01 -4.30417810e-03 2.13593781e+01] [ 5.61268418e-02 -3.06728219e-04 9.98423599e-01 1.59483342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.91, Y:21.36, Z:15.95 [[ 9.94451770e-01 -8.90731640e-02 -5.59611403e-02 2.84914765e+02] [ 8.89709346e-02 9.96024852e-01 -4.32052786e-03 2.13612622e+01] [ 5.61235295e-02 -6.82358370e-04 9.98423599e-01 1.59513740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.97, Y:21.36, Z:15.96 [[ 9.93696755e-01 -9.71352194e-02 -5.59598803e-02 2.84971211e+02] [ 9.70448357e-02 9.95270562e-01 -4.33678667e-03 2.13629802e+01] [ 5.61164762e-02 -1.12116654e-03 9.98423600e-01 1.59552815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.03, Y:21.37, Z:15.96 [[ 9.93185649e-01 -1.02229426e-01 -5.59590184e-02 2.85029422e+02] [ 1.02146489e-01 9.94759866e-01 -4.34787891e-03 2.13654883e+01] [ 5.61102668e-02 -1.39776632e-03 9.98423600e-01 1.59595941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.09, Y:21.37, Z:15.96 [[ 9.92459590e-01 -1.09053619e-01 -5.59577619e-02 2.85087380e+02] [ 1.08980596e-01 9.94034298e-01 -4.36399093e-03 2.13680916e+01] [ 5.60998436e-02 -1.76722562e-03 9.98423600e-01 1.59633598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.15, Y:21.37, Z:15.97 [[ 9.91908091e-01 -1.13961445e-01 -5.59564753e-02 2.85145413e+02] [ 1.13895287e-01 9.93483103e-01 -4.38042670e-03 2.13715542e+01] [ 5.60910124e-02 -2.02819811e-03 9.98423600e-01 1.59671187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.20, Y:21.38, Z:15.97 [[ 9.91243354e-01 -1.19606137e-01 -5.59552014e-02 2.85203901e+02] [ 1.19548032e-01 9.92818683e-01 -4.39663924e-03 2.13750335e+01] [ 5.60792344e-02 -2.33119479e-03 9.98423600e-01 1.59702916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.26, Y:21.38, Z:15.97 [[ 9.89924121e-01 -1.30074509e-01 -5.59540531e-02 2.85262841e+02] [ 1.30032234e-01 9.91499954e-01 -4.41120528e-03 2.13789476e+01] [ 5.60522264e-02 -2.90907202e-03 9.98423600e-01 1.59735228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.525099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.32, Y:21.38, Z:15.98 [[ 9.88634943e-01 -1.39535729e-01 -5.59529168e-02 2.85322786e+02] [ 1.39507717e-01 9.90211094e-01 -4.42557064e-03 2.13840791e+01] [ 5.60227242e-02 -3.43058989e-03 9.98423600e-01 1.59775851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.585099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.38, Y:21.39, Z:15.98 [[ 9.88514658e-01 -1.40385335e-01 -5.59529168e-02 2.85383160e+02] [ 1.40358677e-01 9.90090832e-01 -4.42557064e-03 2.13869295e+01] [ 5.60197552e-02 -3.47873593e-03 9.98423600e-01 1.59778834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.44, Y:21.40, Z:15.98 [[ 9.87993475e-01 -1.44007514e-01 -5.59529168e-02 2.85442632e+02] [ 1.43986634e-01 9.89569737e-01 -4.42557064e-03 2.13976584e+01] [ 5.60066286e-02 -3.68403722e-03 9.98423600e-01 1.59827262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.50, Y:21.41, Z:15.99 [[ 9.88211862e-01 -1.42501063e-01 -5.59532133e-02 2.85503827e+02] [ 1.42477991e-01 9.89788093e-01 -4.42181883e-03 2.14056947e+01] [ 5.60119382e-02 -3.60240760e-03 9.98423600e-01 1.59863446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.56, Y:21.41, Z:15.99 [[ 9.88601744e-01 -1.39770572e-01 -5.59533736e-02 2.85564807e+02] [ 1.39743259e-01 9.90177907e-01 -4.41978980e-03 2.14143070e+01] [ 5.60215509e-02 -3.44969490e-03 9.98423600e-01 1.59896071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.63, Y:21.42, Z:15.99 [[ 9.88968301e-01 -1.37152840e-01 -5.59535324e-02 2.85625964e+02] [ 1.37121468e-01 9.90544389e-01 -4.41777853e-03 2.14233733e+01] [ 5.60303684e-02 -3.30338758e-03 9.98423600e-01 1.59939070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.69, Y:21.43, Z:16.00 [[ 9.89424426e-01 -1.33822607e-01 -5.59536919e-02 2.85686641e+02] [ 1.33786043e-01 9.91000402e-01 -4.41575787e-03 2.14347831e+01] [ 5.60410593e-02 -3.11676433e-03 9.98423600e-01 1.59990585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.75, Y:21.44, Z:16.00 [[ 9.89750970e-01 -1.31385629e-01 -5.59538487e-02 2.85747793e+02] [ 1.31345297e-01 9.91326854e-01 -4.41377007e-03 2.14433179e+01] [ 5.60484587e-02 -2.98074167e-03 9.98423600e-01 1.60028156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.81, Y:21.45, Z:16.01 [[ 9.90398054e-01 -1.26415367e-01 -5.59540042e-02 2.85808330e+02] [ 1.26367235e-01 9.91973718e-01 -4.41179727e-03 2.14530912e+01] [ 5.60626206e-02 -2.70131739e-03 9.98423600e-01 1.60060822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.87, Y:21.46, Z:16.01 [[ 9.91551308e-01 -1.17026217e-01 -5.59541608e-02 2.85870160e+02] [ 1.16963271e-01 9.93126451e-01 -4.40981049e-03 2.14617554e+01] [ 5.60856206e-02 -2.17202834e-03 9.98423600e-01 1.60079971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.93, Y:21.47, Z:16.01 [[ 9.92104954e-01 -1.12235711e-01 -5.59545014e-02 2.85929942e+02] [ 1.12165402e-01 9.93679785e-01 -4.40548403e-03 2.14722494e+01] [ 5.60953096e-02 -1.90545660e-03 9.98423600e-01 1.60148302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.99, Y:21.48, Z:16.02 [[ 9.92911098e-01 -1.04864849e-01 -5.59545851e-02 2.85989921e+02] [ 1.04782906e-01 9.94485366e-01 -4.40442127e-03 2.14798835e+01] [ 5.61078850e-02 -1.48988528e-03 9.98423600e-01 1.60169354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.05, Y:21.49, Z:16.02 [[ 9.94069450e-01 -9.32470080e-02 -5.59546656e-02 2.86049222e+02] [ 9.31467193e-02 9.95642656e-01 -4.40339840e-03 2.14888070e+01] [ 5.61214556e-02 -8.34709706e-04 9.98423600e-01 1.60217443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.11, Y:21.49, Z:16.02 [[ 9.95222331e-01 -8.00100364e-02 -5.59545035e-02 2.86108596e+02] [ 7.98887052e-02 9.96794054e-01 -4.40545668e-03 2.14921136e+01] [ 5.61275972e-02 -8.57239755e-05 9.98423600e-01 1.60157792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.17, Y:21.50, Z:16.03 [[ 9.95250458e-01 -7.96602032e-02 -5.59533491e-02 2.86165089e+02] [ 7.95374979e-02 9.96822075e-01 -4.42007085e-03 2.15018149e+01] [ 5.61276373e-02 -5.13118451e-05 9.98423600e-01 1.60274022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.22, Y:21.51, Z:16.03 [[ 9.95276526e-01 -7.93341396e-02 -5.59529440e-02 2.86222799e+02] [ 7.92106315e-02 9.96848079e-01 -4.42519326e-03 2.15062894e+01] [ 5.61276536e-02 -2.77770566e-05 9.98423600e-01 1.60307652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.28, Y:21.51, Z:16.03 [[ 9.95025975e-01 -8.24179416e-02 -5.59516921e-02 2.86280426e+02] [ 8.22984172e-02 9.96597837e-01 -4.44096507e-03 2.15099828e+01] [ 5.61273506e-02 -1.85860108e-04 9.98423600e-01 1.60336763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.34, Y:21.51, Z:16.04 [[ 9.94258360e-01 -9.12132984e-02 -5.59504123e-02 2.86338778e+02] [ 9.11067740e-02 9.95831156e-01 -4.45703086e-03 2.15117888e+01] [ 5.61237043e-02 -6.66021379e-04 9.98423601e-01 1.60361431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.40, Y:21.51, Z:16.04 [[ 9.93208932e-01 -1.02008395e-01 -5.59491223e-02 2.86397072e+02] [ 1.01918054e-01 9.94782741e-01 -4.47316660e-03 2.15122520e+01] [ 5.61135218e-02 -1.25943662e-03 9.98423601e-01 1.60401407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.46, Y:21.51, Z:16.04 [[ 9.92555651e-01 -1.08180877e-01 -5.59479861e-02 2.86455918e+02] [ 1.08099523e-01 9.94129950e-01 -4.48733254e-03 2.15139296e+01] [ 5.61050122e-02 -1.59402334e-03 9.98423601e-01 1.60430474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.52, Y:21.52, Z:16.05 [[ 9.91731659e-01 -1.15490978e-01 -5.59477460e-02 2.86516060e+02] [ 1.15421057e-01 9.93306507e-01 -4.49032459e-03 2.15158844e+01] [ 5.60918521e-02 -2.00435091e-03 9.98423601e-01 1.60461136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.58, Y:21.52, Z:16.05 [[ 9.91272096e-01 -1.19371195e-01 -5.59477460e-02 2.86576753e+02] [ 1.19307437e-01 9.92847205e-01 -4.49032459e-03 2.15195053e+01] [ 5.60835786e-02 -2.22384873e-03 9.98423601e-01 1.60495580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.64, Y:21.52, Z:16.05 [[ 9.90566116e-01 -1.25094367e-01 -5.59479122e-02 2.86636608e+02] [ 1.25039825e-01 9.92141571e-01 -4.48825278e-03 2.15221977e+01] [ 5.60697047e-02 -2.54980600e-03 9.98423601e-01 1.60515711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.70, Y:21.53, Z:16.05 [[ 9.89918260e-01 -1.30121713e-01 -5.59479940e-02 2.86697091e+02] [ 1.30075227e-01 9.91493974e-01 -4.48723299e-03 2.15268053e+01] [ 5.60559853e-02 -2.83545415e-03 9.98423601e-01 1.60530368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.76, Y:21.53, Z:16.06 [[ 9.89268939e-01 -1.34969550e-01 -5.59480800e-02 2.86758510e+02] [ 1.34930845e-01 9.90844863e-01 -4.48616035e-03 2.15328813e+01] [ 5.60413627e-02 -3.11110259e-03 9.98423601e-01 1.60559910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.025099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.82, Y:21.54, Z:16.06 [[ 9.88804356e-01 -1.38331990e-01 -5.59482539e-02 2.86819655e+02] [ 1.38298764e-01 9.90380405e-01 -4.48399046e-03 2.15403287e+01] [ 5.60303336e-02 -3.30378508e-03 9.98423601e-01 1.60576267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.085099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.88, Y:21.55, Z:16.06 [[ 9.88754331e-01 -1.38689004e-01 -5.59484933e-02 2.86881452e+02] [ 1.38656516e-01 9.90330395e-01 -4.48100169e-03 2.15471774e+01] [ 5.60289591e-02 -3.32701334e-03 9.98423601e-01 1.60612871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.94, Y:21.56, Z:16.07 [[ 9.89027774e-01 -1.36725238e-01 -5.59488215e-02 2.86943361e+02] [ 1.36689852e-01 9.90603776e-01 -4.47689947e-03 2.15568223e+01] [ 5.60352190e-02 -3.21985821e-03 9.98423601e-01 1.60652065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.00, Y:21.57, Z:16.07 [[ 9.89399241e-01 -1.34010578e-01 -5.59491459e-02 2.87004453e+02] [ 1.33971096e-01 9.90975146e-01 -4.47284133e-03 2.15653936e+01] [ 5.60436211e-02 -3.07014255e-03 9.98423601e-01 1.60699334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.07, Y:21.58, Z:16.07 [[ 9.90373571e-01 -1.26609027e-01 -5.59494787e-02 2.87065163e+02] [ 1.26557998e-01 9.91949144e-01 -4.46867546e-03 2.15764492e+01] [ 5.60648121e-02 -2.65519592e-03 9.98423601e-01 1.60746906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.13, Y:21.59, Z:16.08 [[ 9.91215803e-01 -1.19836804e-01 -5.59497242e-02 2.87127072e+02] [ 1.19775180e-01 9.92790997e-01 -4.46559887e-03 2.15858166e+01] [ 5.60815256e-02 -2.27501612e-03 9.98423601e-01 1.60784356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.19, Y:21.60, Z:16.08 [[ 9.92515734e-01 -1.08545425e-01 -5.59500472e-02 2.87188032e+02] [ 1.08466102e-01 9.94090136e-01 -4.46154799e-03 2.15985596e+01] [ 5.61036707e-02 -1.64052695e-03 9.98423601e-01 1.60835987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.25, Y:21.61, Z:16.09 [[ 9.93625082e-01 -9.78711012e-02 -5.59503724e-02 2.87249093e+02] [ 9.77750897e-02 9.95198554e-01 -4.45746718e-03 2.16086105e+01] [ 5.61179869e-02 -1.04150148e-03 9.98423601e-01 1.60871138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.31, Y:21.62, Z:16.09 [[ 9.94203872e-01 -9.18052245e-02 -5.59505322e-02 2.87309079e+02] [ 9.16997249e-02 9.95776737e-01 -4.45545961e-03 2.16170430e+01] [ 5.61232729e-02 -7.01013213e-04 9.98423601e-01 1.60907004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.37, Y:21.62, Z:16.09 [[ 9.94690266e-01 -8.63759945e-02 -5.59505322e-02 2.87369425e+02] [ 8.62619094e-02 9.96262532e-01 -4.45545961e-03 2.16244400e+01] [ 5.61262636e-02 -3.94597433e-04 9.98423601e-01 1.60939351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.43, Y:21.63, Z:16.10 [[ 9.95277855e-01 -7.93191550e-02 -5.59505322e-02 2.87428289e+02] [ 7.91939218e-02 9.96849272e-01 -4.45545961e-03 2.16316718e+01] [ 5.61276506e-02 3.47821768e-06 9.98423601e-01 1.60963292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.49, Y:21.64, Z:16.10 [[ 9.95433244e-01 -7.73447707e-02 -5.59503719e-02 2.87486306e+02] [ 7.72163075e-02 9.97004400e-01 -4.45747256e-03 2.16365675e+01] [ 5.61275291e-02 1.16835244e-04 9.98423601e-01 1.60990600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.54, Y:21.64, Z:16.10 [[ 9.95766936e-01 -7.29238922e-02 -5.59492240e-02 2.87543800e+02] [ 7.27876468e-02 9.97337436e-01 -4.47183364e-03 2.16427310e+01] [ 5.61263592e-02 3.80491723e-04 9.98423601e-01 1.61027378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.60, Y:21.65, Z:16.11 [[ 9.95708354e-01 -7.37204541e-02 -5.59479091e-02 2.87600916e+02] [ 7.35845441e-02 9.97278883e-01 -4.48822520e-03 2.16475581e+01] [ 5.61265423e-02 3.52061942e-04 9.98423601e-01 1.61068295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.66, Y:21.65, Z:16.11 [[ 9.95349045e-01 -7.84235645e-02 -5.59466032e-02 2.87658216e+02] [ 7.82941639e-02 9.96920124e-01 -4.50444533e-03 2.16512863e+01] [ 5.61275492e-02 1.03202845e-04 9.98423601e-01 1.61112225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.72, Y:21.65, Z:16.12 [[ 9.94382961e-01 -8.98479373e-02 -5.59452882e-02 2.87715507e+02] [ 8.97356703e-02 9.95955357e-01 -4.52071831e-03 2.16521509e+01] [ 5.61251867e-02 -5.24962678e-04 9.98423601e-01 1.61152060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.78, Y:21.65, Z:16.12 [[ 9.93650670e-01 -9.76144067e-02 -5.59443865e-02 2.87775301e+02] [ 9.75138020e-02 9.95223855e-01 -4.53184946e-03 2.16543579e+01] [ 5.61195618e-02 -9.52274575e-04 9.98423601e-01 1.61193713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.84, Y:21.65, Z:16.12 [[ 9.92811462e-01 -1.05809473e-01 -5.59442246e-02 2.87835984e+02] [ 1.05721740e-01 9.94385417e-01 -4.53384763e-03 2.16544931e+01] [ 5.61098451e-02 -1.41326485e-03 9.98423601e-01 1.61222417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.90, Y:21.66, Z:16.13 [[ 9.92524366e-01 -1.08469477e-01 -5.59442246e-02 2.87897787e+02] [ 1.08385961e-01 9.94098550e-01 -4.53384763e-03 2.16565947e+01] [ 5.61058566e-02 -1.56361433e-03 9.98423601e-01 1.61252745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.96, Y:21.66, Z:16.13 [[ 9.92675236e-01 -1.07079884e-01 -5.59443873e-02 2.87958146e+02] [ 1.06994277e-01 9.94249308e-01 -4.53183838e-03 2.16586336e+01] [ 5.61079371e-02 -1.48708555e-03 9.98423601e-01 1.61290177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.02, Y:21.66, Z:16.13 [[ 9.93071418e-01 -1.03341066e-01 -5.59444674e-02 2.88019685e+02] [ 1.03249588e-01 9.94645160e-01 -4.53084933e-03 2.16626235e+01] [ 5.61131166e-02 -1.27678625e-03 9.98423601e-01 1.61331987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.08, Y:21.67, Z:16.14 [[ 9.93887960e-01 -9.51678598e-02 -5.59446287e-02 2.88079891e+02] [ 9.50635507e-02 9.95460904e-01 -4.52885748e-03 2.16669728e+01] [ 5.61216923e-02 -8.17118120e-04 9.98423601e-01 1.61365971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.14, Y:21.67, Z:16.14 [[ 9.94453049e-01 -8.90692502e-02 -5.59446287e-02 2.88140036e+02] [ 8.89552941e-02 9.96025324e-01 -4.52885748e-03 2.16721168e+01] [ 5.61256488e-02 -4.72834765e-04 9.98423601e-01 1.61390042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.20, Y:21.68, Z:16.14 [[ 9.94480788e-01 -8.87590029e-02 -5.59446287e-02 2.88198744e+02] [ 8.86445563e-02 9.96053027e-01 -4.52885748e-03 2.16767531e+01] [ 5.61257936e-02 -4.55325026e-04 9.98423601e-01 1.61415588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.26, Y:21.68, Z:16.14 [[ 9.94046346e-01 -9.34996639e-02 -5.59434972e-02 2.88257370e+02] [ 9.33919309e-02 9.95619059e-01 -4.54279161e-03 2.16798809e+01] [ 5.61231615e-02 -7.08925828e-04 9.98423602e-01 1.61442206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.525099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.32, Y:21.68, Z:16.15 [[ 9.93529573e-01 -9.88404899e-02 -5.59423388e-02 2.88317083e+02] [ 9.87404101e-02 9.95102791e-01 -4.55701172e-03 2.16834172e+01] [ 5.61187948e-02 -9.96243575e-04 9.98423602e-01 1.61471752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.585099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.38, Y:21.69, Z:16.15 [[ 9.92708394e-01 -1.06773205e-01 -5.59421745e-02 2.88377635e+02] [ 1.06685581e-01 9.94282355e-01 -4.55902819e-03 2.16876616e+01] [ 5.61090991e-02 -1.44243787e-03 9.98423602e-01 1.61525811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.44, Y:21.69, Z:16.16 [[ 9.92142180e-01 -1.11912319e-01 -5.59421745e-02 2.88437864e+02] [ 1.11832847e-01 9.93716574e-01 -4.55902819e-03 2.16916924e+01] [ 5.61008774e-02 -1.73296845e-03 9.98423602e-01 1.61556743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.50, Y:21.70, Z:16.16 [[ 9.91249461e-01 -1.19561570e-01 -5.59422566e-02 2.88500082e+02] [ 1.19494301e-01 9.92824424e-01 -4.55802057e-03 2.16956155e+01] [ 5.60858028e-02 -2.16664540e-03 9.98423602e-01 1.61604148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.56, Y:21.70, Z:16.16 [[ 9.90620435e-01 -1.24665872e-01 -5.59425923e-02 2.88561161e+02] [ 1.24606949e-01 9.92195732e-01 -4.55389620e-03 2.16998242e+01] [ 5.60737168e-02 -2.45965309e-03 9.98423602e-01 1.61639412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.62, Y:21.70, Z:16.17 [[ 9.89875242e-01 -1.30450768e-01 -5.59428406e-02 2.88623051e+02] [ 1.30401220e-01 9.91450862e-01 -4.55084428e-03 2.17046392e+01] [ 5.60582387e-02 -2.79024660e-03 9.98423602e-01 1.61681070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.68, Y:21.71, Z:16.17 [[ 9.89616305e-01 -1.32400645e-01 -5.59431759e-02 2.88684970e+02] [ 1.32354433e-01 9.91192025e-01 -4.54671941e-03 2.17103683e+01] [ 5.60524184e-02 -2.90481968e-03 9.98423602e-01 1.61715018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.75, Y:21.72, Z:16.17 [[ 9.89813486e-01 -1.30918245e-01 -5.59435080e-02 2.88746410e+02] [ 1.30869904e-01 9.91389143e-01 -4.54262948e-03 2.17178584e+01] [ 5.60564995e-02 -2.82496562e-03 9.98423602e-01 1.61739348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.81, Y:21.73, Z:16.18 [[ 9.90314390e-01 -1.27073586e-01 -5.59438407e-02 2.88806839e+02] [ 1.27019358e-01 9.91889855e-01 -4.53852808e-03 2.17253846e+01] [ 5.60668551e-02 -2.61138108e-03 9.98423602e-01 1.61763506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.87, Y:21.74, Z:16.18 [[ 9.91416088e-01 -1.18171061e-01 -5.59440864e-02 2.88868640e+02] [ 1.18102852e-01 9.92991010e-01 -4.53549711e-03 2.17352312e+01] [ 5.60879394e-02 -2.11059134e-03 9.98423602e-01 1.61791252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.93, Y:21.75, Z:16.18 [[ 9.92471901e-01 -1.08948373e-01 -5.59444145e-02 2.88929545e+02] [ 1.08865752e-01 9.94046133e-01 -4.53144664e-03 2.17466548e+01] [ 5.61050226e-02 -1.59309731e-03 9.98423602e-01 1.61824443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.99, Y:21.76, Z:16.19 [[ 9.93084693e-01 -1.03213261e-01 -5.59447443e-02 2.88990969e+02] [ 1.03121777e-01 9.94658435e-01 -4.52737146e-03 2.17553204e+01] [ 5.61131966e-02 -1.27305815e-03 9.98423602e-01 1.61855136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.05, Y:21.76, Z:16.19 [[ 9.93513476e-01 -9.90006204e-02 -5.59450691e-02 2.89052980e+02] [ 9.89026888e-02 9.95086829e-01 -4.52335422e-03 2.17631177e+01] [ 5.61180163e-02 -1.03910438e-03 9.98423602e-01 1.61890270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.11, Y:21.77, Z:16.19 [[ 9.93917303e-01 -9.48604675e-02 -5.59453950e-02 2.89113312e+02] [ 9.47562087e-02 9.95490249e-01 -4.51931995e-03 2.17713333e+01] [ 5.61218000e-02 -8.09343231e-04 9.98423602e-01 1.61939044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.17, Y:21.78, Z:16.20 [[ 9.94176972e-01 -9.20990942e-02 -5.59455581e-02 2.89174094e+02] [ 9.19905800e-02 9.95749631e-01 -4.51729959e-03 2.17789876e+01] [ 5.61238081e-02 -6.55469116e-04 9.98423602e-01 1.61993249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.23, Y:21.78, Z:16.20 [[ 9.94242699e-01 -9.13867149e-02 -5.59457193e-02 2.89234659e+02] [ 9.12771862e-02 9.95815288e-01 -4.51530228e-03 2.17847731e+01] [ 5.61242412e-02 -6.17261513e-04 9.98423602e-01 1.62026615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.29, Y:21.79, Z:16.21 [[ 9.94152332e-01 -9.23645901e-02 -5.59457193e-02 2.89294886e+02] [ 9.22566082e-02 9.95725027e-01 -4.51530228e-03 2.17899997e+01] [ 5.61236070e-02 -6.72464017e-04 9.98423602e-01 1.62059053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.36, Y:21.79, Z:16.21 [[ 9.94103258e-01 -9.28912281e-02 -5.59457976e-02 2.89356130e+02] [ 9.27841339e-02 9.95676014e-01 -4.51433242e-03 2.17948638e+01] [ 5.61232306e-02 -7.03169809e-04 9.98423602e-01 1.62094569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.42, Y:21.80, Z:16.21 [[ 9.94150363e-01 -9.23856369e-02 -5.59459624e-02 2.89416556e+02] [ 9.22778579e-02 9.95723072e-01 -4.51228954e-03 2.17995670e+01] [ 5.61235563e-02 -6.76679284e-04 9.98423602e-01 1.62122103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.48, Y:21.80, Z:16.22 [[ 9.94329972e-01 -9.04320014e-02 -5.59460434e-02 2.89477815e+02] [ 9.03211887e-02 9.95902471e-01 -4.51128419e-03 2.18045264e+01] [ 5.61247673e-02 -5.67408068e-04 9.98423602e-01 1.62156055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.54, Y:21.81, Z:16.22 [[ 9.94715027e-01 -8.60931834e-02 -5.59462076e-02 2.89536633e+02] [ 8.59756260e-02 9.96287036e-01 -4.50924697e-03 2.18088308e+01] [ 5.61266968e-02 -3.24594504e-04 9.98423602e-01 1.62180482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.60, Y:21.81, Z:16.22 [[ 9.95034984e-01 -8.23128868e-02 -5.59461269e-02 2.89595758e+02] [ 8.21893008e-02 9.96606530e-01 -4.51024838e-03 2.18115177e+01] [ 5.61275270e-02 -1.10318127e-04 9.98423602e-01 1.62208422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.65, Y:21.81, Z:16.22 [[ 9.95158839e-01 -8.08018178e-02 -5.59459631e-02 2.89654548e+02] [ 8.06757314e-02 9.96730187e-01 -4.51227874e-03 2.18136892e+01] [ 5.61276306e-02 -2.30474209e-05 9.98423602e-01 1.62239801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.905099893 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:289.71, Y:21.81, Z:16.23 [[ 9.95257698e-01 -7.95756967e-02 -5.59448141e-02 2.89712517e+02] [ 7.94468762e-02 9.96828824e-01 -4.52647981e-03 2.18139273e+01] [ 5.61276011e-02 6.03731548e-05 9.98423602e-01 1.62258548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.77, Y:21.81, Z:16.23 [[ 9.94970238e-01 -8.30937554e-02 -5.59433099e-02 2.89769435e+02] [ 8.29694490e-02 9.96541727e-01 -4.54499542e-03 2.18134353e+01] [ 5.61275034e-02 -1.19450423e-04 9.98423602e-01 1.62301966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.025099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.83, Y:21.81, Z:16.23 [[ 9.94570816e-01 -8.77457223e-02 -5.59426519e-02 2.89827202e+02] [ 8.76283115e-02 9.96142835e-01 -4.55307949e-03 2.18141168e+01] [ 5.61263852e-02 -3.73800141e-04 9.98423602e-01 1.62337743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.085099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.89, Y:21.81, Z:16.24 [[ 9.93681736e-01 -9.72994205e-02 -5.59413198e-02 2.89886429e+02] [ 9.71962042e-02 9.95254751e-01 -4.56938826e-03 2.18122102e+01] [ 5.61204631e-02 -8.96766289e-04 9.98423602e-01 1.62360243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.95, Y:21.81, Z:16.24 [[ 9.92940329e-01 -1.04595416e-01 -5.59401715e-02 2.89946264e+02] [ 1.04502968e-01 9.94514013e-01 -4.58340394e-03 2.18134182e+01] [ 5.61126875e-02 -1.29486731e-03 9.98423602e-01 1.62387063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.01, Y:21.81, Z:16.24 [[ 9.91739825e-01 -1.15424587e-01 -5.59400048e-02 2.90006781e+02] [ 1.15349202e-01 9.93314419e-01 -4.58543690e-03 2.18126230e+01] [ 5.60952856e-02 -1.90507452e-03 9.98423602e-01 1.62411252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.07, Y:21.81, Z:16.25 [[ 9.90665732e-01 -1.24306567e-01 -5.59400048e-02 2.90068535e+02] [ 1.24245294e-01 9.92240939e-01 -4.58543690e-03 2.18132481e+01] [ 5.60759628e-02 -2.40764717e-03 9.98423602e-01 1.62461207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.13, Y:21.82, Z:16.25 [[ 9.90127846e-01 -1.28520607e-01 -5.59401700e-02 2.90130600e+02] [ 1.28466151e-01 9.91703303e-01 -4.58342122e-03 2.18154707e+01] [ 5.60651154e-02 -2.64824532e-03 9.98423602e-01 1.62502000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.19, Y:21.82, Z:16.25 [[ 9.89536878e-01 -1.32994092e-01 -5.59404972e-02 2.90192790e+02] [ 1.32946982e-01 9.91112571e-01 -4.57942409e-03 2.18171467e+01] [ 5.60523664e-02 -2.90561127e-03 9.98423602e-01 1.62542870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.26, Y:21.82, Z:16.26 [[ 9.89194499e-01 -1.35517040e-01 -5.59408239e-02 2.90255364e+02] [ 1.35474173e-01 9.90770313e-01 -4.57542903e-03 2.18202363e+01] [ 5.60445563e-02 -3.05254764e-03 9.98423602e-01 1.62568402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.32, Y:21.82, Z:16.26 [[ 9.88686081e-01 -1.39177662e-01 -5.59411491e-02 2.90316499e+02] [ 1.39140853e-01 9.90262049e-01 -4.57145021e-03 2.18229210e+01] [ 5.60326407e-02 -3.26397001e-03 9.98423602e-01 1.62587070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.38, Y:21.83, Z:16.26 [[ 9.88527983e-01 -1.40296107e-01 -5.59413093e-02 2.90378114e+02] [ 1.40261191e-01 9.90103994e-01 -4.56948942e-03 2.18273870e+01] [ 5.60287953e-02 -3.32932652e-03 9.98423602e-01 1.62619673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.44, Y:21.83, Z:16.27 [[ 9.89066495e-01 -1.36447795e-01 -5.59416391e-02 2.90440086e+02] [ 1.36406974e-01 9.90642364e-01 -4.56544815e-03 2.18349879e+01] [ 5.60411029e-02 -3.11529790e-03 9.98423602e-01 1.62667434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.50, Y:21.84, Z:16.27 [[ 9.90014311e-01 -1.29391497e-01 -5.59419768e-02 2.90500328e+02] [ 1.29339673e-01 9.91589856e-01 -4.56130590e-03 2.18431065e+01] [ 5.60616910e-02 -2.71975887e-03 9.98423602e-01 1.62705033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.56, Y:21.85, Z:16.28 [[ 9.91959084e-01 -1.13523759e-01 -5.59422263e-02 2.90560492e+02] [ 1.13446888e-01 9.93533606e-01 -4.55824387e-03 2.18535778e+01] [ 5.60979508e-02 -1.82488006e-03 9.98423602e-01 1.62763765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.62, Y:21.86, Z:16.28 [[ 9.93911222e-01 -9.49258884e-02 -5.59424643e-02 2.90620895e+02] [ 9.48197070e-02 9.95484039e-01 -4.55532167e-03 2.18643767e+01] [ 5.61222482e-02 -7.76862743e-04 9.98423602e-01 1.62824802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.68, Y:21.87, Z:16.29 [[ 9.94902936e-01 -8.38961907e-02 -5.59426290e-02 2.90679767e+02] [ 8.37726850e-02 9.96474488e-01 -4.55329756e-03 2.18719306e+01] [ 5.61274069e-02 -1.56375126e-04 9.98423602e-01 1.62854579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.74, Y:21.88, Z:16.29 [[ 9.95866632e-01 -7.15548165e-02 -5.59424650e-02 2.90737339e+02] [ 7.14117228e-02 9.97436522e-01 -4.55531213e-03 2.18782014e+01] [ 5.61250122e-02 5.41535551e-04 9.98423602e-01 1.62880757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.79, Y:21.88, Z:16.29 [[ 9.96176516e-01 -6.71039175e-02 -5.59411535e-02 2.90794563e+02] [ 6.69529089e-02 9.97745664e-01 -4.57136135e-03 2.18823581e+01] [ 5.61217996e-02 8.08459875e-04 9.98423602e-01 1.62897744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.85, Y:21.89, Z:16.29 [[ 9.96268772e-01 -6.57207939e-02 -5.59402554e-02 2.90852001e+02] [ 6.55669914e-02 9.97837648e-01 -4.58232551e-03 2.18851271e+01] [ 5.61204469e-02 8.97393571e-04 9.98423603e-01 1.62927411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.91, Y:21.89, Z:16.30 [[ 9.96151166e-01 -6.74809929e-02 -5.59389829e-02 2.90909237e+02] [ 6.73290936e-02 9.97720228e-01 -4.59780630e-03 2.18881787e+01] [ 5.61217194e-02 8.13789090e-04 9.98423603e-01 1.62973378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.97, Y:21.89, Z:16.30 [[ 9.95828260e-01 -7.20906097e-02 -5.59376446e-02 2.90967638e+02] [ 7.19450624e-02 9.97397924e-01 -4.61403205e-03 2.18896642e+01] [ 5.61247189e-02 5.70346181e-04 9.98423603e-01 1.63019633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.03, Y:21.89, Z:16.31 [[ 9.95405054e-01 -7.77167192e-02 -5.59364752e-02 2.91025783e+02] [ 7.75792499e-02 9.96975446e-01 -4.62816577e-03 2.18902230e+01] [ 5.61269781e-02 2.67389811e-04 9.98423603e-01 1.63069591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.08, Y:21.89, Z:16.31 [[ 9.94727384e-01 -8.59568943e-02 -5.59360636e-02 2.91084877e+02] [ 8.58321546e-02 9.96298838e-01 -4.63313397e-03 2.18888975e+01] [ 5.61272850e-02 -1.92407628e-04 9.98423603e-01 1.63109188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.14, Y:21.89, Z:16.31 [[ 9.94077570e-01 -9.31722660e-02 -5.59349117e-02 2.91142851e+02] [ 9.30581518e-02 9.95649831e-01 -4.64700004e-03 2.18889127e+01] [ 5.61245569e-02 -5.85720996e-04 9.98423603e-01 1.63129742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.20, Y:21.89, Z:16.31 [[ 9.93010158e-01 -1.03933923e-01 -5.59335830e-02 2.91201519e+02] [ 1.03835947e-01 9.94583507e-01 -4.66293809e-03 2.18862166e+01] [ 5.61152566e-02 -1.17757168e-03 9.98423603e-01 1.63147367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.26, Y:21.89, Z:16.32 [[ 9.92396426e-01 -1.09639973e-01 -5.59322001e-02 2.91259268e+02] [ 1.09550111e-01 9.93970259e-01 -4.67946780e-03 2.18862051e+01] [ 5.61080001e-02 -1.48349163e-03 9.98423603e-01 1.63164479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.525099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.32, Y:21.89, Z:16.32 [[ 9.91905521e-01 -1.13995943e-01 -5.59317746e-02 2.91319037e+02] [ 1.13912706e-01 9.93479718e-01 -4.68454789e-03 2.18872356e+01] [ 5.61011031e-02 -1.72471089e-03 9.98423603e-01 1.63191681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.38, Y:21.89, Z:16.32 [[ 9.91464254e-01 -1.17772194e-01 -5.59316029e-02 2.91378377e+02] [ 1.17694837e-01 9.93038751e-01 -4.68659670e-03 2.18893866e+01] [ 5.60941999e-02 -1.93626779e-03 9.98423603e-01 1.63215870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.44, Y:21.89, Z:16.33 [[ 9.90975801e-01 -1.21813944e-01 -5.59314335e-02 2.91439108e+02] [ 1.21742893e-01 9.92550596e-01 -4.68861814e-03 2.18907691e+01] [ 5.60859167e-02 -2.16294741e-03 9.98423603e-01 1.63250562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.50, Y:21.89, Z:16.33 [[ 9.90807055e-01 -1.23178954e-01 -5.59314335e-02 2.91499722e+02] [ 1.23110073e-01 9.92381946e-01 -4.68861814e-03 2.18938734e+01] [ 5.60828839e-02 -2.24020692e-03 9.98423603e-01 1.63282600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.56, Y:21.90, Z:16.33 [[ 9.90845850e-01 -1.22866501e-01 -5.59314335e-02 2.91560191e+02] [ 1.22797124e-01 9.92420719e-01 -4.68861814e-03 2.18980546e+01] [ 5.60835875e-02 -2.22252133e-03 9.98423603e-01 1.63316956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.62, Y:21.90, Z:16.34 [[ 9.91206083e-01 -1.19925710e-01 -5.59314335e-02 2.91620312e+02] [ 1.19851660e-01 9.92780739e-01 -4.68861814e-03 2.19041329e+01] [ 5.60899357e-02 -2.05608832e-03 9.98423603e-01 1.63354188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.68, Y:21.91, Z:16.34 [[ 9.91530899e-01 -1.17209858e-01 -5.59314335e-02 2.91679606e+02] [ 1.17131494e-01 9.93105347e-01 -4.68861814e-03 2.19100634e+01] [ 5.60953579e-02 -1.90242261e-03 9.98423603e-01 1.63390940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.74, Y:21.92, Z:16.34 [[ 9.92180952e-01 -1.11573532e-01 -5.59312624e-02 2.91738590e+02] [ 1.11486107e-01 9.93754922e-01 -4.69065751e-03 2.19162935e+01] [ 5.61053206e-02 -1.58157767e-03 9.98423603e-01 1.63426442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.80, Y:21.92, Z:16.35 [[ 9.92654352e-01 -1.07280242e-01 -5.59310934e-02 2.91797614e+02] [ 1.07185896e-01 9.94227923e-01 -4.69267253e-03 2.19221971e+01] [ 5.61116858e-02 -1.33682255e-03 9.98423603e-01 1.63463012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.86, Y:21.93, Z:16.35 [[ 9.93335063e-01 -1.00782858e-01 -5.59309224e-02 2.91855362e+02] [ 1.00678103e-01 9.94907975e-01 -4.69470993e-03 2.19284949e+01] [ 5.61192670e-02 -9.67599159e-04 9.98423603e-01 1.63494818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.91, Y:21.93, Z:16.35 [[ 9.93738424e-01 -9.67249857e-02 -5.59305017e-02 2.91912068e+02] [ 9.66135257e-02 9.95310876e-01 -4.69971574e-03 2.19341311e+01] [ 5.61228166e-02 -7.33354848e-04 9.98423603e-01 1.63519659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.97, Y:21.94, Z:16.36 [[ 9.94237713e-01 -9.14506050e-02 -5.59299289e-02 2.91970491e+02] [ 9.13304198e-02 9.95809521e-01 -4.70652314e-03 2.19398792e+01] [ 5.61259701e-02 -4.28701082e-04 9.98423603e-01 1.63571632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.03, Y:21.95, Z:16.36 [[ 9.94442640e-01 -8.91953568e-02 -5.59287475e-02 2.92028487e+02] [ 8.90708197e-02 9.96014109e-01 -4.72052001e-03 2.19450643e+01] [ 5.61268701e-02 -2.87333004e-04 9.98423603e-01 1.63613520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.09, Y:21.95, Z:16.36 [[ 9.94751634e-01 -8.56815098e-02 -5.59273316e-02 2.92086896e+02] [ 8.55504817e-02 9.96322575e-01 -4.73723671e-03 2.19494648e+01] [ 5.61275566e-02 -7.22362005e-05 9.98423604e-01 1.63628235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.14, Y:21.95, Z:16.37 [[ 9.95128048e-01 -8.11938438e-02 -5.59260946e-02 2.92144621e+02] [ 8.10549132e-02 9.96698310e-01 -4.75179547e-03 2.19523905e+01] [ 5.61272605e-02 1.95560208e-04 9.98423604e-01 1.63676999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.20, Y:21.95, Z:16.37 [[ 9.95413672e-01 -7.76140633e-02 -5.59256609e-02 2.92202048e+02] [ 7.74691993e-02 9.96983398e-01 -4.75689401e-03 2.19544896e+01] [ 5.61261573e-02 4.02561165e-04 9.98423604e-01 1.63700645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.26, Y:21.96, Z:16.37 [[ 9.95491526e-01 -7.66093342e-02 -5.59252345e-02 2.92259495e+02] [ 7.64626046e-02 9.97061079e-01 -4.76190146e-03 2.19566736e+01] [ 5.61256808e-02 4.64243458e-04 9.98423604e-01 1.63729369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.32, Y:21.96, Z:16.38 [[ 9.95407223e-01 -7.76980351e-02 -5.59238415e-02 2.92316666e+02] [ 7.75521062e-02 9.96976850e-01 -4.77820513e-03 2.19558899e+01] [ 5.61260325e-02 4.19248202e-04 9.98423604e-01 1.63759021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.38, Y:21.95, Z:16.38 [[ 9.95040805e-01 -8.22583276e-02 -5.59228394e-02 2.92375300e+02] [ 8.21189350e-02 9.96611026e-01 -4.78990576e-03 2.19540527e+01] [ 5.61273280e-02 1.73827672e-04 9.98423604e-01 1.63787413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.43, Y:21.96, Z:16.38 [[ 9.94675829e-01 -8.65608876e-02 -5.59214391e-02 2.92433587e+02] [ 8.64273711e-02 9.96246561e-01 -4.80619854e-03 2.19553216e+01] [ 5.61275702e-02 -5.25334531e-05 9.98423604e-01 1.63826292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.49, Y:21.95, Z:16.39 [[ 9.94013451e-01 -9.38621364e-02 -5.59209980e-02 2.92491962e+02] [ 9.37398685e-02 9.95585098e-01 -4.81132464e-03 2.19536435e+01] [ 5.61257135e-02 -4.59505588e-04 9.98423604e-01 1.63852033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.55, Y:21.95, Z:16.39 [[ 9.93506805e-01 -9.90819273e-02 -5.59195827e-02 2.92549435e+02] [ 9.89669937e-02 9.95079006e-01 -4.82771821e-03 2.19540256e+01] [ 5.61227424e-02 -7.37822095e-04 9.98423604e-01 1.63871977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.61, Y:21.95, Z:16.39 [[ 9.92739619e-01 -1.06494870e-01 -5.59186139e-02 2.92607888e+02] [ 1.06391045e-01 9.94312592e-01 -4.83891459e-03 2.19522640e+01] [ 5.61159015e-02 -1.14545752e-03 9.98423604e-01 1.63905306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.67, Y:21.95, Z:16.39 [[ 9.92348106e-01 -1.10084072e-01 -5.59172013e-02 2.92665302e+02] [ 1.09985019e-01 9.93921387e-01 -4.85518354e-03 2.19531611e+01] [ 5.61117806e-02 -1.33202227e-03 9.98423604e-01 1.63949996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.72, Y:21.95, Z:16.40 [[ 9.92014896e-01 -1.13048094e-01 -5.59157839e-02 2.92722827e+02] [ 1.12952825e-01 9.93588410e-01 -4.87145207e-03 2.19523075e+01] [ 5.61079832e-02 -1.48329272e-03 9.98423605e-01 1.63988526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.025099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.78, Y:21.95, Z:16.40 [[ 9.91849859e-01 -1.14487537e-01 -5.59147733e-02 2.92781363e+02] [ 1.14393899e-01 9.93423471e-01 -4.88302490e-03 2.19521459e+01] [ 5.61060936e-02 -1.55308139e-03 9.98423605e-01 1.64018889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.84, Y:21.95, Z:16.40 [[ 9.91653124e-01 -1.16179913e-01 -5.59134050e-02 2.92839626e+02] [ 1.16088081e-01 9.93226842e-01 -4.89864284e-03 2.19521054e+01] [ 5.61038186e-02 -1.63312543e-03 9.98423605e-01 1.64044272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.90, Y:21.95, Z:16.41 [[ 9.91095643e-01 -1.20844002e-01 -5.59120182e-02 2.92897743e+02] [ 1.20758686e-01 9.92669728e-01 -4.91442078e-03 2.19527792e+01] [ 5.60960461e-02 -1.88120083e-03 9.98423605e-01 1.64079547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.96, Y:21.96, Z:16.41 [[ 9.90885945e-01 -1.22552253e-01 -5.59105517e-02 2.92955667e+02] [ 1.22468714e-01 9.92460125e-01 -4.93104836e-03 2.19572528e+01] [ 5.60933042e-02 -1.96118685e-03 9.98423605e-01 1.64114398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.01, Y:21.96, Z:16.41 [[ 9.90345075e-01 -1.26849544e-01 -5.59090890e-02 2.93012881e+02] [ 1.26771902e-01 9.91919556e-01 -4.94757746e-03 2.19612550e+01] [ 5.60849167e-02 -2.18789258e-03 9.98423605e-01 1.64149094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.07, Y:21.97, Z:16.42 [[ 9.90012186e-01 -1.29422597e-01 -5.59076358e-02 2.93070325e+02] [ 1.29348124e-01 9.91586820e-01 -4.96394465e-03 2.19658206e+01] [ 5.60797214e-02 -2.31718210e-03 9.98423605e-01 1.64182281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.13, Y:21.97, Z:16.42 [[ 9.89738280e-01 -1.31501472e-01 -5.59061626e-02 2.93126787e+02] [ 1.31429374e-01 9.91313025e-01 -4.98048143e-03 2.19704518e+01] [ 5.60754478e-02 -2.41833884e-03 9.98423605e-01 1.64209857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.18, Y:21.98, Z:16.42 [[ 9.88990508e-01 -1.37012217e-01 -5.59055287e-02 2.93184009e+02] [ 1.36948491e-01 9.90565614e-01 -4.98758745e-03 2.19756928e+01] [ 5.60614547e-02 -2.72350112e-03 9.98423605e-01 1.64238657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.24, Y:21.98, Z:16.43 [[ 9.88571601e-01 -1.40003299e-01 -5.59040785e-02 2.93241520e+02] [ 1.39943423e-01 9.90146858e-01 -5.00378928e-03 2.19816863e+01] [ 5.60537947e-02 -2.87680415e-03 9.98423606e-01 1.64272893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.30, Y:21.99, Z:16.43 [[ 9.88050051e-01 -1.43638421e-01 -5.59026085e-02 2.93299067e+02] [ 1.43583417e-01 9.89625485e-01 -5.02015919e-03 2.19882266e+01] [ 5.60437337e-02 -3.06651900e-03 9.98423606e-01 1.64309059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.36, Y:21.99, Z:16.43 [[ 9.87863468e-01 -1.44916627e-01 -5.59011589e-02 2.93356802e+02] [ 1.44862753e-01 9.89438941e-01 -5.03624901e-03 2.19947828e+01] [ 5.60406197e-02 -3.12286937e-03 9.98423606e-01 1.64345298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.41, Y:22.00, Z:16.44 [[ 9.87878495e-01 -1.44814721e-01 -5.58996954e-02 2.93414313e+02] [ 1.44759771e-01 9.89453931e-01 -5.05244137e-03 2.20045615e+01] [ 5.60418412e-02 -3.10082895e-03 9.98423606e-01 1.64385686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.47, Y:22.01, Z:16.44 [[ 9.88137572e-01 -1.43036813e-01 -5.58982052e-02 2.93470801e+02] [ 1.42978102e-01 9.89712872e-01 -5.06887460e-03 2.20137966e+01] [ 5.60482089e-02 -2.98347383e-03 9.98423606e-01 1.64421447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.53, Y:22.02, Z:16.45 [[ 9.88661171e-01 -1.39371992e-01 -5.58975639e-02 2.93527391e+02] [ 1.39307041e-01 9.90236226e-01 -5.07593674e-03 2.20249958e+01] [ 5.60592361e-02 -2.76854268e-03 9.98423606e-01 1.64465537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.59, Y:22.04, Z:16.45 [[ 9.89268362e-01 -1.34995309e-01 -5.58961087e-02 2.93585099e+02] [ 1.34922488e-01 9.90843073e-01 -5.09191150e-03 2.20382523e+01] [ 5.60716562e-02 -2.50437514e-03 9.98423606e-01 1.64507276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.64, Y:22.05, Z:16.45 [[ 9.90108430e-01 -1.28689816e-01 -5.58947956e-02 2.93643625e+02] [ 1.28606154e-01 9.91682602e-01 -5.10628537e-03 2.20521840e+01] [ 5.60870232e-02 -2.13263846e-03 9.98423606e-01 1.64543902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.70, Y:22.06, Z:16.46 [[ 9.90737260e-01 -1.23755703e-01 -5.58946085e-02 2.93700657e+02] [ 1.23664085e-01 9.92310989e-01 -5.10833195e-03 2.20630001e+01] [ 5.60970195e-02 -1.85114080e-03 9.98423606e-01 1.64576377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.76, Y:22.08, Z:16.46 [[ 9.91538469e-01 -1.17163600e-01 -5.58941485e-02 2.93757984e+02] [ 1.17061233e-01 9.93111535e-01 -5.11335985e-03 2.20763219e+01] [ 5.61082233e-02 -1.47294495e-03 9.98423606e-01 1.64612491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.82, Y:22.09, Z:16.46 [[ 9.92005173e-01 -1.13144723e-01 -5.58928348e-02 2.93816223e+02] [ 1.13035176e-01 9.93577755e-01 -5.12767968e-03 2.20893288e+01] [ 5.61140473e-02 -1.23117165e-03 9.98423606e-01 1.64644724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.87, Y:22.10, Z:16.47 [[ 9.92057894e-01 -1.12681617e-01 -5.58926481e-02 2.93874241e+02] [ 1.12571222e-01 9.93630417e-01 -5.12971481e-03 2.20981078e+01] [ 5.61146598e-02 -1.20292960e-03 9.98423606e-01 1.64680629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.93, Y:22.11, Z:16.47 [[ 9.91874181e-01 -1.14288093e-01 -5.58913308e-02 2.93933144e+02] [ 1.14179438e-01 9.93446825e-01 -5.14402763e-03 2.21086060e+01] [ 5.61129662e-02 -1.27941255e-03 9.98423607e-01 1.64719484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.99, Y:22.12, Z:16.48 [[ 9.91605878e-01 -1.16593149e-01 -5.58911447e-02 2.93992630e+02] [ 1.16488036e-01 9.93178763e-01 -5.14604868e-03 2.21171551e+01] [ 5.61098920e-02 -1.40779754e-03 9.98423607e-01 1.64761067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.05, Y:22.13, Z:16.48 [[ 9.91050197e-01 -1.21225771e-01 -5.58911447e-02 2.94052512e+02] [ 1.21128009e-01 9.92623556e-01 -5.14604868e-03 2.21258657e+01] [ 5.61027005e-02 -1.66999053e-03 9.98423607e-01 1.64788942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.11, Y:22.13, Z:16.48 [[ 9.90709157e-01 -1.23982041e-01 -5.58911447e-02 2.94112618e+02] [ 1.23888656e-01 9.92282782e-01 -5.14604868e-03 2.21339204e+01] [ 5.60978381e-02 -1.82604126e-03 9.98423607e-01 1.64818696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.17, Y:22.14, Z:16.48 [[ 9.90320298e-01 -1.27050724e-01 -5.58911447e-02 2.94171378e+02] [ 1.26962215e-01 9.91894205e-01 -5.14604868e-03 2.21424580e+01] [ 5.60919117e-02 -1.99982705e-03 9.98423607e-01 1.64845507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.525099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.23, Y:22.15, Z:16.49 [[ 9.90069917e-01 -1.28987368e-01 -5.58911354e-02 2.94231769e+02] [ 1.28901931e-01 9.91643993e-01 -5.14614966e-03 2.21497296e+01] [ 5.60878970e-02 -2.10942733e-03 9.98423607e-01 1.64881233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.29, Y:22.16, Z:16.49 [[ 9.89629450e-01 -1.32324267e-01 -5.58913210e-02 2.94293181e+02] [ 1.32244251e-01 9.91203812e-01 -5.14413297e-03 2.21577215e+01] [ 5.60803840e-02 -2.30052039e-03 9.98423607e-01 1.64921319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.36, Y:22.17, Z:16.50 [[ 9.89002449e-01 -1.36931639e-01 -5.58916984e-02 2.94355346e+02] [ 1.36859187e-01 9.90577177e-01 -5.14002921e-03 2.21651744e+01] [ 5.60688734e-02 -2.56579093e-03 9.98423607e-01 1.64951254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.42, Y:22.17, Z:16.50 [[ 9.88562414e-01 -1.40072946e-01 -5.58920723e-02 2.94417608e+02] [ 1.40005727e-01 9.90137373e-01 -5.13596005e-03 2.21718121e+01] [ 5.60602387e-02 -2.74799317e-03 9.98423607e-01 1.64981228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.48, Y:22.18, Z:16.50 [[ 9.88064903e-01 -1.43540176e-01 -5.58924461e-02 2.94478255e+02] [ 1.43478713e-01 9.89640098e-01 -5.13188869e-03 2.21787597e+01] [ 5.60500381e-02 -2.94873713e-03 9.98423607e-01 1.65004370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.54, Y:22.19, Z:16.50 [[ 9.87928234e-01 -1.44477591e-01 -5.58930316e-02 2.94539776e+02] [ 1.44417982e-01 9.89503500e-01 -5.12550402e-03 2.21861539e+01] [ 5.60468709e-02 -3.00832871e-03 9.98423607e-01 1.65035631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.60, Y:22.19, Z:16.51 [[ 9.88441358e-01 -1.40924125e-01 -5.58934035e-02 2.94601747e+02] [ 1.40859080e-01 9.90016409e-01 -5.12144559e-03 2.21946787e+01] [ 5.60571219e-02 -2.81084478e-03 9.98423607e-01 1.65069741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.66, Y:22.20, Z:16.51 [[ 9.89163332e-01 -1.35763721e-01 -5.58937742e-02 2.94663231e+02] [ 1.35690686e-01 9.90738033e-01 -5.11739663e-03 2.22028242e+01] [ 5.60708447e-02 -2.52232347e-03 9.98423607e-01 1.65119247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.72, Y:22.21, Z:16.52 [[ 9.90126590e-01 -1.28550301e-01 -5.58941456e-02 2.94724244e+02] [ 1.28466020e-01 9.91700729e-01 -5.11333642e-03 2.22114518e+01] [ 5.60875859e-02 -2.11764806e-03 9.98423607e-01 1.65176866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.79, Y:22.22, Z:16.52 [[ 9.91589210e-01 -1.16733207e-01 -5.58945188e-02 2.94785942e+02] [ 1.16630389e-01 9.93162247e-01 -5.10925401e-03 2.22220421e+01] [ 5.61087455e-02 -1.45271832e-03 9.98423607e-01 1.65223272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.85, Y:22.23, Z:16.53 [[ 9.92417801e-01 -1.09465378e-01 -5.58948881e-02 2.94846352e+02] [ 1.09351265e-01 9.93990059e-01 -5.10521055e-03 2.22297278e+01] [ 5.61178069e-02 -1.04567492e-03 9.98423607e-01 1.65252281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.91, Y:22.24, Z:16.53 [[ 9.93318619e-01 -1.00964656e-01 -5.58950744e-02 2.94906777e+02] [ 1.00837202e-01 9.94889851e-01 -5.10317061e-03 2.22371934e+01] [ 5.61246821e-02 -5.67228495e-04 9.98423607e-01 1.65279059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.97, Y:22.24, Z:16.53 [[ 9.93742526e-01 -9.67032173e-02 -5.58952584e-02 2.94967166e+02] [ 9.65691379e-02 9.95313207e-01 -5.10115378e-03 2.22438240e+01] [ 5.61265869e-02 -3.28523477e-04 9.98423607e-01 1.65314729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.03, Y:22.25, Z:16.53 [[ 9.93905445e-01 -9.50141392e-02 -5.58952584e-02 2.95026494e+02] [ 9.48773905e-02 9.95475896e-01 -5.10115378e-03 2.22497704e+01] [ 5.61270642e-02 -2.33131741e-04 9.98423607e-01 1.65343053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.09, Y:22.26, Z:16.54 [[ 9.94135195e-01 -9.25794465e-02 -5.58950746e-02 2.95085578e+02] [ 9.24387384e-02 9.95705296e-01 -5.10316750e-03 2.22550288e+01] [ 5.61274702e-02 -9.36317599e-05 9.98423607e-01 1.65359652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.14, Y:22.26, Z:16.54 [[ 9.93957156e-01 -9.44718700e-02 -5.58948898e-02 2.95143387e+02] [ 9.43340375e-02 9.95527512e-01 -5.10519040e-03 2.22589795e+01] [ 5.61271974e-02 -1.98450103e-04 9.98423607e-01 1.65394973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.20, Y:22.26, Z:16.54 [[ 9.93627468e-01 -9.78788412e-02 -5.58944353e-02 2.95201697e+02] [ 9.77461134e-02 9.95198263e-01 -5.11016164e-03 2.22624353e+01] [ 5.61262217e-02 -3.85866841e-04 9.98423607e-01 1.65431281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.26, Y:22.26, Z:16.55 [[ 9.92918602e-01 -1.04826551e-01 -5.58931521e-02 2.95260345e+02] [ 1.04704026e-01 9.94490226e-01 -5.12415921e-03 2.22644209e+01] [ 5.61223414e-02 -7.64365042e-04 9.98423607e-01 1.65466472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.32, Y:22.27, Z:16.55 [[ 9.92297978e-01 -1.10547821e-01 -5.58918827e-02 2.95321177e+02] [ 1.10433579e-01 9.93870226e-01 -5.13796804e-03 2.22670532e+01] [ 5.61172692e-02 -1.07394532e-03 9.98423607e-01 1.65505692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.38, Y:22.27, Z:16.55 [[ 9.91224504e-01 -1.19791823e-01 -5.58918827e-02 2.95381970e+02] [ 1.19692240e-01 9.92797748e-01 -5.13796804e-03 2.22676189e+01] [ 5.61048218e-02 -1.59694484e-03 9.98423607e-01 1.65536202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.44, Y:22.27, Z:16.56 [[ 9.90058416e-01 -1.29075293e-01 -5.58918827e-02 2.95443813e+02] [ 1.28990458e-01 9.91632524e-01 -5.13796804e-03 2.22689939e+01] [ 5.60873934e-02 -2.12263103e-03 9.98423607e-01 1.65556200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.51, Y:22.27, Z:16.56 [[ 9.89365670e-01 -1.34281974e-01 -5.58920673e-02 2.95505560e+02] [ 1.34205534e-01 9.90940208e-01 -5.13595897e-03 2.22725109e+01] [ 5.60753635e-02 -2.41968326e-03 9.98423607e-01 1.65591324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.57, Y:22.28, Z:16.56 [[ 9.88530257e-01 -1.40299557e-01 -5.58924401e-02 2.95567672e+02] [ 1.40232928e-01 9.90105242e-01 -5.13189889e-03 2.22767571e+01] [ 5.60594010e-02 -2.76492320e-03 9.98423607e-01 1.65623008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.63, Y:22.28, Z:16.57 [[ 9.88105994e-01 -1.43256892e-01 -5.58928141e-02 2.95629175e+02] [ 1.43195207e-01 9.89681180e-01 -5.12782228e-03 2.22823534e+01] [ 5.60506621e-02 -2.93675112e-03 9.98423607e-01 1.65655497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.69, Y:22.29, Z:16.57 [[ 9.87538281e-01 -1.47119319e-01 -5.58931925e-02 2.95690258e+02] [ 1.47064025e-01 9.89113704e-01 -5.12369397e-03 2.22886334e+01] [ 5.60385171e-02 -3.16003392e-03 9.98423607e-01 1.65691255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.025099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.75, Y:22.29, Z:16.57 [[ 9.87200506e-01 -1.49368820e-01 -5.58937952e-02 2.95751772e+02] [ 1.49317487e-01 9.88776063e-01 -5.11711064e-03 2.22946224e+01] [ 5.60307836e-02 -3.29430684e-03 9.98423607e-01 1.65725404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.81, Y:22.30, Z:16.58 [[ 9.86829519e-01 -1.51800339e-01 -5.58941670e-02 2.95814047e+02] [ 1.51753117e-01 9.88405204e-01 -5.11304653e-03 2.23012775e+01] [ 5.60222477e-02 -3.43640884e-03 9.98423607e-01 1.65756455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.87, Y:22.31, Z:16.58 [[ 9.86435392e-01 -1.54340539e-01 -5.58946860e-02 2.95874505e+02] [ 1.54297694e-01 9.88011203e-01 -5.10736613e-03 2.23083404e+01] [ 5.60128496e-02 -3.58633447e-03 9.98423607e-01 1.65776590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.94, Y:22.32, Z:16.58 [[ 9.86077043e-01 -1.56613595e-01 -5.58949666e-02 2.95936044e+02] [ 1.56574556e-01 9.87652953e-01 -5.10429386e-03 2.23153363e+01] [ 5.60042306e-02 -3.71850256e-03 9.98423607e-01 1.65810616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.00, Y:22.32, Z:16.58 [[ 9.86003549e-01 -1.57075500e-01 -5.58953414e-02 2.95997817e+02] [ 1.57037431e-01 9.87579482e-01 -5.10018630e-03 2.23225753e+01] [ 5.60022066e-02 -3.74885901e-03 9.98423607e-01 1.65846438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.06, Y:22.33, Z:16.59 [[ 9.86318562e-01 -1.55085023e-01 -5.58957135e-02 2.96058981e+02] [ 1.55044003e-01 9.87894421e-01 -5.09610510e-03 2.23332561e+01] [ 5.60093931e-02 -3.63991215e-03 9.98423607e-01 1.65884679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.12, Y:22.34, Z:16.59 [[ 9.86501346e-01 -1.53917906e-01 -5.58960873e-02 2.96121632e+02] [ 1.53875253e-01 9.88077162e-01 -5.09200101e-03 2.23403190e+01] [ 5.60133975e-02 -3.57775876e-03 9.98423607e-01 1.65923350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.18, Y:22.35, Z:16.60 [[ 9.87036059e-01 -1.50450602e-01 -5.58966488e-02 2.96184455e+02] [ 1.50402761e-01 9.88611726e-01 -5.08583048e-03 2.23499586e+01] [ 5.60252487e-02 -3.38711224e-03 9.98423607e-01 1.65950178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.25, Y:22.36, Z:16.60 [[ 9.87377149e-01 -1.48195376e-01 -5.58971993e-02 2.96245690e+02] [ 1.48144278e-01 9.88952713e-01 -5.07977228e-03 2.23583526e+01] [ 5.60324857e-02 -3.26519915e-03 9.98423607e-01 1.65987126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.31, Y:22.37, Z:16.60 [[ 9.87826499e-01 -1.45169767e-01 -5.58976503e-02 2.96307456e+02] [ 1.45114122e-01 9.89401909e-01 -5.07480498e-03 2.23683295e+01] [ 5.60419502e-02 -3.09851162e-03 9.98423607e-01 1.66029413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.37, Y:22.38, Z:16.61 [[ 9.88114524e-01 -1.43196024e-01 -5.58980029e-02 2.96369013e+02] [ 1.43137451e-01 9.89689828e-01 -5.07091842e-03 2.23761134e+01] [ 5.60478202e-02 -2.99044948e-03 9.98423607e-01 1.66056279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.43, Y:22.38, Z:16.61 [[ 9.88448120e-01 -1.40874727e-01 -5.58983505e-02 2.96431070e+02] [ 1.40812671e-01 9.90023291e-01 -5.06708310e-03 2.23839677e+01] [ 5.60544929e-02 -2.86264727e-03 9.98423607e-01 1.66086658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.49, Y:22.39, Z:16.61 [[ 9.88860036e-01 -1.37953477e-01 -5.58987197e-02 2.96491962e+02] [ 1.37886996e-01 9.90435027e-01 -5.06300735e-03 2.23919312e+01] [ 5.60625094e-02 -2.70110092e-03 9.98423607e-01 1.66117573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.55, Y:22.40, Z:16.62 [[ 9.89237355e-01 -1.35221142e-01 -5.58989919e-02 2.96553133e+02] [ 1.35150480e-01 9.90812164e-01 -5.06000080e-03 2.23989818e+01] [ 5.60696202e-02 -2.54923376e-03 9.98423607e-01 1.66162645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.61, Y:22.41, Z:16.62 [[ 9.89393062e-01 -1.34076958e-01 -5.58993561e-02 2.96614908e+02] [ 1.34004702e-01 9.90967798e-01 -5.05597369e-03 2.24076235e+01] [ 5.60723514e-02 -2.48843126e-03 9.98423607e-01 1.66190919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.68, Y:22.41, Z:16.62 [[ 9.89867357e-01 -1.30528992e-01 -5.58998819e-02 2.96675833e+02] [ 1.30451419e-01 9.91441841e-01 -5.05015388e-03 2.24114398e+01] [ 5.60806733e-02 -2.29323644e-03 9.98423607e-01 1.66242173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.74, Y:22.42, Z:16.63 [[ 9.90188448e-01 -1.28070312e-01 -5.59001982e-02 2.96737763e+02] [ 1.27989026e-01 9.91762744e-01 -5.04665047e-03 2.24180574e+01] [ 5.60860600e-02 -2.15747693e-03 9.98423607e-01 1.66263809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.80, Y:22.42, Z:16.63 [[ 9.90434439e-01 -1.26153678e-01 -5.59005581e-02 2.96799612e+02] [ 1.26069570e-01 9.92008586e-01 -5.04265996e-03 2.24246439e+01] [ 5.60899838e-02 -2.05293525e-03 9.98423607e-01 1.66293523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.86, Y:22.43, Z:16.63 [[ 9.90790842e-01 -1.23323130e-01 -5.59009137e-02 2.96861039e+02] [ 1.23234747e-01 9.92364756e-01 -5.03871568e-03 2.24307118e+01] [ 5.60954867e-02 -1.89662161e-03 9.98423607e-01 1.66337685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.92, Y:22.44, Z:16.64 [[ 9.90902685e-01 -1.22421059e-01 -5.59012851e-02 2.96923004e+02] [ 1.22331476e-01 9.92476530e-01 -5.03459212e-03 2.24368832e+01] [ 5.60970535e-02 -1.84969584e-03 9.98423607e-01 1.66376488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.98, Y:22.44, Z:16.64 [[ 9.90920729e-01 -1.22274750e-01 -5.59016549e-02 2.96984263e+02] [ 1.22185165e-01 9.92494574e-01 -5.03048186e-03 2.24424741e+01] [ 5.60971901e-02 -1.84554420e-03 9.98423607e-01 1.66411696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.05, Y:22.45, Z:16.64 [[ 9.90648724e-01 -1.24459001e-01 -5.59022591e-02 2.97045728e+02] [ 1.24373265e-01 9.92222784e-01 -5.02375895e-03 2.24482633e+01] [ 5.60927472e-02 -1.97596611e-03 9.98423607e-01 1.66448185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.11, Y:22.45, Z:16.65 [[ 9.90336248e-01 -1.26921286e-01 -5.59026280e-02 2.97107097e+02] [ 1.26839696e-01 9.91910528e-01 -5.01965085e-03 2.24527607e+01] [ 5.60875057e-02 -2.11953013e-03 9.98423607e-01 1.66481693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.17, Y:22.46, Z:16.65 [[ 9.89639004e-01 -1.32247760e-01 -5.59032339e-02 2.97168989e+02] [ 1.32175021e-01 9.91213718e-01 -5.01289372e-03 2.24575968e+01] [ 5.60749963e-02 -2.42805598e-03 9.98423607e-01 1.66518047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.23, Y:22.46, Z:16.65 [[ 9.88933552e-01 -1.37423498e-01 -5.59035965e-02 2.97229589e+02] [ 1.37359227e-01 9.90508634e-01 -5.00884620e-03 2.24624556e+01] [ 5.60613282e-02 -2.72545875e-03 9.98423607e-01 1.66537111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.525099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.29, Y:22.47, Z:16.66 [[ 9.88622520e-01 -1.39643234e-01 -5.59041987e-02 2.97291602e+02] [ 1.39582879e-01 9.90197757e-01 -5.00211682e-03 2.24676692e+01] [ 5.60547239e-02 -2.85806367e-03 9.98423607e-01 1.66572463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.35, Y:22.47, Z:16.66 [[ 9.88643737e-01 -1.39492800e-01 -5.59045589e-02 2.97353724e+02] [ 1.39432432e-01 9.90218974e-01 -4.99808763e-03 2.24741104e+01] [ 5.60549522e-02 -2.85358059e-03 9.98423607e-01 1.66617445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.42, Y:22.48, Z:16.67 [[ 9.89516827e-01 -1.33158053e-01 -5.59051187e-02 2.97415103e+02] [ 1.33087952e-01 9.91091660e-01 -4.99181864e-03 2.24825371e+01] [ 5.60717977e-02 -2.50080918e-03 9.98423607e-01 1.66669250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.48, Y:22.49, Z:16.67 [[ 9.90560833e-01 -1.25155111e-01 -5.59055776e-02 2.97476603e+02] [ 1.25072572e-01 9.92135064e-01 -4.98667354e-03 2.24908658e+01] [ 5.60899915e-02 -2.05265086e-03 9.98423607e-01 1.66712291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.54, Y:22.50, Z:16.68 [[ 9.92157542e-01 -1.11794170e-01 -5.59059456e-02 2.97538265e+02] [ 1.11690656e-01 9.93730533e-01 -4.98254429e-03 2.25011199e+01] [ 5.61124645e-02 -1.30070283e-03 9.98423607e-01 1.66760554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.60, Y:22.51, Z:16.68 [[ 9.93021455e-01 -1.03840616e-01 -5.59063137e-02 2.97599817e+02] [ 1.03724734e-01 9.94593583e-01 -4.97841097e-03 2.25088404e+01] [ 5.61210221e-02 -8.55198592e-04 9.98423607e-01 1.66801813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.66, Y:22.52, Z:16.69 [[ 9.93699808e-01 -9.71346188e-02 -5.59066789e-02 2.97660868e+02] [ 9.70083568e-02 9.95271136e-01 -4.97430611e-03 2.25168615e+01] [ 5.61254812e-02 -4.80448029e-04 9.98423607e-01 1.66875892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.72, Y:22.52, Z:16.69 [[ 9.93872834e-01 -9.53477403e-02 -5.59070572e-02 2.97722301e+02] [ 9.52188925e-02 9.95443952e-01 -4.97005091e-03 2.25217428e+01] [ 5.61262251e-02 -3.83809485e-04 9.98423607e-01 1.66874784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.78, Y:22.53, Z:16.69 [[ 9.93530204e-01 -9.88539521e-02 -5.59073354e-02 2.97783016e+02] [ 9.87308248e-02 9.95101781e-01 -4.96691974e-03 2.25261586e+01] [ 5.61244886e-02 -5.84992554e-04 9.98423607e-01 1.66902543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.84, Y:22.53, Z:16.69 [[ 9.93006830e-01 -1.03979741e-01 -5.59075119e-02 2.97844437e+02] [ 1.03864837e-01 9.94579029e-01 -4.96493192e-03 2.25298303e+01] [ 5.61206912e-02 -8.76613329e-04 9.98423607e-01 1.66938175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.91, Y:22.53, Z:16.70 [[ 9.91946969e-01 -1.13646558e-01 -5.59076941e-02 2.97906754e+02] [ 1.13547088e-01 9.93520221e-01 -4.96287988e-03 2.25321687e+01] [ 5.61094387e-02 -1.42524222e-03 9.98423607e-01 1.66974336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.97, Y:22.54, Z:16.70 [[ 9.90937559e-01 -1.22135346e-01 -5.59080567e-02 2.97967448e+02] [ 1.22049581e-01 9.92511617e-01 -4.95879079e-03 2.25354495e+01] [ 5.60950394e-02 -1.90970283e-03 9.98423607e-01 1.67022702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.03, Y:22.54, Z:16.71 [[ 9.90362845e-01 -1.26711067e-01 -5.59083249e-02 2.98028370e+02] [ 1.26632743e-01 9.91937291e-01 -4.95576592e-03 2.25392729e+01] [ 5.60855027e-02 -2.17181810e-03 9.98423607e-01 1.67057462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.09, Y:22.54, Z:16.71 [[ 9.89713129e-01 -1.31689603e-01 -5.59085878e-02 2.98089699e+02] [ 1.31619365e-01 9.91287956e-01 -4.95279820e-03 2.25444707e+01] [ 5.60737417e-02 -2.45680343e-03 9.98423607e-01 1.67125417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.15, Y:22.55, Z:16.71 [[ 9.89476935e-01 -1.33452552e-01 -5.59089585e-02 2.98151593e+02] [ 1.33385356e-01 9.91051895e-01 -4.94860973e-03 2.25450006e+01] [ 5.60690839e-02 -2.56090114e-03 9.98423607e-01 1.67144443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.21, Y:22.55, Z:16.72 [[ 9.89620972e-01 -1.32379843e-01 -5.59098286e-02 2.98213200e+02] [ 1.32311495e-01 9.91195882e-01 -4.93875912e-03 2.25491428e+01] [ 5.60713841e-02 -2.51001342e-03 9.98423607e-01 1.67185883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.28, Y:22.55, Z:16.72 [[ 9.90009217e-01 -1.29444205e-01 -5.59101745e-02 2.98275399e+02] [ 1.29371407e-01 9.91583928e-01 -4.93484054e-03 2.25544029e+01] [ 5.60784170e-02 -2.34764032e-03 9.98423607e-01 1.67232424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.34, Y:22.56, Z:16.72 [[ 9.90901877e-01 -1.22423371e-01 -5.59105320e-02 2.98335837e+02] [ 1.22339642e-01 9.92476045e-01 -4.93078648e-03 2.25604980e+01] [ 5.60935072e-02 -1.95414887e-03 9.98423607e-01 1.67248789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.40, Y:22.57, Z:16.73 [[ 9.91598756e-01 -1.16644285e-01 -5.59107956e-02 2.98397157e+02] [ 1.16551548e-01 9.93172419e-01 -4.92779566e-03 2.25671631e+01] [ 5.61038594e-02 -1.63009372e-03 9.98423607e-01 1.67295833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.46, Y:22.58, Z:16.73 [[ 9.92624370e-01 -1.07567664e-01 -5.59111522e-02 2.98457622e+02] [ 1.07460761e-01 9.94197134e-01 -4.92374715e-03 2.25750964e+01] [ 5.61163432e-02 -1.12082357e-03 9.98423607e-01 1.67316119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.52, Y:22.58, Z:16.74 [[ 9.93408286e-01 -1.00069271e-01 -5.59117051e-02 2.98518541e+02] [ 9.99508491e-02 9.94980224e-01 -4.91745993e-03 2.25813688e+01] [ 5.61231275e-02 -7.03376965e-04 9.98423607e-01 1.67367432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.58, Y:22.59, Z:16.74 [[ 9.93695888e-01 -9.71717198e-02 -5.59118777e-02 2.98579643e+02] [ 9.70488250e-02 9.95267483e-01 -4.91549673e-03 2.25870337e+01] [ 5.61249211e-02 -5.41673143e-04 9.98423607e-01 1.67411244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.64, Y:22.59, Z:16.75 [[ 9.93806160e-01 -9.60372732e-02 -5.59120535e-02 2.98640637e+02] [ 9.59126969e-02 9.95377623e-01 -4.91349687e-03 2.25917552e+01] [ 5.61254857e-02 -4.79612383e-04 9.98423607e-01 1.67454775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.70, Y:22.60, Z:16.75 [[ 9.93625063e-01 -9.78930933e-02 -5.59122280e-02 2.98702168e+02] [ 9.77715637e-02 9.95196764e-01 -4.91150971e-03 2.25957775e+01] [ 5.61244713e-02 -5.86426826e-04 9.98423607e-01 1.67501482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.76, Y:22.60, Z:16.75 [[ 9.92993905e-01 -1.04100467e-01 -5.59124072e-02 2.98763343e+02] [ 1.03988877e-01 9.94566343e-01 -4.90946914e-03 2.25974782e+01] [ 5.61196764e-02 -9.39195483e-04 9.98423607e-01 1.67534535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.025099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.82, Y:22.60, Z:16.76 [[ 9.92156838e-01 -1.11797100e-01 -5.59125874e-02 2.98824365e+02] [ 1.11697822e-01 9.93730101e-01 -4.90741603e-03 2.25993592e+01] [ 5.61106560e-02 -1.37638784e-03 9.98423607e-01 1.67554135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.89, Y:22.60, Z:16.76 [[ 9.91695340e-01 -1.15819278e-01 -5.59128546e-02 2.98886802e+02] [ 1.15726551e-01 9.93269003e-01 -4.90436963e-03 2.26031398e+01] [ 5.61045259e-02 -1.60696134e-03 9.98423607e-01 1.67587275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.95, Y:22.61, Z:16.76 [[ 9.91534881e-01 -1.17184871e-01 -5.59132024e-02 2.98947735e+02] [ 1.17094535e-01 9.93108683e-01 -4.90040191e-03 2.26076652e+01] [ 5.61021397e-02 -1.68821100e-03 9.98423607e-01 1.67620096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.01, Y:22.61, Z:16.77 [[ 9.91402066e-01 -1.18302985e-01 -5.59137446e-02 2.99009768e+02] [ 1.18214773e-01 9.92975989e-01 -4.89420740e-03 2.26113616e+01] [ 5.61000052e-02 -1.75770329e-03 9.98423607e-01 1.67667412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.07, Y:22.62, Z:16.77 [[ 9.91576487e-01 -1.16831866e-01 -5.59140916e-02 2.99071647e+02] [ 1.16741542e-01 9.93150290e-01 -4.89023962e-03 2.26160617e+01] [ 5.61024321e-02 -1.67845068e-03 9.98423607e-01 1.67705565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.13, Y:22.62, Z:16.77 [[ 9.91724777e-01 -1.15566181e-01 -5.59144439e-02 2.99134034e+02] [ 1.15474076e-01 9.93298476e-01 -4.88620801e-03 2.26208076e+01] [ 5.61044123e-02 -1.61089518e-03 9.98423607e-01 1.67739644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.20, Y:22.62, Z:16.78 [[ 9.91772781e-01 -1.15153322e-01 -5.59147926e-02 2.99195640e+02] [ 1.15060787e-01 9.93346455e-01 -4.88221438e-03 2.26246035e+01] [ 5.61049642e-02 -1.59155270e-03 9.98423607e-01 1.67771203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.26, Y:22.63, Z:16.78 [[ 9.91676310e-01 -1.15981001e-01 -5.59151470e-02 2.99257888e+02] [ 1.15890008e-01 9.93250074e-01 -4.87815265e-03 2.26285201e+01] [ 5.61034969e-02 -1.64245839e-03 9.98423607e-01 1.67791294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.32, Y:22.63, Z:16.78 [[ 9.91597993e-01 -1.16648521e-01 -5.59154981e-02 2.99318629e+02] [ 1.16558814e-01 9.93171831e-01 -4.87412481e-03 2.26330233e+01] [ 5.61022571e-02 -1.68427177e-03 9.98423607e-01 1.67805293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.38, Y:22.64, Z:16.78 [[ 9.91415814e-01 -1.18186767e-01 -5.59157571e-02 2.99380493e+02] [ 1.18099669e-01 9.92989799e-01 -4.87115114e-03 2.26383073e+01] [ 5.60994820e-02 -1.77429615e-03 9.98423607e-01 1.67844736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.44, Y:22.64, Z:16.79 [[ 9.91483846e-01 -1.17614501e-01 -5.59161112e-02 2.99441364e+02] [ 1.17526724e-01 9.93057793e-01 -4.86708370e-03 2.26444196e+01] [ 5.61003696e-02 -1.74600249e-03 9.98423608e-01 1.67873827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.50, Y:22.65, Z:16.79 [[ 9.91714657e-01 -1.15652057e-01 -5.59163729e-02 2.99502837e+02] [ 1.15561335e-01 9.93288437e-01 -4.86407462e-03 2.26513644e+01] [ 5.61036269e-02 -1.63799662e-03 9.98423608e-01 1.67928497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.56, Y:22.66, Z:16.80 [[ 9.91981279e-01 -1.13342229e-01 -5.59167279e-02 2.99564651e+02] [ 1.13248072e-01 9.93554857e-01 -4.85999014e-03 2.26583589e+01] [ 5.61071788e-02 -1.51144239e-03 9.98423608e-01 1.67972985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.63, Y:22.66, Z:16.80 [[ 9.91960809e-01 -1.13521072e-01 -5.59170790e-02 2.99626919e+02] [ 1.13427426e-01 9.93534418e-01 -4.85594722e-03 2.26639569e+01] [ 5.61067949e-02 -1.52562102e-03 9.98423608e-01 1.68009252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.69, Y:22.67, Z:16.80 [[ 9.91656108e-01 -1.16152505e-01 -5.59174342e-02 2.99688179e+02] [ 1.16063266e-01 9.93229972e-01 -4.85185349e-03 2.26689977e+01] [ 5.61024266e-02 -1.67858989e-03 9.98423608e-01 1.68025853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.75, Y:22.67, Z:16.81 [[ 9.91226602e-01 -1.19762257e-01 -5.59180227e-02 2.99749786e+02] [ 1.19679131e-01 9.92800801e-01 -4.84506211e-03 2.26734350e+01] [ 5.60957133e-02 -1.88966589e-03 9.98423608e-01 1.68052414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.81, Y:22.68, Z:16.81 [[ 9.90583902e-01 -1.24966676e-01 -5.59183664e-02 2.99811428e+02] [ 1.24892042e-01 9.92158526e-01 -4.84109194e-03 2.26776126e+01] [ 5.60848592e-02 -2.18825124e-03 9.98423608e-01 1.68075271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.87, Y:22.68, Z:16.81 [[ 9.90148206e-01 -1.28373003e-01 -5.59187116e-02 2.99873534e+02] [ 1.28304011e-01 9.91723088e-01 -4.83710180e-03 2.26826542e+01] [ 5.60768306e-02 -2.38514732e-03 9.98423608e-01 1.68099684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.94, Y:22.69, Z:16.81 [[ 9.90067612e-01 -1.28992957e-01 -5.59190604e-02 2.99935011e+02] [ 1.28925179e-01 9.91642546e-01 -4.83306602e-03 2.26882510e+01] [ 5.60751509e-02 -2.42431271e-03 9.98423608e-01 1.68128618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.00, Y:22.69, Z:16.82 [[ 9.90164794e-01 -1.28244691e-01 -5.59194062e-02 2.99996989e+02] [ 1.28175948e-01 9.91739687e-01 -4.82906116e-03 2.26940575e+01] [ 5.60767959e-02 -2.38595658e-03 9.98423608e-01 1.68167803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.06, Y:22.70, Z:16.82 [[ 9.90848104e-01 -1.22853631e-01 -5.59197641e-02 3.00058090e+02] [ 1.22776552e-01 9.92422611e-01 -4.82491336e-03 2.27018445e+01] [ 5.60887964e-02 -2.08487955e-03 9.98423608e-01 1.68204226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.12, Y:22.71, Z:16.82 [[ 9.91740255e-01 -1.15430428e-01 -5.59203268e-02 3.00119899e+02] [ 1.15341928e-01 9.93314161e-01 -4.81838340e-03 2.27094856e+01] [ 5.61026405e-02 -1.67137350e-03 9.98423608e-01 1.68242848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.18, Y:22.72, Z:16.83 [[ 9.92288722e-01 -1.10616321e-01 -5.59206813e-02 3.00182012e+02] [ 1.10520416e-01 9.93862194e-01 -4.81426466e-03 2.27155505e+01] [ 5.61099873e-02 -1.40323644e-03 9.98423608e-01 1.68279059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.24, Y:22.72, Z:16.83 [[ 9.92772855e-01 -1.06183315e-01 -5.59210334e-02 3.00243552e+02] [ 1.06080614e-01 9.94345898e-01 -4.81017241e-03 2.27211310e+01] [ 5.61156102e-02 -1.15672894e-03 9.98423608e-01 1.68307873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.30, Y:22.73, Z:16.83 [[ 9.92950423e-01 -1.04509601e-01 -5.59213860e-02 3.00304118e+02] [ 1.04404479e-01 9.94523306e-01 -4.80606868e-03 2.27266843e+01] [ 5.61174020e-02 -1.06625526e-03 9.98423608e-01 1.68337679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.525099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.37, Y:22.73, Z:16.84 [[ 9.93064348e-01 -1.03421366e-01 -5.59215598e-02 3.00365217e+02] [ 1.03314635e-01 9.94637123e-01 -4.80404554e-03 2.27317777e+01] [ 5.61185004e-02 -1.00678917e-03 9.98423608e-01 1.68367739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.43, Y:22.74, Z:16.84 [[ 9.93033420e-01 -1.03717823e-01 -5.59217365e-02 3.00425547e+02] [ 1.03611677e-01 9.94606234e-01 -4.80198812e-03 2.27370416e+01] [ 5.61181595e-02 -1.02561020e-03 9.98423608e-01 1.68394056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.49, Y:22.74, Z:16.84 [[ 9.92664671e-01 -1.07189451e-01 -5.59220167e-02 3.00486803e+02] [ 1.07088989e-01 9.94237859e-01 -4.79872255e-03 2.27418553e+01] [ 5.61141586e-02 -1.22510991e-03 9.98423608e-01 1.68430162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.55, Y:22.75, Z:16.85 [[ 9.92196534e-01 -1.11439431e-01 -5.59221901e-02 3.00547807e+02] [ 1.11345821e-01 9.93770144e-01 -4.79670111e-03 2.27460066e+01] [ 5.61083446e-02 -1.46743196e-03 9.98423608e-01 1.68463233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.61, Y:22.75, Z:16.85 [[ 9.91389958e-01 -1.18400301e-01 -5.59224473e-02 3.00610154e+02] [ 1.18317906e-01 9.92964195e-01 -4.79370150e-03 2.27491993e+01] [ 5.60965635e-02 -1.86419934e-03 9.98423608e-01 1.68486785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.67, Y:22.75, Z:16.85 [[ 9.90526193e-01 -1.25421303e-01 -5.59227899e-02 3.00671044e+02] [ 1.25350289e-01 9.92100985e-01 -4.78970061e-03 2.27528190e+01] [ 5.60817854e-02 -2.26561399e-03 9.98423608e-01 1.68518790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.73, Y:22.76, Z:16.86 [[ 9.89975205e-01 -1.29698526e-01 -5.59230432e-02 3.00732765e+02] [ 1.29634482e-01 9.91550295e-01 -4.78674134e-03 2.27563807e+01] [ 5.60713433e-02 -2.51079949e-03 9.98423608e-01 1.68551412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.80, Y:22.76, Z:16.86 [[ 9.89369789e-01 -1.34238576e-01 -5.59233964e-02 3.00795048e+02] [ 1.34181991e-01 9.90945165e-01 -4.78261212e-03 2.27609172e+01] [ 5.60590303e-02 -2.77214071e-03 9.98423608e-01 1.68597475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.86, Y:22.77, Z:16.86 [[ 9.89282453e-01 -1.34880552e-01 -5.59237493e-02 3.00855979e+02] [ 1.34825222e-01 9.90857874e-01 -4.77848109e-03 2.27667519e+01] [ 5.60570115e-02 -2.81266441e-03 9.98423608e-01 1.68639543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.92, Y:22.77, Z:16.87 [[ 9.89305878e-01 -1.34708515e-01 -5.59240101e-02 3.00917760e+02] [ 1.34653083e-01 9.90881296e-01 -4.77542725e-03 2.27731498e+01] [ 5.60573463e-02 -2.80598211e-03 9.98423608e-01 1.68682127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.98, Y:22.78, Z:16.87 [[ 9.88765489e-01 -1.38619166e-01 -5.59243693e-02 3.00977982e+02] [ 1.38570202e-01 9.90341120e-01 -4.77121726e-03 2.27795592e+01] [ 5.60455847e-02 -3.03183617e-03 9.98423608e-01 1.68725453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.04, Y:22.79, Z:16.87 [[ 9.88016320e-01 -1.43861695e-01 -5.59246348e-02 3.01038998e+02] [ 1.43821264e-01 9.89592193e-01 -4.76810286e-03 2.27850878e+01] [ 5.60285294e-02 -3.33218820e-03 9.98423608e-01 1.68678705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.10, Y:22.79, Z:16.87 [[ 9.88108707e-01 -1.43225655e-01 -5.59248951e-02 3.01100623e+02] [ 1.43184382e-01 9.89684559e-01 -4.76504768e-03 2.27928641e+01] [ 5.60304823e-02 -3.29918645e-03 9.98423608e-01 1.68680532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.16, Y:22.80, Z:16.87 [[ 9.88944359e-01 -1.37336896e-01 -5.59252392e-02 3.01161717e+02] [ 1.37286464e-01 9.90519944e-01 -4.76100589e-03 2.28038305e+01] [ 5.60489266e-02 -2.96940845e-03 9.98423608e-01 1.68730119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.22, Y:22.81, Z:16.88 [[ 9.89926445e-01 -1.30069065e-01 -5.59255862e-02 3.01223503e+02] [ 1.30007291e-01 9.91501627e-01 -4.75692689e-03 2.28134190e+01] [ 5.60690387e-02 -2.56172624e-03 9.98423608e-01 1.68791290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.28, Y:22.82, Z:16.89 [[ 9.91446239e-01 -1.17926442e-01 -5.59259348e-02 3.01284854e+02] [ 1.17845598e-01 9.93020556e-01 -4.75282505e-03 2.28237417e+01] [ 5.60960866e-02 -1.87845473e-03 9.98423608e-01 1.68868728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.35, Y:22.83, Z:16.89 [[ 9.92477644e-01 -1.08905363e-01 -5.59262791e-02 3.01346083e+02] [ 1.08810434e-01 9.94051175e-01 -4.74876985e-03 2.28315044e+01] [ 5.61107500e-02 -1.37231481e-03 9.98423608e-01 1.68945282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.41, Y:22.84, Z:16.90 [[ 9.93147995e-01 -1.02612248e-01 -5.59266180e-02 3.01408312e+02] [ 1.02507571e-01 9.94720908e-01 -4.74477538e-03 2.28363042e+01] [ 5.61182483e-02 -1.02063762e-03 9.98423608e-01 1.68974856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.47, Y:22.84, Z:16.90 [[ 9.93932992e-01 -9.47068272e-02 -5.59269620e-02 3.01469748e+02] [ 9.45898674e-02 9.95505039e-01 -4.74071668e-03 2.28408800e+01] [ 5.61245507e-02 -5.78169209e-04 9.98423608e-01 1.68992286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.53, Y:22.85, Z:16.90 [[ 9.94238717e-01 -9.14413965e-02 -5.59271355e-02 3.01530514e+02] [ 9.13193885e-02 9.95810381e-01 -4.73866987e-03 2.28450423e+01] [ 5.61261326e-02 -3.95862752e-04 9.98423608e-01 1.69020810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.59, Y:22.85, Z:16.90 [[ 9.94680882e-01 -8.64991269e-02 -5.59271355e-02 3.01589856e+02] [ 8.63693096e-02 9.96251920e-01 -4.73866987e-03 2.28469375e+01] [ 5.61274069e-02 -1.16923747e-04 9.98423608e-01 1.69042968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.65, Y:22.85, Z:16.91 [[ 9.95098621e-01 -8.15529839e-02 -5.59271420e-02 3.01648845e+02] [ 8.14153621e-02 9.96668994e-01 -4.73859285e-03 2.28498171e+01] [ 5.61272947e-02 1.62038699e-04 9.98423608e-01 1.69085980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.71, Y:22.85, Z:16.91 [[ 9.95413607e-01 -7.76146598e-02 -5.59259876e-02 3.01707604e+02] [ 7.74700617e-02 9.96983353e-01 -4.75217842e-03 2.28516966e+01] [ 5.61261173e-02 3.97793355e-04 9.98423608e-01 1.69137619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.77, Y:22.82, Z:16.91 [[ 9.90767885e-01 -1.23496624e-01 -5.59247902e-02 3.01770184e+02] [ 1.23423874e-01 9.92342597e-01 -4.76622861e-03 2.28166718e+01] [ 5.60851647e-02 -2.18022802e-03 9.98423608e-01 1.69073227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.83, Y:22.82, Z:16.91 [[ 9.90597528e-01 -1.24855894e-01 -5.59244405e-02 3.01831505e+02] [ 1.24785074e-01 9.92172328e-01 -4.77032808e-03 2.28206285e+01] [ 5.60822859e-02 -2.25306022e-03 9.98423608e-01 1.69103461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.025099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.89, Y:22.83, Z:16.91 [[ 9.90602131e-01 -1.24819288e-01 -5.59246164e-02 3.01893030e+02] [ 1.24748526e-01 9.92176934e-01 -4.76826497e-03 2.28258447e+01] [ 5.60822859e-02 -2.25306001e-03 9.98423608e-01 1.69138165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.95, Y:22.83, Z:16.92 [[ 9.90485738e-01 -1.25739498e-01 -5.59247922e-02 3.01954304e+02] [ 1.25670314e-01 9.92060611e-01 -4.76620165e-03 2.28303659e+01] [ 5.60800833e-02 -2.30723147e-03 9.98423608e-01 1.69166738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.02, Y:22.84, Z:16.92 [[ 9.90490322e-01 -1.25703303e-01 -5.59249660e-02 3.02015829e+02] [ 1.25634178e-01 9.92065198e-01 -4.76416149e-03 2.28355769e+01] [ 5.60800833e-02 -2.30723126e-03 9.98423608e-01 1.69201443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.08, Y:22.84, Z:16.92 [[ 9.90451696e-01 -1.26007207e-01 -5.59251398e-02 3.02077147e+02] [ 1.25938680e-01 9.92026598e-01 -4.76212112e-03 2.28401536e+01] [ 5.60792877e-02 -2.32648733e-03 9.98423608e-01 1.69237520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.14, Y:22.84, Z:16.93 [[ 9.90421085e-01 -1.26247506e-01 -5.59253162e-02 3.02138333e+02] [ 1.26179478e-01 9.91996009e-01 -4.76004813e-03 2.28440773e+01] [ 5.60786347e-02 -2.34217516e-03 9.98423608e-01 1.69265626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.20, Y:22.85, Z:16.93 [[ 9.90438654e-01 -1.26109524e-01 -5.59254926e-02 3.02199741e+02] [ 1.26041393e-01 9.92013573e-01 -4.75797512e-03 2.28488016e+01] [ 5.60788737e-02 -2.33644448e-03 9.98423608e-01 1.69297113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.26, Y:22.85, Z:16.93 [[ 9.90353696e-01 -1.26774904e-01 -5.59256683e-02 3.02260477e+02] [ 1.26707948e-01 9.91928665e-01 -4.75590886e-03 2.28544957e+01] [ 5.60772034e-02 -2.37619473e-03 9.98423608e-01 1.69340358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.32, Y:22.86, Z:16.94 [[ 9.90266764e-01 -1.27452090e-01 -5.59258440e-02 3.02320282e+02] [ 1.27386327e-01 9.91841784e-01 -4.75384190e-03 2.28617333e+01] [ 5.60754760e-02 -2.41661621e-03 9.98423608e-01 1.69389490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.38, Y:22.87, Z:16.94 [[ 9.90288539e-01 -1.27282757e-01 -5.59259305e-02 3.02381520e+02] [ 1.27216781e-01 9.91863550e-01 -4.75282436e-03 2.28683371e+01] [ 5.60758445e-02 -2.40804938e-03 9.98423608e-01 1.69431830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.44, Y:22.88, Z:16.95 [[ 9.90140320e-01 -1.28430426e-01 -5.59264863e-02 3.02443181e+02] [ 1.28366645e-01 9.91715422e-01 -4.74627432e-03 2.28757668e+01] [ 5.60727250e-02 -2.47961786e-03 9.98423608e-01 1.69454769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.50, Y:22.88, Z:16.95 [[ 9.89866463e-01 -1.30524227e-01 -5.59268355e-02 3.02503474e+02] [ 1.30464011e-01 9.91441705e-01 -4.74215644e-03 2.28818474e+01] [ 5.60671634e-02 -2.60233763e-03 9.98423608e-01 1.69469747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.57, Y:22.89, Z:16.95 [[ 9.89779165e-01 -1.31184539e-01 -5.59269210e-02 3.02565065e+02] [ 1.31125430e-01 9.91354449e-01 -4.74114814e-03 2.28899930e+01] [ 5.60653672e-02 -2.64075189e-03 9.98423608e-01 1.69499351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.63, Y:22.90, Z:16.96 [[ 9.90495615e-01 -1.25660563e-01 -5.59272704e-02 3.02625796e+02] [ 1.25592899e-01 9.92070554e-01 -4.73702267e-03 2.29014042e+01] [ 5.60790551e-02 -2.33206784e-03 9.98423608e-01 1.69551581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.69, Y:22.91, Z:16.96 [[ 9.91353659e-01 -1.18701449e-01 -5.59275327e-02 3.02687157e+02] [ 1.18622901e-01 9.92928093e-01 -4.73392395e-03 2.29114956e+01] [ 5.60939420e-02 -1.94129335e-03 9.98423608e-01 1.69597773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.75, Y:22.92, Z:16.96 [[ 9.92304365e-01 -1.10472255e-01 -5.59278801e-02 3.02747343e+02] [ 1.10380878e-01 9.93878107e-01 -4.72981576e-03 2.29215762e+01] [ 5.61080090e-02 -1.47995169e-03 9.98423608e-01 1.69642769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.81, Y:22.93, Z:16.97 [[ 9.92763450e-01 -1.06267516e-01 -5.59280519e-02 3.02808359e+02] [ 1.06169588e-01 9.94336797e-01 -4.72778398e-03 2.29289777e+01] [ 5.61137298e-02 -1.24428706e-03 9.98423608e-01 1.69683178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.87, Y:22.94, Z:16.97 [[ 9.93937124e-01 -9.46627093e-02 -5.59282210e-02 3.02868506e+02] [ 9.45465199e-02 9.95509228e-01 -4.72578269e-03 2.29407213e+01] [ 5.61244155e-02 -5.90687804e-04 9.98423608e-01 1.69738531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.93, Y:22.95, Z:16.98 [[ 9.94654355e-01 -8.68028218e-02 -5.59283874e-02 3.02927238e+02] [ 8.66743195e-02 9.96225501e-01 -4.72381283e-03 2.29493886e+01] [ 5.61273260e-02 -1.48993918e-04 9.98423608e-01 1.69774120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.99, Y:22.96, Z:16.98 [[ 9.94870564e-01 -8.42887589e-02 -5.59282183e-02 3.02985969e+02] [ 8.41561738e-02 9.96441371e-01 -4.72581399e-03 2.29552659e+01] [ 5.61275235e-02 -5.13163068e-06 9.98423608e-01 1.69804990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.04, Y:22.96, Z:16.98 [[ 9.94846470e-01 -8.45734679e-02 -5.59270109e-02 3.03043118e+02] [ 8.44405315e-02 9.96417246e-01 -4.74005973e-03 2.29594601e+01] [ 5.61275215e-02 -6.87483287e-06 9.98423608e-01 1.69829650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.10, Y:22.96, Z:16.99 [[ 9.94631560e-01 -8.70647901e-02 -5.59265869e-02 3.03100928e+02] [ 8.69355072e-02 9.96202641e-01 -4.74505627e-03 2.29630523e+01] [ 5.61273410e-02 -1.42423487e-04 9.98423608e-01 1.69862943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.16, Y:22.96, Z:16.99 [[ 9.94143479e-01 -9.24722278e-02 -5.59252263e-02 3.03159301e+02] [ 9.23505911e-02 9.95715171e-01 -4.76103934e-03 2.29643695e+01] [ 5.61258601e-02 -4.31571492e-04 9.98423608e-01 1.69902432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.22, Y:22.97, Z:16.99 [[ 9.93700831e-01 -9.71141815e-02 -5.59239962e-02 3.03217458e+02] [ 9.69990759e-02 9.95273015e-01 -4.77544425e-03 2.29666368e+01] [ 5.61234077e-02 -6.79213030e-04 9.98423608e-01 1.69943127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.28, Y:22.97, Z:17.00 [[ 9.92911363e-01 -1.04878795e-01 -5.59237370e-02 3.03277335e+02] [ 1.04775811e-01 9.94484387e-01 -4.77847785e-03 2.29675211e+01] [ 5.61164443e-02 -1.11484996e-03 9.98423608e-01 1.69986467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.34, Y:22.97, Z:17.00 [[ 9.92327972e-01 -1.10262194e-01 -5.59235665e-02 3.03338993e+02] [ 1.10167630e-01 9.93901524e-01 -4.78047236e-03 2.29697582e+01] [ 5.61096234e-02 -1.41717037e-03 9.98423608e-01 1.70018529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.525099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.40, Y:22.97, Z:17.00 [[ 9.91609451e-01 -1.16547123e-01 -5.59237443e-02 3.03399859e+02] [ 1.16462649e-01 9.93183577e-01 -4.77839151e-03 2.29705800e+01] [ 5.60994522e-02 -1.77472921e-03 9.98423608e-01 1.70045835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.46, Y:22.97, Z:17.01 [[ 9.91257809e-01 -1.19500965e-01 -5.59238320e-02 3.03461358e+02] [ 1.19421238e-01 9.92832184e-01 -4.77736502e-03 2.29728608e+01] [ 5.60938800e-02 -1.94289289e-03 9.98423608e-01 1.70069895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.52, Y:22.97, Z:17.01 [[ 9.91053147e-01 -1.21186489e-01 -5.59240090e-02 3.03522716e+02] [ 1.21109557e-01 9.92627660e-01 -4.77529229e-03 2.29745967e+01] [ 5.60904191e-02 -2.04036348e-03 9.98423608e-01 1.70094973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.58, Y:22.98, Z:17.01 [[ 9.91085578e-01 -1.20920710e-01 -5.59245821e-02 3.03583518e+02] [ 1.20843735e-01 9.92660089e-01 -4.76857107e-03 2.29781704e+01] [ 5.60907197e-02 -2.03207335e-03 9.98423608e-01 1.70118424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.65, Y:22.98, Z:17.01 [[ 9.91154933e-01 -1.20350821e-01 -5.59247541e-02 3.03645967e+02] [ 1.20273054e-01 9.92729405e-01 -4.76655338e-03 2.29825544e+01] [ 5.60918065e-02 -2.00184806e-03 9.98423608e-01 1.70136380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.71, Y:22.99, Z:17.02 [[ 9.91143686e-01 -1.20443249e-01 -5.59251119e-02 3.03707162e+02] [ 1.20365865e-01 9.92718177e-01 -4.76235170e-03 2.29878572e+01] [ 5.60914682e-02 -2.01129966e-03 9.98423608e-01 1.70170981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.77, Y:22.99, Z:17.02 [[ 9.91053646e-01 -1.21181781e-01 -5.59253755e-02 3.03767795e+02] [ 1.21105745e-01 9.92628202e-01 -4.75925346e-03 2.29933349e+01] [ 5.60898398e-02 -2.05620880e-03 9.98423608e-01 1.70206491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.83, Y:23.00, Z:17.02 [[ 9.90913733e-01 -1.22320513e-01 -5.59255476e-02 3.03828715e+02] [ 1.22246400e-01 9.92488381e-01 -4.75723018e-03 2.29987928e+01] [ 5.60873631e-02 -2.12269217e-03 9.98423608e-01 1.70238154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.89, Y:23.00, Z:17.03 [[ 9.90467100e-01 -1.25885813e-01 -5.59257219e-02 3.03889963e+02] [ 1.25817484e-01 9.92042010e-01 -4.75518056e-03 2.30038918e+01] [ 5.60792753e-02 -2.32658370e-03 9.98423608e-01 1.70268312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.95, Y:23.01, Z:17.03 [[ 9.89950105e-01 -1.29888734e-01 -5.59258944e-02 3.03951022e+02] [ 1.29826886e-01 9.91525283e-01 -4.75315166e-03 2.30087103e+01] [ 5.60693191e-02 -2.55530174e-03 9.98423608e-01 1.70299258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.01, Y:23.01, Z:17.03 [[ 9.89773510e-01 -1.31227407e-01 -5.59264424e-02 3.04010898e+02] [ 1.31168054e-01 9.91348784e-01 -4.74669496e-03 2.30148650e+01] [ 5.60655071e-02 -2.63760966e-03 9.98423608e-01 1.70344652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.07, Y:23.02, Z:17.04 [[ 9.89963317e-01 -1.29787732e-01 -5.59265255e-02 3.04072994e+02] [ 1.29726142e-01 9.91538505e-01 -4.74571548e-03 2.30210762e+01] [ 5.60692391e-02 -2.55704817e-03 9.98423608e-01 1.70389823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.14, Y:23.03, Z:17.04 [[ 9.90417912e-01 -1.26271712e-01 -5.59268709e-02 3.04135028e+02] [ 1.26204759e-01 9.91992881e-01 -4.74164160e-03 2.30285284e+01] [ 5.60777929e-02 -2.36203051e-03 9.98423608e-01 1.70432012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.20, Y:23.04, Z:17.05 [[ 9.91490226e-01 -1.17555432e-01 -5.59272106e-02 3.04196774e+02] [ 1.17474855e-01 9.93064556e-01 -4.73763113e-03 2.30380506e+01] [ 5.60962649e-02 -1.87272598e-03 9.98423608e-01 1.70468502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.26, Y:23.05, Z:17.05 [[ 9.92620432e-01 -1.07595483e-01 -5.59275498e-02 3.04257748e+02] [ 1.07499330e-01 9.94193888e-01 -4.73362401e-03 2.30482431e+01] [ 5.61121447e-02 -1.31348223e-03 9.98423608e-01 1.70509390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.32, Y:23.06, Z:17.05 [[ 9.93154621e-01 -1.02547497e-01 -5.59277221e-02 3.04317963e+02] [ 1.02443460e-01 9.94727576e-01 -4.73158746e-03 2.30564178e+01] [ 5.61180598e-02 -1.03023143e-03 9.98423608e-01 1.70545478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.38, Y:23.06, Z:17.06 [[ 9.93585621e-01 -9.82837893e-02 -5.59277221e-02 3.04377284e+02] [ 9.81730024e-02 9.95158115e-01 -4.73158746e-03 2.30648327e+01] [ 5.61219648e-02 -7.89355128e-04 9.98423608e-01 1.70564388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.44, Y:23.07, Z:17.06 [[ 9.93626144e-01 -9.78733131e-02 -5.59276378e-02 3.04437103e+02] [ 9.77618206e-02 9.95198588e-01 -4.73258269e-03 2.30721294e+01] [ 5.61222997e-02 -7.65169814e-04 9.98423608e-01 1.70584519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.50, Y:23.08, Z:17.06 [[ 9.93557619e-01 -9.85665059e-02 -5.59276378e-02 3.04497016e+02] [ 9.84561104e-02 9.95130141e-01 -4.73258269e-03 2.30774261e+01] [ 5.61217522e-02 -8.04324100e-04 9.98423608e-01 1.70610582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.56, Y:23.08, Z:17.07 [[ 9.93219991e-01 -1.01912457e-01 -5.59276378e-02 3.04556882e+02] [ 1.01807359e-01 9.94792875e-01 -4.73258269e-03 2.30823947e+01] [ 5.61187248e-02 -9.93349361e-04 9.98423608e-01 1.70653770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.62, Y:23.09, Z:17.07 [[ 9.92788931e-01 -1.06029424e-01 -5.59276378e-02 3.04616808e+02] [ 1.05930848e-01 9.94362237e-01 -4.73258269e-03 2.30870020e+01] [ 5.61141241e-02 -1.22600640e-03 9.98423608e-01 1.70692163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.68, Y:23.09, Z:17.07 [[ 9.91820150e-01 -1.14738348e-01 -5.59276378e-02 3.04678176e+02] [ 1.14653583e-01 9.93394261e-01 -4.73258269e-03 2.30902382e+01] [ 5.61012032e-02 -1.71843322e-03 9.98423608e-01 1.70720246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.74, Y:23.09, Z:17.08 [[ 9.91466149e-01 -1.17758040e-01 -5.59278115e-02 3.04740171e+02] [ 1.17678185e-01 9.93040516e-01 -4.73052991e-03 2.30947448e+01] [ 5.60956407e-02 -1.89132307e-03 9.98423608e-01 1.70750159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.80, Y:23.10, Z:17.08 [[ 9.90369894e-01 -1.26647204e-01 -5.59281601e-02 3.04802413e+02] [ 1.26581707e-01 9.91944924e-01 -4.72640437e-03 2.30986412e+01] [ 5.60762404e-02 -2.39859340e-03 9.98423609e-01 1.70777034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.86, Y:23.10, Z:17.08 [[ 9.89818692e-01 -1.30885288e-01 -5.59285131e-02 3.04864242e+02] [ 1.30826770e-01 9.91393997e-01 -4.72222407e-03 2.31037726e+01] [ 5.60652618e-02 -2.64280104e-03 9.98423609e-01 1.70814823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.025099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.92, Y:23.11, Z:17.09 [[ 9.89554164e-01 -1.32870309e-01 -5.59288615e-02 3.04924857e+02] [ 1.32815183e-01 9.91129591e-01 -4.71809312e-03 2.31089525e+01] [ 5.60596442e-02 -2.75939331e-03 9.98423609e-01 1.70852357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.99, Y:23.12, Z:17.09 [[ 9.89642183e-01 -1.32213019e-01 -5.59291186e-02 3.04986478e+02] [ 1.32157019e-01 9.91217580e-01 -4.71504454e-03 2.31151949e+01] [ 5.60613158e-02 -2.72521860e-03 9.98423609e-01 1.70856522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.05, Y:23.12, Z:17.09 [[ 9.89958996e-01 -1.29819427e-01 -5.59294520e-02 3.05048707e+02] [ 1.29759840e-01 9.91534260e-01 -4.71108595e-03 2.31206830e+01] [ 5.60675583e-02 -2.59361481e-03 9.98423609e-01 1.70907670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.11, Y:23.13, Z:17.09 [[ 9.91001667e-01 -1.21604086e-01 -5.59297936e-02 3.05109191e+02] [ 1.21531664e-01 9.92576394e-01 -4.70702705e-03 2.31279961e+01] [ 5.60869866e-02 -2.13256923e-03 9.98423609e-01 1.70897008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.17, Y:23.14, Z:17.09 [[ 9.91859555e-01 -1.14396074e-01 -5.59299745e-02 3.05169807e+02] [ 1.14312327e-01 9.93433720e-01 -4.70487598e-03 2.31367950e+01] [ 5.61009420e-02 -1.72690932e-03 9.98423609e-01 1.70941248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.23, Y:23.14, Z:17.10 [[ 9.92402590e-01 -1.09585205e-01 -5.59301584e-02 3.05230700e+02] [ 1.09493949e-01 9.93976338e-01 -4.70268962e-03 2.31438015e+01] [ 5.61085992e-02 -1.45705258e-03 9.98423609e-01 1.70964420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.29, Y:23.15, Z:17.10 [[ 9.93281955e-01 -1.01305263e-01 -5.59303236e-02 3.05290886e+02] [ 1.01200997e-01 9.94854895e-01 -4.70072396e-03 2.31524545e+01] [ 5.61187643e-02 -9.91060214e-04 9.98423609e-01 1.70979172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.35, Y:23.16, Z:17.10 [[ 9.93918402e-01 -9.48577903e-02 -5.59304048e-02 3.05350625e+02] [ 9.47433738e-02 9.95490636e-01 -4.69975732e-03 2.31607891e+01] [ 5.61240028e-02 -6.27859968e-04 9.98423609e-01 1.71023020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.41, Y:23.17, Z:17.11 [[ 9.94766189e-01 -8.55103445e-02 -5.59304048e-02 3.05410535e+02] [ 8.53811533e-02 9.96337278e-01 -4.69975732e-03 2.31700996e+01] [ 5.61274251e-02 -1.00242793e-04 9.98423609e-01 1.71060208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.47, Y:23.18, Z:17.11 [[ 9.95188226e-01 -8.04498847e-02 -5.59304048e-02 3.05468036e+02] [ 8.03127047e-02 9.96758638e-01 -4.69975732e-03 2.31773421e+01] [ 5.61272090e-02 1.85221063e-04 9.98423609e-01 1.71092240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.53, Y:23.18, Z:17.11 [[ 9.95422271e-01 -7.75005790e-02 -5.59299800e-02 3.05525952e+02] [ 7.73584625e-02 9.96992243e-01 -4.70480709e-03 2.31844300e+01] [ 5.61263815e-02 3.56612497e-04 9.98423609e-01 1.71134506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.58, Y:23.19, Z:17.12 [[ 9.95266382e-01 -7.94783034e-02 -5.59287732e-02 3.05582262e+02] [ 7.93385029e-02 9.96836562e-01 -4.71910954e-03 2.31892146e+01] [ 5.61269129e-02 2.59465947e-04 9.98423609e-01 1.71173163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.64, Y:23.19, Z:17.12 [[ 9.94652756e-01 -8.68215044e-02 -5.59278309e-02 3.05639956e+02] [ 8.66926696e-02 9.96223873e-01 -4.73025140e-03 2.31908438e+01] [ 5.61273278e-02 -1.43575372e-04 9.98423609e-01 1.71181558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.70, Y:23.19, Z:17.12 [[ 9.93277615e-01 -1.01349950e-01 -5.59264476e-02 3.05698030e+02] [ 1.01243174e-01 9.94850386e-01 -4.74654979e-03 2.31928685e+01] [ 5.61195106e-02 -9.47529442e-04 9.98423609e-01 1.71244013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.76, Y:23.20, Z:17.12 [[ 9.92416764e-01 -1.09458790e-01 -5.59261925e-02 3.05759068e+02] [ 1.09364694e-01 9.93990345e-01 -4.74955421e-03 2.31952962e+01] [ 5.61099758e-02 -1.40281371e-03 9.98423609e-01 1.71248299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.82, Y:23.20, Z:17.13 [[ 9.90672966e-01 -1.24255045e-01 -5.59263659e-02 3.05819988e+02] [ 1.24184556e-01 9.92247780e-01 -4.74751116e-03 2.31991373e+01] [ 5.60827146e-02 -2.24195993e-03 9.98423609e-01 1.71282325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.88, Y:23.20, Z:17.13 [[ 9.89729178e-01 -1.31561266e-01 -5.59266230e-02 3.05882363e+02] [ 1.31502568e-01 9.91304476e-01 -4.74448080e-03 2.32032693e+01] [ 5.60645016e-02 -2.65874348e-03 9.98423609e-01 1.71304901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.94, Y:23.21, Z:17.13 [[ 9.88702088e-01 -1.39069609e-01 -5.59269567e-02 3.05943242e+02] [ 1.39023092e-01 9.90277793e-01 -4.74054407e-03 2.32083775e+01] [ 5.60424888e-02 -3.08815263e-03 9.98423609e-01 1.71334029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.01, Y:23.22, Z:17.14 [[ 9.88440601e-01 -1.40915904e-01 -5.59275034e-02 3.06005211e+02] [ 1.40872694e-01 9.90016400e-01 -4.73408566e-03 2.32162542e+01] [ 5.60362535e-02 -3.19929558e-03 9.98423609e-01 1.71389305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.07, Y:23.22, Z:17.14 [[ 9.88654751e-01 -1.39405379e-01 -5.59278358e-02 3.06066212e+02] [ 1.39359983e-01 9.90230489e-01 -4.73015534e-03 2.32240524e+01] [ 5.60408572e-02 -3.11761166e-03 9.98423609e-01 1.71430221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.13, Y:23.23, Z:17.14 [[ 9.89309927e-01 -1.34677023e-01 -5.59282461e-02 3.06127617e+02] [ 1.34624368e-01 9.90885438e-01 -4.72529923e-03 2.32324587e+01] [ 5.60548738e-02 -2.85451932e-03 9.98423609e-01 1.71448814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.19, Y:23.24, Z:17.15 [[ 9.89406811e-01 -1.33963190e-01 -5.59287550e-02 3.06188983e+02] [ 1.33909738e-01 9.90982296e-01 -4.71926795e-03 2.32410474e+01] [ 5.60566142e-02 -2.82012906e-03 9.98423609e-01 1.71493189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.25, Y:23.25, Z:17.15 [[ 9.89591028e-01 -1.32595365e-01 -5.59291244e-02 3.06250330e+02] [ 1.32539982e-01 9.91166446e-01 -4.71488582e-03 2.32485308e+01] [ 5.60602434e-02 -2.74703642e-03 9.98423609e-01 1.71518257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.31, Y:23.26, Z:17.15 [[ 9.89982617e-01 -1.29639162e-01 -5.59294709e-02 3.06311863e+02] [ 1.29579306e-01 9.91557871e-01 -4.71077221e-03 2.32579630e+01] [ 5.60680076e-02 -2.58371944e-03 9.98423609e-01 1.71531546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.37, Y:23.27, Z:17.16 [[ 9.90490669e-01 -1.25698410e-01 -5.59298179e-02 3.06372432e+02] [ 1.25632518e-01 9.92065682e-01 -4.70664879e-03 2.32668060e+01] [ 5.60776712e-02 -2.36471217e-03 9.98423609e-01 1.71551683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.43, Y:23.28, Z:17.16 [[ 9.91674857e-01 -1.15986034e-01 -5.59304739e-02 3.06433565e+02] [ 1.15905150e-01 9.93249172e-01 -4.69883999e-03 2.32798325e+01] [ 5.60978967e-02 -1.82290851e-03 9.98423609e-01 1.71599827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.49, Y:23.29, Z:17.17 [[ 9.93161428e-01 -1.02479862e-01 -5.59308143e-02 3.06494722e+02] [ 1.02377790e-01 9.94734511e-01 -4.69478491e-03 2.32929336e+01] [ 5.61174321e-02 -1.06339389e-03 9.98423609e-01 1.71669181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.56, Y:23.30, Z:17.17 [[ 9.94094411e-01 -9.29946671e-02 -5.59311601e-02 3.06555654e+02] [ 9.28778156e-02 9.95666465e-01 -4.69066092e-03 2.33027302e+01] [ 5.61249869e-02 -5.31804172e-04 9.98423609e-01 1.71723830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.62, Y:23.31, Z:17.18 [[ 9.94681506e-01 -8.64891201e-02 -5.59315057e-02 3.06617492e+02] [ 8.63622183e-02 9.96252781e-01 -4.68653737e-03 2.33088185e+01] [ 5.61272526e-02 -1.68756850e-04 9.98423609e-01 1.71765947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.68, Y:23.31, Z:17.18 [[ 9.94964541e-01 -8.31696497e-02 -5.59318455e-02 3.06678600e+02] [ 8.30377338e-02 9.96535403e-01 -4.68247832e-03 2.33134548e+01] [ 5.61275042e-02 1.44461944e-05 9.98423609e-01 1.71813359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.74, Y:23.32, Z:17.18 [[ 9.95201430e-01 -8.02852628e-02 -5.59320167e-02 3.06738333e+02] [ 8.01489091e-02 9.96771913e-01 -4.68043221e-03 2.33179931e+01] [ 5.61272330e-02 1.75082709e-04 9.98423609e-01 1.71845795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.80, Y:23.32, Z:17.19 [[ 9.95227857e-01 -7.99569969e-02 -5.59320167e-02 3.06797452e+02] [ 7.98201252e-02 9.96798295e-01 -4.68043221e-03 2.33219927e+01] [ 5.61271722e-02 1.93595947e-04 9.98423609e-01 1.71882214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.86, Y:23.32, Z:17.19 [[ 9.95140326e-01 -8.10392449e-02 -5.59318474e-02 3.06857554e+02] [ 8.09039674e-02 9.96710902e-01 -4.68245453e-03 2.33218373e+01] [ 5.61273447e-02 1.34590967e-04 9.98423609e-01 1.71903519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.92, Y:23.32, Z:17.19 [[ 9.95022463e-01 -8.24739066e-02 -5.59316744e-02 3.06916064e+02] [ 8.23407776e-02 9.96593223e-01 -4.68451976e-03 2.33233464e+01] [ 5.61274783e-02 5.57448334e-05 9.98423609e-01 1.71921872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.97, Y:23.32, Z:17.19 [[ 9.94913056e-01 -8.37835799e-02 -5.59314191e-02 3.06974744e+02] [ 8.36523473e-02 9.96483975e-01 -4.68756608e-03 2.33248756e+01] [ 5.61275039e-02 -1.50738068e-05 9.98423609e-01 1.71926162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.03, Y:23.33, Z:17.20 [[ 9.94933838e-01 -8.35372156e-02 -5.59302436e-02 3.07032657e+02] [ 8.34048080e-02 9.96504658e-01 -4.70154995e-03 2.33278143e+01] [ 5.61275027e-02 1.28799020e-05 9.98423609e-01 1.72011916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.09, Y:23.33, Z:17.20 [[ 9.94996727e-01 -8.27857057e-02 -5.59288908e-02 3.07091396e+02] [ 8.26512101e-02 9.96567369e-01 -4.71758804e-03 2.33272327e+01] [ 5.61274565e-02 7.13941562e-05 9.98423609e-01 1.72046269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.15, Y:23.33, Z:17.21 [[ 9.95012989e-01 -8.25908257e-02 -5.59276993e-02 3.07150352e+02] [ 8.24552309e-02 9.96583537e-01 -4.73167113e-03 2.33291457e+01] [ 5.61274171e-02 9.65428692e-05 9.98423609e-01 1.72083686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.21, Y:23.33, Z:17.21 [[ 9.95072641e-01 -8.18698133e-02 -5.59264871e-02 3.07208102e+02] [ 8.17322776e-02 9.96643021e-01 -4.74595639e-03 2.33287231e+01] [ 5.61272936e-02 1.51572192e-04 9.98423609e-01 1.72115051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.27, Y:23.33, Z:17.21 [[ 9.95150537e-01 -8.09177576e-02 -5.59260613e-02 3.07266210e+02] [ 8.07784378e-02 9.96720759e-01 -4.75096865e-03 2.33277156e+01] [ 5.61271040e-02 2.10309140e-04 9.98423609e-01 1.72138254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.32, Y:23.33, Z:17.22 [[ 9.95142909e-01 -8.10118075e-02 -5.59256431e-02 3.07324124e+02] [ 8.08723598e-02 9.96713120e-01 -4.75588673e-03 2.33281546e+01] [ 5.61271052e-02 2.09948226e-04 9.98423609e-01 1.72172724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.38, Y:23.33, Z:17.22 [[ 9.95097718e-01 -8.15659878e-02 -5.59242449e-02 3.07382798e+02] [ 8.14264938e-02 9.96667924e-01 -4.77227136e-03 2.33265642e+01] [ 5.61271561e-02 1.95161157e-04 9.98423610e-01 1.72195335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.44, Y:23.33, Z:17.22 [[ 9.94991220e-01 -8.28558205e-02 -5.59230293e-02 3.07441062e+02] [ 8.27175637e-02 9.96561536e-01 -4.78647340e-03 2.33269360e+01] [ 5.61273272e-02 1.36682264e-04 9.98423610e-01 1.72213600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.50, Y:23.32, Z:17.22 [[ 9.94681584e-01 -8.64939807e-02 -5.59226023e-02 3.07499414e+02] [ 8.63611873e-02 9.96252371e-01 -4.79145809e-03 2.33245602e+01] [ 5.61274574e-02 -6.35672065e-05 9.98423610e-01 1.72244497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.56, Y:23.32, Z:17.23 [[ 9.94193141e-01 -9.19391880e-02 -5.59212368e-02 3.07558089e+02] [ 9.18141042e-02 9.95764560e-01 -4.80734156e-03 2.33219933e+01] [ 5.61263689e-02 -3.54932264e-04 9.98423610e-01 1.72298771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.62, Y:23.32, Z:17.23 [[ 9.93671036e-01 -9.74208750e-02 -5.59199857e-02 3.07615945e+02] [ 9.73036433e-02 9.95243061e-01 -4.82185062e-03 2.33192928e+01] [ 5.61237267e-02 -6.49885041e-04 9.98423610e-01 1.72340578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.67, Y:23.32, Z:17.24 [[ 9.93291234e-01 -1.01220200e-01 -5.59195449e-02 3.07674535e+02] [ 1.01108693e-01 9.94863675e-01 -4.82695790e-03 2.33190117e+01] [ 5.61209096e-02 -8.59377126e-04 9.98423610e-01 1.72386364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.73, Y:23.32, Z:17.24 [[ 9.92554539e-01 -1.08206406e-01 -5.59183389e-02 3.07733209e+02] [ 1.08105181e-01 9.94127676e-01 -4.84088889e-03 2.33154938e+01] [ 5.61137834e-02 -1.24021591e-03 9.98423610e-01 1.72421501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.79, Y:23.31, Z:17.24 [[ 9.91781103e-01 -1.15080571e-01 -5.59169505e-02 3.07791895e+02] [ 1.14989347e-01 9.93354851e-01 -4.85687359e-03 2.33149533e+01] [ 5.61043058e-02 -1.61289820e-03 9.98423610e-01 1.72448081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.85, Y:23.31, Z:17.25 [[ 9.90353256e-01 -1.26782722e-01 -5.59157409e-02 3.07852438e+02] [ 1.26709303e-01 9.91927935e-01 -4.87075999e-03 2.33128699e+01] [ 5.60819136e-02 -2.26127155e-03 9.98423610e-01 1.72463894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.91, Y:23.32, Z:17.25 [[ 9.89484487e-01 -1.33393775e-01 -5.59155654e-02 3.07912666e+02] [ 1.33330761e-01 9.91059617e-01 -4.87277359e-03 2.33152119e+01] [ 5.60656565e-02 -2.63373103e-03 9.98423610e-01 1.72496718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.97, Y:23.32, Z:17.25 [[ 9.88813465e-01 -1.38280079e-01 -5.59155654e-02 3.07971619e+02] [ 1.38224847e-01 9.90388887e-01 -4.87277359e-03 2.33183708e+01] [ 5.60519621e-02 -2.91065631e-03 9.98423610e-01 1.72522301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.03, Y:23.32, Z:17.26 [[ 9.88855712e-01 -1.37977680e-01 -5.59154764e-02 3.08031995e+02] [ 1.37921909e-01 9.90431115e-01 -4.87379450e-03 2.33239569e+01] [ 5.60529025e-02 -2.89248970e-03 9.98423610e-01 1.72575849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.09, Y:23.33, Z:17.26 [[ 9.89003578e-01 -1.36913738e-01 -5.59155669e-02 3.08092363e+02] [ 1.36856330e-01 9.90578922e-01 -4.87275598e-03 2.33309947e+01] [ 5.60559292e-02 -2.83322619e-03 9.98423610e-01 1.72591608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.15, Y:23.34, Z:17.26 [[ 9.89465319e-01 -1.33535926e-01 -5.59154616e-02 3.08151648e+02] [ 1.33473071e-01 9.91040455e-01 -4.87396404e-03 2.33363159e+01] [ 5.60653338e-02 -2.64058998e-03 9.98423610e-01 1.72624711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.21, Y:23.34, Z:17.27 [[ 9.89616507e-01 -1.32410820e-01 -5.59155008e-02 3.08212229e+02] [ 1.32346200e-01 9.91191572e-01 -4.87351435e-03 2.33425525e+01] [ 5.60682792e-02 -2.57729379e-03 9.98423610e-01 1.72653997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.27, Y:23.35, Z:17.27 [[ 9.89919784e-01 -1.30124089e-01 -5.59155008e-02 3.08271748e+02] [ 1.30055830e-01 9.91494695e-01 -4.87351435e-03 2.33492593e+01] [ 5.60740840e-02 -2.44774857e-03 9.98423610e-01 1.72688474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.33, Y:23.36, Z:17.27 [[ 9.90390754e-01 -1.26489533e-01 -5.59155891e-02 3.08331972e+02] [ 1.26415551e-01 9.91965406e-01 -4.87250079e-03 2.33566041e+01] [ 5.60826504e-02 -2.24292026e-03 9.98423610e-01 1.72730772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.39, Y:23.37, Z:17.28 [[ 9.91453356e-01 -1.17871497e-01 -5.59155891e-02 3.08392235e+02] [ 1.17783822e-01 9.93027306e-01 -4.87250079e-03 2.33656294e+01] [ 5.61000358e-02 -1.75509456e-03 9.98423610e-01 1.72768614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.45, Y:23.37, Z:17.28 [[ 9.92779717e-01 -1.06122009e-01 -5.59155891e-02 3.08451018e+02] [ 1.06015701e-01 9.94352518e-01 -4.87250079e-03 2.33740610e+01] [ 5.61168864e-02 -1.09061044e-03 9.98423610e-01 1.72796232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.51, Y:23.38, Z:17.28 [[ 9.93200218e-01 -1.02111673e-01 -5.59154104e-02 3.08509200e+02] [ 1.01998899e-01 9.94772569e-01 -4.87455099e-03 2.33805855e+01] [ 5.61208650e-02 -8.61905185e-04 9.98423610e-01 1.72827026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.57, Y:23.39, Z:17.29 [[ 9.93987270e-01 -9.41430490e-02 -5.59141642e-02 3.08566497e+02] [ 9.40168669e-02 9.95558601e-01 -4.88880341e-03 2.33878713e+01] [ 5.61260740e-02 -3.97466181e-04 9.98423610e-01 1.72859079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.62, Y:23.39, Z:17.29 [[ 9.94808797e-01 -8.50248361e-02 -5.59127402e-02 3.08624692e+02] [ 8.48833387e-02 9.96378823e-01 -4.90503616e-03 2.33945135e+01] [ 5.61273202e-02 1.33513058e-04 9.98423611e-01 1.72900343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.68, Y:23.40, Z:17.29 [[ 9.94979824e-01 -8.30003312e-02 -5.59114932e-02 3.08682900e+02] [ 8.28548429e-02 9.96549485e-01 -4.91920917e-03 2.33985981e+01] [ 5.61268658e-02 2.61975882e-04 9.98423611e-01 1.72937818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.74, Y:23.40, Z:17.30 [[ 9.94724939e-01 -8.60019834e-02 -5.59102284e-02 3.08740515e+02] [ 8.58604260e-02 9.96294960e-01 -4.93354352e-03 2.34001460e+01] [ 5.61273733e-02 1.07042753e-04 9.98423611e-01 1.72962435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.80, Y:23.40, Z:17.30 [[ 9.94012236e-01 -9.38822827e-02 -5.59087806e-02 3.08797978e+02] [ 9.37522521e-02 9.95583253e-01 -4.94989659e-03 2.33992470e+01] [ 5.61265532e-02 -3.21316312e-04 9.98423611e-01 1.72972188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.86, Y:23.40, Z:17.30 [[ 9.93284874e-01 -1.01289082e-01 -5.59077910e-02 3.08856376e+02] [ 1.01170138e-01 9.94856769e-01 -4.96104849e-03 2.34004859e+01] [ 5.61227444e-02 -7.28464522e-04 9.98423611e-01 1.72993542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.91, Y:23.40, Z:17.30 [[ 9.91950800e-01 -1.13613766e-01 -5.59063697e-02 3.08914778e+02] [ 1.13513448e-01 9.93523994e-01 -4.97701421e-03 2.33988379e+01] [ 5.61097770e-02 -1.40917154e-03 9.98423611e-01 1.73017544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.97, Y:23.40, Z:17.30 [[ 9.91133114e-01 -1.20539595e-01 -5.59048838e-02 3.08973455e+02] [ 1.20449330e-01 9.92706917e-01 -4.99364874e-03 2.34004494e+01] [ 5.60990972e-02 -1.78433519e-03 9.98423611e-01 1.73049642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.03, Y:23.40, Z:17.31 [[ 9.90448767e-01 -1.26039794e-01 -5.59035862e-02 3.09030811e+02] [ 1.25957452e-01 9.92023003e-01 -5.00813308e-03 2.34018213e+01] [ 5.60888676e-02 -2.08117404e-03 9.98423611e-01 1.73084269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.09, Y:23.40, Z:17.31 [[ 9.90449373e-01 -1.26035235e-01 -5.59031303e-02 3.09089129e+02] [ 1.25952599e-01 9.92023594e-01 -5.01321761e-03 2.34048729e+01] [ 5.60890662e-02 -2.07580630e-03 9.98423611e-01 1.73106366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.15, Y:23.41, Z:17.31 [[ 9.90710400e-01 -1.23967277e-01 -5.59018646e-02 3.09147939e+02] [ 1.23880561e-01 9.92284401e-01 -5.02729099e-03 2.34090065e+01] [ 5.60937679e-02 -1.94456489e-03 9.98423611e-01 1.73124328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.21, Y:23.41, Z:17.31 [[ 9.91288001e-01 -1.19261157e-01 -5.59005775e-02 3.09205815e+02] [ 1.19166163e-01 9.92861525e-01 -5.04156305e-03 2.34137846e+01] [ 5.61027952e-02 -1.66381638e-03 9.98423612e-01 1.73133672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.26, Y:23.42, Z:17.32 [[ 9.91635742e-01 -1.16334569e-01 -5.59001264e-02 3.09263286e+02] [ 1.16234649e-01 9.93208960e-01 -5.04655932e-03 2.34184210e+01] [ 5.61075957e-02 -1.49318299e-03 9.98423612e-01 1.73154370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.32, Y:23.42, Z:17.32 [[ 9.92232699e-01 -1.11128810e-01 -5.58986452e-02 3.09319621e+02] [ 1.11019715e-01 9.93805308e-01 -5.06291361e-03 2.34232585e+01] [ 5.61150058e-02 -1.18226322e-03 9.98423612e-01 1.73170533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.38, Y:23.43, Z:17.32 [[ 9.92984321e-01 -1.04199571e-01 -5.58980087e-02 3.09377192e+02] [ 1.04079106e-01 9.94556100e-01 -5.06993119e-03 2.34298475e+01] [ 5.61219902e-02 -7.83452570e-04 9.98423612e-01 1.73193033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.43, Y:23.44, Z:17.32 [[ 9.93518460e-01 -9.89779924e-02 -5.58965732e-02 3.09434946e+02] [ 9.88483780e-02 9.95089510e-01 -5.08570867e-03 2.34361019e+01] [ 5.61254669e-02 -4.72540153e-04 9.98423612e-01 1.73225062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.49, Y:23.44, Z:17.33 [[ 9.94213979e-01 -9.17295062e-02 -5.58950933e-02 3.09492531e+02] [ 9.15875259e-02 9.95783960e-01 -5.10192208e-03 2.34424234e+01] [ 5.61274341e-02 -4.68910528e-05 9.98423612e-01 1.73265465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.55, Y:23.45, Z:17.33 [[ 9.94600016e-01 -8.74454885e-02 -5.58936032e-02 3.09549763e+02] [ 8.72958314e-02 9.96169284e-01 -5.11819432e-03 2.34484847e+01] [ 5.61270537e-02 2.11277584e-04 9.98423612e-01 1.73307797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.61, Y:23.45, Z:17.34 [[ 9.94571683e-01 -8.77680819e-02 -5.58921315e-02 3.09606933e+02] [ 8.76180335e-02 9.96140914e-01 -5.13421559e-03 2.34532557e+01] [ 5.61270592e-02 2.09186793e-04 9.98423612e-01 1.73351218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.66, Y:23.46, Z:17.34 [[ 9.94144770e-01 -9.24792326e-02 -5.58906704e-02 3.09664782e+02] [ 9.23357291e-02 9.95714613e-01 -5.15007284e-03 2.34551778e+01] [ 5.61274320e-02 -4.07878158e-05 9.98423612e-01 1.73386192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.72, Y:23.46, Z:17.34 [[ 9.93622270e-01 -9.79345872e-02 -5.58891919e-02 3.09722681e+02] [ 9.77988030e-02 9.95192798e-01 -5.16606741e-03 2.34584989e+01] [ 5.61264580e-02 -3.32776445e-04 9.98423612e-01 1.73420907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.78, Y:23.46, Z:17.35 [[ 9.92486125e-01 -1.08847852e-01 -5.58877206e-02 3.09780393e+02] [ 1.08728441e-01 9.94057983e-01 -5.18193563e-03 2.34631306e+01] [ 5.61196774e-02 -9.33585547e-04 9.98423613e-01 1.73502631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.84, Y:23.46, Z:17.35 [[ 9.91906075e-01 -1.14013503e-01 -5.58861257e-02 3.09838134e+02] [ 1.13901312e-01 9.93478465e-01 -5.19907975e-03 2.34642933e+01] [ 5.61144277e-02 -1.20850428e-03 9.98423613e-01 1.73478447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.89, Y:23.47, Z:17.35 [[ 9.90782786e-01 -1.23394757e-01 -5.58856363e-02 3.09894641e+02] [ 1.23297154e-01 9.92356149e-01 -5.20433490e-03 2.34673992e+01] [ 5.61006425e-02 -1.73417450e-03 9.98423613e-01 1.73507150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.95, Y:23.47, Z:17.35 [[ 9.89964115e-01 -1.29799536e-01 -5.58849857e-02 3.09951918e+02] [ 1.29711717e-01 9.91538054e-01 -5.21131267e-03 2.34723012e+01] [ 5.60885159e-02 -2.08992494e-03 9.98423613e-01 1.73536171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.01, Y:23.48, Z:17.36 [[ 9.89719262e-01 -1.31654181e-01 -5.58834363e-02 3.10009392e+02] [ 1.31568377e-01 9.91293313e-01 -5.22787464e-03 2.34785361e+01] [ 5.60851482e-02 -2.17836479e-03 9.98423613e-01 1.73562158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.07, Y:23.49, Z:17.36 [[ 9.89737451e-01 -1.31518023e-01 -5.58819003e-02 3.10066420e+02] [ 1.31431080e-01 9.91311439e-01 -5.24424267e-03 2.34868065e+01] [ 5.60860794e-02 -2.15419514e-03 9.98423613e-01 1.73587537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.12, Y:23.49, Z:17.36 [[ 9.89696741e-01 -1.31824224e-01 -5.58814289e-02 3.10124343e+02] [ 1.31737485e-01 9.91270740e-01 -5.24926041e-03 2.34946353e+01] [ 5.60856051e-02 -2.16650299e-03 9.98423613e-01 1.73627114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.18, Y:23.50, Z:17.37 [[ 9.89802225e-01 -1.31030412e-01 -5.58801051e-02 3.10182392e+02] [ 1.30941618e-01 9.91376109e-01 -5.26331543e-03 2.35031190e+01] [ 5.60878555e-02 -2.10739008e-03 9.98423613e-01 1.73662502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.24, Y:23.51, Z:17.37 [[ 9.89771229e-01 -1.31264914e-01 -5.58787630e-02 3.10240926e+02] [ 1.31175693e-01 9.91345089e-01 -5.27752589e-03 2.35119300e+01] [ 5.60878912e-02 -2.10639214e-03 9.98423613e-01 1.73693883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.30, Y:23.52, Z:17.37 [[ 9.89715341e-01 -1.31685721e-01 -5.58785722e-02 3.10297971e+02] [ 1.31597055e-01 9.91289232e-01 -5.27954542e-03 2.35200051e+01] [ 5.60870676e-02 -2.12820842e-03 9.98423613e-01 1.73720039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.36, Y:23.53, Z:17.38 [[ 9.89834339e-01 -1.30788455e-01 -5.58781018e-02 3.10357297e+02] [ 1.30698082e-01 9.91408133e-01 -5.28451938e-03 2.35278328e+01] [ 5.60891586e-02 -2.07236197e-03 9.98423613e-01 1.73756226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.42, Y:23.54, Z:17.38 [[ 9.90201584e-01 -1.27978443e-01 -5.58779080e-02 3.10416217e+02] [ 1.27883488e-01 9.91775108e-01 -5.28656711e-03 2.35367096e+01] [ 5.60948849e-02 -1.91109464e-03 9.98423613e-01 1.73788169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.47, Y:23.55, Z:17.38 [[ 9.91086216e-01 -1.20937149e-01 -5.58777169e-02 3.10474623e+02] [ 1.20830898e-01 9.92659017e-01 -5.28858660e-03 2.35477155e+01] [ 5.61071061e-02 -1.51030945e-03 9.98423613e-01 1.73845947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.53, Y:23.56, Z:17.39 [[ 9.91690071e-01 -1.15881425e-01 -5.58775224e-02 3.10533610e+02] [ 1.15767039e-01 9.93262303e-01 -5.29064027e-03 2.35565880e+01] [ 5.61141235e-02 -1.22209988e-03 9.98423613e-01 1.73888189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.59, Y:23.57, Z:17.39 [[ 9.92268098e-01 -1.10823038e-01 -5.58773299e-02 3.10592008e+02] [ 1.10700522e-01 9.93839716e-01 -5.29267290e-03 2.35657301e+01] [ 5.61196598e-02 -9.33899116e-04 9.98423613e-01 1.73920959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.65, Y:23.57, Z:17.39 [[ 9.92432723e-01 -1.09339670e-01 -5.58759970e-02 3.10650175e+02] [ 1.09214015e-01 9.94004093e-01 -5.30670764e-03 2.35722203e+01] [ 5.61212034e-02 -8.35891668e-04 9.98423613e-01 1.73949671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.71, Y:23.58, Z:17.40 [[ 9.92459237e-01 -1.09099439e-01 -5.58746432e-02 3.10707141e+02] [ 1.08972603e-01 9.94030512e-01 -5.32092359e-03 2.35784280e+01] [ 5.61216100e-02 -8.08005547e-04 9.98423614e-01 1.73976234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.76, Y:23.58, Z:17.40 [[ 9.92200314e-01 -1.11429979e-01 -5.58739262e-02 3.10764577e+02] [ 1.11306411e-01 9.93771850e-01 -5.32844242e-03 2.35838551e+01] [ 5.61196832e-02 -9.32243940e-04 9.98423614e-01 1.74016284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.82, Y:23.59, Z:17.41 [[ 9.91861985e-01 -1.14403149e-01 -5.58723831e-02 3.10822983e+02] [ 1.14283383e-01 9.93433815e-01 -5.34457414e-03 2.35890649e+01] [ 5.61169508e-02 -1.08420502e-03 9.98423614e-01 1.74053555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.88, Y:23.59, Z:17.41 [[ 9.91759497e-01 -1.15288891e-01 -5.58710256e-02 3.10880588e+02] [ 1.15169732e-01 9.93331373e-01 -5.35872706e-03 2.35938060e+01] [ 5.61162443e-02 -1.12008258e-03 9.98423614e-01 1.74077815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.94, Y:23.60, Z:17.41 [[ 9.91692070e-01 -1.15867800e-01 -5.58703055e-02 3.10938817e+02] [ 1.15749135e-01 9.93263984e-01 -5.36622476e-03 2.35989174e+01] [ 5.61157349e-02 -1.14529702e-03 9.98423614e-01 1.74112384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.00, Y:23.60, Z:17.42 [[ 9.91531047e-01 -1.17238389e-01 -5.58689902e-02 3.10997486e+02] [ 1.17121128e-01 9.93103065e-01 -5.37988388e-03 2.36047063e+01] [ 5.61143944e-02 -1.20911724e-03 9.98423614e-01 1.74150597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.06, Y:23.61, Z:17.42 [[ 9.91374727e-01 -1.18553612e-01 -5.58676207e-02 3.11056811e+02] [ 1.18437638e-01 9.92946841e-01 -5.39406861e-03 2.36103545e+01] [ 5.61130638e-02 -1.26928573e-03 9.98423614e-01 1.74180163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32509989299996 meters Centerline goodness : 0.997620 with order 1 Centerline is valid? [True, True] Translation: X:311.11, Y:23.61, Z:17.42 [[ 9.91357956e-01 -1.18693864e-01 -5.58674268e-02 3.11113730e+02] [ 1.18577999e-01 9.92930078e-01 -5.39607581e-03 2.36149306e+01] [ 5.61129296e-02 -1.27520498e-03 9.98423614e-01 1.74160060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.17, Y:23.62, Z:17.42 [[ 9.91042124e-01 -1.21303512e-01 -5.58656147e-02 3.11171914e+02] [ 1.21190733e-01 9.92614470e-01 -5.41477221e-03 2.36209849e+01] [ 5.61098484e-02 -1.40412745e-03 9.98423614e-01 1.74247381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.23, Y:23.63, Z:17.43 [[ 9.90857934e-01 -1.22799706e-01 -5.58640070e-02 3.11231230e+02] [ 1.22688370e-01 9.92430383e-01 -5.43130843e-03 2.36271088e+01] [ 5.61081009e-02 -1.47220889e-03 9.98423614e-01 1.74284613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.29, Y:23.64, Z:17.44 [[ 9.90238030e-01 -1.27702299e-01 -5.58638185e-02 3.11291279e+02] [ 1.27598638e-01 9.91811004e-01 -5.43324566e-03 2.36369905e+01] [ 5.61001879e-02 -1.74794067e-03 9.98423614e-01 1.74373833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.35, Y:23.64, Z:17.43 [[ 9.90208043e-01 -1.27934704e-01 -5.58636129e-02 3.11351322e+02] [ 1.27831293e-01 9.91781033e-01 -5.43535893e-03 2.36382959e+01] [ 5.60998428e-02 -1.75898174e-03 9.98423614e-01 1.74332116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.41, Y:23.64, Z:17.44 [[ 9.90017270e-01 -1.29402758e-01 -5.58635098e-02 3.11409441e+02] [ 1.29301619e-01 9.91590408e-01 -5.43641863e-03 2.36439552e+01] [ 5.60972080e-02 -1.84109396e-03 9.98423614e-01 1.74362842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.47, Y:23.65, Z:17.44 [[ 9.89889745e-01 -1.30375242e-01 -5.58622355e-02 3.11469265e+02] [ 1.30274913e-01 9.91462934e-01 -5.44948159e-03 2.36504428e+01] [ 5.60958134e-02 -1.88306192e-03 9.98423614e-01 1.74435371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.53, Y:23.66, Z:17.45 [[ 9.89809081e-01 -1.30986234e-01 -5.58622355e-02 3.11528890e+02] [ 1.30886875e-01 9.91382332e-01 -5.44948159e-03 2.36566023e+01] [ 5.60946404e-02 -1.91768709e-03 9.98423614e-01 1.74483953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.59, Y:23.66, Z:17.45 [[ 9.89788713e-01 -1.31140059e-01 -5.58622355e-02 3.11588472e+02] [ 1.31040945e-01 9.91361979e-01 -5.44948159e-03 2.36630412e+01] [ 5.60943417e-02 -1.92640474e-03 9.98423614e-01 1.74520786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.65, Y:23.67, Z:17.46 [[ 9.89713426e-01 -1.31707046e-01 -5.58622355e-02 3.11648187e+02] [ 1.31608833e-01 9.91286749e-01 -5.44948159e-03 2.36707842e+01] [ 5.60932289e-02 -1.95853853e-03 9.98423614e-01 1.74562502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.71, Y:23.68, Z:17.46 [[ 9.89530011e-01 -1.33078051e-01 -5.58622355e-02 3.11707889e+02] [ 1.32982018e-01 9.91103469e-01 -5.44948159e-03 2.36778338e+01] [ 5.60904618e-02 -2.03624724e-03 9.98423614e-01 1.74588943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.77, Y:23.68, Z:17.46 [[ 9.88851624e-01 -1.38028493e-01 -5.58623332e-02 3.11767670e+02] [ 1.37940393e-01 9.90425546e-01 -5.44847954e-03 2.36846286e+01] [ 5.60795273e-02 -2.31793433e-03 9.98423614e-01 1.74634655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.83, Y:23.69, Z:17.47 [[ 9.87807740e-01 -1.45310935e-01 -5.58623332e-02 3.11829542e+02] [ 1.45234433e-01 9.89382269e-01 -5.44847954e-03 2.36927467e+01] [ 5.60609256e-02 -2.73108404e-03 9.98423614e-01 1.74678347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.89, Y:23.70, Z:17.47 [[ 9.87156059e-01 -1.49673877e-01 -5.58627331e-02 3.11890922e+02] [ 1.49604565e-01 9.88730920e-01 -5.44437659e-03 2.37002150e+01] [ 5.60480925e-02 -2.98287054e-03 9.98423614e-01 1.74711816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.95, Y:23.71, Z:17.48 [[ 9.86569730e-01 -1.53490972e-01 -5.58631344e-02 3.11952835e+02] [ 1.53427984e-01 9.88144856e-01 -5.44025585e-03 2.37096887e+01] [ 5.60358991e-02 -3.20377635e-03 9.98423614e-01 1.74759321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.01, Y:23.72, Z:17.48 [[ 9.86474387e-01 -1.54102364e-01 -5.58636362e-02 3.12014328e+02] [ 1.54040643e-01 9.88049564e-01 -5.43509831e-03 2.37178954e+01] [ 5.60336029e-02 -3.24368517e-03 9.98423614e-01 1.74808729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.07, Y:23.73, Z:17.49 [[ 9.86608427e-01 -1.53241709e-01 -5.58640437e-02 3.12074368e+02] [ 1.53178850e-01 9.88183558e-01 -5.43090674e-03 2.37281500e+01] [ 5.60361709e-02 -3.19901164e-03 9.98423614e-01 1.74862697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.14, Y:23.74, Z:17.49 [[ 9.87074519e-01 -1.50210082e-01 -5.58643450e-02 3.12135809e+02] [ 1.50142560e-01 9.88649458e-01 -5.42780582e-03 2.37382754e+01] [ 5.60455655e-02 -3.02996693e-03 9.98423614e-01 1.74895087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.20, Y:23.75, Z:17.49 [[ 9.87848699e-01 -1.45031305e-01 -5.58647366e-02 3.12197391e+02] [ 1.44955752e-01 9.89423273e-01 -5.42377182e-03 2.37497017e+01] [ 5.60604872e-02 -2.74004898e-03 9.98423614e-01 1.74936045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.26, Y:23.76, Z:17.50 [[ 9.88177983e-01 -1.42770308e-01 -5.58651301e-02 3.12259315e+02] [ 1.42691380e-01 9.89752392e-01 -5.41971588e-03 2.37579238e+01] [ 5.60664206e-02 -2.61582862e-03 9.98423614e-01 1.74999518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.32, Y:23.77, Z:17.50 [[ 9.88964051e-01 -1.37219291e-01 -5.58656622e-02 3.12320307e+02] [ 1.37131834e-01 9.90538009e-01 -5.41422526e-03 2.37680330e+01] [ 5.60799980e-02 -2.30648657e-03 9.98423614e-01 1.75013541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.38, Y:23.78, Z:17.50 [[ 9.90238462e-01 -1.27698012e-01 -5.58659601e-02 3.12381690e+02] [ 1.27595589e-01 9.91811517e-01 -5.41115029e-03 2.37804242e+01] [ 5.60994957e-02 -1.76992094e-03 9.98423614e-01 1.75048012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.44, Y:23.80, Z:17.52 [[ 9.90977807e-01 -1.21827487e-01 -5.58663455e-02 3.12441237e+02] [ 1.21715968e-01 9.92550243e-01 -5.40716764e-03 2.37969591e+01] [ 5.61088965e-02 -1.44144321e-03 9.98423614e-01 1.75161791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.50, Y:23.81, Z:17.52 [[ 9.91597231e-01 -1.16678442e-01 -5.58665537e-02 3.12501270e+02] [ 1.16558878e-01 9.93169076e-01 -5.40501634e-03 2.38078082e+01] [ 5.61155824e-02 -1.15214357e-03 9.98423614e-01 1.75189878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.56, Y:23.82, Z:17.53 [[ 9.92110019e-01 -1.12234590e-01 -5.58668598e-02 3.12561985e+02] [ 1.12108163e-01 9.93681327e-01 -5.40184998e-03 2.38189280e+01] [ 5.61201298e-02 -9.03901563e-04 9.98423615e-01 1.75258448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.62, Y:23.82, Z:17.52 [[ 9.92638107e-01 -1.07463657e-01 -5.58672599e-02 3.12622070e+02] [ 1.07329911e-01 9.94208809e-01 -5.39770967e-03 2.38206051e+01] [ 5.61237795e-02 -6.38255695e-04 9.98423615e-01 1.75231520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.68, Y:23.83, Z:17.53 [[ 9.92143918e-01 -1.11934337e-01 -5.58672599e-02 3.12683410e+02] [ 1.11807668e-01 9.93715206e-01 -5.39770967e-03 2.38283444e+01] [ 5.61203347e-02 -8.91083229e-04 9.98423615e-01 1.75288294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.75, Y:23.83, Z:17.53 [[ 9.91183799e-01 -1.20139433e-01 -5.58676399e-02 3.12745725e+02] [ 1.20025990e-01 9.92756097e-01 -5.39377303e-03 2.38331331e+01] [ 5.61109450e-02 -1.35934837e-03 9.98423615e-01 1.75332747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.81, Y:23.84, Z:17.54 [[ 9.90424075e-01 -1.26249420e-01 -5.58680202e-02 3.12807933e+02] [ 1.26145898e-01 9.91997058e-01 -5.38983106e-03 2.38376239e+01] [ 5.61013747e-02 -1.70930312e-03 9.98423615e-01 1.75369523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.87, Y:23.84, Z:17.54 [[ 9.89463650e-01 -1.33567988e-01 -5.58684000e-02 3.12869947e+02] [ 1.33476319e-01 9.91037368e-01 -5.38589112e-03 2.38414874e+01] [ 5.60870548e-02 -2.12796491e-03 9.98423615e-01 1.75419871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.93, Y:23.85, Z:17.54 [[ 9.89036928e-01 -1.36691746e-01 -5.58687959e-02 3.12930677e+02] [ 1.36605279e-01 9.90610940e-01 -5.38178152e-03 2.38463129e+01] [ 5.60798856e-02 -2.30919180e-03 9.98423615e-01 1.75447604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.99, Y:23.85, Z:17.55 [[ 9.88925280e-01 -1.37497038e-01 -5.58690886e-02 3.12992614e+02] [ 1.37412024e-01 9.90499371e-01 -5.37874171e-03 2.38510993e+01] [ 5.60778582e-02 -2.35791092e-03 9.98423615e-01 1.75495281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.05, Y:23.86, Z:17.55 [[ 9.89181344e-01 -1.35642434e-01 -5.58694835e-02 3.13053421e+02] [ 1.35554700e-01 9.90755286e-01 -5.37463605e-03 2.38569063e+01] [ 5.60820149e-02 -2.25688138e-03 9.98423615e-01 1.75529731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.11, Y:23.86, Z:17.56 [[ 9.89600081e-01 -1.32552809e-01 -5.58697758e-02 3.13114606e+02] [ 1.32460332e-01 9.91173752e-01 -5.37159654e-03 2.38631904e+01] [ 5.60886755e-02 -2.08479666e-03 9.98423615e-01 1.75585252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.18, Y:23.87, Z:17.56 [[ 9.89889166e-01 -1.30376279e-01 -5.58700653e-02 3.13176764e+02] [ 1.30280512e-01 9.91462640e-01 -5.36858331e-03 2.38696289e+01] [ 5.60930184e-02 -1.96447824e-03 9.98423615e-01 1.75623267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.24, Y:23.88, Z:17.56 [[ 9.89963884e-01 -1.29807473e-01 -5.58706483e-02 3.13237869e+02] [ 1.29711143e-01 9.91537323e-01 -5.36250941e-03 2.38763061e+01] [ 5.60939268e-02 -1.93835503e-03 9.98423615e-01 1.75645530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.30, Y:23.88, Z:17.57 [[ 9.89879296e-01 -1.30450824e-01 -5.58709342e-02 3.13299568e+02] [ 1.30355685e-01 9.91452808e-01 -5.35952883e-03 2.38836072e+01] [ 5.60925496e-02 -1.97780730e-03 9.98423615e-01 1.75683148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.36, Y:23.89, Z:17.57 [[ 9.89776217e-01 -1.31230468e-01 -5.58713234e-02 3.13361282e+02] [ 1.31136797e-01 9.91349817e-01 -5.35546855e-03 2.38903667e+01] [ 5.60908269e-02 -2.02607101e-03 9.98423615e-01 1.75709608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.42, Y:23.90, Z:17.57 [[ 9.89763441e-01 -1.31326623e-01 -5.58717152e-02 3.13422383e+02] [ 1.31233336e-01 9.91337064e-01 -5.35137816e-03 2.38987703e+01] [ 5.60904805e-02 -2.03563313e-03 9.98423615e-01 1.75729177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.48, Y:23.91, Z:17.58 [[ 9.89946388e-01 -1.29940247e-01 -5.58720042e-02 3.13483799e+02] [ 1.29844926e-01 9.91519889e-01 -5.34835941e-03 2.39071701e+01] [ 5.60931705e-02 -1.96010717e-03 9.98423615e-01 1.75774370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.55, Y:23.92, Z:17.58 [[ 9.90527167e-01 -1.25436066e-01 -5.58723940e-02 3.13545375e+02] [ 1.25333819e-01 9.92100233e-01 -5.34428385e-03 2.39167863e+01] [ 5.61013810e-02 -1.70904217e-03 9.98423615e-01 1.75820752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.61, Y:23.93, Z:17.59 [[ 9.91082351e-01 -1.20971100e-01 -5.58727791e-02 3.13606582e+02] [ 1.20861992e-01 9.92654956e-01 -5.34025481e-03 2.39252201e+01] [ 5.61084075e-02 -1.46026306e-03 9.98423615e-01 1.75867459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.67, Y:23.93, Z:17.59 [[ 9.91807008e-01 -1.14878405e-01 -5.58731654e-02 3.13667959e+02] [ 1.14759863e-01 9.93378930e-01 -5.33620949e-03 2.39348646e+01] [ 5.61162405e-02 -1.11950685e-03 9.98423615e-01 1.75920102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.73, Y:23.94, Z:17.60 [[ 9.92046348e-01 -1.12792688e-01 -5.58735510e-02 3.13729763e+02] [ 1.12671068e-01 9.93618034e-01 -5.33216929e-03 2.39422617e+01] [ 5.61183976e-02 -1.00557359e-03 9.98423615e-01 1.75957772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.79, Y:23.95, Z:17.60 [[ 9.92119631e-01 -1.12146072e-01 -5.58739398e-02 3.13792189e+02] [ 1.12023657e-01 9.93691256e-01 -5.32809187e-03 2.39480970e+01] [ 5.61189700e-02 -9.73098562e-04 9.98423615e-01 1.75959107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.85, Y:23.95, Z:17.60 [[ 9.91930697e-01 -1.13804886e-01 -5.58743249e-02 3.13853663e+02] [ 1.13685328e-01 9.93502542e-01 -5.32405034e-03 2.39541453e+01] [ 5.61171868e-02 -1.07100197e-03 9.98423615e-01 1.75975962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.92, Y:23.96, Z:17.60 [[ 9.91787841e-01 -1.15043018e-01 -5.58747114e-02 3.13915281e+02] [ 1.14925650e-01 9.93359851e-01 -5.31999154e-03 2.39600178e+01] [ 5.61157228e-02 -1.14513462e-03 9.98423615e-01 1.76006639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.98, Y:23.97, Z:17.60 [[ 9.91551522e-01 -1.17062174e-01 -5.58750926e-02 3.13976683e+02] [ 1.16948233e-01 9.93123784e-01 -5.31598437e-03 2.39652282e+01] [ 5.61131841e-02 -1.26342093e-03 9.98423615e-01 1.76036333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.04, Y:23.97, Z:17.61 [[ 9.91306679e-01 -1.19117635e-01 -5.58753753e-02 3.14037513e+02] [ 1.19007121e-01 9.92879186e-01 -5.31301162e-03 2.39697804e+01] [ 5.61103705e-02 -1.38274365e-03 9.98423615e-01 1.76079838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.10, Y:23.97, Z:17.61 [[ 9.90778657e-01 -1.23432432e-01 -5.58756531e-02 3.14099128e+02] [ 1.23328930e-01 9.92351640e-01 -5.31008872e-03 2.39738328e+01] [ 5.61037331e-02 -1.62996194e-03 9.98423615e-01 1.76133240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.16, Y:23.98, Z:17.62 [[ 9.90313120e-01 -1.27113310e-01 -5.58760259e-02 3.14161130e+02] [ 1.27015875e-01 9.91886492e-01 -5.30616246e-03 2.39782614e+01] [ 5.60971592e-02 -1.84238003e-03 9.98423615e-01 1.76165843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.22, Y:23.98, Z:17.62 [[ 9.89649078e-01 -1.32183702e-01 -5.58763931e-02 3.14222880e+02] [ 1.32094545e-01 9.91222940e-01 -5.30229320e-03 2.39823913e+01] [ 5.60868394e-02 -2.13355716e-03 9.98423615e-01 1.76192041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.29, Y:23.99, Z:17.62 [[ 9.88813937e-01 -1.38292394e-01 -5.58767571e-02 3.14285474e+02] [ 1.38213174e-01 9.90388330e-01 -5.29845393e-03 2.39862067e+01] [ 5.60724241e-02 -2.48371887e-03 9.98423615e-01 1.76217517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.35, Y:23.99, Z:17.62 [[ 9.87490812e-01 -1.47443616e-01 -5.58773346e-02 3.14347881e+02] [ 1.47379323e-01 9.89065886e-01 -5.29235660e-03 2.39892721e+01] [ 5.60466897e-02 -3.00901024e-03 9.98423615e-01 1.76240054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.41, Y:23.99, Z:17.63 [[ 9.86751914e-01 -1.52309983e-01 -5.58778090e-02 3.14411124e+02] [ 1.52253739e-01 9.88327295e-01 -5.28734349e-03 2.39938215e+01] [ 5.60308790e-02 -3.29030904e-03 9.98423615e-01 1.76274584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.47, Y:24.00, Z:17.63 [[ 9.86346639e-01 -1.54912601e-01 -5.58783864e-02 3.14472916e+02] [ 1.54860858e-01 9.87922175e-01 -5.28123426e-03 2.39981591e+01] [ 5.60216267e-02 -3.44424722e-03 9.98423615e-01 1.76294277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.54, Y:24.00, Z:17.63 [[ 9.86511213e-01 -1.53860909e-01 -5.58788609e-02 3.14535348e+02] [ 1.53807770e-01 9.88086702e-01 -5.27620940e-03 2.40038698e+01] [ 5.60249617e-02 -3.38956324e-03 9.98423615e-01 1.76325137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.60, Y:24.01, Z:17.64 [[ 9.86849367e-01 -1.51676685e-01 -5.58794228e-02 3.14598376e+02] [ 1.51620394e-01 9.88424747e-01 -5.27025163e-03 2.40107540e+01] [ 5.60319786e-02 -3.27151562e-03 9.98423615e-01 1.76367056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.66, Y:24.02, Z:17.64 [[ 9.87565180e-01 -1.46943666e-01 -5.58799919e-02 3.14659550e+02] [ 1.46880164e-01 9.89140286e-01 -5.26421011e-03 2.40174823e+01] [ 5.60466935e-02 -3.00891176e-03 9.98423615e-01 1.76396905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.72, Y:24.02, Z:17.64 [[ 9.88058646e-01 -1.43587907e-01 -5.58804568e-02 3.14721888e+02] [ 1.43519333e-01 9.89633539e-01 -5.25927112e-03 2.40244782e+01] [ 5.60563419e-02 -2.82345758e-03 9.98423615e-01 1.76432994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.78, Y:24.03, Z:17.65 [[ 9.89163703e-01 -1.35766272e-01 -5.58810086e-02 3.14784517e+02] [ 1.35685572e-01 9.90738022e-01 -5.25340137e-03 2.40324701e+01] [ 5.60766746e-02 -2.38577264e-03 9.98423615e-01 1.76465737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.85, Y:24.04, Z:17.65 [[ 9.90501530e-01 -1.25634271e-01 -5.58815564e-02 3.14846544e+02] [ 1.25537789e-01 9.92074960e-01 -5.24756748e-03 2.40411092e+01] [ 5.60979672e-02 -1.81752341e-03 9.98423615e-01 1.76503691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.91, Y:24.05, Z:17.65 [[ 9.91383972e-01 -1.18469450e-01 -5.58821115e-02 3.14908138e+02] [ 1.18361928e-01 9.92956685e-01 -5.24164954e-03 2.40491891e+01] [ 5.61094915e-02 -1.41782711e-03 9.98423615e-01 1.76543148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.97, Y:24.06, Z:17.66 [[ 9.92247378e-01 -1.11005808e-01 -5.58824834e-02 3.14969906e+02] [ 1.10886677e-01 9.93819255e-01 -5.23768192e-03 2.40566185e+01] [ 5.61185011e-02 -9.99546728e-04 9.98423615e-01 1.76572518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.03, Y:24.06, Z:17.66 [[ 9.92962477e-01 -1.04415647e-01 -5.58828487e-02 3.15031378e+02] [ 1.04286303e-01 9.94533546e-01 -5.23378131e-03 2.40617406e+01] [ 5.61238563e-02 -6.30867213e-04 9.98423615e-01 1.76597120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.09, Y:24.07, Z:17.66 [[ 9.93403626e-01 -1.00131421e-01 -5.58832234e-02 3.15093128e+02] [ 9.99955260e-02 9.94974142e-01 -5.22977736e-03 2.40671387e+01] [ 5.61260273e-02 -3.92792530e-04 9.98423615e-01 1.76638057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.15, Y:24.07, Z:17.67 [[ 9.93859683e-01 -9.54984471e-02 -5.58836088e-02 3.15154642e+02] [ 9.53554624e-02 9.95429570e-01 -5.22565556e-03 2.40726421e+01] [ 5.61272387e-02 -1.35238986e-04 9.98423615e-01 1.76676347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.21, Y:24.08, Z:17.67 [[ 9.94509540e-01 -8.84745999e-02 -5.58839902e-02 3.15214710e+02] [ 8.83207572e-02 9.96078400e-01 -5.22157347e-03 2.40767179e+01] [ 5.61268122e-02 2.57188296e-04 9.98423615e-01 1.76710152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.28, Y:24.08, Z:17.67 [[ 9.94850052e-01 -8.45597663e-02 -5.58839902e-02 3.15275216e+02] [ 8.43997501e-02 9.96418294e-01 -5.22157347e-03 2.40796250e+01] [ 5.61253653e-02 4.78087824e-04 9.98423615e-01 1.76736311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.33, Y:24.08, Z:17.68 [[ 9.94798642e-01 -8.51624468e-02 -5.58839902e-02 3.15334888e+02] [ 8.50033807e-02 9.96366981e-01 -5.22157347e-03 2.40823867e+01] [ 5.61256446e-02 4.44086095e-04 9.98423615e-01 1.76765892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.39, Y:24.08, Z:17.68 [[ 9.94395651e-01 -8.97456988e-02 -5.58837972e-02 3.15393722e+02] [ 8.95937454e-02 9.95964695e-01 -5.22363873e-03 2.40809534e+01] [ 5.61270882e-02 1.87524941e-04 9.98423615e-01 1.76785366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.45, Y:24.08, Z:17.68 [[ 9.93818423e-01 -9.59269268e-02 -5.58835121e-02 3.15453277e+02] [ 9.57845609e-02 9.95388366e-01 -5.22668697e-03 2.40792225e+01] [ 5.61271778e-02 -1.58399868e-04 9.98423615e-01 1.76817811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.51, Y:24.08, Z:17.69 [[ 9.93351124e-01 -1.00650878e-01 -5.58833259e-02 3.15513215e+02] [ 1.00515866e-01 9.94921716e-01 -5.22867670e-03 2.40800500e+01] [ 5.61258054e-02 -4.23249051e-04 9.98423615e-01 1.76851786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.57, Y:24.08, Z:17.69 [[ 9.92467578e-01 -1.09019175e-01 -5.58831409e-02 3.15572617e+02] [ 1.08897293e-01 9.94039245e-01 -5.23065363e-03 2.40773803e+01] [ 5.61202767e-02 -8.94268633e-04 9.98423615e-01 1.76870495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.63, Y:24.08, Z:17.69 [[ 9.91728885e-01 -1.15546194e-01 -5.58828675e-02 3.15634250e+02] [ 1.15434490e-01 9.93301308e-01 -5.23357230e-03 2.40775163e+01] [ 5.61132448e-02 -1.26052550e-03 9.98423615e-01 1.76888807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.70, Y:24.08, Z:17.69 [[ 9.90600964e-01 -1.24847165e-01 -5.58830574e-02 3.15695705e+02] [ 1.24750336e-01 9.92174372e-01 -5.23154475e-03 2.40759260e+01] [ 5.60988809e-02 -1.78905689e-03 9.98423615e-01 1.76897387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.76, Y:24.08, Z:17.69 [[ 9.89849533e-01 -1.30671205e-01 -5.58832483e-02 3.15756654e+02] [ 1.30583746e-01 9.91423490e-01 -5.22950416e-03 2.40778447e+01] [ 5.60873107e-02 -2.12102167e-03 9.98423615e-01 1.76904316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.82, Y:24.08, Z:17.69 [[ 9.88747750e-01 -1.38762169e-01 -5.58833424e-02 3.15817957e+02] [ 1.38687642e-01 9.90322372e-01 -5.22849856e-03 2.40799689e+01] [ 5.60680420e-02 -2.58066282e-03 9.98423615e-01 1.76924651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.88, Y:24.08, Z:17.70 [[ 9.87918518e-01 -1.44547686e-01 -5.58835279e-02 3.15879596e+02] [ 1.44482490e-01 9.89493554e-01 -5.22651491e-03 2.40834791e+01] [ 5.60518713e-02 -2.91082042e-03 9.98423615e-01 1.76959349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.94, Y:24.09, Z:17.70 [[ 9.87527897e-01 -1.47192530e-01 -5.58839108e-02 3.15940987e+02] [ 1.47131783e-01 9.89103111e-01 -5.22241791e-03 2.40891053e+01] [ 5.60436509e-02 -3.06501609e-03 9.98423615e-01 1.76999914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.00, Y:24.10, Z:17.70 [[ 9.87138303e-01 -1.49782900e-01 -5.58842903e-02 3.16002665e+02] [ 1.49726516e-01 9.88713679e-01 -5.21835323e-03 2.40960798e+01] [ 5.60351824e-02 -3.21612373e-03 9.98423615e-01 1.77041361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.06, Y:24.10, Z:17.71 [[ 9.86997817e-01 -1.50705716e-01 -5.58846746e-02 3.16063343e+02] [ 1.50651036e-01 9.88573253e-01 -5.21423491e-03 2.41020735e+01] [ 5.60319096e-02 -3.27264567e-03 9.98423615e-01 1.77074782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.13, Y:24.11, Z:17.71 [[ 9.86952413e-01 -1.51002556e-01 -5.58852718e-02 3.16125433e+02] [ 1.50948712e-01 9.88527878e-01 -5.20782645e-03 2.41078651e+01] [ 5.60305442e-02 -3.29593291e-03 9.98423615e-01 1.77111257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.19, Y:24.11, Z:17.72 [[ 9.86803256e-01 -1.51974105e-01 -5.58856549e-02 3.16186933e+02] [ 1.51922044e-01 9.88378781e-01 -5.20371206e-03 2.41139695e+01] [ 5.60270249e-02 -3.35522291e-03 9.98423615e-01 1.77151113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.25, Y:24.12, Z:17.72 [[ 9.87128472e-01 -1.49847024e-01 -5.58860316e-02 3.16248857e+02] [ 1.49791796e-01 9.88703890e-01 -5.19966366e-03 2.41215787e+01] [ 5.60338909e-02 -3.23853301e-03 9.98423615e-01 1.77180335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.31, Y:24.13, Z:17.72 [[ 9.87809909e-01 -1.45286930e-01 -5.58864132e-02 3.16310893e+02] [ 1.45224659e-01 9.89385064e-01 -5.19555897e-03 2.41296873e+01] [ 5.60480293e-02 -2.98386067e-03 9.98423615e-01 1.77217097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.37, Y:24.14, Z:17.73 [[ 9.89576422e-01 -1.32722157e-01 -5.58867911e-02 3.16370821e+02] [ 1.32640103e-01 9.91150670e-01 -5.19149020e-03 2.41412948e+01] [ 5.60812563e-02 -2.27545345e-03 9.98423615e-01 1.77263692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.43, Y:24.15, Z:17.73 [[ 9.90964889e-01 -1.21923028e-01 -5.58870702e-02 3.16431610e+02] [ 1.21823982e-01 9.92538159e-01 -5.18848429e-03 2.41520676e+01] [ 5.61026455e-02 -1.66677966e-03 9.98423615e-01 1.77316263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.49, Y:24.16, Z:17.74 [[ 9.92836756e-01 -1.05601942e-01 -5.58874469e-02 3.16493055e+02] [ 1.05477252e-01 9.94408201e-01 -5.18442284e-03 2.41639775e+01] [ 5.61224207e-02 -7.47568797e-04 9.98423615e-01 1.77362346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.55, Y:24.17, Z:17.74 [[ 9.93770427e-01 -9.64203784e-02 -5.58878188e-02 3.16552353e+02] [ 9.62813945e-02 9.95340674e-01 -5.18041140e-03 2.41735183e+01] [ 5.61269164e-02 -2.32817478e-04 9.98423615e-01 1.77399241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.61, Y:24.18, Z:17.74 [[ 9.94633415e-01 -8.70684886e-02 -5.58878188e-02 3.16611183e+02] [ 8.69147407e-02 9.96202284e-01 -5.18041140e-03 2.41836541e+01] [ 5.61266233e-02 2.95135001e-04 9.98423615e-01 1.77434871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.67, Y:24.19, Z:17.75 [[ 9.94999875e-01 -8.27757265e-02 -5.58876317e-02 3.16668058e+02] [ 8.26150969e-02 9.96568055e-01 -5.18242933e-03 2.41909907e+01] [ 5.61248077e-02 5.39354432e-04 9.98423615e-01 1.77462224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.73, Y:24.20, Z:17.75 [[ 9.94961692e-01 -8.32337415e-02 -5.58871718e-02 3.16725150e+02] [ 8.30735555e-02 9.96529917e-01 -5.18738391e-03 2.41966345e+01] [ 5.61250040e-02 5.18502201e-04 9.98423615e-01 1.77483781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.78, Y:24.20, Z:17.75 [[ 9.94515925e-01 -8.84011752e-02 -5.58865511e-02 3.16783346e+02] [ 8.82487626e-02 9.96084925e-01 -5.19406202e-03 2.42013709e+01] [ 5.61269123e-02 2.33658416e-04 9.98423615e-01 1.77527925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.84, Y:24.21, Z:17.76 [[ 9.93954479e-01 -9.45057227e-02 -5.58852653e-02 3.16841838e+02] [ 9.43621706e-02 9.95524314e-01 -5.20785987e-03 2.42050503e+01] [ 5.61273130e-02 -9.70792981e-05 9.98423615e-01 1.77572941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.90, Y:24.21, Z:17.76 [[ 9.92952470e-01 -1.04510193e-01 -5.58839167e-02 3.16901398e+02] [ 1.04381644e-01 9.94523605e-01 -5.22229162e-03 2.42070712e+01] [ 5.61236570e-02 -6.47767747e-04 9.98423615e-01 1.77611631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.96, Y:24.21, Z:17.77 [[ 9.92035806e-01 -1.12880280e-01 -5.58838220e-02 3.16962850e+02] [ 1.12764929e-01 9.93607965e-01 -5.22330533e-03 2.42090373e+01] [ 5.61162188e-02 -1.12002930e-03 9.98423615e-01 1.77659422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14509989299995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:317.02, Y:24.21, Z:17.77 [[ 9.91476554e-01 -1.17691204e-01 -5.58840110e-02 3.17024088e+02] [ 1.17583595e-01 9.93049262e-01 -5.22128161e-03 2.42120617e+01] [ 5.61100748e-02 -1.39426460e-03 9.98423615e-01 1.77699798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.09, Y:24.21, Z:17.77 [[ 9.90835148e-01 -1.22974248e-01 -5.58841977e-02 3.17085913e+02] [ 1.22875135e-01 9.92408414e-01 -5.21928274e-03 2.42128759e+01] [ 5.61017854e-02 -1.69532956e-03 9.98423615e-01 1.77738733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.15, Y:24.21, Z:17.77 [[ 9.90609233e-01 -1.24780936e-01 -5.58843855e-02 3.17147766e+02] [ 1.24684806e-01 9.92182684e-01 -5.21727119e-03 2.42144586e+01] [ 5.60985356e-02 -1.79965676e-03 9.98423615e-01 1.77744921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.21, Y:24.22, Z:17.78 [[ 9.90654218e-01 -1.24423213e-01 -5.58845709e-02 3.17208541e+02] [ 1.24326626e-01 9.92227641e-01 -5.21528502e-03 2.42191838e+01] [ 5.60991184e-02 -1.78139605e-03 9.98423615e-01 1.77783311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.27, Y:24.22, Z:17.78 [[ 9.90956413e-01 -1.21992956e-01 -5.58847583e-02 3.17268809e+02] [ 1.21892624e-01 9.92529602e-01 -5.21327621e-03 2.42241640e+01] [ 5.61032598e-02 -1.64581035e-03 9.98423615e-01 1.77799656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.33, Y:24.23, Z:17.78 [[ 9.91056583e-01 -1.21176456e-01 -5.58848504e-02 3.17329809e+02] [ 1.21074884e-01 9.92629692e-01 -5.21228863e-03 2.42304896e+01] [ 5.61045685e-02 -1.60057881e-03 9.98423615e-01 1.77839350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.39, Y:24.24, Z:17.79 [[ 9.90974499e-01 -1.21845825e-01 -5.58850351e-02 3.17390961e+02] [ 1.21745427e-01 9.92547683e-01 -5.21030698e-03 2.42367563e+01] [ 5.61034163e-02 -1.64046609e-03 9.98423615e-01 1.77893755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.45, Y:24.24, Z:17.79 [[ 9.90609290e-01 -1.24780071e-01 -5.58853239e-02 3.17452108e+02] [ 1.24684507e-01 9.92182775e-01 -5.20720793e-03 2.42430220e+01] [ 5.60982115e-02 -1.80972549e-03 9.98423615e-01 1.77929742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.51, Y:24.25, Z:17.80 [[ 9.89896831e-01 -1.30311407e-01 -5.58856077e-02 3.17514106e+02] [ 1.30224805e-01 9.91470835e-01 -5.20416042e-03 2.42494873e+01] [ 5.60871116e-02 -2.12611044e-03 9.98423615e-01 1.77978501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.58, Y:24.26, Z:17.80 [[ 9.89256802e-01 -1.35084182e-01 -5.58859833e-02 3.17576128e+02] [ 1.35005400e-01 9.90831217e-01 -5.20012318e-03 2.42562364e+01] [ 5.60760313e-02 -2.40065232e-03 9.98423615e-01 1.78031834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.64, Y:24.26, Z:17.81 [[ 9.88249602e-01 -1.42265386e-01 -5.58863548e-02 3.17638192e+02] [ 1.42198267e-01 9.89824557e-01 -5.19612824e-03 2.42628796e+01] [ 5.60569155e-02 -2.81187112e-03 9.98423615e-01 1.78075661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.70, Y:24.27, Z:17.81 [[ 9.87621081e-01 -1.46564914e-01 -5.58867228e-02 3.17698973e+02] [ 1.46504873e-01 9.89196322e-01 -5.19216733e-03 2.42702217e+01] [ 5.60439302e-02 -3.05978330e-03 9.98423615e-01 1.78112095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.76, Y:24.28, Z:17.82 [[ 9.86998324e-01 -1.50701531e-01 -5.58869952e-02 3.17760745e+02] [ 1.50648256e-01 9.88573809e-01 -5.18923364e-03 2.42789991e+01] [ 5.60304451e-02 -3.29751343e-03 9.98423615e-01 1.78170441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.82, Y:24.29, Z:17.82 [[ 9.86627950e-01 -1.53107452e-01 -5.58873597e-02 3.17822441e+02] [ 1.53058240e-01 9.88203566e-01 -5.18530455e-03 2.42879789e+01] [ 5.60219969e-02 -3.43805449e-03 9.98423615e-01 1.78227449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.88, Y:24.30, Z:17.83 [[ 9.86440517e-01 -1.54310295e-01 -5.58877413e-02 3.17884685e+02] [ 1.54263236e-01 9.88016199e-01 -5.18118824e-03 2.42958029e+01] [ 5.60175044e-02 -3.51048982e-03 9.98423615e-01 1.78261003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.95, Y:24.30, Z:17.83 [[ 9.86146528e-01 -1.56177851e-01 -5.58883186e-02 3.17946545e+02] [ 1.56134128e-01 9.87722306e-01 -5.17495398e-03 2.43043667e+01] [ 5.60103521e-02 -3.62281099e-03 9.98423615e-01 1.78264815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.01, Y:24.31, Z:17.83 [[ 9.85858338e-01 -1.57986679e-01 -5.58886986e-02 3.18008625e+02] [ 1.57946078e-01 9.87434200e-01 -5.17084690e-03 2.43122743e+01] [ 5.60033373e-02 -3.72967822e-03 9.98423615e-01 1.78285862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.07, Y:24.32, Z:17.83 [[ 9.85830326e-01 -1.58161240e-01 -5.58890844e-02 3.18070510e+02] [ 1.58121153e-01 9.87406201e-01 -5.16667320e-03 2.43190969e+01] [ 5.60023960e-02 -3.74378335e-03 9.98423615e-01 1.78316493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.13, Y:24.33, Z:17.84 [[ 9.86096465e-01 -1.56493021e-01 -5.58900316e-02 3.18132359e+02] [ 1.56450847e-01 9.87672286e-01 -5.15640699e-03 2.43286836e+01] [ 5.60079769e-02 -3.65932810e-03 9.98423615e-01 1.78360717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.19, Y:24.34, Z:17.84 [[ 9.86348809e-01 -1.54894449e-01 -5.58904009e-02 3.18194030e+02] [ 1.54849948e-01 9.87924565e-01 -5.15240084e-03 2.43371232e+01] [ 5.60135783e-02 -3.57256122e-03 9.98423615e-01 1.78406720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.26, Y:24.35, Z:17.85 [[ 9.86635879e-01 -1.53055099e-01 -5.58907804e-02 3.18255682e+02] [ 1.53007892e-01 9.88211556e-01 -5.14828029e-03 2.43454345e+01] [ 5.60198857e-02 -3.47225245e-03 9.98423615e-01 1.78455311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.32, Y:24.35, Z:17.85 [[ 9.87006414e-01 -1.50646994e-01 -5.58911551e-02 3.18316904e+02] [ 1.50596172e-01 9.88581980e-01 -5.14420947e-03 2.43547657e+01] [ 5.60279485e-02 -3.33962624e-03 9.98423615e-01 1.78502858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.465099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.38, Y:24.36, Z:17.85 [[ 9.87182558e-01 -1.49488245e-01 -5.58915259e-02 3.18379411e+02] [ 1.49435801e-01 9.88758069e-01 -5.14017737e-03 2.43626946e+01] [ 5.60315934e-02 -3.27790152e-03 9.98423615e-01 1.78542478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.44, Y:24.37, Z:17.86 [[ 9.87213769e-01 -1.49281773e-01 -5.58920917e-02 3.18441093e+02] [ 1.49229347e-01 9.88789282e-01 -5.13401863e-03 2.43691082e+01] [ 5.60319166e-02 -3.27236646e-03 9.98423615e-01 1.78565886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.50, Y:24.38, Z:17.86 [[ 9.87468004e-01 -1.47590523e-01 -5.58925556e-02 3.18501944e+02] [ 1.47535684e-01 9.89043435e-01 -5.12896268e-03 2.43765968e+01] [ 5.60371515e-02 -3.18145988e-03 9.98423615e-01 1.78559366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.56, Y:24.38, Z:17.86 [[ 9.88248973e-01 -1.42267211e-01 -5.58928258e-02 3.18563877e+02] [ 1.42204049e-01 9.89824092e-01 -5.12601689e-03 2.43843817e+01] [ 5.60533296e-02 -2.88240519e-03 9.98423615e-01 1.78552390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.63, Y:24.39, Z:17.86 [[ 9.89431757e-01 -1.33793669e-01 -5.58932328e-02 3.18625438e+02] [ 1.33717262e-01 9.91006288e-01 -5.12157528e-03 2.43947930e+01] [ 5.60757795e-02 -2.40644083e-03 9.98423616e-01 1.78631388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.69, Y:24.40, Z:17.87 [[ 9.90925340e-01 -1.22241041e-01 -5.58936394e-02 3.18686800e+02] [ 1.22146520e-01 9.92498888e-01 -5.11713363e-03 2.44047039e+01] [ 5.60998987e-02 -1.75651616e-03 9.98423616e-01 1.78726491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.75, Y:24.41, Z:17.88 [[ 9.91918347e-01 -1.13902804e-01 -5.58940404e-02 3.18748126e+02] [ 1.13795300e-01 9.93491062e-01 -5.11274971e-03 2.44127675e+01] [ 5.61125861e-02 -1.28904883e-03 9.98423616e-01 1.78768355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.81, Y:24.42, Z:17.88 [[ 9.93039564e-01 -1.03673721e-01 -5.58944059e-02 3.18810154e+02] [ 1.03550238e-01 9.94611104e-01 -5.10875086e-03 2.44197347e+01] [ 5.61228400e-02 -7.14687329e-04 9.98423616e-01 1.78794697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.87, Y:24.42, Z:17.88 [[ 9.93792746e-01 -9.61860296e-02 -5.58947715e-02 3.18871176e+02] [ 9.60509306e-02 9.95363331e-01 -5.10474819e-03 2.44249127e+01] [ 5.61266114e-02 -2.95683093e-04 9.98423616e-01 1.78816047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.93, Y:24.43, Z:17.89 [[ 9.94282630e-01 -9.09822077e-02 -5.58953522e-02 3.18932520e+02] [ 9.08392464e-02 9.95852518e-01 -5.09838129e-03 2.44303920e+01] [ 5.61273892e-02 -8.25971930e-06 9.98423616e-01 1.78855802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.99, Y:24.43, Z:17.89 [[ 9.94966565e-01 -8.31697181e-02 -5.58957231e-02 3.18992035e+02] [ 8.30146590e-02 9.96535305e-01 -5.09431187e-03 2.44348781e+01] [ 5.61257540e-02 4.28505588e-04 9.98423616e-01 1.78878413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.05, Y:24.44, Z:17.90 [[ 9.95092910e-01 -8.16442217e-02 -5.58956321e-02 3.19051045e+02] [ 8.14867017e-02 9.96661405e-01 -5.09531007e-03 2.44428958e+01] [ 5.61250218e-02 5.15556223e-04 9.98423616e-01 1.78966934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.11, Y:24.44, Z:17.90 [[ 9.95618718e-01 -7.49603827e-02 -5.58955297e-02 3.19110243e+02] [ 7.47922709e-02 9.97186112e-01 -5.09643294e-03 2.44395623e+01] [ 5.61202765e-02 8.93550425e-04 9.98423616e-01 1.78967414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.17, Y:24.44, Z:17.90 [[ 9.95569285e-01 -7.56143061e-02 -5.58952221e-02 3.19168667e+02] [ 7.54470345e-02 9.97136769e-01 -5.09980446e-03 2.44396569e+01] [ 5.61207994e-02 8.60079928e-04 9.98423616e-01 1.79012176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.23, Y:24.44, Z:17.90 [[ 9.95227451e-01 -7.99888294e-02 -5.58937261e-02 3.19227951e+02] [ 7.98275303e-02 9.96795561e-01 -5.11614895e-03 2.44399275e+01] [ 5.61238528e-02 6.29873765e-04 9.98423616e-01 1.79031657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.29, Y:24.43, Z:17.90 [[ 9.94293031e-01 -9.08702776e-02 -5.58924092e-02 3.19285727e+02] [ 9.07253343e-02 9.95862737e-01 -5.13049545e-03 2.44349868e+01] [ 5.61273771e-02 3.03583645e-05 9.98423616e-01 1.79026908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.35, Y:24.43, Z:17.91 [[ 9.92966034e-01 -1.04377240e-01 -5.58913816e-02 3.19345162e+02] [ 1.04253018e-01 9.94537516e-01 -5.14166510e-03 2.44298967e+01] [ 5.61227487e-02 -7.21346440e-04 9.98423616e-01 1.79061044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.41, Y:24.43, Z:17.91 [[ 9.92153796e-01 -1.11835346e-01 -5.58900825e-02 3.19406241e+02] [ 1.11722143e-01 9.93726110e-01 -5.15574831e-03 2.44291553e+01] [ 5.61160291e-02 -1.12886452e-03 9.98423616e-01 1.79084980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.47, Y:24.43, Z:17.91 [[ 9.91299740e-01 -1.19168472e-01 -5.58900825e-02 3.19467807e+02] [ 1.19066898e-01 9.92872848e-01 -5.15574831e-03 2.44278124e+01] [ 5.61061480e-02 -1.54376678e-03 9.98423616e-01 1.79108495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.53, Y:24.43, Z:17.91 [[ 9.90840330e-01 -1.22929732e-01 -5.58902647e-02 3.19528979e+02] [ 1.22834241e-01 9.92413819e-01 -5.15377182e-03 2.44300903e+01] [ 5.60998229e-02 -1.75867325e-03 9.98423616e-01 1.79143400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.59, Y:24.43, Z:17.92 [[ 9.90063799e-01 -1.29034616e-01 -5.58904481e-02 3.19589743e+02] [ 1.28948936e-01 9.91637853e-01 -5.15178254e-03 2.44311549e+01] [ 5.60878422e-02 -2.10642043e-03 9.98423616e-01 1.79176462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.65, Y:24.43, Z:17.92 [[ 9.89132181e-01 -1.35991825e-01 -5.58905386e-02 3.19650460e+02] [ 1.35917269e-01 9.90706801e-01 -5.15080066e-03 2.44330981e+01] [ 5.60716035e-02 -2.50166667e-03 9.98423616e-01 1.79197627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.71, Y:24.44, Z:17.92 [[ 9.88170337e-01 -1.42813242e-01 -5.58906344e-02 3.19710355e+02] [ 1.42749611e-01 9.89745436e-01 -5.14976105e-03 2.44361005e+01] [ 5.60529544e-02 -2.88952519e-03 9.98423616e-01 1.79242640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.77, Y:24.44, Z:17.93 [[ 9.87726297e-01 -1.45852662e-01 -5.58906344e-02 3.19772400e+02] [ 1.45793877e-01 9.89301585e-01 -5.14976105e-03 2.44407543e+01] [ 5.60437995e-02 -3.06195785e-03 9.98423616e-01 1.79268888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.83, Y:24.45, Z:17.93 [[ 9.87485089e-01 -1.47476761e-01 -5.58910073e-02 3.19833390e+02] [ 1.47420795e-01 9.89060479e-01 -5.14571057e-03 2.44456692e+01] [ 5.60384592e-02 -3.15818429e-03 9.98423616e-01 1.79288885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.965099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.90, Y:24.45, Z:17.93 [[ 9.87625822e-01 -1.46531223e-01 -5.58912827e-02 3.19895509e+02] [ 1.46473918e-01 9.89201164e-01 -5.14271797e-03 2.44520500e+01] [ 5.60412906e-02 -3.10753409e-03 9.98423616e-01 1.79331917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.96, Y:24.46, Z:17.94 [[ 9.88454077e-01 -1.40835582e-01 -5.58916558e-02 3.19957529e+02] [ 1.40769426e-01 9.90029072e-01 -5.13865966e-03 2.44606401e+01] [ 5.60580702e-02 -2.78850718e-03 9.98423616e-01 1.79367821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.02, Y:24.47, Z:17.94 [[ 9.88889490e-01 -1.37744901e-01 -5.58920303e-02 3.20018489e+02] [ 1.37674051e-01 9.90464281e-01 -5.13458266e-03 2.44676556e+01] [ 5.60663222e-02 -2.61734739e-03 9.98423616e-01 1.79392097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.08, Y:24.48, Z:17.95 [[ 9.91166423e-01 -1.20271241e-01 -5.58923065e-02 3.20079473e+02] [ 1.20172779e-01 9.92739729e-01 -5.13157488e-03 2.44814737e+01] [ 5.61036941e-02 -1.63048908e-03 9.98423616e-01 1.79455393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.14, Y:24.49, Z:17.95 [[ 9.92315772e-01 -1.10387582e-01 -5.58926772e-02 3.20140349e+02] [ 1.10273673e-01 9.93888035e-01 -5.12753329e-03 2.44914177e+01] [ 5.61170791e-02 -1.07535865e-03 9.98423616e-01 1.79499376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.20, Y:24.50, Z:17.95 [[ 9.93653058e-01 -9.76196122e-02 -5.58928627e-02 3.20200349e+02] [ 9.74856112e-02 9.95223736e-01 -5.12551119e-03 2.45019081e+01] [ 5.61262540e-02 -3.55770009e-04 9.98423616e-01 1.79541451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.26, Y:24.51, Z:17.96 [[ 9.94467781e-01 -8.89369875e-02 -5.58931604e-02 3.20258016e+02] [ 8.87894554e-02 9.96037246e-01 -5.12226186e-03 2.45106453e+01] [ 5.61272281e-02 1.31201102e-04 9.98423616e-01 1.79573698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.32, Y:24.52, Z:17.96 [[ 9.94599003e-01 -8.74574712e-02 -5.58928875e-02 3.20315365e+02] [ 8.73074371e-02 9.96168230e-01 -5.12523883e-03 2.45164907e+01] [ 5.61269592e-02 2.17692673e-04 9.98423616e-01 1.79596415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.37, Y:24.52, Z:17.96 [[ 9.94788353e-01 -8.52776708e-02 -5.58914324e-02 3.20372770e+02] [ 8.51233096e-02 9.96357161e-01 -5.14105743e-03 2.45221377e+01] [ 5.61262463e-02 3.56600345e-04 9.98423616e-01 1.79618402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.43, Y:24.53, Z:17.97 [[ 9.94634301e-01 -8.70569931e-02 -5.58899562e-02 3.20431559e+02] [ 8.69045393e-02 9.96203295e-01 -5.15705622e-03 2.45262026e+01] [ 5.61267164e-02 2.72294107e-04 9.98423616e-01 1.79661521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.49, Y:24.53, Z:17.97 [[ 9.94335235e-01 -9.04096196e-02 -5.58886550e-02 3.20488653e+02] [ 9.02616657e-02 9.95904660e-01 -5.17111976e-03 2.45302235e+01] [ 5.61272909e-02 9.72234927e-05 9.98423616e-01 1.79699329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.55, Y:24.53, Z:17.97 [[ 9.93509419e-01 -9.90734221e-02 -5.58881978e-02 3.20547577e+02] [ 9.89388761e-02 9.95080051e-01 -5.17605646e-03 2.45315585e+01] [ 5.61260403e-02 -3.87054626e-04 9.98423616e-01 1.79724365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.61, Y:24.53, Z:17.98 [[ 9.92329932e-01 -1.10263144e-01 -5.58868903e-02 3.20607647e+02] [ 1.10145514e-01 9.93901921e-01 -5.19013567e-03 2.45312346e+01] [ 5.61183683e-02 -1.00536328e-03 9.98423617e-01 1.79756452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.67, Y:24.53, Z:17.98 [[ 9.91489309e-01 -1.17582428e-01 -5.58867029e-02 3.20667730e+02] [ 1.17476287e-01 9.93062115e-01 -5.19215185e-03 2.45324066e+01] [ 5.61094732e-02 -1.41739932e-03 9.98423617e-01 1.79787873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.73, Y:24.53, Z:17.98 [[ 9.90295774e-01 -1.27243552e-01 -5.58870101e-02 3.20729160e+02] [ 1.27152937e-01 9.91869551e-01 -5.18884350e-03 2.45318973e+01] [ 5.60928705e-02 -1.96770766e-03 9.98423617e-01 1.79820265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.79, Y:24.53, Z:17.98 [[ 9.89439504e-01 -1.33738881e-01 -5.58871999e-02 3.20791272e+02] [ 1.33658709e-01 9.91013848e-01 -5.18679883e-03 2.45316555e+01] [ 5.60786657e-02 -2.33778735e-03 9.98423617e-01 1.79841353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.85, Y:24.53, Z:17.99 [[ 9.89047713e-01 -1.36606045e-01 -5.58874831e-02 3.20853305e+02] [ 1.36530609e-01 9.90622290e-01 -5.18374542e-03 2.45346272e+01] [ 5.60715174e-02 -2.50338056e-03 9.98423617e-01 1.79872636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.91, Y:24.54, Z:17.99 [[ 9.88665340e-01 -1.39346309e-01 -5.58878576e-02 3.20914980e+02] [ 1.39275464e-01 9.90240130e-01 -5.17970462e-03 2.45372648e+01] [ 5.60641721e-02 -2.66281290e-03 9.98423617e-01 1.79907404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.98, Y:24.54, Z:17.99 [[ 9.88534735e-01 -1.40269757e-01 -5.58880463e-02 3.20976591e+02] [ 1.40200499e-01 9.90109596e-01 -5.17766777e-03 2.45419449e+01] [ 5.60615611e-02 -2.71722753e-03 9.98423617e-01 1.79934412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.04, Y:24.55, Z:18.00 [[ 9.88452062e-01 -1.40851043e-01 -5.58883266e-02 3.21037838e+02] [ 1.40782882e-01 9.90026971e-01 -5.17463986e-03 2.45481263e+01] [ 5.60598042e-02 -2.75323624e-03 9.98423617e-01 1.79969929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.10, Y:24.55, Z:18.00 [[ 9.88220371e-01 -1.42467440e-01 -5.58885140e-02 3.21098107e+02] [ 1.42401969e-01 9.89795395e-01 -5.17261512e-03 2.45541147e+01] [ 5.60551230e-02 -2.84695079e-03 9.98423617e-01 1.79980027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.16, Y:24.56, Z:18.00 [[ 9.88009083e-01 -1.43925384e-01 -5.58886061e-02 3.21159858e+02] [ 1.43862293e-01 9.89584203e-01 -5.17162035e-03 2.45607364e+01] [ 5.60508092e-02 -2.93065515e-03 9.98423617e-01 1.80027968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.22, Y:24.57, Z:18.01 [[ 9.87834422e-01 -1.45119178e-01 -5.58889840e-02 3.21220893e+02] [ 1.45058220e-01 9.89409627e-01 -5.16753265e-03 2.45691781e+01] [ 5.60470069e-02 -3.00248992e-03 9.98423617e-01 1.80092865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.28, Y:24.58, Z:18.01 [[ 9.88146599e-01 -1.42977896e-01 -5.58893619e-02 3.21281175e+02] [ 1.42913756e-01 9.89721677e-01 -5.16344272e-03 2.45784467e+01] [ 5.60531711e-02 -2.88512025e-03 9.98423617e-01 1.80139544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.34, Y:24.59, Z:18.02 [[ 9.88635925e-01 -1.39554135e-01 -5.58896410e-02 3.21342377e+02] [ 1.39484709e-01 9.90210779e-01 -5.16042014e-03 2.45864586e+01] [ 5.60626829e-02 -2.69397357e-03 9.98423617e-01 1.80188746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.40, Y:24.60, Z:18.02 [[ 9.89576708e-01 -1.32718673e-01 -5.58900084e-02 3.21404125e+02] [ 1.32638590e-01 9.91151056e-01 -5.15643747e-03 2.45966086e+01] [ 5.60797964e-02 -2.31048149e-03 9.98423617e-01 1.80245687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.46, Y:24.60, Z:18.03 [[ 9.90284148e-01 -1.27332517e-01 -5.58903886e-02 3.21464898e+02] [ 1.27244102e-01 9.91858050e-01 -5.15231293e-03 2.46048187e+01] [ 5.60913889e-02 -2.00946851e-03 9.98423617e-01 1.80277977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.53, Y:24.61, Z:18.03 [[ 9.91213397e-01 -1.19884255e-01 -5.58906688e-02 3.21526898e+02] [ 1.19784181e-01 9.92786601e-01 -5.14927195e-03 2.46140170e+01] [ 5.61048237e-02 -1.59079067e-03 9.98423617e-01 1.80312288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.59, Y:24.62, Z:18.03 [[ 9.92024059e-01 -1.12979897e-01 -5.58910494e-02 3.21586243e+02] [ 1.12869106e-01 9.93596544e-01 -5.14513798e-03 2.46223349e+01] [ 5.61144507e-02 -1.20427209e-03 9.98423617e-01 1.80342700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.65, Y:24.63, Z:18.04 [[ 9.92487646e-01 -1.08832221e-01 -5.58911425e-02 3.21645608e+02] [ 1.08714915e-01 9.94059659e-01 -5.14412625e-03 2.46294937e+01] [ 5.61189767e-02 -9.70719029e-04 9.98423617e-01 1.80377453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.71, Y:24.64, Z:18.04 [[ 9.93044461e-01 -1.03628508e-01 -5.58912334e-02 3.21705297e+02] [ 1.03503018e-01 9.94615842e-01 -5.14313855e-03 2.46369707e+01] [ 5.61232819e-02 -6.77546104e-04 9.98423617e-01 1.80420799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.76, Y:24.64, Z:18.04 [[ 9.93181468e-01 -1.02307092e-01 -5.58912334e-02 3.21764239e+02] [ 1.02179512e-01 9.94752681e-01 -5.14313855e-03 2.46425534e+01] [ 5.61241338e-02 -6.02869060e-04 9.98423617e-01 1.80446457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.82, Y:24.65, Z:18.05 [[ 9.92695738e-01 -1.06917458e-01 -5.58912328e-02 3.21824538e+02] [ 1.06797174e-01 9.94267525e-01 -5.14314435e-03 2.46464623e+01] [ 5.61207297e-02 -8.63448266e-04 9.98423617e-01 1.80465859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.89, Y:24.65, Z:18.05 [[ 9.91672151e-01 -1.16028077e-01 -5.58912328e-02 3.21885153e+02] [ 1.15922231e-01 9.93244977e-01 -5.14314435e-03 2.46495616e+01] [ 5.61104354e-02 -1.37872338e-03 9.98423617e-01 1.80480388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.95, Y:24.65, Z:18.05 [[ 9.90947027e-01 -1.22066212e-01 -5.58912328e-02 3.21946641e+02] [ 1.21969948e-01 9.92520468e-01 -5.14314435e-03 2.46530560e+01] [ 5.61009967e-02 -1.72046718e-03 9.98423617e-01 1.80495222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.01, Y:24.66, Z:18.05 [[ 9.90615414e-01 -1.24728710e-01 -5.58914164e-02 3.22008432e+02] [ 1.24636787e-01 9.92189115e-01 -5.14114878e-03 2.46575800e+01] [ 5.60961038e-02 -1.87322534e-03 9.98423617e-01 1.80523099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.07, Y:24.66, Z:18.06 [[ 9.89648299e-01 -1.32183019e-01 -5.58917987e-02 3.22069620e+02] [ 1.32103181e-01 9.91222660e-01 -5.13698901e-03 2.46609755e+01] [ 5.60802401e-02 -2.29967194e-03 9.98423617e-01 1.80550481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.13, Y:24.67, Z:18.06 [[ 9.89193447e-01 -1.35544682e-01 -5.58924277e-02 3.22131892e+02] [ 1.35470579e-01 9.90768088e-01 -5.13013669e-03 2.46655540e+01] [ 5.60717964e-02 -2.49708195e-03 9.98423617e-01 1.80578410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.19, Y:24.67, Z:18.06 [[ 9.88911335e-01 -1.37587669e-01 -5.58928040e-02 3.22194381e+02] [ 1.37517051e-01 9.90486135e-01 -5.12603330e-03 2.46703423e+01] [ 5.60663264e-02 -2.61702112e-03 9.98423617e-01 1.80592906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.26, Y:24.68, Z:18.06 [[ 9.88868887e-01 -1.37892265e-01 -5.58931759e-02 3.22256144e+02] [ 1.37822361e-01 9.90443720e-01 -5.12197489e-03 2.46752788e+01] [ 5.60653258e-02 -2.63836784e-03 9.98423617e-01 1.80614965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.32, Y:24.68, Z:18.06 [[ 9.88828196e-01 -1.38183607e-01 -5.58935492e-02 3.22317739e+02] [ 1.38114397e-01 9.90403060e-01 -5.11789778e-03 2.46804345e+01] [ 5.60643518e-02 -2.65898220e-03 9.98423617e-01 1.80630812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.38, Y:24.68, Z:18.06 [[ 9.88593425e-01 -1.39853176e-01 -5.58939178e-02 3.22378490e+02] [ 1.39786852e-01 9.90168412e-01 -5.11386936e-03 2.46841469e+01] [ 5.60595827e-02 -2.75769720e-03 9.98423617e-01 1.80640377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.44, Y:24.69, Z:18.07 [[ 9.88706310e-01 -1.39052765e-01 -5.58941898e-02 3.22440126e+02] [ 1.38985334e-01 9.90281251e-01 -5.11089437e-03 2.46893875e+01] [ 5.60616522e-02 -2.71529914e-03 9.98423617e-01 1.80668154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.50, Y:24.70, Z:18.07 [[ 9.89291167e-01 -1.34828725e-01 -5.58945683e-02 3.22500753e+02] [ 1.34754802e-01 9.90865816e-01 -5.10675203e-03 2.46956666e+01] [ 5.60725539e-02 -2.47999679e-03 9.98423617e-01 1.80702537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.56, Y:24.70, Z:18.07 [[ 9.90873171e-01 -1.22662650e-01 -5.58948473e-02 3.22561520e+02] [ 1.22569555e-01 9.92446803e-01 -5.10369685e-03 2.47036098e+01] [ 5.60986954e-02 -1.79389030e-03 9.98423617e-01 1.80743266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.62, Y:24.71, Z:18.08 [[ 9.92085615e-01 -1.12436110e-01 -5.58950278e-02 3.22622077e+02] [ 1.12326902e-01 9.93658211e-01 -5.10171917e-03 2.47117310e+01] [ 5.61141707e-02 -1.21717310e-03 9.98423617e-01 1.80780695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.68, Y:24.72, Z:18.08 [[ 9.93600597e-01 -9.81508007e-02 -5.58952085e-02 3.22680936e+02] [ 9.80190892e-02 9.95171468e-01 -5.09973799e-03 2.47212238e+01] [ 5.61258601e-02 -4.11694717e-04 9.98423617e-01 1.80812856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.74, Y:24.73, Z:18.09 [[ 9.94429223e-01 -8.93658501e-02 -5.58951196e-02 3.22740599e+02] [ 8.92202061e-02 9.95998864e-01 -5.10071239e-03 2.47277194e+01] [ 5.61273052e-02 8.53233716e-05 9.98423617e-01 1.80851555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.80, Y:24.73, Z:18.09 [[ 9.94520560e-01 -8.83437182e-02 -5.58949334e-02 3.22797873e+02] [ 8.81963463e-02 9.96090039e-01 -5.10275219e-03 2.47330216e+01] [ 5.61271825e-02 1.45063061e-04 9.98423617e-01 1.80892228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.86, Y:24.74, Z:18.09 [[ 9.94278835e-01 -9.10248401e-02 -5.58934489e-02 3.22855728e+02] [ 9.08807892e-02 9.95848622e-01 -5.11896102e-03 2.47374970e+01] [ 5.61273667e-02 1.00338439e-05 9.98423617e-01 1.80928365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.91, Y:24.74, Z:18.10 [[ 9.93532396e-01 -9.88405996e-02 -5.58919805e-02 3.22912856e+02] [ 9.87079982e-02 9.95103192e-01 -5.13494439e-03 2.47404752e+01] [ 5.61258292e-02 -4.15251906e-04 9.98423617e-01 1.80956006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02509989299995 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:322.97, Y:24.74, Z:18.10 [[ 9.92451565e-01 -1.09160654e-01 -5.58913486e-02 3.22970990e+02] [ 1.09043998e-01 9.94023626e-01 -5.14181368e-03 2.47433735e+01] [ 5.61186047e-02 -9.91615064e-04 9.98423617e-01 1.80975665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.03, Y:24.75, Z:18.10 [[ 9.91505918e-01 -1.17440886e-01 -5.58896514e-02 3.23027742e+02] [ 1.17336321e-01 9.93078829e-01 -5.16019552e-03 2.47471076e+01] [ 5.61088475e-02 -1.44152166e-03 9.98423617e-01 1.81026203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.09, Y:24.75, Z:18.11 [[ 9.90175809e-01 -1.28172918e-01 -5.58889092e-02 3.23088681e+02] [ 1.28084943e-01 9.91749735e-01 -5.16822128e-03 2.47490317e+01] [ 5.60902369e-02 -2.04108005e-03 9.98423617e-01 1.81068197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.15, Y:24.75, Z:18.11 [[ 9.89343473e-01 -1.34446649e-01 -5.58890981e-02 3.23149520e+02] [ 1.34368767e-01 9.90917931e-01 -5.16617762e-03 2.47526441e+01] [ 5.60760847e-02 -2.39862509e-03 9.98423617e-01 1.81089693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.21, Y:24.76, Z:18.11 [[ 9.88275491e-01 -1.42084241e-01 -5.58893786e-02 3.23211448e+02] [ 1.42018693e-01 9.89850510e-01 -5.16314125e-03 2.47572375e+01] [ 5.60557310e-02 -2.83473054e-03 9.98423617e-01 1.81140518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.27, Y:24.76, Z:18.12 [[ 9.87804940e-01 -1.45319426e-01 -5.58897550e-02 3.23272234e+02] [ 1.45259266e-01 9.89380175e-01 -5.15906442e-03 2.47629901e+01] [ 5.60459278e-02 -3.02235544e-03 9.98423617e-01 1.81181818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.33, Y:24.77, Z:18.12 [[ 9.87575930e-01 -1.46867579e-01 -5.58900334e-02 3.23334306e+02] [ 1.46810058e-01 9.89151263e-01 -5.15604597e-03 2.47700020e+01] [ 5.60409532e-02 -3.11323217e-03 9.98423617e-01 1.81231744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.40, Y:24.78, Z:18.13 [[ 9.87620900e-01 -1.46564731e-01 -5.58904138e-02 3.23395351e+02] [ 1.46506960e-01 9.89196223e-01 -5.15191965e-03 2.47784953e+01] [ 5.60416760e-02 -3.10019107e-03 9.98423617e-01 1.81282858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.46, Y:24.79, Z:18.13 [[ 9.87839953e-01 -1.45080830e-01 -5.58907907e-02 3.23456806e+02] [ 1.45020923e-01 9.89415197e-01 -5.14782786e-03 2.47864031e+01] [ 5.60460488e-02 -3.02010401e-03 9.98423617e-01 1.81304764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.52, Y:24.79, Z:18.13 [[ 9.88005073e-01 -1.43951914e-01 -5.58911617e-02 3.23518336e+02] [ 1.43890434e-01 9.89580257e-01 -5.14379623e-03 2.47949094e+01] [ 5.60492495e-02 -2.96010675e-03 9.98423617e-01 1.81343680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.58, Y:24.80, Z:18.14 [[ 9.88240409e-01 -1.42327196e-01 -5.58915392e-02 3.23578570e+02] [ 1.42263358e-01 9.89815498e-01 -5.13969117e-03 2.48025575e+01] [ 5.60538296e-02 -2.87206756e-03 9.98423617e-01 1.81365908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.64, Y:24.81, Z:18.14 [[ 9.88906530e-01 -1.37622596e-01 -5.58918174e-02 3.23639789e+02] [ 1.37551434e-01 9.90481306e-01 -5.13666431e-03 2.48125762e+01] [ 5.60667214e-02 -2.60831874e-03 9.98423617e-01 1.81408571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.70, Y:24.82, Z:18.15 [[ 9.89577240e-01 -1.32713791e-01 -5.58921854e-02 3.23701584e+02] [ 1.32635041e-01 9.91151654e-01 -5.13265636e-03 2.48208825e+01] [ 5.60788063e-02 -2.33410239e-03 9.98423617e-01 1.81463177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.76, Y:24.83, Z:18.15 [[ 9.90672430e-01 -1.24274528e-01 -5.58925606e-02 3.23761627e+02] [ 1.24182592e-01 9.92246130e-01 -5.12856795e-03 2.48303946e+01] [ 5.60965273e-02 -1.86015220e-03 9.98423617e-01 1.81501700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.82, Y:24.84, Z:18.16 [[ 9.91064280e-01 -1.21109802e-01 -5.58928379e-02 3.23823208e+02] [ 1.21013011e-01 9.92637688e-01 -5.12554392e-03 2.48372796e+01] [ 5.61020910e-02 -1.68401713e-03 9.98423617e-01 1.81559348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.88, Y:24.85, Z:18.16 [[ 9.92106426e-01 -1.12253233e-01 -5.58932155e-02 3.23883554e+02] [ 1.12142625e-01 9.93678923e-01 -5.12142319e-03 2.48459870e+01] [ 5.61148065e-02 -1.18701505e-03 9.98423617e-01 1.81601916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.94, Y:24.85, Z:18.16 [[ 9.92929543e-01 -1.04722524e-01 -5.58937913e-02 3.23944136e+02] [ 1.04600342e-01 9.94501183e-01 -5.11513123e-03 2.48530326e+01] [ 5.61221110e-02 -7.67544782e-04 9.98423617e-01 1.81649075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.00, Y:24.86, Z:18.17 [[ 9.93440063e-01 -9.97632456e-02 -5.58939758e-02 3.24003937e+02] [ 9.96333311e-02 9.95011083e-01 -5.11311465e-03 2.48592861e+01] [ 5.61252263e-02 -4.89330052e-04 9.98423617e-01 1.81686072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.06, Y:24.86, Z:18.17 [[ 9.93630661e-01 -9.78466790e-02 -5.58939758e-02 3.24063753e+02] [ 9.77137342e-02 9.95201428e-01 -5.11311465e-03 2.48641611e+01] [ 5.61260658e-02 -3.81061595e-04 9.98423617e-01 1.81720332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.12, Y:24.87, Z:18.18 [[ 9.93841620e-01 -9.56801804e-02 -5.58939758e-02 3.24124107e+02] [ 9.55438114e-02 9.95412094e-01 -5.11311465e-03 2.48674044e+01] [ 5.61267632e-02 -2.58697325e-04 9.98423617e-01 1.81753128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.18, Y:24.87, Z:18.18 [[ 9.93933630e-01 -9.47196027e-02 -5.58939758e-02 3.24183405e+02] [ 9.45817159e-02 9.95503970e-01 -5.11311465e-03 2.48712962e+01] [ 5.61269870e-02 -2.04451529e-04 9.98423617e-01 1.81782983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.24, Y:24.87, Z:18.18 [[ 9.93981840e-01 -9.42124519e-02 -5.58937892e-02 3.24241758e+02] [ 9.40736493e-02 9.95552100e-01 -5.11515354e-03 2.48737552e+01] [ 5.61270903e-02 -1.73762997e-04 9.98423617e-01 1.81807861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.30, Y:24.87, Z:18.18 [[ 9.93766265e-01 -9.64600084e-02 -5.58934450e-02 3.24300954e+02] [ 9.63245458e-02 9.95336817e-01 -5.11891207e-03 2.48741157e+01] [ 5.61265739e-02 -2.96908569e-04 9.98423617e-01 1.81835159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.36, Y:24.88, Z:18.19 [[ 9.93620803e-01 -9.79477696e-02 -5.58921691e-02 3.24359742e+02] [ 9.78138770e-02 9.95191489e-01 -5.13280507e-03 2.48760105e+01] [ 5.61261578e-02 -3.66967861e-04 9.98423617e-01 1.81870310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.42, Y:24.88, Z:18.19 [[ 9.93606957e-01 -9.80888456e-02 -5.58909064e-02 3.24419026e+02] [ 9.79544047e-02 9.95177596e-01 -5.14651830e-03 2.48768396e+01] [ 5.61261939e-02 -3.61144074e-04 9.98423617e-01 1.81907590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.48, Y:24.88, Z:18.19 [[ 9.93864101e-01 -9.54489571e-02 -5.58895848e-02 3.24477373e+02] [ 9.53095394e-02 9.95434306e-01 -5.16083068e-03 2.48775672e+01] [ 5.61270059e-02 -1.97646240e-04 9.98423618e-01 1.81929908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.54, Y:24.88, Z:18.20 [[ 9.94118817e-01 -9.27587400e-02 -5.58891203e-02 3.24535645e+02] [ 9.26147906e-02 9.95688613e-01 -5.16585600e-03 2.48798805e+01] [ 5.61273390e-02 -4.06845193e-05 9.98423618e-01 1.81953909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.59, Y:24.88, Z:18.20 [[ 9.94522598e-01 -8.83253753e-02 -5.58876593e-02 3.24593215e+02] [ 8.81735426e-02 9.96091651e-01 -5.18161364e-03 2.48805284e+01] [ 5.61268988e-02 2.25418944e-04 9.98423618e-01 1.81990972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.65, Y:24.88, Z:18.20 [[ 9.94753907e-01 -8.56819713e-02 -5.58861787e-02 3.24652370e+02] [ 8.55250748e-02 9.96322461e-01 -5.19753422e-03 2.48825189e+01] [ 5.61259901e-02 3.90597854e-04 9.98423618e-01 1.82032847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.71, Y:24.88, Z:18.21 [[ 9.94926383e-01 -8.36562994e-02 -5.58848390e-02 3.24710716e+02] [ 8.34954025e-02 9.96494533e-01 -5.21189886e-03 2.48823637e+01] [ 5.61249447e-02 5.19328559e-04 9.98423618e-01 1.82059015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.77, Y:24.88, Z:18.21 [[ 9.94928763e-01 -8.36290209e-02 -5.58833063e-02 3.24768684e+02] [ 8.34671609e-02 9.96496813e-01 -5.22828180e-03 2.48816115e+01] [ 5.61247727e-02 5.37347021e-04 9.98423618e-01 1.82079794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.83, Y:24.88, Z:18.21 [[ 9.94755600e-01 -8.56644898e-02 -5.58828355e-02 3.24826348e+02] [ 8.55055560e-02 9.96323950e-01 -5.23330868e-03 2.48827253e+01] [ 5.61257161e-02 4.27570191e-04 9.98423618e-01 1.82123361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.88, Y:24.88, Z:18.22 [[ 9.94049397e-01 -9.35044239e-02 -5.58812971e-02 3.24884431e+02] [ 9.33569392e-02 9.95618864e-01 -5.24968492e-03 2.48791294e+01] [ 5.61273423e-02 1.53926835e-06 9.98423618e-01 1.82162788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.94, Y:24.88, Z:18.22 [[ 9.93509625e-01 -9.90761102e-02 -5.58797714e-02 3.24942266e+02] [ 9.89365165e-02 9.95079814e-01 -5.26587560e-03 2.48801708e+01] [ 5.61265550e-02 -2.96851832e-04 9.98423618e-01 1.82193552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.00, Y:24.88, Z:18.22 [[ 9.92914721e-01 -1.04871252e-01 -5.58782435e-02 3.25000027e+02] [ 1.04739913e-01 9.94485621e-01 -5.28203942e-03 2.48809892e+01] [ 5.61240437e-02 -6.08067662e-04 9.98423618e-01 1.82219643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.06, Y:24.88, Z:18.23 [[ 9.92059273e-01 -1.12677387e-01 -5.58767027e-02 3.25059208e+02] [ 1.12557492e-01 9.93631088e-01 -5.29828831e-03 2.48797931e+01] [ 5.61178262e-02 -1.03312548e-03 9.98423619e-01 1.82253265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.12, Y:24.88, Z:18.23 [[ 9.91190803e-01 -1.20078040e-01 -5.58753663e-02 3.25117495e+02] [ 1.19969087e-01 9.92763415e-01 -5.31234532e-03 2.48797695e+01] [ 5.61089154e-02 -1.43776884e-03 9.98423619e-01 1.82295435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.18, Y:24.88, Z:18.23 [[ 9.90274857e-01 -1.27412015e-01 -5.58738431e-02 3.25175774e+02] [ 1.27313806e-01 9.91848176e-01 -5.32831770e-03 2.48805518e+01] [ 5.60972610e-02 -1.83701259e-03 9.98423619e-01 1.82332857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.23, Y:24.88, Z:18.24 [[ 9.89704173e-01 -1.31772297e-01 -5.58722850e-02 3.25233391e+02] [ 1.31680100e-01 9.91277855e-01 -5.34460634e-03 2.48827598e+01] [ 5.60892299e-02 -2.06768890e-03 9.98423619e-01 1.82366885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.29, Y:24.89, Z:18.24 [[ 9.88906166e-01 -1.37633775e-01 -5.58707399e-02 3.25290922e+02] [ 1.37549995e-01 9.90480319e-01 -5.36070951e-03 2.48858707e+01] [ 5.60766829e-02 -2.38378133e-03 9.98423619e-01 1.82386466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.35, Y:24.89, Z:18.24 [[ 9.88471148e-01 -1.40724644e-01 -5.58691689e-02 3.25348620e+02] [ 1.40644865e-01 9.90045509e-01 -5.37703240e-03 2.48911783e+01] [ 5.60697008e-02 -2.54267033e-03 9.98423619e-01 1.82406317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.41, Y:24.90, Z:18.24 [[ 9.88341527e-01 -1.41632328e-01 -5.58686857e-02 3.25406643e+02] [ 1.41553712e-01 9.89915946e-01 -5.38204849e-03 2.48975835e+01] [ 5.60675749e-02 -2.58911781e-03 9.98423619e-01 1.82435287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.46, Y:24.90, Z:18.25 [[ 9.88548494e-01 -1.40181023e-01 -5.58673073e-02 3.25464255e+02] [ 1.40099291e-01 9.90122754e-01 -5.39631864e-03 2.49047282e+01] [ 5.60719537e-02 -2.49244747e-03 9.98423619e-01 1.82468531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.52, Y:24.91, Z:18.25 [[ 9.88849236e-01 -1.38044232e-01 -5.58657272e-02 3.25522258e+02] [ 1.37958178e-01 9.90423265e-01 -5.41262804e-03 2.49129547e+01] [ 5.60778980e-02 -2.35486082e-03 9.98423620e-01 1.82510823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.58, Y:24.92, Z:18.25 [[ 9.89419054e-01 -1.33899627e-01 -5.58643535e-02 3.25580241e+02] [ 1.33806181e-01 9.90992662e-01 -5.42676956e-03 2.49214429e+01] [ 5.60878068e-02 -2.10564656e-03 9.98423620e-01 1.82546379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.64, Y:24.93, Z:18.26 [[ 9.89866033e-01 -1.30554823e-01 -5.58629986e-02 3.25637727e+02] [ 1.30455274e-01 9.91439267e-01 -5.44068051e-03 2.49311248e+01] [ 5.60950775e-02 -1.90207799e-03 9.98423620e-01 1.82590904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.70, Y:24.94, Z:18.26 [[ 9.90068368e-01 -1.29012048e-01 -5.58616004e-02 3.25695050e+02] [ 1.28909241e-01 9.91641392e-01 -5.45499908e-03 2.49383533e+01] [ 5.60984358e-02 -1.80025448e-03 9.98423620e-01 1.82618867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.75, Y:24.95, Z:18.26 [[ 9.90616359e-01 -1.24734780e-01 -5.58611099e-02 3.25753265e+02] [ 1.24624898e-01 9.92188905e-01 -5.46001712e-03 2.49484277e+01] [ 5.61058275e-02 -1.55290283e-03 9.98423620e-01 1.82649723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.81, Y:24.96, Z:18.27 [[ 9.91128352e-01 -1.20599675e-01 -5.58597165e-02 3.25810815e+02] [ 1.20482430e-01 9.92700366e-01 -5.47423592e-03 2.49581615e+01] [ 5.61121521e-02 -1.30444393e-03 9.98423620e-01 1.82691117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.87, Y:24.97, Z:18.27 [[ 9.91623742e-01 -1.16456871e-01 -5.58583230e-02 3.25867900e+02] [ 1.16332259e-01 9.93195189e-01 -5.48841828e-03 2.49672423e+01] [ 5.61173817e-02 -1.05567904e-03 9.98423620e-01 1.82713998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.92, Y:24.97, Z:18.27 [[ 9.91801893e-01 -1.14930007e-01 -5.58578340e-02 3.25924870e+02] [ 1.14802696e-01 9.93373124e-01 -5.49339044e-03 2.49747755e+01] [ 5.61190265e-02 -9.64274916e-04 9.98423620e-01 1.82745851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.98, Y:24.98, Z:18.28 [[ 9.91853527e-01 -1.14484327e-01 -5.58562373e-02 3.25982065e+02] [ 1.14355398e-01 9.93424626e-01 -5.50957840e-03 2.49815799e+01] [ 5.61197220e-02 -9.22767503e-04 9.98423620e-01 1.82760349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.04, Y:24.99, Z:18.28 [[ 9.91355488e-01 -1.18720505e-01 -5.58546087e-02 3.26038221e+02] [ 1.18597362e-01 9.92927051e-01 -5.52603880e-03 2.49877731e+01] [ 5.61156061e-02 -1.14594038e-03 9.98423620e-01 1.82776810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.10, Y:24.99, Z:18.28 [[ 9.90675695e-01 -1.24265875e-01 -5.58539090e-02 3.26095531e+02] [ 1.24151131e-01 9.92247893e-01 -5.53310215e-03 2.49927572e+01] [ 5.61084993e-02 -1.45281614e-03 9.98423620e-01 1.82821291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.15, Y:25.00, Z:18.28 [[ 9.89522744e-01 -1.33136236e-01 -5.58523188e-02 3.26153482e+02] [ 1.33034679e-01 9.91095849e-01 -5.54910800e-03 2.49973472e+01] [ 5.60937887e-02 -1.93932673e-03 9.98423620e-01 1.82823599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.21, Y:25.00, Z:18.29 [[ 9.88440720e-01 -1.40945083e-01 -5.58518291e-02 3.26213861e+02] [ 1.40855672e-01 9.90014562e-01 -5.55403280e-03 2.50034777e+01] [ 5.60769377e-02 -2.37721474e-03 9.98423620e-01 1.82864449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.27, Y:25.01, Z:18.29 [[ 9.88053972e-01 -1.43631200e-01 -5.58518291e-02 3.26273727e+02] [ 1.43546066e-01 9.89628051e-01 -5.55403280e-03 2.50117153e+01] [ 5.60702691e-02 -2.52962620e-03 9.98423620e-01 1.82904322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.33, Y:25.02, Z:18.29 [[ 9.88467870e-01 -1.40754550e-01 -5.58518291e-02 3.26334525e+02] [ 1.40664835e-01 9.90041694e-01 -5.55403280e-03 2.50210284e+01] [ 5.60773949e-02 -2.36640537e-03 9.98423620e-01 1.82934399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.39, Y:25.03, Z:18.30 [[ 9.88983514e-01 -1.37084499e-01 -5.58520313e-02 3.26394057e+02] [ 1.36989058e-01 9.90557002e-01 -5.55199814e-03 2.50292041e+01] [ 5.60857136e-02 -2.16028253e-03 9.98423620e-01 1.82976615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.45, Y:25.04, Z:18.30 [[ 9.89818168e-01 -1.30921901e-01 -5.58520313e-02 3.26454706e+02] [ 1.30816662e-01 9.91391031e-01 -5.55199814e-03 2.50396843e+01] [ 5.60980811e-02 -1.81090766e-03 9.98423620e-01 1.83027596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.51, Y:25.05, Z:18.31 [[ 9.90467399e-01 -1.25916079e-01 -5.58522336e-02 3.26514819e+02] [ 1.25803003e-01 9.92039718e-01 -5.54996260e-03 2.50486429e+01] [ 5.61064636e-02 -1.52932170e-03 9.98423620e-01 1.83054244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.57, Y:25.06, Z:18.31 [[ 9.90658298e-01 -1.24405245e-01 -5.58522336e-02 3.26573543e+02] [ 1.24289772e-01 9.92230442e-01 -5.54996260e-03 2.50560782e+01] [ 5.61087309e-02 -1.44374488e-03 9.98423620e-01 1.83080457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.63, Y:25.06, Z:18.31 [[ 9.90509302e-01 -1.25586116e-01 -5.58520349e-02 3.26631498e+02] [ 1.25472404e-01 9.92081575e-01 -5.55196103e-03 2.50634030e+01] [ 5.61070240e-02 -1.50862007e-03 9.98423620e-01 1.83102959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.69, Y:25.07, Z:18.31 [[ 9.90225973e-01 -1.27801068e-01 -5.58516671e-02 3.26691595e+02] [ 1.27690664e-01 9.91798482e-01 -5.55565870e-03 2.50714306e+01] [ 5.61036178e-02 -1.63037894e-03 9.98423620e-01 1.83134822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.75, Y:25.08, Z:18.32 [[ 9.90170150e-01 -1.28232853e-01 -5.58516671e-02 3.26750931e+02] [ 1.28123135e-01 9.91742707e-01 -5.55565869e-03 2.50793386e+01] [ 5.61029015e-02 -1.65484329e-03 9.98423620e-01 1.83185425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.81, Y:25.09, Z:18.32 [[ 9.90395377e-01 -1.26481575e-01 -5.58516671e-02 3.26810249e+02] [ 1.26369076e-01 9.91967737e-01 -5.55565869e-03 2.50878022e+01] [ 5.61057403e-02 -1.55562489e-03 9.98423620e-01 1.83231238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.87, Y:25.10, Z:18.33 [[ 9.91018513e-01 -1.21502666e-01 -5.58516671e-02 3.26870822e+02] [ 1.21382267e-01 9.92590288e-01 -5.55565869e-03 2.50980611e+01] [ 5.61128497e-02 -1.27364134e-03 9.98423620e-01 1.83291149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.93, Y:25.11, Z:18.33 [[ 9.91658151e-01 -1.16166601e-01 -5.58518716e-02 3.26930453e+02] [ 1.16037859e-01 9.93229265e-01 -5.55360206e-03 2.51059570e+01] [ 5.61188565e-02 -9.73656834e-04 9.98423620e-01 1.83332897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.99, Y:25.11, Z:18.34 [[ 9.92029751e-01 -1.12949286e-01 -5.58518716e-02 3.26990307e+02] [ 1.12815448e-01 9.93600439e-01 -5.55360206e-03 2.51133718e+01] [ 5.61217195e-02 -7.91615467e-04 9.98423620e-01 1.83388381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.05, Y:25.12, Z:18.34 [[ 9.91894717e-01 -1.14129045e-01 -5.58518716e-02 3.27050526e+02] [ 1.13997076e-01 9.93465563e-01 -5.55360206e-03 2.51178852e+01] [ 5.61207384e-02 -8.58361501e-04 9.98423620e-01 1.83404602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.11, Y:25.12, Z:18.34 [[ 9.91803317e-01 -1.14920623e-01 -5.58518716e-02 3.27110665e+02] [ 1.14789907e-01 9.93374267e-01 -5.55360206e-03 2.51231796e+01] [ 5.61200354e-02 -9.03150209e-04 9.98423620e-01 1.83433134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.17, Y:25.13, Z:18.34 [[ 9.91546956e-01 -1.17111925e-01 -5.58518716e-02 3.27170805e+02] [ 1.16984681e-01 9.93118191e-01 -5.55360206e-03 2.51276018e+01] [ 5.61179028e-02 -1.02715614e-03 9.98423620e-01 1.83448689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.23, Y:25.13, Z:18.35 [[ 9.91125269e-01 -1.20628640e-01 -5.58518716e-02 3.27230019e+02] [ 1.20506970e-01 9.92696947e-01 -5.55360206e-03 2.51313764e+01] [ 5.61139059e-02 -1.22622448e-03 9.98423620e-01 1.83464325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.29, Y:25.14, Z:18.35 [[ 9.90818348e-01 -1.23124253e-01 -5.58517717e-02 3.27290243e+02] [ 1.23006485e-01 9.92390322e-01 -5.55460632e-03 2.51360306e+01] [ 5.61106645e-02 -1.36652426e-03 9.98423620e-01 1.83514813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.35, Y:25.14, Z:18.36 [[ 9.90581928e-01 -1.25012096e-01 -5.58517717e-02 3.27350589e+02] [ 1.24897324e-01 9.92154124e-01 -5.55460632e-03 2.51414937e+01] [ 5.61079586e-02 -1.47344418e-03 9.98423620e-01 1.83559854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.41, Y:25.15, Z:18.36 [[ 9.89881728e-01 -1.30440578e-01 -5.58517717e-02 3.27411593e+02] [ 1.30334427e-01 9.91454529e-01 -5.55460632e-03 2.51465302e+01] [ 5.60990381e-02 -1.78100534e-03 9.98423620e-01 1.83613276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.47, Y:25.15, Z:18.37 [[ 9.88723601e-01 -1.38946741e-01 -5.58519754e-02 3.27472135e+02] [ 1.38854232e-01 9.90297264e-01 -5.55255743e-03 2.51510213e+01] [ 5.60815682e-02 -2.26533858e-03 9.98423620e-01 1.83655231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.53, Y:25.16, Z:18.37 [[ 9.87388328e-01 -1.48137892e-01 -5.58520756e-02 3.27534106e+02] [ 1.48060082e-01 9.88962786e-01 -5.55155005e-03 2.51554363e+01] [ 5.60580192e-02 -2.78792717e-03 9.98423620e-01 1.83692873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.60, Y:25.16, Z:18.37 [[ 9.86990795e-01 -1.50763625e-01 -5.58524846e-02 3.27595569e+02] [ 1.50690235e-01 9.88565465e-01 -5.54743232e-03 2.51614759e+01] [ 5.60501884e-02 -2.94115939e-03 9.98423621e-01 1.83724865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.66, Y:25.17, Z:18.38 [[ 9.86413664e-01 -1.54494460e-01 -5.58528878e-02 3.27657501e+02] [ 1.54427255e-01 9.87988610e-01 -5.54336948e-03 2.51688578e+01] [ 5.60384369e-02 -3.15715271e-03 9.98423621e-01 1.83758718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.72, Y:25.18, Z:18.38 [[ 9.86481430e-01 -1.54061022e-01 -5.58532880e-02 3.27719261e+02] [ 1.53993352e-01 9.88056356e-01 -5.53933460e-03 2.51766157e+01] [ 5.60395917e-02 -3.13658432e-03 9.98423621e-01 1.83797176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.78, Y:25.19, Z:18.38 [[ 9.87193484e-01 -1.49430215e-01 -5.58536968e-02 3.27779722e+02] [ 1.49355388e-01 9.88768087e-01 -5.53520874e-03 2.51864336e+01] [ 5.60534804e-02 -2.87772858e-03 9.98423621e-01 1.83814839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.84, Y:25.20, Z:18.38 [[ 9.88476982e-01 -1.40689683e-01 -5.58539983e-02 3.27841402e+02] [ 1.40601098e-01 9.90050871e-01 -5.53216555e-03 2.51989694e+01] [ 5.60766182e-02 -2.38471518e-03 9.98423621e-01 1.83846171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.90, Y:25.21, Z:18.39 [[ 9.89965427e-01 -1.29802648e-01 -5.58545036e-02 3.27902660e+02] [ 1.29697035e-01 9.91538265e-01 -5.52705864e-03 2.52109150e+01] [ 5.60993044e-02 -1.77256655e-03 9.98423621e-01 1.83891385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.96, Y:25.22, Z:18.39 [[ 9.90907203e-01 -1.22405656e-01 -5.58549092e-02 3.27964206e+02] [ 1.22288531e-01 9.92479225e-01 -5.52295627e-03 2.52207739e+01] [ 5.61108781e-02 -1.35767767e-03 9.98423621e-01 1.83937662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.02, Y:25.23, Z:18.40 [[ 9.92196343e-01 -1.11474660e-01 -5.58553178e-02 3.28024494e+02] [ 1.11340445e-01 9.93766999e-01 -5.51882090e-03 2.52318776e+01] [ 5.61223803e-02 -7.43202045e-04 9.98423621e-01 1.83973266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.08, Y:25.24, Z:18.40 [[ 9.92797879e-01 -1.05983394e-01 -5.58559829e-02 3.28084486e+02] [ 1.05840871e-01 9.94367803e-01 -5.51208130e-03 2.52400274e+01] [ 5.61255801e-02 -4.39463258e-04 9.98423621e-01 1.84011016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.14, Y:25.25, Z:18.40 [[ 9.93278563e-01 -1.01379516e-01 -5.58559829e-02 3.28144425e+02] [ 1.01229715e-01 9.94847808e-01 -5.51208130e-03 2.52468425e+01] [ 5.61270143e-02 -1.79253069e-04 9.98423621e-01 1.84046577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.20, Y:25.25, Z:18.41 [[ 9.93207352e-01 -1.02074800e-01 -5.58559829e-02 3.28203657e+02] [ 1.01926099e-01 9.94776702e-01 -5.51208130e-03 2.52523407e+01] [ 5.61268751e-02 -2.18542761e-04 9.98423621e-01 1.84057388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.26, Y:25.26, Z:18.41 [[ 9.92756351e-01 -1.06371681e-01 -5.58560087e-02 3.28262786e+02] [ 1.06229786e-01 9.94326331e-01 -5.51181973e-03 2.52562748e+01] [ 5.61254018e-02 -4.61677842e-04 9.98423621e-01 1.84101133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.32, Y:25.26, Z:18.41 [[ 9.92184653e-01 -1.11578417e-01 -5.58558137e-02 3.28321832e+02] [ 1.11444649e-01 9.93755346e-01 -5.51379589e-03 2.52592835e+01] [ 5.61222341e-02 -7.54127900e-04 9.98423621e-01 1.84134069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.38, Y:25.26, Z:18.42 [[ 9.91766809e-01 -1.15233394e-01 -5.58557175e-02 3.28382498e+02] [ 1.15105360e-01 9.93337980e-01 -5.51477001e-03 2.52639528e+01] [ 5.61190913e-02 -9.59926622e-04 9.98423621e-01 1.84171713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.44, Y:25.27, Z:18.42 [[ 9.91246614e-01 -1.19625526e-01 -5.58559163e-02 3.28443494e+02] [ 1.19504566e-01 9.92818346e-01 -5.51275566e-03 2.52680782e+01] [ 5.61142447e-02 -1.21053668e-03 9.98423621e-01 1.84223694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.50, Y:25.27, Z:18.43 [[ 9.90941469e-01 -1.22127391e-01 -5.58561158e-02 3.28503939e+02] [ 1.22010514e-01 9.92513509e-01 -5.51073402e-03 2.52713458e+01] [ 5.61109610e-02 -1.35421851e-03 9.98423621e-01 1.84261102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.56, Y:25.27, Z:18.43 [[ 9.90987662e-01 -1.21751950e-01 -5.58562140e-02 3.28564856e+02] [ 1.21634533e-01 9.92559662e-01 -5.50973848e-03 2.52748224e+01] [ 5.61114463e-02 -1.33396164e-03 9.98423621e-01 1.84294060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.63, Y:25.28, Z:18.43 [[ 9.91218078e-01 -1.19861513e-01 -5.58564147e-02 3.28625913e+02] [ 1.19741212e-01 9.92789861e-01 -5.50770278e-03 2.52797267e+01] [ 5.61138437e-02 -1.22898024e-03 9.98423621e-01 1.84321136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.69, Y:25.28, Z:18.43 [[ 9.91882893e-01 -1.14229445e-01 -5.58566150e-02 3.28686261e+02] [ 1.14100333e-01 9.93453976e-01 -5.50567057e-03 2.52846693e+01] [ 5.61198859e-02 -9.12277896e-04 9.98423621e-01 1.84338867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.75, Y:25.29, Z:18.44 [[ 9.92870696e-01 -1.05298666e-01 -5.58567136e-02 3.28745718e+02] [ 1.05155477e-01 9.94440558e-01 -5.50467041e-03 2.52900278e+01] [ 5.61258159e-02 -4.08213419e-04 9.98423621e-01 1.84368942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.81, Y:25.30, Z:18.44 [[ 9.93786695e-01 -9.62707392e-02 -5.58565179e-02 3.28805431e+02] [ 9.61131769e-02 9.95355180e-01 -5.50665546e-03 2.52956528e+01] [ 5.61272042e-02 1.03893548e-04 9.98423621e-01 1.84406077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.86, Y:25.30, Z:18.44 [[ 9.94029908e-01 -9.37262734e-02 -5.58563190e-02 3.28863345e+02] [ 9.35645829e-02 9.95597973e-01 -5.50867161e-03 2.53001857e+01] [ 5.61267453e-02 2.49611143e-04 9.98423621e-01 1.84435308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.92, Y:25.30, Z:18.45 [[ 9.93900019e-01 -9.50947087e-02 -5.58547083e-02 3.28921494e+02] [ 9.49342620e-02 9.95468212e-01 -5.52495513e-03 2.53020241e+01] [ 5.61269806e-02 1.88727492e-04 9.98423621e-01 1.84451016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.98, Y:25.30, Z:18.45 [[ 9.93122839e-01 -1.02895375e-01 -5.58530974e-02 3.28980475e+02] [ 1.02746333e-01 9.94692156e-01 -5.54119304e-03 2.53027363e+01] [ 5.61268010e-02 -2.35615594e-04 9.98423621e-01 1.84477097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.04, Y:25.30, Z:18.45 [[ 9.92368854e-01 -1.09930202e-01 -5.58516559e-02 3.29038324e+02] [ 1.09791468e-01 9.93939117e-01 -5.55568437e-03 2.53047077e+01] [ 5.61238830e-02 -6.18747169e-04 9.98423621e-01 1.84517973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.10, Y:25.30, Z:18.46 [[ 9.90518160e-01 -1.25516732e-01 -5.58509124e-02 3.29097417e+02] [ 1.25402280e-01 9.92090379e-01 -5.56314910e-03 2.53025753e+01] [ 5.61074211e-02 -1.49343154e-03 9.98423621e-01 1.84577378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.16, Y:25.31, Z:18.46 [[ 9.89562711e-01 -1.32840041e-01 -5.58494847e-02 3.29157885e+02] [ 1.32736415e-01 9.91135680e-01 -5.57744460e-03 2.53051311e+01] [ 5.60953250e-02 -1.89402919e-03 9.98423621e-01 1.84618792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.22, Y:25.31, Z:18.47 [[ 9.88615437e-01 -1.39715259e-01 -5.58494847e-02 3.29217811e+02] [ 1.39622570e-01 9.90189088e-01 -5.57744460e-03 2.53078650e+01] [ 5.60808045e-02 -2.28390076e-03 9.98423621e-01 1.84655756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.28, Y:25.31, Z:18.47 [[ 9.87489424e-01 -1.47463460e-01 -5.58494847e-02 3.29279015e+02] [ 1.47383114e-01 9.89063754e-01 -5.57744460e-03 2.53115649e+01] [ 5.60611703e-02 -2.72360342e-03 9.98423621e-01 1.84696706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.34, Y:25.32, Z:18.47 [[ 9.86767705e-01 -1.52217963e-01 -5.58496892e-02 3.29340424e+02] [ 1.52145316e-01 9.88342409e-01 -5.57539667e-03 2.53166870e+01] [ 5.60472919e-02 -2.99564721e-03 9.98423621e-01 1.84726967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.40, Y:25.32, Z:18.48 [[ 9.86338390e-01 -1.54975385e-01 -5.58498917e-02 3.29400057e+02] [ 1.54907254e-01 9.87913296e-01 -5.57336686e-03 2.53231322e+01] [ 5.60385853e-02 -3.15432766e-03 9.98423621e-01 1.84753297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.46, Y:25.33, Z:18.48 [[ 9.86093908e-01 -1.56523425e-01 -5.58499915e-02 3.29461022e+02] [ 1.56457822e-01 9.87668922e-01 -5.57236734e-03 2.53305442e+01] [ 5.60335069e-02 -3.24329054e-03 9.98423621e-01 1.84766281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.52, Y:25.34, Z:18.48 [[ 9.86180720e-01 -1.55975457e-01 -5.58501924e-02 3.29521752e+02] [ 1.55909093e-01 9.87755702e-01 -5.57035235e-03 2.53375353e+01] [ 5.60351843e-02 -3.21417876e-03 9.98423621e-01 1.84797487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.58, Y:25.35, Z:18.48 [[ 9.87459137e-01 -1.47665790e-01 -5.58503964e-02 3.29582704e+02] [ 1.47586282e-01 9.89033510e-01 -5.56830616e-03 2.53508845e+01] [ 5.60601619e-02 -2.74427755e-03 9.98423621e-01 1.84843362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.64, Y:25.36, Z:18.49 [[ 9.88460962e-01 -1.40803463e-01 -5.58508040e-02 3.29644223e+02] [ 1.40713252e-01 9.90034757e-01 -5.56421555e-03 2.53621027e+01] [ 5.60776980e-02 -2.35893837e-03 9.98423621e-01 1.84888032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.71, Y:25.38, Z:18.49 [[ 9.90047251e-01 -1.29178490e-01 -5.58512210e-02 3.29705689e+02] [ 1.29070028e-01 9.91619894e-01 -5.56002678e-03 2.53756914e+01] [ 5.61014177e-02 -1.70402941e-03 9.98423621e-01 1.84922808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.77, Y:25.39, Z:18.50 [[ 9.91434875e-01 -1.18057117e-01 -5.58516350e-02 3.29766104e+02] [ 1.17931244e-01 9.93006221e-01 -5.55586410e-03 2.53870218e+01] [ 5.61169303e-02 -1.07837535e-03 9.98423621e-01 1.84953877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.83, Y:25.40, Z:18.50 [[ 9.92526504e-01 -1.08497521e-01 -5.58518377e-02 3.29825442e+02] [ 1.08356625e-01 9.94096573e-01 -5.55382574e-03 2.53966022e+01] [ 5.61246968e-02 -5.39597420e-04 9.98423621e-01 1.84985626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.88, Y:25.40, Z:18.50 [[ 9.93248429e-01 -1.01676598e-01 -5.58518377e-02 3.29884155e+02] [ 1.01524920e-01 9.94817494e-01 -5.55382574e-03 2.54044803e+01] [ 5.61270793e-02 -1.54024663e-04 9.98423621e-01 1.85004348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.94, Y:25.41, Z:18.50 [[ 9.93482395e-01 -9.93646138e-02 -5.58516356e-02 3.29942377e+02] [ 9.92091698e-02 9.95051091e-01 -5.55585743e-03 2.54103193e+01] [ 5.61272866e-02 -2.13478622e-05 9.98423621e-01 1.85027746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.00, Y:25.41, Z:18.51 [[ 9.93472095e-01 -9.94677055e-02 -5.58513375e-02 3.30000534e+02] [ 9.93122559e-02 9.95040791e-01 -5.55885248e-03 2.54144552e+01] [ 5.61272854e-02 -2.41575140e-05 9.98423621e-01 1.85053773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.06, Y:25.42, Z:18.51 [[ 9.93099610e-01 -1.03121150e-01 -5.58497307e-02 3.30058764e+02] [ 1.02970566e-01 9.94668780e-01 -5.57494959e-03 2.54165210e+01] [ 5.61268788e-02 -2.14398125e-04 9.98423621e-01 1.85092062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.12, Y:25.42, Z:18.51 [[ 9.92394026e-01 -1.09704449e-01 -5.58482931e-02 3.30118043e+02] [ 1.09563465e-01 9.93964087e-01 -5.58931484e-03 2.54164621e+01] [ 5.61243703e-02 -5.72129870e-04 9.98423621e-01 1.85135887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.18, Y:25.42, Z:18.52 [[ 9.91779732e-01 -1.15126405e-01 -5.58468733e-02 3.30175775e+02] [ 1.14993208e-01 9.93350474e-01 -5.60346487e-03 2.54176205e+01] [ 5.61206248e-02 -8.64608229e-04 9.98423621e-01 1.85164650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.23, Y:25.42, Z:18.52 [[ 9.90691748e-01 -1.24141335e-01 -5.58461196e-02 3.30233861e+02] [ 1.24022005e-01 9.92263604e-01 -5.61096620e-03 2.54153539e+01] [ 5.61106247e-02 -1.36740984e-03 9.98423622e-01 1.85182193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.29, Y:25.41, Z:18.52 [[ 9.89601659e-01 -1.32551671e-01 -5.58445349e-02 3.30291934e+02] [ 1.32444810e-01 9.91174411e-01 -5.62669441e-03 2.54143144e+01] [ 5.60975017e-02 -1.82813271e-03 9.98423622e-01 1.85211123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.35, Y:25.41, Z:18.52 [[ 9.88646146e-01 -1.39499966e-01 -5.58440475e-02 3.30353265e+02] [ 1.39403883e-01 9.90219593e-01 -5.63152750e-03 2.54135958e+01] [ 5.60834679e-02 -2.21728913e-03 9.98423622e-01 1.85220729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.41, Y:25.42, Z:18.52 [[ 9.88208642e-01 -1.42566202e-01 -5.58440475e-02 3.30414057e+02] [ 1.42475001e-01 9.89782380e-01 -5.63152750e-03 2.54167506e+01] [ 5.60763198e-02 -2.39125661e-03 9.98423622e-01 1.85236622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.47, Y:25.42, Z:18.53 [[ 9.87681179e-01 -1.46175685e-01 -5.58440475e-02 3.30473863e+02] [ 1.46090235e-01 9.89255240e-01 -5.63152751e-03 2.54198321e+01] [ 5.60672090e-02 -2.59611629e-03 9.98423622e-01 1.85259829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.53, Y:25.42, Z:18.53 [[ 9.87466496e-01 -1.47619014e-01 -5.58439447e-02 3.30533371e+02] [ 1.47535806e-01 9.89040677e-01 -5.63254701e-03 2.54242844e+01] [ 5.60634039e-02 -2.67702996e-03 9.98423622e-01 1.85281124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.59, Y:25.43, Z:18.53 [[ 9.87158092e-01 -1.49667557e-01 -5.58437411e-02 3.30592286e+02] [ 1.49587502e-01 9.88732437e-01 -5.63456527e-03 2.54307005e+01] [ 5.60578298e-02 -2.79131900e-03 9.98423622e-01 1.85301015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.65, Y:25.44, Z:18.53 [[ 9.86978617e-01 -1.50846643e-01 -5.58435373e-02 3.30652312e+02] [ 1.50768354e-01 9.88553050e-01 -5.63658439e-03 2.54390397e+01] [ 5.60545589e-02 -2.85624995e-03 9.98423622e-01 1.85327031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.71, Y:25.45, Z:18.53 [[ 9.86788126e-01 -1.52087781e-01 -5.58435373e-02 3.30712758e+02] [ 1.52011473e-01 9.88362657e-01 -5.63658439e-03 2.54466738e+01] [ 5.60509225e-02 -2.92674380e-03 9.98423622e-01 1.85342987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.77, Y:25.45, Z:18.54 [[ 9.86548772e-01 -1.53632745e-01 -5.58435373e-02 3.30772506e+02] [ 1.53558902e-01 9.88123420e-01 -5.63658439e-03 2.54542689e+01] [ 5.60462709e-02 -3.01450687e-03 9.98423622e-01 1.85370403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.83, Y:25.46, Z:18.54 [[ 9.86263752e-01 -1.55451920e-01 -5.58436399e-02 3.30831983e+02] [ 1.55381039e-01 9.87838536e-01 -5.63556694e-03 2.54632168e+01] [ 5.60405592e-02 -3.11888739e-03 9.98423622e-01 1.85414896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.89, Y:25.47, Z:18.55 [[ 9.86376919e-01 -1.54732227e-01 -5.58436399e-02 3.30892715e+02] [ 1.54660197e-01 9.87951651e-01 -5.63556694e-03 2.54728843e+01] [ 5.60428201e-02 -3.07799520e-03 9.98423622e-01 1.85461842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.95, Y:25.48, Z:18.55 [[ 9.86838667e-01 -1.51759383e-01 -5.58438425e-02 3.30952514e+02] [ 1.51682722e-01 9.88413180e-01 -5.63355940e-03 2.54823464e+01] [ 5.60517354e-02 -2.91113177e-03 9.98423622e-01 1.85501564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.01, Y:25.49, Z:18.56 [[ 9.87878135e-01 -1.44838597e-01 -5.58441714e-02 3.31012399e+02] [ 1.44751085e-01 9.89452082e-01 -5.63029712e-03 2.54942187e+01] [ 5.60706160e-02 -2.52145699e-03 9.98423622e-01 1.85563066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.07, Y:25.51, Z:18.56 [[ 9.89145004e-01 -1.35917503e-01 -5.58443709e-02 3.31072912e+02] [ 1.35815902e-01 9.90718105e-01 -5.62831774e-03 2.55055452e+01] [ 5.60910161e-02 -2.01733125e-03 9.98423622e-01 1.85602479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.13, Y:25.52, Z:18.56 [[ 9.90430064e-01 -1.26212799e-01 -5.58445788e-02 3.31132781e+02] [ 1.26095896e-01 9.92002102e-01 -5.62625379e-03 2.55171223e+01] [ 5.61080448e-02 -1.46936128e-03 9.98423622e-01 1.85637262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.19, Y:25.53, Z:18.57 [[ 9.91400268e-01 -1.18350665e-01 -5.58446809e-02 3.31193521e+02] [ 1.18221350e-01 9.92971333e-01 -5.62524054e-03 2.55279698e+01] [ 5.61179182e-02 -1.02516857e-03 9.98423622e-01 1.85657135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.25, Y:25.54, Z:18.57 [[ 9.91713537e-01 -1.15696197e-01 -5.58448873e-02 3.31253606e+02] [ 1.15562792e-01 9.93284260e-01 -5.62319081e-03 2.55359149e+01] [ 5.61204293e-02 -8.76996651e-04 9.98423622e-01 1.85681260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.31, Y:25.55, Z:18.57 [[ 9.91668496e-01 -1.16081623e-01 -5.58448873e-02 3.31313706e+02] [ 1.15948829e-01 9.93239271e-01 -5.62319081e-03 2.55450030e+01] [ 5.61200842e-02 -8.98808095e-04 9.98423622e-01 1.85709234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.37, Y:25.55, Z:18.57 [[ 9.91616983e-01 -1.16520845e-01 -5.58448873e-02 3.31373640e+02] [ 1.16388746e-01 9.93187817e-01 -5.62319081e-03 2.55517039e+01] [ 5.61196806e-02 -9.23664889e-04 9.98423622e-01 1.85744947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.43, Y:25.56, Z:18.58 [[ 9.91476783e-01 -1.17707849e-01 -5.58448873e-02 3.31433817e+02] [ 1.17577630e-01 9.93047774e-01 -5.62319081e-03 2.55587197e+01] [ 5.61185347e-02 -9.90846378e-04 9.98423622e-01 1.85778923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.49, Y:25.57, Z:18.58 [[ 9.91318876e-01 -1.19030391e-01 -5.58448873e-02 3.31492925e+02] [ 1.18902268e-01 9.92890039e-01 -5.62319081e-03 2.55656862e+01] [ 5.61171629e-02 -1.06570859e-03 9.98423622e-01 1.85806356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.55, Y:25.57, Z:18.58 [[ 9.91193354e-01 -1.20071211e-01 -5.58447859e-02 3.31552682e+02] [ 1.19944682e-01 9.92764646e-01 -5.62419728e-03 2.55742145e+01] [ 5.61160333e-02 -1.12361811e-03 9.98423622e-01 1.85838067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.61, Y:25.58, Z:18.59 [[ 9.91127876e-01 -1.20610503e-01 -5.58447859e-02 3.31613281e+02] [ 1.20484828e-01 9.92699237e-01 -5.62419728e-03 2.55822027e+01] [ 5.61154136e-02 -1.15415074e-03 9.98423622e-01 1.85884514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.67, Y:25.59, Z:18.59 [[ 9.91230773e-01 -1.19761810e-01 -5.58449933e-02 3.31673080e+02] [ 1.19634906e-01 9.92802035e-01 -5.62213711e-03 2.55912035e+01] [ 5.61163403e-02 -1.10817522e-03 9.98423622e-01 1.85922507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.73, Y:25.60, Z:18.60 [[ 9.91422306e-01 -1.18165717e-01 -5.58450953e-02 3.31733758e+02] [ 1.18036341e-01 9.92993366e-01 -5.62112342e-03 2.55997149e+01] [ 5.61180333e-02 -1.01884356e-03 9.98423622e-01 1.85957970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.79, Y:25.61, Z:18.60 [[ 9.92012000e-01 -1.13108329e-01 -5.58453037e-02 3.31793453e+02] [ 1.12971059e-01 9.93582390e-01 -5.61905249e-03 2.56097791e+01] [ 5.61224720e-02 -7.34735615e-04 9.98423622e-01 1.85997176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.85, Y:25.62, Z:18.60 [[ 9.92781009e-01 -1.06146742e-01 -5.58456490e-02 3.31852899e+02] [ 1.05998652e-01 9.94350416e-01 -5.61561874e-03 2.56189716e+01] [ 5.61262240e-02 -3.44483897e-04 9.98423622e-01 1.86042491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.91, Y:25.63, Z:18.61 [[ 9.93243160e-01 -1.01731396e-01 -5.58457490e-02 3.31912797e+02] [ 1.01576385e-01 9.94811899e-01 -5.61462422e-03 2.56269442e+01] [ 5.61271991e-02 -9.59222250e-05 9.98423622e-01 1.86085970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.97, Y:25.63, Z:18.61 [[ 9.93643851e-01 -9.77402175e-02 -5.58457490e-02 3.31972476e+02] [ 9.75789061e-02 9.95211954e-01 -5.61462422e-03 2.56348249e+01] [ 5.61271316e-02 1.29569734e-04 9.98423622e-01 1.86133952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.03, Y:25.64, Z:18.62 [[ 9.93619804e-01 -9.79843767e-02 -5.58457490e-02 3.32032192e+02] [ 9.78234505e-02 9.95187946e-01 -5.61462422e-03 2.56399382e+01] [ 5.61271617e-02 1.15777951e-04 9.98423622e-01 1.86163973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.09, Y:25.64, Z:18.62 [[ 9.93172793e-01 -1.02416199e-01 -5.58455455e-02 3.32090748e+02] [ 1.02262156e-01 9.94741627e-01 -5.61664727e-03 2.56441192e+01] [ 5.61271245e-02 -1.32584643e-04 9.98423622e-01 1.86198856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.15, Y:25.65, Z:18.62 [[ 9.92687470e-01 -1.07018784e-01 -5.58441237e-02 3.32149499e+02] [ 1.06871222e-01 9.94256927e-01 -5.63074800e-03 2.56480142e+01] [ 5.61260027e-02 -3.78556754e-04 9.98423622e-01 1.86226751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.21, Y:25.65, Z:18.63 [[ 9.91636477e-01 -1.16355342e-01 -5.58438240e-02 3.32209947e+02] [ 1.16222388e-01 9.93207238e-01 -5.63371958e-03 2.56495709e+01] [ 5.61200035e-02 -9.03700743e-04 9.98423622e-01 1.86269500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.27, Y:25.65, Z:18.63 [[ 9.90372567e-01 -1.26663513e-01 -5.58438240e-02 3.32270565e+02] [ 1.26546904e-01 9.91944627e-01 -5.63371958e-03 2.56503413e+01] [ 5.61075678e-02 -1.48738172e-03 9.98423622e-01 1.86321071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.33, Y:25.65, Z:18.64 [[ 9.88990721e-01 -1.37035800e-01 -5.58439235e-02 3.32332837e+02] [ 1.36935729e-01 9.90563919e-01 -5.63273313e-03 2.56517371e+01] [ 5.60888618e-02 -2.07630759e-03 9.98423622e-01 1.86371781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.39, Y:25.65, Z:18.64 [[ 9.88030727e-01 -1.43793925e-01 -5.58443404e-02 3.32393704e+02] [ 1.43704845e-01 9.89604586e-01 -5.62859677e-03 2.56549206e+01] [ 5.60731734e-02 -2.46387570e-03 9.98423622e-01 1.86408717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.46, Y:25.66, Z:18.64 [[ 9.86986061e-01 -1.50797514e-01 -5.58446486e-02 3.32456141e+02] [ 1.50719770e-01 9.88560521e-01 -5.62553713e-03 2.56587242e+01] [ 5.60541319e-02 -2.86456587e-03 9.98423622e-01 1.86443970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.52, Y:25.66, Z:18.65 [[ 9.86633019e-01 -1.53090217e-01 -5.58450585e-02 3.32517646e+02] [ 1.53016361e-01 9.88207667e-01 -5.62146530e-03 2.56640973e+01] [ 5.60471063e-02 -2.99888436e-03 9.98423622e-01 1.86476785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.58, Y:25.67, Z:18.65 [[ 9.86733936e-01 -1.52438257e-01 -5.58454759e-02 3.32579763e+02] [ 1.52363595e-01 9.88308545e-01 -5.61731487e-03 2.56701264e+01] [ 5.60488548e-02 -2.96602229e-03 9.98423622e-01 1.86502329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.64, Y:25.68, Z:18.65 [[ 9.87033444e-01 -1.50486601e-01 -5.58458953e-02 3.32640483e+02] [ 1.50409062e-01 9.88607914e-01 -5.61314257e-03 2.56774845e+01] [ 5.60543968e-02 -2.85936927e-03 9.98423622e-01 1.86522714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.70, Y:25.69, Z:18.65 [[ 9.87283012e-01 -1.48840368e-01 -5.58462053e-02 3.32700645e+02] [ 1.48760376e-01 9.88857360e-01 -5.61005706e-03 2.56870229e+01] [ 5.60589340e-02 -2.76898849e-03 9.98423622e-01 1.86541480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.76, Y:25.70, Z:18.66 [[ 9.87412831e-01 -1.47976584e-01 -5.58465091e-02 3.32762267e+02] [ 1.47895386e-01 9.88987116e-01 -5.60703104e-03 2.56971720e+01] [ 5.60611873e-02 -2.72298665e-03 9.98423622e-01 1.86581621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.82, Y:25.71, Z:18.66 [[ 9.87815202e-01 -1.45266130e-01 -5.58469206e-02 3.32823320e+02] [ 1.45180843e-01 9.89389271e-01 -5.60292926e-03 2.57078537e+01] [ 5.60682599e-02 -2.57324432e-03 9.98423622e-01 1.86632350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.88, Y:25.72, Z:18.67 [[ 9.88566574e-01 -1.40061430e-01 -5.58473262e-02 3.32884621e+02] [ 1.39968083e-01 9.90140186e-01 -5.59888366e-03 2.57189067e+01] [ 5.60808696e-02 -2.28197393e-03 9.98423622e-01 1.86689619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.95, Y:25.73, Z:18.67 [[ 9.89150991e-01 -1.35872545e-01 -5.58477274e-02 3.32946400e+02] [ 1.35772758e-01 9.90724208e-01 -5.59487889e-03 2.57277508e+01] [ 5.60898859e-02 -2.04841996e-03 9.98423622e-01 1.86719229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.01, Y:25.74, Z:18.67 [[ 9.90049738e-01 -1.29160762e-01 -5.58481258e-02 3.33007678e+02] [ 1.29050532e-01 9.91622258e-01 -5.59089920e-03 2.57374921e+01] [ 5.61023694e-02 -1.67196205e-03 9.98423622e-01 1.86741973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.07, Y:25.75, Z:18.68 [[ 9.90710096e-01 -1.23993734e-01 -5.58485420e-02 3.33068787e+02] [ 1.23875535e-01 9.92282037e-01 -5.58673856e-03 2.57457127e+01] [ 5.61102256e-02 -1.38342975e-03 9.98423622e-01 1.86770343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.13, Y:25.76, Z:18.68 [[ 9.92118888e-01 -1.12165092e-01 -5.58489503e-02 3.33130408e+02] [ 1.12028377e-01 9.93689326e-01 -5.58265379e-03 2.57556912e+01] [ 5.61226847e-02 -7.18011007e-04 9.98423622e-01 1.86807089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.19, Y:25.76, Z:18.69 [[ 9.92646795e-01 -1.07392682e-01 -5.58493631e-02 3.33190658e+02] [ 1.07248650e-01 9.94216580e-01 -5.57852065e-03 2.57624403e+01] [ 5.61254551e-02 -4.52268139e-04 9.98423622e-01 1.86850031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.25, Y:25.77, Z:18.69 [[ 9.92899031e-01 -1.05034889e-01 -5.58496673e-02 3.33250592e+02] [ 1.04887300e-01 9.94468485e-01 -5.57547381e-03 2.57689441e+01] [ 5.61263533e-02 -3.22038288e-04 9.98423622e-01 1.86901046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.405099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.31, Y:25.77, Z:18.69 [[ 9.92696149e-01 -1.06935356e-01 -5.58496673e-02 3.33311693e+02] [ 1.06790772e-01 9.94265883e-01 -5.57547381e-03 2.57746314e+01] [ 5.61256340e-02 -4.29477688e-04 9.98423622e-01 1.86926261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.37, Y:25.78, Z:18.70 [[ 9.92238699e-01 -1.11099762e-01 -5.58498671e-02 3.33372450e+02] [ 1.10961878e-01 9.93809035e-01 -5.57347154e-03 2.57796448e+01] [ 5.61233139e-02 -6.66991988e-04 9.98423622e-01 1.86955126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.43, Y:25.78, Z:18.70 [[ 9.91457799e-01 -1.17865186e-01 -5.58500704e-02 3.33433809e+02] [ 1.17738132e-01 9.93029049e-01 -5.57143412e-03 2.57835076e+01] [ 5.61174204e-02 -1.05184112e-03 9.98423622e-01 1.86982931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.50, Y:25.78, Z:18.70 [[ 9.90181446e-01 -1.28146211e-01 -5.58502723e-02 3.33496847e+02] [ 1.28035581e-01 9.91753937e-01 -5.56940884e-03 2.57824376e+01] [ 5.61034261e-02 -1.63609678e-03 9.98423622e-01 1.86958583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.56, Y:25.79, Z:18.70 [[ 9.88521979e-01 -1.40374485e-01 -5.58507058e-02 3.33557517e+02] [ 1.40283543e-01 9.90095732e-01 -5.56505885e-03 2.57866863e+01] [ 5.60787377e-02 -2.33375191e-03 9.98423622e-01 1.87013574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70509989299995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:333.62, Y:25.79, Z:18.70 [[ 9.88037022e-01 -1.43748062e-01 -5.58510259e-02 3.33617298e+02] [ 1.43662674e-01 9.89611086e-01 -5.56184384e-03 2.57915605e+01] [ 5.60702987e-02 -2.52840010e-03 9.98423622e-01 1.87021609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.68, Y:25.80, Z:18.71 [[ 9.87945659e-01 -1.44374556e-01 -5.58512513e-02 3.33678335e+02] [ 1.44290294e-01 9.89519784e-01 -5.55957955e-03 2.57976719e+01] [ 5.60685800e-02 -2.56623101e-03 9.98423622e-01 1.87080232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.74, Y:25.80, Z:18.71 [[ 9.88228155e-01 -1.42427965e-01 -5.58514895e-02 3.33739111e+02] [ 1.42340737e-01 9.89802118e-01 -5.55718540e-03 2.58044469e+01] [ 5.60734212e-02 -2.45817511e-03 9.98423622e-01 1.87112551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.80, Y:25.81, Z:18.71 [[ 9.89068368e-01 -1.36470879e-01 -5.58521595e-02 3.33800797e+02] [ 1.36374549e-01 9.90641800e-01 -5.55044396e-03 2.58135371e+01] [ 5.60869578e-02 -2.12704451e-03 9.98423622e-01 1.87136818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.86, Y:25.82, Z:18.72 [[ 9.89620039e-01 -1.32410988e-01 -5.58525645e-02 3.33862272e+02] [ 1.32308433e-01 9.91193077e-01 -5.54636591e-03 2.58210374e+01] [ 5.60950750e-02 -1.90097041e-03 9.98423622e-01 1.87155706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.92, Y:25.83, Z:18.72 [[ 9.90627066e-01 -1.24653363e-01 -5.58529717e-02 3.33923288e+02] [ 1.24538717e-01 9.92199270e-01 -5.54226146e-03 2.58300323e+01] [ 5.61081393e-02 -1.46554323e-03 9.98423622e-01 1.87160245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.98, Y:25.84, Z:18.72 [[ 9.91327281e-01 -1.18956436e-01 -5.58532721e-02 3.33984038e+02] [ 1.18832924e-01 9.92898813e-01 -5.53923252e-03 2.58389320e+01] [ 5.61155750e-02 -1.14601533e-03 9.98423622e-01 1.87185666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.04, Y:25.85, Z:18.72 [[ 9.92284152e-01 -1.10691250e-01 -5.58534674e-02 3.34044894e+02] [ 1.10554758e-01 9.93854609e-01 -5.53726265e-03 2.58491194e+01] [ 5.61231526e-02 -6.80328581e-04 9.98423622e-01 1.87218442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.11, Y:25.86, Z:18.72 [[ 9.93075907e-01 -1.03347040e-01 -5.58536606e-02 3.34105433e+02] [ 1.03199043e-01 9.94645323e-01 -5.53531374e-03 2.58584867e+01] [ 5.61266405e-02 -2.67057579e-04 9.98423622e-01 1.87243216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.16, Y:25.87, Z:18.73 [[ 9.93512102e-01 -9.90658848e-02 -5.58538600e-02 3.34164261e+02] [ 9.89112373e-02 9.95080876e-01 -5.53330053e-03 2.58665737e+01] [ 5.61272693e-02 -2.71733616e-05 9.98423622e-01 1.87278268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.22, Y:25.88, Z:18.73 [[ 9.93835739e-01 -9.57647194e-02 -5.58537619e-02 3.34224203e+02] [ 9.56048053e-02 9.95403985e-01 -5.53429041e-03 2.58762773e+01] [ 5.61270470e-02 1.60287559e-04 9.98423622e-01 1.87319143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.28, Y:25.88, Z:18.73 [[ 9.93385692e-01 -1.00325591e-01 -5.58537619e-02 3.34283117e+02] [ 1.00172878e-01 9.94954655e-01 -5.53429041e-03 2.58832640e+01] [ 5.61271914e-02 -9.73471484e-05 9.98423622e-01 1.87346237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.34, Y:25.89, Z:18.74 [[ 9.92805942e-01 -1.05909111e-01 -5.58535647e-02 3.34344398e+02] [ 1.05765109e-01 9.94375729e-01 -5.53628075e-03 2.58893332e+01] [ 5.61257717e-02 -4.10905935e-04 9.98423622e-01 1.87387457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.41, Y:25.89, Z:18.74 [[ 9.92082778e-01 -1.12481634e-01 -5.58537667e-02 3.34405348e+02] [ 1.12348146e-01 9.93653494e-01 -5.53424123e-03 2.58942732e+01] [ 5.61217910e-02 -7.84641706e-04 9.98423622e-01 1.87425328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.47, Y:25.90, Z:18.75 [[ 9.91071564e-01 -1.21068116e-01 -5.58539686e-02 3.34466111e+02] [ 1.20948349e-01 9.92643386e-01 -5.53220346e-03 2.58986218e+01] [ 5.61128459e-02 -1.27263573e-03 9.98423622e-01 1.87459460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.53, Y:25.90, Z:18.75 [[ 9.90430101e-01 -1.26208057e-01 -5.58546377e-02 3.34528498e+02] [ 1.26096827e-01 9.92002550e-01 -5.52543966e-03 2.59038207e+01] [ 5.61052980e-02 -1.57053079e-03 9.98423622e-01 1.87493098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.59, Y:25.91, Z:18.75 [[ 9.90173817e-01 -1.28203067e-01 -5.58550403e-02 3.34590581e+02] [ 1.28095234e-01 9.91746503e-01 -5.52136710e-03 2.59089670e+01] [ 5.61018970e-02 -1.68765134e-03 9.98423622e-01 1.87510820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.65, Y:25.92, Z:18.75 [[ 9.90278022e-01 -1.27395483e-01 -5.58554372e-02 3.34652678e+02] [ 1.27286594e-01 9.91850635e-01 -5.51734911e-03 2.59154373e+01] [ 5.61031362e-02 -1.64593882e-03 9.98423622e-01 1.87525617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.71, Y:25.92, Z:18.76 [[ 9.90479018e-01 -1.25823052e-01 -5.58558354e-02 3.34714683e+02] [ 1.25711894e-01 9.92051472e-01 -5.51331404e-03 2.59216871e+01] [ 5.61055658e-02 -1.56092099e-03 9.98423622e-01 1.87555883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.78, Y:25.93, Z:18.76 [[ 9.90819172e-01 -1.23115596e-01 -5.58562386e-02 3.34775538e+02] [ 1.23000371e-01 9.92391333e-01 -5.50922653e-03 2.59279970e+01] [ 5.61095188e-02 -1.41169079e-03 9.98423622e-01 1.87581117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.905099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.84, Y:25.94, Z:18.76 [[ 9.91544825e-01 -1.17127738e-01 -5.58565365e-02 3.34836973e+02] [ 1.17003187e-01 9.93116275e-01 -5.50620447e-03 2.59367430e+01] [ 5.61169648e-02 -1.07574425e-03 9.98423622e-01 1.87597257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.90, Y:25.95, Z:18.76 [[ 9.92247284e-01 -1.11019502e-01 -5.58569332e-02 3.34897187e+02] [ 1.10885503e-01 9.93817957e-01 -5.50217701e-03 2.59457508e+01] [ 5.61224722e-02 -7.34203965e-04 9.98423622e-01 1.87629717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.96, Y:25.95, Z:18.77 [[ 9.92617780e-01 -1.07656296e-01 -5.58575436e-02 3.34958423e+02] [ 1.07517325e-01 9.94188020e-01 -5.49597396e-03 2.59536202e+01] [ 5.61245768e-02 -5.50252192e-04 9.98423622e-01 1.87656947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.02, Y:25.96, Z:18.77 [[ 9.92372267e-01 -1.09896197e-01 -5.58579344e-02 3.35018938e+02] [ 1.09760993e-01 9.93942837e-01 -5.49199897e-03 2.59605429e+01] [ 5.61231436e-02 -6.80914881e-04 9.98423622e-01 1.87689962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.08, Y:25.97, Z:18.77 [[ 9.91932365e-01 -1.13798297e-01 -5.58581323e-02 3.35079572e+02] [ 1.13669385e-01 9.93503463e-01 -5.48998540e-03 2.59665395e+01] [ 5.61199989e-02 -9.03665371e-04 9.98423622e-01 1.87722314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.14, Y:25.97, Z:18.78 [[ 9.91063946e-01 -1.21128405e-01 -5.58584257e-02 3.35141546e+02] [ 1.21011280e-01 9.92635967e-01 -5.48699862e-03 2.59721861e+01] [ 5.61117138e-02 -1.32153308e-03 9.98423622e-01 1.87750190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.20, Y:25.98, Z:18.78 [[ 9.90493334e-01 -1.25708981e-01 -5.58588138e-02 3.35202983e+02] [ 1.25599347e-01 9.92065895e-01 -5.48304503e-03 2.59786070e+01] [ 5.61048921e-02 -1.58491100e-03 9.98423622e-01 1.87785384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.26, Y:25.99, Z:18.78 [[ 9.90207700e-01 -1.27939277e-01 -5.58592143e-02 3.35263299e+02] [ 1.27833416e-01 9.91780519e-01 -5.47896126e-03 2.59851697e+01] [ 5.61010550e-02 -1.71536453e-03 9.98423622e-01 1.87824444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.32, Y:25.99, Z:18.79 [[ 9.89636053e-01 -1.32288310e-01 -5.58595106e-02 3.35323486e+02] [ 1.32189530e-01 9.91209333e-01 -5.47593904e-03 2.59924228e+01] [ 5.60928710e-02 -1.96485575e-03 9.98423622e-01 1.87870864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.38, Y:26.00, Z:18.79 [[ 9.89563124e-01 -1.32832625e-01 -5.58598003e-02 3.35384769e+02] [ 1.32734877e-01 9.91136468e-01 -5.47298189e-03 2.59995418e+01] [ 5.60916758e-02 -1.99868266e-03 9.98423622e-01 1.87911756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.45, Y:26.01, Z:18.80 [[ 9.90001357e-01 -1.29525879e-01 -5.58601833e-02 3.35446649e+02] [ 1.29423095e-01 9.91574380e-01 -5.46907044e-03 2.60084047e+01] [ 5.60979128e-02 -1.81521067e-03 9.98423622e-01 1.87956067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.51, Y:26.02, Z:18.80 [[ 9.90780422e-01 -1.23424992e-01 -5.58607820e-02 3.35508320e+02] [ 1.23312865e-01 9.92352807e-01 -5.46294872e-03 2.60171137e+01] [ 5.61078682e-02 -1.47577044e-03 9.98423622e-01 1.87995438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.57, Y:26.03, Z:18.80 [[ 9.91550898e-01 -1.17074100e-01 -5.58611779e-02 3.35569699e+02] [ 1.16952129e-01 9.93122550e-01 -5.45889696e-03 2.60256232e+01] [ 5.61160909e-02 -1.12030949e-03 9.98423622e-01 1.88023032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.63, Y:26.03, Z:18.80 [[ 9.92005350e-01 -1.13158608e-01 -5.58615723e-02 3.35629940e+02] [ 1.13030661e-01 9.93576527e-01 -5.45485806e-03 2.60335635e+01] [ 5.61200111e-02 -9.02822049e-04 9.98423622e-01 1.88040319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.69, Y:26.04, Z:18.81 [[ 9.92136048e-01 -1.12006763e-01 -5.58618628e-02 3.35691373e+02] [ 1.11877159e-01 9.93707089e-01 -5.45188200e-03 2.60400203e+01] [ 5.61209767e-02 -8.40657832e-04 9.98423622e-01 1.88064019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.75, Y:26.05, Z:18.81 [[ 9.92150627e-01 -1.11877354e-01 -5.58622441e-02 3.35753115e+02] [ 1.11747765e-01 9.93721670e-01 -5.44797242e-03 2.60464739e+01] [ 5.61210272e-02 -8.37271690e-04 9.98423622e-01 1.88091110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.81, Y:26.05, Z:18.81 [[ 9.91806634e-01 -1.14886761e-01 -5.58626205e-02 3.35814406e+02] [ 1.14762156e-01 9.93378080e-01 -5.44410922e-03 2.60531295e+01] [ 5.61181588e-02 -1.01141114e-03 9.98423622e-01 1.88142231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.88, Y:26.06, Z:18.82 [[ 9.91293703e-01 -1.19231358e-01 -5.58630192e-02 3.35876360e+02] [ 1.19113871e-01 9.92865697e-01 -5.44001550e-03 2.60594326e+01] [ 5.61130959e-02 -1.26140733e-03 9.98423622e-01 1.88173044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.94, Y:26.07, Z:18.82 [[ 9.90058248e-01 -1.29088903e-01 -5.58634201e-02 3.35936862e+02] [ 1.28987295e-01 9.91631347e-01 -5.43589519e-03 2.60652225e+01] [ 5.60976323e-02 -1.82381856e-03 9.98423622e-01 1.88192304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.00, Y:26.07, Z:18.82 [[ 9.88772670e-01 -1.38592396e-01 -5.58637165e-02 3.35998806e+02] [ 1.38506074e-01 9.90346683e-01 -5.43284759e-03 2.60723796e+01] [ 5.60773977e-02 -2.36561283e-03 9.98423622e-01 1.88245699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.06, Y:26.08, Z:18.83 [[ 9.88235265e-01 -1.42373674e-01 -5.58641097e-02 3.36060340e+02] [ 1.42293602e-01 9.89809607e-01 -5.42880122e-03 2.60791488e+01] [ 5.60677509e-02 -2.58417257e-03 9.98423622e-01 1.88288665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.12, Y:26.08, Z:18.83 [[ 9.88130532e-01 -1.43098597e-01 -5.58645002e-02 3.36121861e+02] [ 1.43019906e-01 9.89704945e-01 -5.42478044e-03 2.60845999e+01] [ 5.60656505e-02 -2.62934441e-03 9.98423622e-01 1.88317958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.18, Y:26.09, Z:18.84 [[ 9.88416521e-01 -1.41109514e-01 -5.58648856e-02 3.36183464e+02] [ 1.41027879e-01 9.89990784e-01 -5.42080869e-03 2.60892842e+01] [ 5.60706495e-02 -2.52048945e-03 9.98423622e-01 1.88360186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.25, Y:26.10, Z:18.84 [[ 9.88530103e-01 -1.40311464e-01 -5.58652767e-02 3.36245445e+02] [ 1.40228786e-01 9.90104311e-01 -5.41677509e-03 2.60952266e+01] [ 5.60724869e-02 -2.47927469e-03 9.98423622e-01 1.88390919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.31, Y:26.10, Z:18.84 [[ 9.88773117e-01 -1.38588417e-01 -5.58656682e-02 3.36307655e+02] [ 1.38503223e-01 9.90347191e-01 -5.41273374e-03 2.60999953e+01] [ 5.60765498e-02 -2.38560948e-03 9.98423622e-01 1.88406972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.37, Y:26.11, Z:18.84 [[ 9.89206505e-01 -1.35460226e-01 -5.58660648e-02 3.36368411e+02] [ 1.35370284e-01 9.90780315e-01 -5.40863759e-03 2.61062578e+01] [ 5.60836526e-02 -2.21234558e-03 9.98423622e-01 1.88432531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.43, Y:26.11, Z:18.85 [[ 9.89456471e-01 -1.33622009e-01 -5.58663574e-02 3.36429665e+02] [ 1.33529314e-01 9.91030121e-01 -5.40561339e-03 2.61134998e+01] [ 5.60875519e-02 -2.11117723e-03 9.98423622e-01 1.88481927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.49, Y:26.12, Z:18.85 [[ 9.89491098e-01 -1.33365191e-01 -5.58667498e-02 3.36491382e+02] [ 1.33272316e-01 9.91064737e-01 -5.40155562e-03 2.61189052e+01] [ 5.60879452e-02 -2.10069995e-03 9.98423622e-01 1.88509981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.55, Y:26.12, Z:18.85 [[ 9.89322014e-01 -1.34613540e-01 -5.58672352e-02 3.36553092e+02] [ 1.34522934e-01 9.90895785e-01 -5.39652970e-03 2.61243297e+01] [ 5.60850539e-02 -2.17651879e-03 9.98423622e-01 1.88536658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.62, Y:26.13, Z:18.86 [[ 9.88713557e-01 -1.39011871e-01 -5.58677103e-02 3.36615296e+02] [ 1.38928543e-01 9.90287731e-01 -5.39160712e-03 2.61299133e+01] [ 5.60746055e-02 -2.43086452e-03 9.98423622e-01 1.88570711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.68, Y:26.14, Z:18.86 [[ 9.88397503e-01 -1.41241400e-01 -5.58680925e-02 3.36677882e+02] [ 1.41161845e-01 9.89971872e-01 -5.38764382e-03 2.61358444e+01] [ 5.60687985e-02 -2.56130933e-03 9.98423622e-01 1.88612755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.74, Y:26.14, Z:18.86 [[ 9.88462330e-01 -1.40786772e-01 -5.58686670e-02 3.36740005e+02] [ 1.40706830e-01 9.90036679e-01 -5.38167980e-03 2.61417395e+01] [ 5.60696989e-02 -2.54151526e-03 9.98423622e-01 1.88629831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.80, Y:26.15, Z:18.87 [[ 9.88787254e-01 -1.38486104e-01 -5.58691843e-02 3.36802055e+02] [ 1.38402801e-01 9.90361429e-01 -5.37630453e-03 2.61461873e+01] [ 5.60752286e-02 -2.41643021e-03 9.98423622e-01 1.88672579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.86, Y:26.15, Z:18.88 [[ 9.88684618e-01 -1.39216730e-01 -5.58697390e-02 3.36862926e+02] [ 1.39134917e-01 9.90258871e-01 -5.37053369e-03 2.61505375e+01] [ 5.60731728e-02 -2.46366742e-03 9.98423622e-01 1.88763150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.93, Y:26.15, Z:18.88 [[ 9.88438040e-01 -1.40956646e-01 -5.58700727e-02 3.36925158e+02] [ 1.40877799e-01 9.90012445e-01 -5.36705985e-03 2.61532566e+01] [ 5.60685900e-02 -2.56584677e-03 9.98423622e-01 1.88800412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.99, Y:26.16, Z:18.88 [[ 9.88313734e-01 -1.41825437e-01 -5.58704630e-02 3.36987737e+02] [ 1.41748203e-01 9.89888219e-01 -5.36299400e-03 2.61563398e+01] [ 5.60661220e-02 -2.61921711e-03 9.98423622e-01 1.88833237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.05, Y:26.16, Z:18.89 [[ 9.88275489e-01 -1.42091461e-01 -5.58710475e-02 3.37050930e+02] [ 1.42014995e-01 9.89850011e-01 -5.35689735e-03 2.61605522e+01] [ 5.60651264e-02 -2.64043621e-03 9.98423622e-01 1.88867524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.11, Y:26.16, Z:18.89 [[ 9.88117046e-01 -1.43188914e-01 -5.58716296e-02 3.37113859e+02] [ 1.43114540e-01 9.89691668e-01 -5.35082007e-03 2.61628786e+01] [ 5.60618643e-02 -2.70880605e-03 9.98423622e-01 1.88903949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.18, Y:26.17, Z:18.89 [[ 9.88209032e-01 -1.42552461e-01 -5.58722224e-02 3.37175825e+02] [ 1.42477422e-01 9.89783622e-01 -5.34462275e-03 2.61657978e+01] [ 5.60632998e-02 -2.67892573e-03 9.98423622e-01 1.88920015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.24, Y:26.17, Z:18.89 [[ 9.88329474e-01 -1.41714857e-01 -5.58726214e-02 3.37236349e+02] [ 1.41638719e-01 9.89904012e-01 -5.34044846e-03 2.61709956e+01] [ 5.60653529e-02 -2.63560393e-03 9.98423622e-01 1.88939452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.30, Y:26.18, Z:18.90 [[ 9.88689452e-01 -1.39181125e-01 -5.58729150e-02 3.37298847e+02] [ 1.39101125e-01 9.90263798e-01 -5.33737442e-03 2.61766527e+01] [ 5.60717868e-02 -2.49497952e-03 9.98423622e-01 1.88977909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.36, Y:26.18, Z:18.90 [[ 9.89378778e-01 -1.34193093e-01 -5.58735020e-02 3.37359769e+02] [ 1.34105501e-01 9.90952720e-01 -5.33122298e-03 2.61819708e+01] [ 5.60834120e-02 -2.21834510e-03 9.98423622e-01 1.88998579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.42, Y:26.19, Z:18.90 [[ 9.89934597e-01 -1.30029279e-01 -5.58737901e-02 3.37421218e+02] [ 1.29935236e-01 9.91508167e-01 -5.32820126e-03 2.61883594e+01] [ 5.60921414e-02 -1.98540335e-03 9.98423622e-01 1.89045471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.48, Y:26.19, Z:18.91 [[ 9.89992332e-01 -1.29588804e-01 -5.58741781e-02 3.37483212e+02] [ 1.29494290e-01 9.91565874e-01 -5.32412949e-03 2.61941354e+01] [ 5.60928758e-02 -1.96453965e-03 9.98423622e-01 1.89071803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.54, Y:26.20, Z:18.91 [[ 9.89839324e-01 -1.30752228e-01 -5.58745619e-02 3.37544023e+02] [ 1.30659791e-01 9.91412989e-01 -5.32009862e-03 2.61986718e+01] [ 5.60903812e-02 -2.03451576e-03 9.98423622e-01 1.89073524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.61, Y:26.20, Z:18.91 [[ 9.89759110e-01 -1.31357933e-01 -5.58748455e-02 3.37606023e+02] [ 1.31266627e-01 9.91332841e-01 -5.31711906e-03 2.62048278e+01] [ 5.60890150e-02 -2.07183547e-03 9.98423622e-01 1.89120356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.67, Y:26.21, Z:18.92 [[ 9.89960190e-01 -1.29833664e-01 -5.58752361e-02 3.37666865e+02] [ 1.29740166e-01 9.91533792e-01 -5.31301121e-03 2.62128992e+01] [ 5.60919924e-02 -1.98959284e-03 9.98423622e-01 1.89175559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.73, Y:26.22, Z:18.92 [[ 9.90154793e-01 -1.28340994e-01 -5.58755245e-02 3.37728576e+02] [ 1.28245295e-01 9.91728263e-01 -5.30997559e-03 2.62190822e+01] [ 5.60948245e-02 -1.90807534e-03 9.98423622e-01 1.89219391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.79, Y:26.23, Z:18.93 [[ 9.90208047e-01 -1.27929302e-01 -5.58759014e-02 3.37790386e+02] [ 1.27833173e-01 9.91781491e-01 -5.30600680e-03 2.62252304e+01] [ 5.60954786e-02 -1.88874312e-03 9.98423622e-01 1.89254671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.85, Y:26.23, Z:18.93 [[ 9.90172122e-01 -1.28206893e-01 -5.58762979e-02 3.37852227e+02] [ 1.28111440e-01 9.91745607e-01 -5.30182810e-03 2.62327256e+01] [ 5.60948039e-02 -1.90867058e-03 9.98423622e-01 1.89278605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.91, Y:26.24, Z:18.93 [[ 9.89968818e-01 -1.29767235e-01 -5.58766879e-02 3.37913124e+02] [ 1.29674494e-01 9.91542465e-01 -5.29771438e-03 2.62396972e+01] [ 5.60915786e-02 -2.00120921e-03 9.98423623e-01 1.89306706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.97, Y:26.25, Z:18.93 [[ 9.89500007e-01 -1.33294634e-01 -5.58773413e-02 3.37974859e+02] [ 1.33207891e-01 9.91073996e-01 -5.29081422e-03 2.62464760e+01] [ 5.60838171e-02 -2.20804207e-03 9.98423623e-01 1.89339683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.04, Y:26.25, Z:18.94 [[ 9.89162296e-01 -1.35777880e-01 -5.58777252e-02 3.38036484e+02] [ 1.35695316e-01 9.90736510e-01 -5.28675693e-03 2.62536385e+01] [ 5.60779270e-02 -2.35288497e-03 9.98423623e-01 1.89368885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.10, Y:26.26, Z:18.94 [[ 9.88944095e-01 -1.37357977e-01 -5.58781139e-02 3.38097716e+02] [ 1.37278160e-01 9.90518450e-01 -5.28264487e-03 2.62629451e+01] [ 5.60739162e-02 -2.44660423e-03 9.98423623e-01 1.89410603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.16, Y:26.27, Z:18.95 [[ 9.89123927e-01 -1.36056753e-01 -5.58785944e-02 3.38160117e+02] [ 1.35975152e-01 9.90698191e-01 -5.27755722e-03 2.62712716e+01] [ 5.60768697e-02 -2.37794225e-03 9.98423623e-01 1.89457870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.22, Y:26.28, Z:18.95 [[ 9.89558935e-01 -1.32855689e-01 -5.58791592e-02 3.38221505e+02] [ 1.32769333e-01 9.91132945e-01 -5.27157018e-03 2.62807196e+01] [ 5.60840338e-02 -2.20250930e-03 9.98423623e-01 1.89486599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.28, Y:26.29, Z:18.95 [[ 9.89829629e-01 -1.30823481e-01 -5.58795297e-02 3.38281525e+02] [ 1.30734114e-01 9.91403472e-01 -5.26764002e-03 2.62904143e+01] [ 5.60882908e-02 -2.09129465e-03 9.98423623e-01 1.89528039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.34, Y:26.30, Z:18.96 [[ 9.89938444e-01 -1.29997400e-01 -5.58798036e-02 3.38343814e+02] [ 1.29906884e-01 9.91512221e-01 -5.26473269e-03 2.62987127e+01] [ 5.60899098e-02 -2.04740990e-03 9.98423623e-01 1.89583498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.41, Y:26.31, Z:18.96 [[ 9.90273485e-01 -1.27419810e-01 -5.58803728e-02 3.38405710e+02] [ 1.27325538e-01 9.91847041e-01 -5.25868465e-03 2.63050676e+01] [ 5.60948430e-02 -1.90746254e-03 9.98423623e-01 1.89603380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.47, Y:26.31, Z:18.96 [[ 9.90611381e-01 -1.24765478e-01 -5.58808399e-02 3.38467321e+02] [ 1.24667270e-01 9.92184696e-01 -5.25371621e-03 2.63115065e+01] [ 5.60995966e-02 -1.76212067e-03 9.98423623e-01 1.89643448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.53, Y:26.32, Z:18.97 [[ 9.90730979e-01 -1.23812022e-01 -5.58812148e-02 3.38529325e+02] [ 1.23712525e-01 9.92304213e-01 -5.24972541e-03 2.63175072e+01] [ 5.61011440e-02 -1.71214057e-03 9.98423623e-01 1.89689180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.59, Y:26.32, Z:18.97 [[ 9.90635556e-01 -1.24573037e-01 -5.58816045e-02 3.38589949e+02] [ 1.24474982e-01 9.92208881e-01 -5.24557410e-03 2.63235141e+01] [ 5.60996814e-02 -1.75940948e-03 9.98423623e-01 1.89711392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.65, Y:26.33, Z:18.97 [[ 9.90174535e-01 -1.28185821e-01 -5.58818917e-02 3.38651435e+02] [ 1.28093678e-01 9.91748217e-01 -5.24251242e-03 2.63327398e+01] [ 5.60927823e-02 -1.96711472e-03 9.98423623e-01 1.89717695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.71, Y:26.33, Z:18.98 [[ 9.90119957e-01 -1.28606470e-01 -5.58824381e-02 3.38712606e+02] [ 1.28515324e-01 9.91693697e-01 -5.23668233e-03 2.63348596e+01] [ 5.60917328e-02 -1.99680596e-03 9.98423623e-01 1.89797918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.77, Y:26.34, Z:18.98 [[ 9.90144364e-01 -1.28418280e-01 -5.58827667e-02 3.38773496e+02] [ 1.28327033e-01 9.91718098e-01 -5.23317271e-03 2.63390975e+01] [ 5.60919862e-02 -1.98967318e-03 9.98423623e-01 1.89842053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.84, Y:26.34, Z:18.99 [[ 9.90285532e-01 -1.27324978e-01 -5.58830488e-02 3.38835632e+02] [ 1.27232163e-01 9.91859175e-01 -5.23015878e-03 2.63445195e+01] [ 5.60940445e-02 -1.93077063e-03 9.98423623e-01 1.89889302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.90, Y:26.35, Z:18.99 [[ 9.90488998e-01 -1.25732205e-01 -5.58834319e-02 3.38896085e+02] [ 1.25637090e-01 9.92062503e-01 -5.22606181e-03 2.63494868e+01] [ 5.60969416e-02 -1.84467505e-03 9.98423623e-01 1.89922692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.96, Y:26.35, Z:19.00 [[ 9.90633979e-01 -1.24584463e-01 -5.58840907e-02 3.38958070e+02] [ 1.24487923e-01 9.92207397e-01 -5.21900804e-03 2.63538141e+01] [ 5.60988155e-02 -1.78676768e-03 9.98423623e-01 1.89959152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.02, Y:26.36, Z:19.00 [[ 9.90779680e-01 -1.23420226e-01 -5.58844653e-02 3.39020142e+02] [ 1.23322063e-01 9.92352998e-01 -5.21499346e-03 2.63582010e+01] [ 5.61007524e-02 -1.72487798e-03 9.98423623e-01 1.89984376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.08, Y:26.36, Z:19.00 [[ 9.90979023e-01 -1.21809116e-01 -5.58848451e-02 3.39082353e+02] [ 1.21708624e-01 9.92552194e-01 -5.21092091e-03 2.63635709e+01] [ 5.61033632e-02 -1.63775431e-03 9.98423623e-01 1.90014527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.14, Y:26.37, Z:19.00 [[ 9.91317338e-01 -1.19024273e-01 -5.58852242e-02 3.39142918e+02] [ 1.18919591e-01 9.92890235e-01 -5.20685181e-03 2.63692856e+01] [ 5.61076352e-02 -1.48420556e-03 9.98423623e-01 1.90048533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.21, Y:26.37, Z:19.01 [[ 9.92006683e-01 -1.13135101e-01 -5.58855043e-02 3.39205078e+02] [ 1.13021250e-01 9.93578944e-01 -5.20384313e-03 2.63745057e+01] [ 5.61153977e-02 -1.15400238e-03 9.98423623e-01 1.90086307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.27, Y:26.38, Z:19.01 [[ 9.92483371e-01 -1.08873908e-01 -5.58858738e-02 3.39266628e+02] [ 1.08753529e-01 9.94055145e-01 -5.19987197e-03 2.63794421e+01] [ 5.61197708e-02 -9.16999566e-04 9.98423623e-01 1.90136141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.33, Y:26.38, Z:19.02 [[ 9.92816721e-01 -1.05790756e-01 -5.58862541e-02 3.39327163e+02] [ 1.05665726e-01 9.94388133e-01 -5.19578227e-03 2.63847452e+01] [ 5.61222936e-02 -7.46802107e-04 9.98423623e-01 1.90174275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.39, Y:26.39, Z:19.02 [[ 9.93016656e-01 -1.03897147e-01 -5.58865347e-02 3.39388807e+02] [ 1.03769290e-01 9.94587839e-01 -5.19276240e-03 2.63881398e+01] [ 5.61235809e-02 -6.42806468e-04 9.98423623e-01 1.90225635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.45, Y:26.39, Z:19.03 [[ 9.92826818e-01 -1.05695608e-01 -5.58869140e-02 3.39449622e+02] [ 1.05570827e-01 9.94398249e-01 -5.18867615e-03 2.63887222e+01] [ 5.61222698e-02 -7.48570915e-04 9.98423623e-01 1.90260216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.51, Y:26.39, Z:19.03 [[ 9.92562460e-01 -1.08149829e-01 -5.58871943e-02 3.39511826e+02] [ 1.08029104e-01 9.94134207e-01 -5.18565625e-03 2.63909950e+01] [ 5.61201994e-02 -8.90355771e-04 9.98423623e-01 1.90297414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.57, Y:26.39, Z:19.03 [[ 9.91863323e-01 -1.14384122e-01 -5.58875719e-02 3.39573450e+02] [ 1.14273504e-01 9.93435814e-01 -5.18158350e-03 2.63932763e+01] [ 5.61134063e-02 -1.24704603e-03 9.98423623e-01 1.90309665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.64, Y:26.39, Z:19.03 [[ 9.90960890e-01 -1.21955169e-01 -5.58878506e-02 3.39635045e+02] [ 1.21856732e-01 9.92534190e-01 -5.17857470e-03 2.63948122e+01] [ 5.61021566e-02 -1.67854586e-03 9.98423623e-01 1.90327674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.70, Y:26.40, Z:19.04 [[ 9.90269593e-01 -1.27446698e-01 -5.58880320e-02 3.39696776e+02] [ 1.27357094e-01 9.91843422e-01 -5.17661658e-03 2.63981322e+01] [ 5.60919196e-02 -1.99149136e-03 9.98423623e-01 1.90360852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.76, Y:26.40, Z:19.04 [[ 9.89327731e-01 -1.34562727e-01 -5.58883973e-02 3.39758321e+02] [ 1.34484663e-01 9.90902174e-01 -5.17266992e-03 2.64021828e+01] [ 5.60759830e-02 -2.39866645e-03 9.98423623e-01 1.90414549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.82, Y:26.41, Z:19.05 [[ 9.88770876e-01 -1.38595092e-01 -5.58887665e-02 3.39820158e+02] [ 1.38523673e-01 9.90345635e-01 -5.16867815e-03 2.64071709e+01] [ 5.60655493e-02 -2.63127879e-03 9.98423623e-01 1.90463569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.88, Y:26.41, Z:19.05 [[ 9.88413176e-01 -1.41123340e-01 -5.58891404e-02 3.39882279e+02] [ 1.41056177e-01 9.89988122e-01 -5.16463124e-03 2.64124094e+01] [ 5.60584352e-02 -2.77871889e-03 9.98423623e-01 1.90504130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.94, Y:26.42, Z:19.05 [[ 9.88286726e-01 -1.42006022e-01 -5.58895125e-02 3.39944473e+02] [ 1.41940493e-01 9.89861740e-01 -5.16060143e-03 2.64176305e+01] [ 5.60557266e-02 -2.83283106e-03 9.98423623e-01 1.90542296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.01, Y:26.42, Z:19.06 [[ 9.87719139e-01 -1.45901415e-01 -5.58898813e-02 3.40006170e+02] [ 1.45842321e-01 9.89294409e-01 -5.15660414e-03 2.64219989e+01] [ 5.60439029e-02 -3.05783342e-03 9.98423623e-01 1.90580145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.07, Y:26.43, Z:19.06 [[ 9.86975366e-01 -1.50850612e-01 -5.58902440e-02 3.40068174e+02] [ 1.50799637e-01 9.88550919e-01 -5.15266999e-03 2.64260003e+01] [ 5.60276355e-02 -3.34267017e-03 9.98423623e-01 1.90607292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.13, Y:26.43, Z:19.06 [[ 9.86357323e-01 -1.54840145e-01 -5.58906170e-02 3.40129818e+02] [ 1.54795769e-01 9.87933075e-01 -5.14862125e-03 2.64308597e+01] [ 5.60134024e-02 -3.57325078e-03 9.98423623e-01 1.90615977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.19, Y:26.44, Z:19.06 [[ 9.86117955e-01 -1.56357205e-01 -5.58909907e-02 3.40190645e+02] [ 1.56315483e-01 9.87693780e-01 -5.14456127e-03 2.64364047e+01] [ 5.60075731e-02 -3.66348296e-03 9.98423623e-01 1.90640880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.25, Y:26.44, Z:19.07 [[ 9.86288125e-01 -1.55280075e-01 -5.58912666e-02 3.40252312e+02] [ 1.55236801e-01 9.87863908e-01 -5.14156209e-03 2.64423709e+01] [ 5.60113472e-02 -3.60531979e-03 9.98423623e-01 1.90696905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.31, Y:26.45, Z:19.07 [[ 9.86937003e-01 -1.51100884e-01 -5.58916444e-02 3.40314315e+02] [ 1.51051167e-01 9.88512596e-01 -5.13745257e-03 2.64500317e+01] [ 5.60258680e-02 -3.37215607e-03 9.98423623e-01 1.90745610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.38, Y:26.46, Z:19.08 [[ 9.87435297e-01 -1.47809393e-01 -5.58920167e-02 3.40375429e+02] [ 1.47754652e-01 9.89010723e-01 -5.13339813e-03 2.64566966e+01] [ 5.60365684e-02 -3.18940696e-03 9.98423623e-01 1.90782272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.44, Y:26.46, Z:19.08 [[ 9.87992881e-01 -1.44035057e-01 -5.58924758e-02 3.40435910e+02] [ 1.43974578e-01 9.89568098e-01 -5.12839532e-03 2.64619620e+01] [ 5.60480796e-02 -2.98027756e-03 9.98423623e-01 1.90807563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.50, Y:26.47, Z:19.09 [[ 9.88377257e-01 -1.41373123e-01 -5.58930994e-02 3.40498127e+02] [ 1.41308786e-01 9.89952320e-01 -5.12158939e-03 2.64670934e+01] [ 5.60555585e-02 -2.83612354e-03 9.98423623e-01 1.90851674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.56, Y:26.47, Z:19.09 [[ 9.88556733e-01 -1.40112478e-01 -5.58934656e-02 3.40559627e+02] [ 1.40046357e-01 9.90131723e-01 -5.11759017e-03 2.64725829e+01] [ 5.60589316e-02 -2.76864804e-03 9.98423623e-01 1.90886823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.62, Y:26.48, Z:19.09 [[ 9.88529315e-01 -1.40305640e-01 -5.58938280e-02 3.40621090e+02] [ 1.40240050e-01 9.90104327e-01 -5.11362918e-03 2.64776939e+01] [ 5.60581919e-02 -2.78358089e-03 9.98423623e-01 1.90932017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.68, Y:26.48, Z:19.10 [[ 9.88451086e-01 -1.40855562e-01 -5.58942000e-02 3.40681489e+02] [ 1.40791078e-01 9.90026143e-01 -5.10955943e-03 2.64830118e+01] [ 5.60564291e-02 -2.81885512e-03 9.98423623e-01 1.90961433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.74, Y:26.49, Z:19.10 [[ 9.88456084e-01 -1.40820376e-01 -5.58944759e-02 3.40742546e+02] [ 1.40756006e-01 9.90031146e-01 -5.10653913e-03 2.64887329e+01] [ 5.60563768e-02 -2.81989354e-03 9.98423623e-01 1.90996247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.80, Y:26.50, Z:19.11 [[ 9.88658063e-01 -1.39395163e-01 -5.58947457e-02 3.40804137e+02] [ 1.39328689e-01 9.90233038e-01 -5.10358411e-03 2.64956626e+01] [ 5.60602388e-02 -2.74204207e-03 9.98423623e-01 1.91060070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.87, Y:26.50, Z:19.11 [[ 9.88869224e-01 -1.37889066e-01 -5.58951135e-02 3.40866135e+02] [ 1.37820420e-01 9.90444106e-01 -5.09955346e-03 2.65013955e+01] [ 5.60641583e-02 -2.66069657e-03 9.98423623e-01 1.91108280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.93, Y:26.51, Z:19.12 [[ 9.89050301e-01 -1.36584029e-01 -5.58954831e-02 3.40928987e+02] [ 1.36513534e-01 9.90625101e-01 -5.09549877e-03 2.65079221e+01] [ 5.60674324e-02 -2.59078535e-03 9.98423623e-01 1.91152512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.99, Y:26.52, Z:19.12 [[ 9.88789593e-01 -1.38458563e-01 -5.58960466e-02 3.40990231e+02] [ 1.38391402e-01 9.90364538e-01 -5.08931020e-03 2.65159003e+01] [ 5.60621209e-02 -2.70327532e-03 9.98423623e-01 1.91181951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.05, Y:26.52, Z:19.12 [[ 9.89076378e-01 -1.36394613e-01 -5.58965789e-02 3.41051339e+02] [ 1.36324496e-01 9.90651195e-01 -5.08345640e-03 2.65179414e+01] [ 5.60673688e-02 -2.59214631e-03 9.98423623e-01 1.91203816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.11, Y:26.52, Z:19.12 [[ 9.89104888e-01 -1.36187578e-01 -5.58968992e-02 3.41113531e+02] [ 1.36117330e-01 9.90679699e-01 -5.07993246e-03 2.65241856e+01] [ 5.60677470e-02 -2.58395066e-03 9.98423623e-01 1.91235879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.18, Y:26.53, Z:19.13 [[ 9.89145716e-01 -1.35890578e-01 -5.58972590e-02 3.41175396e+02] [ 1.35820080e-01 9.90720516e-01 -5.07597080e-03 2.65304803e+01] [ 5.60683378e-02 -2.57109542e-03 9.98423623e-01 1.91270882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.24, Y:26.54, Z:19.13 [[ 9.89222214e-01 -1.35332433e-01 -5.58976267e-02 3.41236947e+02] [ 1.35261275e-01 9.90796984e-01 -5.07191768e-03 2.65363734e+01] [ 5.60695949e-02 -2.54353064e-03 9.98423623e-01 1.91294436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.30, Y:26.54, Z:19.13 [[ 9.89570112e-01 -1.32764483e-01 -5.58979917e-02 3.41299019e+02] [ 1.32689466e-01 9.91144703e-01 -5.06789236e-03 2.65437262e+01] [ 5.60758345e-02 -2.40203984e-03 9.98423623e-01 1.91321224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.36, Y:26.55, Z:19.14 [[ 9.90130598e-01 -1.28517598e-01 -5.58983522e-02 3.41360180e+02] [ 1.28436049e-01 9.91704864e-01 -5.06391284e-03 2.65517695e+01] [ 5.60854697e-02 -2.16542847e-03 9.98423623e-01 1.91368313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.42, Y:26.56, Z:19.14 [[ 9.90638343e-01 -1.24543199e-01 -5.58987112e-02 3.41422216e+02] [ 1.24455557e-01 9.92212281e-01 -5.05994614e-03 2.65588995e+01] [ 5.60935697e-02 -1.94432860e-03 9.98423623e-01 1.91415055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.48, Y:26.57, Z:19.15 [[ 9.91127262e-01 -1.20590398e-01 -5.58990724e-02 3.41483529e+02] [ 1.20496703e-01 9.92700852e-01 -5.05595364e-03 2.65655574e+01] [ 5.61007562e-02 -1.72456046e-03 9.98423623e-01 1.91456559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.54, Y:26.57, Z:19.15 [[ 9.91477796e-01 -1.17673420e-01 -5.58994365e-02 3.41544682e+02] [ 1.17575322e-01 9.93051117e-01 -5.05192482e-03 2.65724661e+01] [ 5.61054751e-02 -1.56352299e-03 9.98423623e-01 1.91493272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.61, Y:26.58, Z:19.16 [[ 9.91023638e-01 -1.21438757e-01 -5.58997057e-02 3.41606566e+02] [ 1.21346805e-01 9.92597331e-01 -5.04894394e-03 2.65813550e+01] [ 5.60990362e-02 -1.77962788e-03 9.98423623e-01 1.91578046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.67, Y:26.58, Z:19.16 [[ 9.91232010e-01 -1.19725802e-01 -5.59002254e-02 3.41667779e+02] [ 1.19631454e-01 9.92805561e-01 -5.04318367e-03 2.65816805e+01] [ 5.61018538e-02 -1.68846017e-03 9.98423623e-01 1.91572861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.73, Y:26.59, Z:19.16 [[ 9.91223006e-01 -1.19800182e-01 -5.59005276e-02 3.41728850e+02] [ 1.19706141e-01 9.92796575e-01 -5.03983186e-03 2.65870478e+01] [ 5.61016251e-02 -1.69603916e-03 9.98423623e-01 1.91594079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.79, Y:26.59, Z:19.16 [[ 9.91381279e-01 -1.18483162e-01 -5.59007995e-02 3.41790804e+02] [ 1.18387200e-01 9.92954733e-01 -5.03681410e-03 2.65928207e+01] [ 5.61037411e-02 -1.62453594e-03 9.98423623e-01 1.91626264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.85, Y:26.60, Z:19.17 [[ 9.91698269e-01 -1.15799846e-01 -5.59011500e-02 3.41852333e+02] [ 1.15699846e-01 9.93271471e-01 -5.03292058e-03 2.65979830e+01] [ 5.61078289e-02 -1.47661583e-03 9.98423623e-01 1.91684927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.91, Y:26.60, Z:19.17 [[ 9.92230235e-01 -1.11149367e-01 -5.59015175e-02 3.41913447e+02] [ 1.11042223e-01 9.93802966e-01 -5.02883546e-03 2.66040345e+01] [ 5.61140458e-02 -1.21766620e-03 9.98423623e-01 1.91744104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.97, Y:26.61, Z:19.18 [[ 9.92616272e-01 -1.07647233e-01 -5.59017888e-02 3.41974793e+02] [ 1.07534709e-01 9.94188628e-01 -5.02581764e-03 2.66097067e+01] [ 5.61179381e-02 -1.02267424e-03 9.98423623e-01 1.91795038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.04, Y:26.61, Z:19.18 [[ 9.92973221e-01 -1.04303076e-01 -5.59021452e-02 3.42037118e+02] [ 1.04185481e-01 9.94545206e-01 -5.02185071e-03 2.66137406e+01] [ 5.61210050e-02 -8.37628588e-04 9.98423623e-01 1.91832540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.10, Y:26.62, Z:19.19 [[ 9.92905544e-01 -1.04945177e-01 -5.59025023e-02 3.42099404e+02] [ 1.04828822e-01 9.94477621e-01 -5.01787255e-03 2.66165028e+01] [ 5.61203890e-02 -8.77919964e-04 9.98423623e-01 1.91854378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.16, Y:26.62, Z:19.19 [[ 9.92172963e-01 -1.11658772e-01 -5.59028695e-02 3.42159948e+02] [ 1.11553283e-01 9.93745806e-01 -5.01377812e-03 2.66240496e+01] [ 5.61130744e-02 -1.26161355e-03 9.98423623e-01 1.91907057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.22, Y:26.63, Z:19.20 [[ 9.91414532e-01 -1.18203483e-01 -5.59031570e-02 3.42221205e+02] [ 1.18108556e-01 9.92988048e-01 -5.01057100e-03 2.66266283e+01] [ 5.61034336e-02 -1.63508824e-03 9.98423623e-01 1.91958884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.28, Y:26.62, Z:19.19 [[ 9.91525780e-01 -1.17266499e-01 -5.59034459e-02 3.42282709e+02] [ 1.17170268e-01 9.93099217e-01 -5.00734498e-03 2.66230088e+01] [ 5.61048622e-02 -1.58531007e-03 9.98423623e-01 1.91937783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.34, Y:26.63, Z:19.20 [[ 9.90995294e-01 -1.21668041e-01 -5.59036276e-02 3.42344690e+02] [ 1.21578911e-01 9.92569149e-01 -5.00531574e-03 2.66253930e+01] [ 5.60972030e-02 -1.83645780e-03 9.98423623e-01 1.91970763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.41, Y:26.63, Z:19.20 [[ 9.90541017e-01 -1.25312563e-01 -5.59039882e-02 3.42407004e+02] [ 1.25229451e-01 9.92115201e-01 -5.00128489e-03 2.66282768e+01] [ 5.60899203e-02 -2.04684790e-03 9.98423623e-01 1.92007453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.47, Y:26.63, Z:19.20 [[ 9.90422428e-01 -1.26246261e-01 -5.59043446e-02 3.42469406e+02] [ 1.26164857e-01 9.91996702e-01 -4.99729787e-03 2.66321788e+01] [ 5.60878156e-02 -2.10372773e-03 9.98423623e-01 1.92048457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.53, Y:26.64, Z:19.21 [[ 9.90433921e-01 -1.26155907e-01 -5.59046978e-02 3.42531460e+02] [ 1.26074583e-01 9.92008199e-01 -4.99334310e-03 2.66367295e+01] [ 5.60878583e-02 -2.10258506e-03 9.98423623e-01 1.92102313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.59, Y:26.64, Z:19.21 [[ 9.90528672e-01 -1.25409628e-01 -5.59050581e-02 3.42592755e+02] [ 1.25327344e-01 9.92102900e-01 -4.98930662e-03 2.66411812e+01] [ 5.60892773e-02 -2.06438121e-03 9.98423623e-01 1.92138776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.66, Y:26.65, Z:19.22 [[ 9.90431405e-01 -1.26175381e-01 -5.59053242e-02 3.42655094e+02] [ 1.26094483e-01 9.92005705e-01 -4.98632264e-03 2.66452802e+01] [ 5.60875517e-02 -2.11074242e-03 9.98423623e-01 1.92167785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.72, Y:26.65, Z:19.22 [[ 9.90368535e-01 -1.26667751e-01 -5.59056788e-02 3.42716761e+02] [ 1.26587860e-01 9.91942886e-01 -4.98234425e-03 2.66496806e+01] [ 5.60863427e-02 -2.14262326e-03 9.98423623e-01 1.92202300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.78, Y:26.66, Z:19.22 [[ 9.90281915e-01 -1.27343018e-01 -5.59060408e-02 3.42778258e+02] [ 1.27264430e-01 9.91856331e-01 -4.97827928e-03 2.66552710e+01] [ 5.60847096e-02 -2.18495047e-03 9.98423623e-01 1.92226790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.84, Y:26.66, Z:19.23 [[ 9.90168707e-01 -1.28220145e-01 -5.59064021e-02 3.42840357e+02] [ 1.28143180e-01 9.91743204e-01 -4.97421818e-03 2.66613261e+01] [ 5.60825893e-02 -2.23870899e-03 9.98423623e-01 1.92259589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.90, Y:26.67, Z:19.23 [[ 9.90071988e-01 -1.28964694e-01 -5.59067707e-02 3.42901231e+02] [ 1.28889147e-01 9.91646553e-01 -4.97007134e-03 2.66678033e+01] [ 5.60807202e-02 -2.28504759e-03 9.98423623e-01 1.92267562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.96, Y:26.67, Z:19.23 [[ 9.90033355e-01 -1.29260815e-01 -5.59070426e-02 3.42963167e+02] [ 1.29185911e-01 9.91607951e-01 -4.96701124e-03 2.66749734e+01] [ 5.60799079e-02 -2.30489543e-03 9.98423623e-01 1.92317902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.02, Y:26.68, Z:19.24 [[ 9.89640441e-01 -1.32235245e-01 -5.59073987e-02 3.43023968e+02] [ 1.32165299e-01 9.91215265e-01 -4.96300007e-03 2.66839698e+01] [ 5.60725506e-02 -2.47743250e-03 9.98423623e-01 1.92385053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.09, Y:26.69, Z:19.24 [[ 9.89495085e-01 -1.33318344e-01 -5.59079247e-02 3.43085280e+02] [ 1.33250457e-01 9.91069999e-01 -4.95706778e-03 2.66901548e+01] [ 5.60695349e-02 -2.54476229e-03 9.98423623e-01 1.92417322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.15, Y:26.70, Z:19.25 [[ 9.89042712e-01 -1.36633742e-01 -5.59082721e-02 3.43147252e+02] [ 1.36571354e-01 9.90617853e-01 -4.95314612e-03 2.66973319e+01] [ 5.60604994e-02 -2.73659535e-03 9.98423623e-01 1.92457163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.21, Y:26.70, Z:19.25 [[ 9.88442652e-01 -1.40909008e-01 -5.59086311e-02 3.43208333e+02] [ 1.40853660e-01 9.90018057e-01 -4.94909092e-03 2.67036756e+01] [ 5.60479258e-02 -2.98304275e-03 9.98423623e-01 1.92492457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.27, Y:26.71, Z:19.25 [[ 9.87546487e-01 -1.47058262e-01 -5.59088960e-02 3.43270497e+02] [ 1.47012889e-01 9.89122210e-01 -4.94609613e-03 2.67095476e+01] [ 5.60280951e-02 -3.33482848e-03 9.98423623e-01 1.92520393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.33, Y:26.72, Z:19.26 [[ 9.87134310e-01 -1.49799903e-01 -5.59092458e-02 3.43332421e+02] [ 1.49759129e-01 9.88710159e-01 -4.94213939e-03 2.67172677e+01] [ 5.60183713e-02 -3.49436460e-03 9.98423623e-01 1.92550130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.39, Y:26.72, Z:19.26 [[ 9.87190699e-01 -1.49427709e-01 -5.59096048e-02 3.43393856e+02] [ 1.49386570e-01 9.88766539e-01 -4.93807460e-03 2.67249106e+01] [ 5.60194316e-02 -3.47732277e-03 9.98423623e-01 1.92589255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.46, Y:26.73, Z:19.26 [[ 9.87513264e-01 -1.47280782e-01 -5.59099624e-02 3.43456620e+02] [ 1.47236446e-01 9.89089017e-01 -4.93402275e-03 2.67331560e+01] [ 5.60266165e-02 -3.35957123e-03 9.98423623e-01 1.92626141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.52, Y:26.74, Z:19.27 [[ 9.87749496e-01 -1.45687853e-01 -5.59104937e-02 3.43517761e+02] [ 1.45641315e-01 9.89325185e-01 -4.92799487e-03 2.67411679e+01] [ 5.60316085e-02 -3.27525337e-03 9.98423623e-01 1.92652483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.58, Y:26.75, Z:19.27 [[ 9.88098345e-01 -1.43302645e-01 -5.59107548e-02 3.43579552e+02] [ 1.43252470e-01 9.89673923e-01 -4.92503103e-03 2.67504756e+01] [ 5.60391860e-02 -3.14293872e-03 9.98423623e-01 1.92676467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.64, Y:26.76, Z:19.27 [[ 9.88301710e-01 -1.41893200e-01 -5.59110970e-02 3.43642410e+02] [ 1.41840997e-01 9.89877222e-01 -4.92114239e-03 2.67583475e+01] [ 5.60433980e-02 -3.06691231e-03 9.98423623e-01 1.92719886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.70, Y:26.77, Z:19.27 [[ 9.88613506e-01 -1.39704067e-01 -5.59116284e-02 3.43702915e+02] [ 1.39648716e-01 9.90188910e-01 -4.91509745e-03 2.67665581e+01] [ 5.60497335e-02 -2.94885543e-03 9.98423623e-01 1.92726079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.77, Y:26.77, Z:19.28 [[ 9.88833965e-01 -1.38134897e-01 -5.59118893e-02 3.43765590e+02] [ 1.38077213e-01 9.90409286e-01 -4.91212800e-03 2.67740759e+01] [ 5.60541907e-02 -2.86287886e-03 9.98423623e-01 1.92779116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.83, Y:26.78, Z:19.28 [[ 9.88879376e-01 -1.37809216e-01 -5.59124247e-02 3.43826984e+02] [ 1.37751357e-01 9.90454691e-01 -4.90602683e-03 2.67814087e+01] [ 5.60548190e-02 -2.85054364e-03 9.98423623e-01 1.92835628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.89, Y:26.79, Z:19.29 [[ 9.89021095e-01 -1.36788283e-01 -5.59127827e-02 3.43888505e+02] [ 1.36729029e-01 9.90596358e-01 -4.90194264e-03 2.67875659e+01] [ 5.60575272e-02 -2.79677580e-03 9.98423623e-01 1.92858062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.95, Y:26.79, Z:19.29 [[ 9.89161882e-01 -1.35766100e-01 -5.59136580e-02 3.43951333e+02] [ 1.35705782e-01 9.90737104e-01 -4.89193841e-03 2.67949578e+01] [ 5.60598950e-02 -2.74888768e-03 9.98423623e-01 1.92890264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.01, Y:26.80, Z:19.29 [[ 9.89286946e-01 -1.34851557e-01 -5.59141836e-02 3.44012820e+02] [ 1.34790121e-01 9.90862125e-01 -4.88592304e-03 2.68025044e+01] [ 5.60621212e-02 -2.70309972e-03 9.98423623e-01 1.92910042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.07, Y:26.81, Z:19.29 [[ 9.89160532e-01 -1.35775575e-01 -5.59145291e-02 3.44074843e+02] [ 1.35715834e-01 9.90735776e-01 -4.88196593e-03 2.68081453e+01] [ 5.60593762e-02 -2.75943894e-03 9.98423623e-01 1.92939167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.14, Y:26.81, Z:19.30 [[ 9.88974361e-01 -1.37124905e-01 -5.59148830e-02 3.44135810e+02] [ 1.37067542e-01 9.90549693e-01 -4.87790984e-03 2.68128141e+01] [ 5.60553531e-02 -2.83998782e-03 9.98423623e-01 1.92956049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.20, Y:26.82, Z:19.30 [[ 9.89327165e-01 -1.34555776e-01 -5.59151447e-02 3.44196987e+02] [ 1.34494491e-01 9.90902350e-01 -4.87490778e-03 2.68191871e+01] [ 5.60623953e-02 -2.69740024e-03 9.98423623e-01 1.93004933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.26, Y:26.83, Z:19.31 [[ 9.89727845e-01 -1.31576059e-01 -5.59154069e-02 3.44258215e+02] [ 1.31510201e-01 9.91302846e-01 -4.87189876e-03 2.68252701e+01] [ 5.60701272e-02 -2.53159252e-03 9.98423623e-01 1.93058830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.32, Y:26.83, Z:19.31 [[ 9.90053059e-01 -1.29105896e-01 -5.59160777e-02 3.44320176e+02] [ 1.29036543e-01 9.91627909e-01 -4.86418817e-03 2.68303637e+01] [ 5.60759385e-02 -2.39941296e-03 9.98423623e-01 1.93111113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.38, Y:26.83, Z:19.31 [[ 9.90065327e-01 -1.29011633e-01 -5.59164284e-02 3.44381867e+02] [ 1.28942357e-01 9.91640180e-01 -4.86015258e-03 2.68347631e+01] [ 5.60759934e-02 -2.39812751e-03 9.98423623e-01 1.93141966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.44, Y:26.84, Z:19.31 [[ 9.89602334e-01 -1.32516132e-01 -5.59168616e-02 3.44443086e+02] [ 1.32452714e-01 9.91177434e-01 -4.85516327e-03 2.68361710e+01] [ 5.60669189e-02 -2.60165915e-03 9.98423624e-01 1.93135012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.51, Y:26.84, Z:19.31 [[ 9.89080712e-01 -1.36354761e-01 -5.59171134e-02 3.44505920e+02] [ 1.36297618e-01 9.90656053e-01 -4.85226167e-03 2.68384588e+01] [ 5.60562558e-02 -2.82209091e-03 9.98423624e-01 1.93132004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.57, Y:26.84, Z:19.32 [[ 9.88839037e-01 -1.38096295e-01 -5.59175422e-02 3.44567649e+02] [ 1.38042205e-01 9.90414486e-01 -4.84731514e-03 2.68429642e+01] [ 5.60509401e-02 -2.92576639e-03 9.98423624e-01 1.93162399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.63, Y:26.85, Z:19.32 [[ 9.88862162e-01 -1.37930467e-01 -5.59178863e-02 3.44628955e+02] [ 1.37876336e-01 9.90437609e-01 -4.84334293e-03 2.68482460e+01] [ 5.60512222e-02 -2.92035473e-03 9.98423624e-01 1.93218782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.69, Y:26.85, Z:19.33 [[ 9.89201380e-01 -1.35475989e-01 -5.59185729e-02 3.44689348e+02] [ 1.35418397e-01 9.90776704e-01 -4.83540213e-03 2.68534959e+01] [ 5.60579003e-02 -2.78921703e-03 9.98423624e-01 1.93273957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.75, Y:26.86, Z:19.33 [[ 9.89802138e-01 -1.31014550e-01 -5.59188367e-02 3.44751047e+02] [ 1.30950028e-01 9.91377193e-01 -4.83234988e-03 2.68588864e+01] [ 5.60697675e-02 -2.53950298e-03 9.98423624e-01 1.93317073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.81, Y:26.86, Z:19.33 [[ 9.90701369e-01 -1.24031615e-01 -5.59191930e-02 3.44813943e+02] [ 1.23956220e-01 9.92275941e-01 -4.82822322e-03 2.68644245e+01] [ 5.60861222e-02 -2.14820445e-03 9.98423624e-01 1.93346426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.88, Y:26.87, Z:19.34 [[ 9.91228389e-01 -1.19746668e-01 -5.59197237e-02 3.44875651e+02] [ 1.19664812e-01 9.92802639e-01 -4.82206931e-03 2.68692401e+01] [ 5.60946760e-02 -1.91185123e-03 9.98423624e-01 1.93380272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.94, Y:26.87, Z:19.34 [[ 9.91478923e-01 -1.17654112e-01 -5.59200775e-02 3.44937720e+02] [ 1.17569165e-01 9.93053009e-01 -4.81796216e-03 2.68736035e+01] [ 5.60984543e-02 -1.79756887e-03 9.98423624e-01 1.93403474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.00, Y:26.88, Z:19.34 [[ 9.91702966e-01 -1.15750303e-01 -5.59204297e-02 3.44998735e+02] [ 1.15662564e-01 9.93276899e-01 -4.81387171e-03 2.68772734e+01] [ 5.61016781e-02 -1.69396944e-03 9.98423624e-01 1.93429728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.06, Y:26.88, Z:19.35 [[ 9.91761056e-01 -1.15251250e-01 -5.59209899e-02 3.45060516e+02] [ 1.15163087e-01 9.93334965e-01 -4.80735445e-03 2.68822285e+01] [ 5.61023282e-02 -1.67228690e-03 9.98423624e-01 1.93465564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.12, Y:26.89, Z:19.35 [[ 9.92085575e-01 -1.12423380e-01 -5.59213387e-02 3.45122133e+02] [ 1.12330958e-01 9.93659239e-01 -4.80329399e-03 2.68871758e+01] [ 5.61067574e-02 -1.51641889e-03 9.98423624e-01 1.93494744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.18, Y:26.89, Z:19.35 [[ 9.92478495e-01 -1.08899962e-01 -5.59216835e-02 3.45183381e+02] [ 1.08802180e-01 9.94051836e-01 -4.79927630e-03 2.68919542e+01] [ 5.61116932e-02 -1.32122256e-03 9.98423624e-01 1.93535618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.24, Y:26.90, Z:19.36 [[ 9.92654232e-01 -1.07286122e-01 -5.59219382e-02 3.45244712e+02] [ 1.07185949e-01 9.94227423e-01 -4.79630632e-03 2.68970931e+01] [ 5.61137016e-02 -1.23297223e-03 9.98423624e-01 1.93592014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.31, Y:26.90, Z:19.36 [[ 9.92625357e-01 -1.07552769e-01 -5.59222940e-02 3.45307046e+02] [ 1.07453252e-01 9.94198589e-01 -4.79215426e-03 2.69022969e+01] [ 5.61132753e-02 -1.25221854e-03 9.98423624e-01 1.93622619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.37, Y:26.90, Z:19.36 [[ 9.92275481e-01 -1.10734041e-01 -5.59226467e-02 3.45369187e+02] [ 1.10639800e-01 9.93849038e-01 -4.78803492e-03 2.69046444e+01] [ 5.61088671e-02 -1.43622079e-03 9.98423624e-01 1.93631694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.43, Y:26.91, Z:19.37 [[ 9.91930097e-01 -1.13786208e-01 -5.59229990e-02 3.45431767e+02] [ 1.13697040e-01 9.93503949e-01 -4.78391732e-03 2.69068400e+01] [ 5.61040641e-02 -1.61296790e-03 9.98423624e-01 1.93651792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.49, Y:26.91, Z:19.37 [[ 9.91423534e-01 -1.18118392e-01 -5.59233506e-02 3.45493401e+02] [ 1.18036332e-01 9.92997773e-01 -4.77980371e-03 2.69096792e+01] [ 5.60963453e-02 -1.86217728e-03 9.98423624e-01 1.93668990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.56, Y:26.91, Z:19.37 [[ 9.91191162e-01 -1.20052617e-01 -5.59236103e-02 3.45555303e+02] [ 1.19973800e-01 9.92765566e-01 -4.77676256e-03 2.69135308e+01] [ 5.60924975e-02 -1.97468323e-03 9.98423624e-01 1.93702944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.62, Y:26.92, Z:19.37 [[ 9.91207976e-01 -1.19913546e-01 -5.59239594e-02 3.45617317e+02] [ 1.19834739e-01 9.92782381e-01 -4.77267186e-03 2.69172048e+01] [ 5.60926296e-02 -1.97092269e-03 9.98423624e-01 1.93738591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.68, Y:26.92, Z:19.38 [[ 9.91355351e-01 -1.18688836e-01 -5.59243029e-02 3.45678582e+02] [ 1.18608311e-01 9.92929670e-01 -4.76864338e-03 2.69216334e+01] [ 5.60948844e-02 -1.90566697e-03 9.98423624e-01 1.93778366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.74, Y:26.93, Z:19.38 [[ 9.91899391e-01 -1.14052803e-01 -5.59245566e-02 3.45740034e+02] [ 1.13965086e-01 9.93473325e-01 -4.76566645e-03 2.69272862e+01] [ 5.61030928e-02 -1.64638525e-03 9.98423624e-01 1.93824409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.80, Y:26.93, Z:19.39 [[ 9.92384764e-01 -1.09749194e-01 -5.59249022e-02 3.45801532e+02] [ 1.09654879e-01 9.93958316e-01 -4.76160790e-03 2.69330231e+01] [ 5.61096042e-02 -1.40709126e-03 9.98423624e-01 1.93861098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.86, Y:26.94, Z:19.39 [[ 9.93180139e-01 -1.02301405e-01 -5.59252533e-02 3.45862172e+02] [ 1.02195521e-01 9.94752955e-01 -4.75748079e-03 2.69389684e+01] [ 5.61185079e-02 -9.90274964e-04 9.98423624e-01 1.93892805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.92, Y:26.94, Z:19.39 [[ 9.93910306e-01 -9.49455088e-02 -5.59254292e-02 3.45921806e+02] [ 9.48280995e-02 9.95482304e-01 -4.75541183e-03 2.69447924e+01] [ 5.61242801e-02 -5.76849335e-04 9.98423624e-01 1.93919252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.98, Y:26.95, Z:19.39 [[ 9.94402946e-01 -8.96388145e-02 -5.59255156e-02 3.45981248e+02] [ 8.95130730e-02 9.95974300e-01 -4.75439527e-03 2.69505993e+01] [ 5.61265546e-02 -2.78280092e-04 9.98423624e-01 1.93925933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.04, Y:26.96, Z:19.40 [[ 9.94928436e-01 -8.36047399e-02 -5.59254307e-02 3.46039855e+02] [ 8.34694122e-02 9.96498993e-01 -4.75539359e-03 2.69564547e+01] [ 5.61272089e-02 6.32134798e-05 9.98423624e-01 1.93964554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.10, Y:26.96, Z:19.40 [[ 9.95644157e-01 -7.46002374e-02 -5.59242133e-02 3.46098533e+02] [ 7.44499046e-02 9.97213348e-01 -4.76966840e-03 2.69628463e+01] [ 5.61241904e-02 5.85340129e-04 9.98423624e-01 1.94015059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.16, Y:26.97, Z:19.40 [[ 9.95969601e-01 -7.01225428e-02 -5.59230051e-02 3.46156306e+02] [ 6.99643628e-02 9.97538021e-01 -4.78379227e-03 2.69683972e+01] [ 5.61207755e-02 8.51894260e-04 9.98423624e-01 1.94048731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.21, Y:26.97, Z:19.41 [[ 9.95914421e-01 -7.09022661e-02 -5.59225815e-02 3.46213677e+02] [ 7.07450364e-02 9.97482936e-01 -4.78873917e-03 2.69726457e+01] [ 5.61213532e-02 8.12929332e-04 9.98423624e-01 1.94093203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.27, Y:26.97, Z:19.41 [[ 9.95528137e-01 -7.61350819e-02 -5.59211753e-02 3.46270964e+02] [ 7.59851781e-02 9.97097369e-01 -4.80510422e-03 2.69743875e+01] [ 5.61246938e-02 5.34435989e-04 9.98423624e-01 1.94127715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.33, Y:26.98, Z:19.42 [[ 9.95045695e-01 -8.22005777e-02 -5.59207428e-02 3.46328766e+02] [ 8.20599573e-02 9.96615787e-01 -4.81013187e-03 2.69765292e+01] [ 5.61268907e-02 1.97447248e-04 9.98423624e-01 1.94163900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.39, Y:26.98, Z:19.42 [[ 9.94123104e-01 -9.26945598e-02 -5.59193452e-02 3.46386604e+02] [ 9.25696021e-02 9.95694519e-01 -4.82632582e-03 2.69764869e+01] [ 5.61259596e-02 -3.78469524e-04 9.98423624e-01 1.94198100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.44, Y:26.98, Z:19.42 [[ 9.93497658e-01 -9.91745403e-02 -5.59179294e-02 3.46444749e+02] [ 9.90589114e-02 9.95069787e-01 -4.84267321e-03 2.69781246e+01] [ 5.61225120e-02 -7.27984724e-04 9.98423624e-01 1.94238729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.50, Y:26.98, Z:19.43 [[ 9.92738576e-01 -1.06505087e-01 -5.59176683e-02 3.46504016e+02] [ 1.06400896e-01 9.94311505e-01 -4.84568698e-03 2.69786750e+01] [ 5.61156712e-02 -1.13918963e-03 9.98423624e-01 1.94275171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.56, Y:26.98, Z:19.43 [[ 9.92347126e-01 -1.10092755e-01 -5.59174926e-02 3.46564166e+02] [ 1.09994135e-01 9.93920414e-01 -4.84771350e-03 2.69810529e+01] [ 5.61112355e-02 -1.33998169e-03 9.98423624e-01 1.94299852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.62, Y:26.98, Z:19.43 [[ 9.91919524e-01 -1.13880998e-01 -5.59175792e-02 3.46624105e+02] [ 1.13788443e-01 9.93493180e-01 -4.84671457e-03 2.69833388e+01] [ 5.61056823e-02 -1.55522346e-03 9.98423624e-01 1.94331996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.68, Y:26.99, Z:19.44 [[ 9.91773701e-01 -1.15144084e-01 -5.59174936e-02 3.46684649e+02] [ 1.15053477e-01 9.93347470e-01 -4.84770198e-03 2.69875119e+01] [ 5.61036850e-02 -1.62567875e-03 9.98423624e-01 1.94364288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.75, Y:26.99, Z:19.44 [[ 9.91942678e-01 -1.13679184e-01 -5.59174936e-02 3.46745290e+02] [ 1.13586254e-01 9.93516312e-01 -4.84770198e-03 2.69932620e+01] [ 5.61060248e-02 -1.54281612e-03 9.98423624e-01 1.94399441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.80, Y:27.00, Z:19.44 [[ 9.92596847e-01 -1.07817968e-01 -5.59176696e-02 3.46804958e+02] [ 1.07715858e-01 9.94169912e-01 -4.84567037e-03 2.69996046e+01] [ 5.61141150e-02 -1.21342264e-03 9.98423624e-01 1.94430994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.87, Y:27.01, Z:19.45 [[ 9.93227465e-01 -1.01845013e-01 -5.59177563e-02 3.46865416e+02] [ 1.01733498e-01 9.94799892e-01 -4.84466922e-03 2.70060526e+01] [ 5.61203834e-02 -8.76850441e-04 9.98423624e-01 1.94474723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.92, Y:27.01, Z:19.45 [[ 9.93857373e-01 -9.55025004e-02 -5.59177563e-02 3.46924898e+02] [ 9.53809503e-02 9.95429055e-01 -4.84466922e-03 2.70129307e+01] [ 5.61248374e-02 -5.18578520e-04 9.98423624e-01 1.94520419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.98, Y:27.02, Z:19.46 [[ 9.94582460e-01 -8.76296408e-02 -5.59175853e-02 3.46983555e+02] [ 8.74955383e-02 9.96153121e-01 -4.84664224e-03 2.70198852e+01] [ 5.61271867e-02 -7.21538620e-05 9.98423624e-01 1.94557305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.04, Y:27.02, Z:19.46 [[ 9.94788088e-01 -8.52644156e-02 -5.59163683e-02 3.47041521e+02] [ 8.51257917e-02 9.96358356e-01 -4.86064246e-03 2.70245342e+01] [ 5.61271807e-02 7.53840956e-05 9.98423624e-01 1.94582107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.10, Y:27.03, Z:19.46 [[ 9.94783531e-01 -8.53184935e-02 -5.59149502e-02 3.47098060e+02] [ 8.51790410e-02 9.96353726e-01 -4.87690248e-03 2.70281804e+01] [ 5.61271589e-02 8.86804400e-05 9.98423625e-01 1.94611030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.16, Y:27.03, Z:19.47 [[ 9.94457420e-01 -8.90394688e-02 -5.59143401e-02 3.47155337e+02] [ 8.89054988e-02 9.96028092e-01 -4.88388685e-03 2.70305546e+01] [ 5.61271122e-02 -1.14274783e-04 9.98423625e-01 1.94653414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.21, Y:27.03, Z:19.47 [[ 9.94123193e-01 -9.26974959e-02 -5.59128963e-02 3.47212212e+02] [ 9.25683789e-02 9.95694271e-01 -4.90036019e-03 2.70335689e+01] [ 5.61264017e-02 -3.04204456e-04 9.98423625e-01 1.94684192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.27, Y:27.04, Z:19.47 [[ 9.93383555e-01 -1.00314157e-01 -5.59122755e-02 3.47270491e+02] [ 1.00196687e-01 9.94955547e-01 -4.90743393e-03 2.70350689e+01] [ 5.61225137e-02 -7.27260618e-04 9.98423625e-01 1.94711541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.33, Y:27.04, Z:19.47 [[ 9.92751298e-01 -1.06390028e-01 -5.59108512e-02 3.47329159e+02] [ 1.06281267e-01 9.94323916e-01 -4.92360718e-03 2.70380079e+01] [ 5.61173193e-02 -1.05435870e-03 9.98423625e-01 1.94736820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.39, Y:27.04, Z:19.48 [[ 9.91917921e-01 -1.13898866e-01 -5.59096184e-02 3.47388912e+02] [ 1.13801222e-01 9.93491269e-01 -4.93756761e-03 2.70403683e+01] [ 5.61081011e-02 -1.46492107e-03 9.98423625e-01 1.94778833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.45, Y:27.04, Z:19.48 [[ 9.91315062e-01 -1.19031854e-01 -5.59094420e-02 3.47450468e+02] [ 1.18942243e-01 9.92888888e-01 -4.93956350e-03 2.70436834e+01] [ 5.60998291e-02 -1.75333075e-03 9.98423625e-01 1.94818188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.51, Y:27.05, Z:19.49 [[ 9.90195400e-01 -1.28012435e-01 -5.59096215e-02 3.47511215e+02] [ 1.27937208e-01 9.91769979e-01 -4.93753151e-03 2.70463100e+01] [ 5.60815496e-02 -2.26379986e-03 9.98423625e-01 1.94859792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.57, Y:27.05, Z:19.49 [[ 9.89431369e-01 -1.33789611e-01 -5.59097988e-02 3.47571461e+02] [ 1.33723688e-01 9.91006365e-01 -4.93552266e-03 2.70503191e+01] [ 5.60672881e-02 -2.59310357e-03 9.98423625e-01 1.94876035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.63, Y:27.05, Z:19.49 [[ 9.88394650e-01 -1.41244791e-01 -5.59099737e-02 3.47633170e+02] [ 1.41190855e-01 9.89970102e-01 -4.93354075e-03 2.70541220e+01] [ 5.60460393e-02 -3.01769170e-03 9.98423625e-01 1.94907819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.70, Y:27.06, Z:19.49 [[ 9.88001662e-01 -1.43967874e-01 -5.59103449e-02 3.47695292e+02] [ 1.43918517e-01 9.89577264e-01 -4.92932996e-03 2.70592100e+01] [ 5.60372713e-02 -3.17634775e-03 9.98423625e-01 1.94938452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.76, Y:27.07, Z:19.50 [[ 9.87790054e-01 -1.45412525e-01 -5.59107059e-02 3.47757618e+02] [ 1.45365703e-01 9.89365733e-01 -4.92523276e-03 2.70655642e+01] [ 5.60323270e-02 -3.26240314e-03 9.98423625e-01 1.94963494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.82, Y:27.07, Z:19.50 [[ 9.87850914e-01 -1.44998323e-01 -5.59111591e-02 3.47818867e+02] [ 1.44951131e-01 9.89426583e-01 -4.92008254e-03 2.70719848e+01] [ 5.60333908e-02 -3.24407770e-03 9.98423625e-01 1.94980297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.88, Y:27.08, Z:19.50 [[ 9.88228624e-01 -1.42401067e-01 -5.59117329e-02 3.47880513e+02] [ 1.42350102e-01 9.89804175e-01 -4.91355291e-03 2.70809628e+01] [ 5.60413618e-02 -3.10332727e-03 9.98423625e-01 1.95011731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.94, Y:27.09, Z:19.50 [[ 9.89070005e-01 -1.36434465e-01 -5.59120866e-02 3.47940007e+02] [ 1.36374219e-01 9.90645229e-01 -4.90952531e-03 2.70906817e+01] [ 5.60588702e-02 -2.76910294e-03 9.98423625e-01 1.95034082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.00, Y:27.10, Z:19.51 [[ 9.89606514e-01 -1.32486886e-01 -5.59121858e-02 3.47998797e+02] [ 1.32420419e-01 9.91181487e-01 -4.90839433e-03 2.70998065e+01] [ 5.60694214e-02 -2.54653607e-03 9.98423625e-01 1.95111151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.06, Y:27.11, Z:19.52 [[ 9.90615594e-01 -1.24718019e-01 -5.59120864e-02 3.48059559e+02] [ 1.24639133e-01 9.92189993e-01 -4.90952653e-03 2.71122562e+01] [ 5.60877191e-02 -2.10538042e-03 9.98423625e-01 1.95198554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.12, Y:27.12, Z:19.52 [[ 9.91571900e-01 -1.16871575e-01 -5.59124575e-02 3.48120800e+02] [ 1.16780466e-01 9.93145639e-01 -4.90529688e-03 2.71187121e+01] [ 5.61025031e-02 -1.66552828e-03 9.98423625e-01 1.95192680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.18, Y:27.13, Z:19.52 [[ 9.92349240e-01 -1.10076121e-01 -5.59127306e-02 3.48181291e+02] [ 1.09974408e-01 9.93922330e-01 -4.90218179e-03 2.71267144e+01] [ 5.61125246e-02 -1.28429309e-03 9.98423625e-01 1.95222802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.24, Y:27.14, Z:19.52 [[ 9.93508966e-01 -9.90640331e-02 -5.59129013e-02 3.48242187e+02] [ 9.89449902e-02 9.95080839e-01 -4.90023420e-03 2.71355288e+01] [ 5.61232937e-02 -6.63874857e-04 9.98423625e-01 1.95245930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.30, Y:27.15, Z:19.53 [[ 9.94463545e-01 -8.89718195e-02 -5.59130794e-02 3.48301716e+02] [ 8.88369378e-02 9.96034139e-01 -4.89820102e-03 2.71463429e+01] [ 5.61271378e-02 -9.60644125e-05 9.98423625e-01 1.95329253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.165099893 meters Centerline goodness : 0.996047 with order 1 Centerline is valid? [True, True] Translation: X:348.36, Y:27.15, Z:19.53 [[ 9.95391424e-01 -7.79078995e-02 -5.59130794e-02 3.48359744e+02] [ 7.77555612e-02 9.96960421e-01 -4.89820102e-03 2.71495452e+01] [ 5.61247357e-02 5.28074416e-04 9.98423625e-01 1.95262273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.42, Y:27.16, Z:19.53 [[ 9.95929943e-01 -7.06918425e-02 -5.59125346e-02 3.48417383e+02] [ 7.05277884e-02 9.97497758e-01 -4.90441209e-03 2.71563223e+01] [ 5.61193299e-02 9.41063448e-04 9.98423625e-01 1.95342264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.47, Y:27.16, Z:19.54 [[ 9.96256782e-01 -6.59271261e-02 -5.59109892e-02 3.48474641e+02] [ 6.57545897e-02 9.97823686e-01 -4.92196723e-03 2.71611793e+01] [ 5.61138005e-02 1.22713908e-03 9.98423625e-01 1.95351520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.345099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.53, Y:27.16, Z:19.54 [[ 9.96052129e-01 -6.89511814e-02 -5.59096732e-02 3.48532868e+02] [ 6.87825663e-02 9.97619459e-01 -4.93687043e-03 2.71635110e+01] [ 5.61169810e-02 1.07176949e-03 9.98423625e-01 1.95417871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.59, Y:27.16, Z:19.55 [[ 9.95348776e-01 -7.84542644e-02 -5.59083321e-02 3.48590621e+02] [ 7.82997650e-02 9.96917561e-01 -4.95201152e-03 2.71634063e+01] [ 5.61245046e-02 5.51369335e-04 9.98423626e-01 1.95474080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.65, Y:27.16, Z:19.55 [[ 9.94515431e-01 -8.83938898e-02 -5.59068649e-02 3.48648186e+02] [ 8.82541421e-02 9.96085599e-01 -4.96852096e-03 2.71640728e+01] [ 5.61272099e-02 7.25835563e-06 9.98423626e-01 1.95515067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.71, Y:27.16, Z:19.55 [[ 9.92911428e-01 -1.04887955e-01 -5.59053959e-02 3.48706373e+02] [ 1.04773360e-01 9.94483631e-01 -4.98499632e-03 2.71610488e+01] [ 5.61198672e-02 -9.07736351e-04 9.98423626e-01 1.95544415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.77, Y:27.16, Z:19.56 [[ 9.91714267e-01 -1.15661026e-01 -5.59047453e-02 3.48766388e+02] [ 1.15563096e-01 9.93287596e-01 -4.99228174e-03 2.71612981e+01] [ 5.61069025e-02 -1.50960839e-03 9.98423626e-01 1.95578670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.83, Y:27.16, Z:19.56 [[ 9.90507778e-01 -1.25574762e-01 -5.59045633e-02 3.48826519e+02] [ 1.25492458e-01 9.92082003e-01 -4.99431906e-03 2.71615907e+01] [ 5.60890715e-02 -2.06868920e-03 9.98423626e-01 1.95607988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.89, Y:27.16, Z:19.56 [[ 9.89311691e-01 -1.34673859e-01 -5.59046528e-02 3.48887406e+02] [ 1.34606085e-01 9.90886607e-01 -4.99331625e-03 2.71627612e+01] [ 5.60676410e-02 -2.58516032e-03 9.98423626e-01 1.95648522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.95, Y:27.16, Z:19.57 [[ 9.87717229e-01 -1.45908617e-01 -5.59048360e-02 3.48948492e+02] [ 1.45858862e-01 9.89292818e-01 -4.99126453e-03 2.71638815e+01] [ 5.60345213e-02 -3.22425777e-03 9.98423626e-01 1.95667732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.01, Y:27.17, Z:19.57 [[ 9.87034764e-01 -1.50455952e-01 -5.59051079e-02 3.49010134e+02] [ 1.50413626e-01 9.88610570e-01 -4.98821726e-03 2.71684444e+01] [ 5.60188876e-02 -3.48534612e-03 9.98423626e-01 1.95692454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.07, Y:27.17, Z:19.57 [[ 9.86808628e-01 -1.51931924e-01 -5.59054683e-02 3.49071329e+02] [ 1.51892182e-01 9.88384502e-01 -4.98417519e-03 2.71741655e+01] [ 5.60133537e-02 -3.57317650e-03 9.98423626e-01 1.95720117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.13, Y:27.18, Z:19.58 [[ 9.87247838e-01 -1.49051180e-01 -5.59057343e-02 3.49133119e+02] [ 1.49007008e-01 9.88823594e-01 -4.98118994e-03 2.71821556e+01] [ 5.60233613e-02 -3.41267719e-03 9.98423626e-01 1.95753688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.19, Y:27.19, Z:19.58 [[ 9.87768960e-01 -1.45557519e-01 -5.59060817e-02 3.49194357e+02] [ 1.45507992e-01 9.89344556e-01 -4.97728771e-03 2.71903324e+01] [ 5.60348592e-02 -3.21837140e-03 9.98423626e-01 1.95789448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.26, Y:27.20, Z:19.58 [[ 9.88340776e-01 -1.41622673e-01 -5.59064318e-02 3.49256115e+02] [ 1.41567094e-01 9.89916170e-01 -4.97335200e-03 2.71991063e+01] [ 5.60470202e-02 -2.99914454e-03 9.98423626e-01 1.95828814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.32, Y:27.21, Z:19.59 [[ 9.89377790e-01 -1.34186510e-01 -5.59067906e-02 3.49317207e+02] [ 1.34119314e-01 9.90952731e-01 -4.96931496e-03 2.72094881e+01] [ 5.60678019e-02 -2.58165053e-03 9.98423626e-01 1.95868248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.38, Y:27.22, Z:19.59 [[ 9.90555354e-01 -1.25197773e-01 -5.59071441e-02 3.49377791e+02] [ 1.25116504e-01 9.92129632e-01 -4.96533481e-03 2.72210044e+01] [ 5.60887832e-02 -2.07646742e-03 9.98423626e-01 1.95914622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.44, Y:27.23, Z:19.60 [[ 9.91300170e-01 -1.19156766e-01 -5.59074047e-02 3.49438738e+02] [ 1.19066067e-01 9.92873933e-01 -4.96239885e-03 2.72305427e+01] [ 5.61003082e-02 -1.73744797e-03 9.98423626e-01 1.95961107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.50, Y:27.24, Z:19.60 [[ 9.92248206e-01 -1.10985768e-01 -5.59075762e-02 3.49499322e+02] [ 1.10882215e-01 9.93821175e-01 -4.96046607e-03 2.72409259e+01] [ 5.61126742e-02 -1.27714233e-03 9.98423626e-01 1.96011502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.56, Y:27.25, Z:19.60 [[ 9.92780664e-01 -1.06117278e-01 -5.59077543e-02 3.49560220e+02] [ 1.06006124e-01 9.94353114e-01 -4.95845814e-03 2.72486964e+01] [ 5.61182277e-02 -1.00390296e-03 9.98423626e-01 1.96039681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.62, Y:27.26, Z:19.61 [[ 9.93441170e-01 -9.97444020e-02 -5.59079335e-02 3.49619711e+02] [ 9.96232730e-02 9.95012883e-01 -4.95643721e-03 2.72583281e+01] [ 5.61234909e-02 -6.45802537e-04 9.98423626e-01 1.96072568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.68, Y:27.27, Z:19.61 [[ 9.93926753e-01 -9.47835075e-02 -5.59079335e-02 3.49679871e+02] [ 9.46545333e-02 9.95497842e-01 -4.95643721e-03 2.72666276e+01] [ 5.61260156e-02 -3.65603809e-04 9.98423626e-01 1.96120181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.74, Y:27.27, Z:19.62 [[ 9.94130781e-01 -9.26190773e-02 -5.59079335e-02 3.49738787e+02] [ 9.24866826e-02 9.95701585e-01 -4.95643721e-03 2.72726149e+01] [ 5.61266786e-02 -2.43392501e-04 9.98423626e-01 1.96156656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.80, Y:27.28, Z:19.62 [[ 9.94333199e-01 -9.04201479e-02 -5.59078448e-02 3.49797636e+02] [ 9.02842231e-02 9.95903702e-01 -4.95743657e-03 2.72783232e+01] [ 5.61270818e-02 -1.18252574e-04 9.98423626e-01 1.96198714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.86, Y:27.28, Z:19.62 [[ 9.94409290e-01 -8.95795607e-02 -5.59076653e-02 3.49856375e+02] [ 8.94421946e-02 9.95979667e-01 -4.95946101e-03 2.72825172e+01] [ 5.61271642e-02 -6.87701751e-05 9.98423626e-01 1.96239595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.91, Y:27.28, Z:19.63 [[ 9.94309740e-01 -9.06786273e-02 -5.59064114e-02 3.49914832e+02] [ 9.05422046e-02 9.95880200e-01 -4.97355487e-03 2.72844339e+01] [ 5.61270833e-02 -1.16635692e-04 9.98423626e-01 1.96271608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.97, Y:27.29, Z:19.63 [[ 9.94060307e-01 -9.33740727e-02 -5.59051700e-02 3.49973464e+02] [ 9.32411257e-02 9.95631065e-01 -4.98746995e-03 2.72871313e+01] [ 5.61266244e-02 -2.54815079e-04 9.98423626e-01 1.96300297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.845099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.03, Y:27.29, Z:19.63 [[ 9.93396528e-01 -1.00190273e-01 -5.59039155e-02 3.50033278e+02] [ 1.00067314e-01 9.94968099e-01 -5.00149251e-03 2.72872443e+01] [ 5.61237134e-02 -6.25689356e-04 9.98423626e-01 1.96320563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.09, Y:27.29, Z:19.63 [[ 9.92752700e-01 -1.06380683e-01 -5.59037313e-02 3.50091654e+02] [ 1.06267407e-01 9.94324998e-01 -5.00355071e-03 2.72885664e+01] [ 5.61187587e-02 -9.73456118e-04 9.98423626e-01 1.96343435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.15, Y:27.29, Z:19.64 [[ 9.91954728e-01 -1.13580899e-01 -5.59034590e-02 3.50151756e+02] [ 1.13478863e-01 9.93527796e-01 -5.00659128e-03 2.72886771e+01] [ 5.61102935e-02 -1.37754907e-03 9.98423626e-01 1.96387053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.21, Y:27.29, Z:19.64 [[ 9.91545218e-01 -1.17102019e-01 -5.59034701e-02 3.50212872e+02] [ 1.17005575e-01 9.93118639e-01 -5.00646777e-03 2.72915890e+01] [ 5.61050456e-02 -1.57687849e-03 9.98423626e-01 1.96420925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.27, Y:27.29, Z:19.64 [[ 9.90933839e-01 -1.22167543e-01 -5.59036521e-02 3.50274524e+02] [ 1.22079256e-01 9.92507738e-01 -5.00443384e-03 2.72937784e+01] [ 5.60961867e-02 -1.86561344e-03 9.98423626e-01 1.96448771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.34, Y:27.30, Z:19.65 [[ 9.90111189e-01 -1.28664658e-01 -5.59038352e-02 3.50336212e+02] [ 1.28586812e-01 9.91685640e-01 -5.00238767e-03 2.72955066e+01] [ 5.60826611e-02 -2.23557595e-03 9.98423626e-01 1.96481945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.40, Y:27.30, Z:19.65 [[ 9.89385939e-01 -1.34127566e-01 -5.59040191e-02 3.50398773e+02] [ 1.34058527e-01 9.90960800e-01 -5.00033201e-03 2.72985122e+01] [ 5.60693739e-02 -2.54715229e-03 9.98423626e-01 1.96516131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.46, Y:27.30, Z:19.65 [[ 9.88284446e-01 -1.42016032e-01 -5.59043906e-02 3.50461052e+02] [ 1.41959793e-01 9.89859816e-01 -4.99617539e-03 2.73018835e+01] [ 5.60470468e-02 -2.99853328e-03 9.98423626e-01 1.96545636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.52, Y:27.31, Z:19.66 [[ 9.87698006e-01 -1.46038718e-01 -5.59047582e-02 3.50523244e+02] [ 1.45989125e-01 9.89273599e-01 -4.99205783e-03 2.73066427e+01] [ 5.60341351e-02 -3.23084120e-03 9.98423626e-01 1.96563374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.58, Y:27.31, Z:19.66 [[ 9.87435101e-01 -1.47805747e-01 -5.59051233e-02 3.50584392e+02] [ 1.47759204e-01 9.89010787e-01 -4.98796674e-03 2.73125916e+01] [ 5.60280201e-02 -3.33520309e-03 9.98423626e-01 1.96576294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.65, Y:27.32, Z:19.66 [[ 9.87617436e-01 -1.46582354e-01 -5.59053930e-02 3.50645613e+02] [ 1.46534031e-01 9.89193069e-01 -4.98494204e-03 2.73196007e+01] [ 5.60319318e-02 -3.26882690e-03 9.98423626e-01 1.96624238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.71, Y:27.33, Z:19.67 [[ 9.88089467e-01 -1.43365798e-01 -5.59057578e-02 3.50707285e+02] [ 1.43312575e-01 9.89664942e-01 -4.98084740e-03 2.73286500e+01] [ 5.60420517e-02 -3.09047528e-03 9.98423626e-01 1.96676883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.77, Y:27.34, Z:19.67 [[ 9.88291019e-01 -1.41969598e-01 -5.59061290e-02 3.50768179e+02] [ 1.41914384e-01 9.89866425e-01 -4.97667702e-03 2.73354874e+01] [ 5.60461369e-02 -3.01547867e-03 9.98423626e-01 1.96706596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.83, Y:27.35, Z:19.68 [[ 9.88947835e-01 -1.37319532e-01 -5.59064030e-02 3.50829422e+02] [ 1.37257083e-01 9.90522971e-01 -4.97359683e-03 2.73457704e+01] [ 5.60595484e-02 -2.75492197e-03 9.98423626e-01 1.96751728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.89, Y:27.36, Z:19.68 [[ 9.89676064e-01 -1.31968646e-01 -5.59067533e-02 3.50890308e+02] [ 1.31897900e-01 9.91250849e-01 -4.96965623e-03 2.73566411e+01] [ 5.60734555e-02 -2.45563355e-03 9.98423626e-01 1.96799585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.95, Y:27.37, Z:19.68 [[ 9.90126898e-01 -1.28542299e-01 -5.59071026e-02 3.50952253e+02] [ 1.28466325e-01 9.91701439e-01 -4.96572413e-03 2.73658217e+01] [ 5.60814597e-02 -2.26548299e-03 9.98423626e-01 1.96845399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.01, Y:27.38, Z:19.69 [[ 9.90624198e-01 -1.24651728e-01 -5.59074635e-02 3.51013181e+02] [ 1.24569799e-01 9.92198441e-01 -4.96165777e-03 2.73753720e+01] [ 5.60897773e-02 -2.04924321e-03 9.98423626e-01 1.96872710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.08, Y:27.38, Z:19.69 [[ 9.90784585e-01 -1.23370306e-01 -5.59077298e-02 3.51075033e+02] [ 1.23286509e-01 9.92358730e-01 -4.95865486e-03 2.73833892e+01] [ 5.60922745e-02 -1.97971005e-03 9.98423626e-01 1.96901348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.14, Y:27.39, Z:19.69 [[ 9.90861523e-01 -1.22750671e-01 -5.59080948e-02 3.51136370e+02] [ 1.22666122e-01 9.92435628e-01 -4.95453659e-03 2.73906038e+01] [ 5.60933578e-02 -1.94876949e-03 9.98423626e-01 1.96924116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.20, Y:27.40, Z:19.70 [[ 9.91125177e-01 -1.20603186e-01 -5.59084569e-02 3.51197909e+02] [ 1.20515456e-01 9.92699107e-01 -4.95044701e-03 2.73992616e+01] [ 5.60973149e-02 -1.83132053e-03 9.98423626e-01 1.96956413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.26, Y:27.41, Z:19.70 [[ 9.91845055e-01 -1.14532055e-01 -5.59088136e-02 3.51259545e+02] [ 1.14434916e-01 9.93418433e-01 -4.94641537e-03 2.74093984e+01] [ 5.61073691e-02 -1.49184278e-03 9.98423626e-01 1.97002963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.32, Y:27.42, Z:19.71 [[ 9.92497347e-01 -1.08734450e-01 -5.59091749e-02 3.51320889e+02] [ 1.08628350e-01 9.94070146e-01 -4.94232795e-03 2.74181900e+01] [ 5.61150430e-02 -1.16807402e-03 9.98423626e-01 1.97050761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.38, Y:27.43, Z:19.71 [[ 9.93114482e-01 -1.02945368e-01 -5.59095374e-02 3.51382603e+02] [ 1.02830329e-01 9.94686653e-01 -4.93822333e-03 2.74256896e+01] [ 5.61208379e-02 -8.44975040e-04 9.98423626e-01 1.97089396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.44, Y:27.43, Z:19.71 [[ 9.93717253e-01 -9.69541321e-02 -5.59098955e-02 3.51442434e+02] [ 9.68298427e-02 9.95288720e-01 -4.93416587e-03 2.74334901e+01] [ 5.61248761e-02 -5.10580631e-04 9.98423626e-01 1.97128453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.50, Y:27.44, Z:19.72 [[ 9.93929713e-01 -9.47512541e-02 -5.59099832e-02 3.51503278e+02] [ 9.46235376e-02 9.95500904e-01 -4.93317207e-03 2.74404763e+01] [ 5.61258631e-02 -3.87174100e-04 9.98423626e-01 1.97165962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.56, Y:27.45, Z:19.72 [[ 9.94161422e-01 -9.22882454e-02 -5.59101649e-02 3.51563829e+02] [ 9.21567522e-02 9.95732302e-01 -4.93111150e-03 2.74459700e+01] [ 5.61266409e-02 -2.50178390e-04 9.98423626e-01 1.97184972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.62, Y:27.45, Z:19.72 [[ 9.94245366e-01 -9.13794581e-02 -5.59101649e-02 3.51623843e+02] [ 9.12465290e-02 9.95816125e-01 -4.93111150e-03 2.74507102e+01] [ 5.61268461e-02 -1.98873728e-04 9.98423626e-01 1.97216979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.68, Y:27.45, Z:19.73 [[ 9.94219967e-01 -9.16553923e-02 -5.59101649e-02 3.51683473e+02] [ 9.15228991e-02 9.95790763e-01 -4.93111150e-03 2.74547355e+01] [ 5.61267887e-02 -2.14450873e-04 9.98423626e-01 1.97250630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.74, Y:27.46, Z:19.73 [[ 9.93949459e-01 -9.45438283e-02 -5.59100755e-02 3.51743471e+02] [ 9.44158428e-02 9.95520629e-01 -4.93212569e-03 2.74565577e+01] [ 5.61259355e-02 -3.76513233e-04 9.98423626e-01 1.97293918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.80, Y:27.46, Z:19.73 [[ 9.93597432e-01 -9.81744683e-02 -5.59098958e-02 3.51802892e+02] [ 9.80521092e-02 9.95169050e-01 -4.93416145e-03 2.74595391e+01] [ 5.61242066e-02 -5.79513059e-04 9.98423626e-01 1.97330571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.86, Y:27.46, Z:19.74 [[ 9.92915114e-01 -1.04850746e-01 -5.59097181e-02 3.51862139e+02] [ 1.04738840e-01 9.94487511e-01 -4.93617463e-03 2.74611645e+01] [ 5.61190780e-02 -9.54716630e-04 9.98423626e-01 1.97363009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.92, Y:27.46, Z:19.74 [[ 9.92208450e-01 -1.11339590e-01 -5.59096305e-02 3.51923189e+02] [ 1.11237910e-01 9.93781541e-01 -4.93716592e-03 2.74628856e+01] [ 5.61116608e-02 -1.32057270e-03 9.98423626e-01 1.97392636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.98, Y:27.46, Z:19.74 [[ 9.90794986e-01 -1.23285805e-01 -5.59098097e-02 3.51984026e+02] [ 1.23203200e-01 9.92369193e-01 -4.93513653e-03 2.74628046e+01] [ 5.60916050e-02 -1.99855892e-03 9.98423626e-01 1.97409085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.05, Y:27.46, Z:19.74 [[ 9.89571189e-01 -1.32751442e-01 -5.59098980e-02 3.52045843e+02] [ 1.32683945e-01 9.91146117e-01 -4.93413595e-03 2.74636744e+01] [ 5.60698919e-02 -2.53566705e-03 9.98423626e-01 1.97413527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.11, Y:27.47, Z:19.75 [[ 9.88647036e-01 -1.39467165e-01 -5.59101761e-02 3.52107037e+02] [ 1.39410540e-01 9.90222393e-01 -4.93098220e-03 2.74666359e+01] [ 5.60512185e-02 -2.91946693e-03 9.98423626e-01 1.97460838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.17, Y:27.47, Z:19.75 [[ 9.88588063e-01 -1.39884494e-01 -5.59103656e-02 3.52168911e+02] [ 1.39828656e-01 9.90163448e-01 -4.92883286e-03 2.74715206e+01] [ 5.60498677e-02 -2.94528595e-03 9.98423626e-01 1.97498935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.23, Y:27.48, Z:19.75 [[ 9.88808166e-01 -1.38319929e-01 -5.59107198e-02 3.52230255e+02] [ 1.38261825e-01 9.90383468e-01 -4.92481214e-03 2.74770748e+01] [ 5.60542522e-02 -2.86062367e-03 9.98423626e-01 1.97546977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.29, Y:27.48, Z:19.76 [[ 9.89342400e-01 -1.34445408e-01 -5.59110747e-02 3.52292158e+02] [ 1.34381360e-01 9.90917472e-01 -4.92077864e-03 2.74837207e+01] [ 5.60648369e-02 -2.64507133e-03 9.98423626e-01 1.97601399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.35, Y:27.49, Z:19.76 [[ 9.90251404e-01 -1.27577696e-01 -5.59114251e-02 3.52354345e+02] [ 1.27502947e-01 9.91826005e-01 -4.91679487e-03 2.74913079e+01] [ 5.60816787e-02 -2.26000842e-03 9.98423626e-01 1.97630665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.42, Y:27.50, Z:19.77 [[ 9.91519565e-01 -1.17315026e-01 -5.59118690e-02 3.52415673e+02] [ 1.17224257e-01 9.93093323e-01 -4.91174182e-03 2.74996145e+01] [ 5.61019249e-02 -1.68413921e-03 9.98423626e-01 1.97662224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.48, Y:27.51, Z:19.77 [[ 9.92364381e-01 -1.09939795e-01 -5.59122283e-02 3.52477141e+02] [ 1.09837558e-01 9.93937436e-01 -4.90764847e-03 2.75074472e+01] [ 5.61128026e-02 -1.27108707e-03 9.98423626e-01 1.97697266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.54, Y:27.51, Z:19.77 [[ 9.93164029e-01 -1.02464597e-01 -5.59125868e-02 3.52537715e+02] [ 1.02350749e-01 9.94736286e-01 -4.90356079e-03 2.75149005e+01] [ 5.61207203e-02 -8.52654923e-04 9.98423626e-01 1.97729092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.60, Y:27.52, Z:19.77 [[ 9.94061307e-01 -9.33588770e-02 -5.59127639e-02 3.52597371e+02] [ 9.32307388e-02 9.95632464e-01 -4.90153969e-03 2.75238136e+01] [ 5.61261652e-02 -3.40357337e-04 9.98423626e-01 1.97748104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.66, Y:27.53, Z:19.78 [[ 9.94542561e-01 -8.80843734e-02 -5.59127639e-02 3.52656725e+02] [ 8.79479026e-02 9.96113016e-01 -4.90153969e-03 2.75309640e+01] [ 5.61271810e-02 -4.26204764e-05 9.98423626e-01 1.97780987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.72, Y:27.54, Z:19.78 [[ 9.94591500e-01 -8.75301648e-02 -5.59125872e-02 3.52715337e+02] [ 8.73927056e-02 9.96161869e-01 -4.90355489e-03 2.75364598e+01] [ 5.61271964e-02 -9.31825102e-06 9.98423626e-01 1.97821505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.77, Y:27.54, Z:19.79 [[ 9.94564328e-01 -8.78391784e-02 -5.59113319e-02 3.52774436e+02] [ 8.77014048e-02 9.96134669e-01 -4.91782642e-03 2.75421411e+01] [ 5.61271939e-02 -1.24076288e-05 9.98423627e-01 1.97873047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.83, Y:27.55, Z:19.79 [[ 9.94129199e-01 -9.26341161e-02 -5.59111512e-02 3.52833088e+02] [ 9.25038011e-02 9.95700177e-01 -4.91988022e-03 2.75473835e+01] [ 5.61264919e-02 -2.80997428e-04 9.98423627e-01 1.97926033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.89, Y:27.55, Z:19.80 [[ 9.93469511e-01 -9.94600646e-02 -5.59108845e-02 3.52892242e+02] [ 9.93403723e-02 9.95041334e-01 -4.92290895e-03 2.75516889e+01] [ 5.61232739e-02 -6.63448142e-04 9.98423627e-01 1.97964210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.95, Y:27.55, Z:19.80 [[ 9.91894318e-01 -1.14103698e-01 -5.59107085e-02 3.52952631e+02] [ 1.14007092e-01 9.93467729e-01 -4.92490760e-03 2.75523417e+01] [ 5.61074347e-02 -1.48922942e-03 9.98423627e-01 1.97985790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.01, Y:27.55, Z:19.80 [[ 9.89918144e-01 -1.30138625e-01 -5.59107085e-02 3.53014389e+02] [ 1.30067491e-01 9.91492911e-01 -4.92490760e-03 2.75538413e+01] [ 5.60759918e-02 -2.39691019e-03 9.98423627e-01 1.98024941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.08, Y:27.56, Z:19.81 [[ 9.88696447e-01 -1.39116096e-01 -5.59110688e-02 3.53075235e+02] [ 1.39059486e-01 9.90271804e-01 -4.92081387e-03 2.75572580e+01] [ 5.60517193e-02 -2.90977327e-03 9.98423627e-01 1.98052035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.14, Y:27.56, Z:19.81 [[ 9.87464479e-01 -1.47606996e-01 -5.59113353e-02 3.53137169e+02] [ 1.47564096e-01 9.89040269e-01 -4.91778306e-03 2.75612311e+01] [ 5.60244613e-02 -3.39436955e-03 9.98423627e-01 1.98082077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.20, Y:27.57, Z:19.81 [[ 9.87074416e-01 -1.50193142e-01 -5.59116903e-02 3.53198480e+02] [ 1.50154597e-01 9.88650318e-01 -4.91374440e-03 2.75668887e+01] [ 5.60151211e-02 -3.54516596e-03 9.98423627e-01 1.98125457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.26, Y:27.57, Z:19.82 [[ 9.86928766e-01 -1.51147126e-01 -5.59120479e-02 3.53259015e+02] [ 1.51110335e-01 9.88504710e-01 -4.90967205e-03 2.75728693e+01] [ 5.60114055e-02 -3.60339170e-03 9.98423627e-01 1.98158925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.32, Y:27.58, Z:19.82 [[ 9.86925598e-01 -1.51167579e-01 -5.59126708e-02 3.53321506e+02] [ 1.51131221e-01 9.88501552e-01 -4.90256720e-03 2.75782654e+01] [ 5.60108711e-02 -3.61168114e-03 9.98423627e-01 1.98199042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.38, Y:27.58, Z:19.82 [[ 9.86845381e-01 -1.51690172e-01 -5.59132037e-02 3.53383941e+02] [ 1.51654992e-01 9.88421361e-01 -4.89648283e-03 2.75840627e+01] [ 5.60085532e-02 -3.64744501e-03 9.98423627e-01 1.98236210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.45, Y:27.59, Z:19.83 [[ 9.86763477e-01 -1.52221855e-01 -5.59137461e-02 3.53446506e+02] [ 1.52187874e-01 9.88339484e-01 -4.89028091e-03 2.75894502e+01] [ 5.60061706e-02 -3.68384356e-03 9.98423627e-01 1.98263881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.51, Y:27.60, Z:19.83 [[ 9.86630964e-01 -1.53078194e-01 -5.59142830e-02 3.53508815e+02] [ 1.53045928e-01 9.88207007e-01 -4.88413431e-03 2.75950401e+01] [ 5.60025407e-02 -3.73861518e-03 9.98423627e-01 1.98266939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.57, Y:27.60, Z:19.83 [[ 9.86599711e-01 -1.53279367e-01 -5.59146349e-02 3.53570449e+02] [ 1.53247650e-01 9.88175765e-01 -4.88010269e-03 2.76018788e+01] [ 5.60015061e-02 -3.75407847e-03 9.98423627e-01 1.98297546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.63, Y:27.61, Z:19.84 [[ 9.86670328e-01 -1.52824011e-01 -5.59149828e-02 3.53632310e+02] [ 1.52791791e-01 9.88246372e-01 -4.87611325e-03 2.76082725e+01] [ 5.60029661e-02 -3.73223413e-03 9.98423627e-01 1.98355544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.69, Y:27.61, Z:19.84 [[ 9.86999623e-01 -1.50682512e-01 -5.59153440e-02 3.53694841e+02] [ 1.50647106e-01 9.88575598e-01 -4.87196758e-03 2.76146095e+01] [ 5.60106650e-02 -3.61485460e-03 9.98423627e-01 1.98398714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.76, Y:27.62, Z:19.84 [[ 9.87430216e-01 -1.47834311e-01 -5.59158824e-02 3.53755405e+02] [ 1.47794707e-01 9.89006091e-01 -4.86578020e-03 2.76212298e+01] [ 5.60204776e-02 -3.45945306e-03 9.98423627e-01 1.98437602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.82, Y:27.63, Z:19.85 [[ 9.88311650e-01 -1.41821953e-01 -5.59161466e-02 3.53817438e+02] [ 1.41772931e-01 9.89887261e-01 -4.86274204e-03 2.76275768e+01] [ 5.60403248e-02 -3.12149136e-03 9.98423627e-01 1.98505281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.88, Y:27.63, Z:19.86 [[ 9.89299540e-01 -1.34758173e-01 -5.59164995e-02 3.53879230e+02] [ 1.34698126e-01 9.90874769e-01 -4.85868065e-03 2.76325767e+01] [ 5.60609955e-02 -2.72515714e-03 9.98423627e-01 1.98550339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.94, Y:27.64, Z:19.86 [[ 9.89804896e-01 -1.30994560e-01 -5.59168493e-02 3.53941179e+02] [ 1.30928749e-01 9.91379894e-01 -4.85465228e-03 2.76374386e+01] [ 5.60707732e-02 -2.51596452e-03 9.98423627e-01 1.98577777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.00, Y:27.64, Z:19.86 [[ 9.90559922e-01 -1.25157133e-01 -5.59171982e-02 3.54002956e+02] [ 1.25082265e-01 9.92134516e-01 -4.85062984e-03 2.76418619e+01] [ 5.60844733e-02 -2.18941027e-03 9.98423627e-01 1.98587015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.06, Y:27.65, Z:19.86 [[ 9.91586669e-01 -1.16743759e-01 -5.59175469e-02 3.54064883e+02] [ 1.16655752e-01 9.93160584e-01 -4.84660694e-03 2.76469754e+01] [ 5.61009146e-02 -1.71727268e-03 9.98423627e-01 1.98614961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.13, Y:27.65, Z:19.87 [[ 9.92405443e-01 -1.09565618e-01 -5.59178967e-02 3.54126944e+02] [ 1.09466453e-01 9.93978695e-01 -4.84256782e-03 2.76533661e+01] [ 5.61117769e-02 -1.31534316e-03 9.98423627e-01 1.98668300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.19, Y:27.66, Z:19.87 [[ 9.93485096e-01 -9.93001147e-02 -5.59182575e-02 3.54186652e+02] [ 9.91849250e-02 9.95057255e-01 -4.83839788e-03 2.76592966e+01] [ 5.61223213e-02 -7.39371991e-04 9.98423627e-01 1.98700693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.25, Y:27.66, Z:19.87 [[ 9.93874031e-01 -9.53286365e-02 -5.59183458e-02 3.54246460e+02] [ 9.52072217e-02 9.95445722e-01 -4.83737721e-03 2.76639203e+01] [ 5.61248187e-02 -5.16086757e-04 9.98423627e-01 1.98747026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.31, Y:27.67, Z:19.88 [[ 9.94132210e-01 -9.25974502e-02 -5.59183458e-02 3.54305716e+02] [ 9.24717174e-02 9.95703561e-01 -4.83737721e-03 2.76664616e+01] [ 5.61260248e-02 -3.61872970e-04 9.98423627e-01 1.98784680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.36, Y:27.67, Z:19.88 [[ 9.93881141e-01 -9.52545866e-02 -5.59181697e-02 3.54363733e+02] [ 9.51329402e-02 9.95452813e-01 -4.83941240e-03 2.76675502e+01] [ 5.61248755e-02 -5.09859171e-04 9.98423627e-01 1.98809569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.42, Y:27.67, Z:19.88 [[ 9.93401959e-01 -1.00128810e-01 -5.59175150e-02 3.54422126e+02] [ 1.00014450e-01 9.94974179e-01 -4.84696459e-03 2.76692873e+01] [ 5.61218044e-02 -7.77575379e-04 9.98423627e-01 1.98846298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.48, Y:27.67, Z:19.89 [[ 9.92272995e-01 -1.10759510e-01 -5.59163087e-02 3.54481846e+02] [ 1.10661209e-01 9.93846301e-01 -4.86084168e-03 2.76689101e+01] [ 5.61106010e-02 -1.36448438e-03 9.98423627e-01 1.98873496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.54, Y:27.67, Z:19.89 [[ 9.91299486e-01 -1.19158362e-01 -5.59161332e-02 3.54541926e+02] [ 1.19073273e-01 9.92873561e-01 -4.86285978e-03 2.76703865e+01] [ 5.60971007e-02 -1.83756660e-03 9.98423627e-01 1.98893747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.60, Y:27.67, Z:19.89 [[ 9.90793888e-01 -1.23291721e-01 -5.59162198e-02 3.54603067e+02] [ 1.23213254e-01 9.92368307e-01 -4.86186410e-03 2.76735859e+01] [ 5.60889119e-02 -2.07251417e-03 9.98423627e-01 1.98923331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.66, Y:27.67, Z:19.89 [[ 9.89432638e-01 -1.33777470e-01 -5.59163980e-02 3.54664122e+02] [ 1.33715797e-01 9.91007804e-01 -4.85981284e-03 2.76735508e+01] [ 5.60637203e-02 -2.66844826e-03 9.98423627e-01 1.98938165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.73, Y:27.68, Z:19.90 [[ 9.88447378e-01 -1.40872664e-01 -5.59166623e-02 3.54726518e+02] [ 1.40822465e-01 9.90022952e-01 -4.85677045e-03 2.76767082e+01] [ 5.60429653e-02 -3.07366019e-03 9.98423627e-01 1.98972660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.79, Y:27.68, Z:19.90 [[ 9.88022002e-01 -1.43825626e-01 -5.59170202e-02 3.54788444e+02] [ 1.43780368e-01 9.89597725e-01 -4.85264619e-03 2.76812010e+01] [ 5.60332909e-02 -3.24524855e-03 9.98423627e-01 1.99003949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.85, Y:27.69, Z:19.90 [[ 9.87686690e-01 -1.46110403e-01 -5.59173757e-02 3.54848973e+02] [ 1.46069021e-01 9.89262520e-01 -4.84854628e-03 2.76855906e+01] [ 5.60253870e-02 -3.37895171e-03 9.98423627e-01 1.99027155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.91, Y:27.69, Z:19.91 [[ 9.87660502e-01 -1.46287217e-01 -5.59176386e-02 3.54911279e+02] [ 1.46246288e-01 9.89236344e-01 -4.84551256e-03 2.76910979e+01] [ 5.60245969e-02 -3.39202569e-03 9.98423627e-01 1.99064722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.97, Y:27.70, Z:19.91 [[ 9.87882186e-01 -1.44782480e-01 -5.59179836e-02 3.54972453e+02] [ 1.44739375e-01 9.89457969e-01 -4.84152790e-03 2.76985660e+01] [ 5.60294629e-02 -3.31067485e-03 9.98423627e-01 1.99117486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.03, Y:27.71, Z:19.92 [[ 9.88337038e-01 -1.41644054e-01 -5.59183388e-02 3.55033834e+02] [ 1.41596176e-01 9.89912684e-01 -4.83742218e-03 2.77061882e+01] [ 5.60394649e-02 -3.13681944e-03 9.98423627e-01 1.99153904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.09, Y:27.71, Z:19.92 [[ 9.88618638e-01 -1.39664915e-01 -5.59186883e-02 3.55094338e+02] [ 1.39614110e-01 9.90194192e-01 -4.83337871e-03 2.77133436e+01] [ 5.60454138e-02 -3.02866960e-03 9.98423627e-01 1.99184246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.16, Y:27.72, Z:19.92 [[ 9.88935360e-01 -1.37404105e-01 -5.59192790e-02 3.55156201e+02] [ 1.37350084e-01 9.90510807e-01 -4.82653445e-03 2.77210437e+01] [ 5.60518358e-02 -2.90738708e-03 9.98423627e-01 1.99230935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.22, Y:27.73, Z:19.93 [[ 9.89546496e-01 -1.32931287e-01 -5.59196282e-02 3.55218245e+02] [ 1.32870371e-01 9.91121692e-01 -4.82248577e-03 2.77294000e+01] [ 5.60642157e-02 -2.65798786e-03 9.98423627e-01 1.99270016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.28, Y:27.74, Z:19.93 [[ 9.90167793e-01 -1.28221285e-01 -5.59199728e-02 3.55280025e+02] [ 1.28153101e-01 9.91742691e-01 -4.81848633e-03 2.77370906e+01] [ 5.60760568e-02 -2.39520793e-03 9.98423627e-01 1.99312133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.34, Y:27.75, Z:19.94 [[ 9.91347239e-01 -1.18758453e-01 -5.59203117e-02 3.55341203e+02] [ 1.18675451e-01 9.92921426e-01 -4.81455006e-03 2.77459129e+01] [ 5.60962441e-02 -1.86347732e-03 9.98423627e-01 1.99355111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.40, Y:27.75, Z:19.94 [[ 9.92458394e-01 -1.09083532e-01 -5.59206458e-02 3.55401787e+02] [ 1.08985399e-01 9.94031710e-01 -4.81066591e-03 2.77534367e+01] [ 5.61116596e-02 -1.32014816e-03 9.98423627e-01 1.99395406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.46, Y:27.76, Z:19.94 [[ 9.93059772e-01 -1.03465698e-01 -5.59208210e-02 3.55461671e+02] [ 1.03358778e-01 9.94632515e-01 -4.80862874e-03 2.77596323e+01] [ 5.61181950e-02 -1.00465199e-03 9.98423627e-01 1.99427045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.52, Y:27.77, Z:19.95 [[ 9.93669004e-01 -9.74411193e-02 -5.59208210e-02 3.55521793e+02] [ 9.73246633e-02 9.95241070e-01 -4.80862874e-03 2.77663111e+01] [ 5.61232559e-02 -6.64289747e-04 9.98423627e-01 1.99459156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.58, Y:27.77, Z:19.95 [[ 9.94374287e-01 -8.99590927e-02 -5.59208210e-02 3.55579798e+02] [ 8.98308072e-02 9.95945432e-01 -4.80862874e-03 2.77723554e+01] [ 5.61266661e-02 -2.41835717e-04 9.98423627e-01 1.99486437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.64, Y:27.78, Z:19.95 [[ 9.94753406e-01 -8.56653769e-02 -5.59205125e-02 3.55638172e+02] [ 8.55301082e-02 9.96323965e-01 -4.81221414e-03 2.77780766e+01] [ 5.61271869e-02 4.07892878e-06 9.98423627e-01 1.99521045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.70, Y:27.78, Z:19.96 [[ 9.94852266e-01 -8.45103258e-02 -5.59193436e-02 3.55695198e+02] [ 8.43724722e-02 9.96422600e-01 -4.82575928e-03 2.77828280e+01] [ 5.61271242e-02 8.28642902e-05 9.98423627e-01 1.99577888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.75, Y:27.79, Z:19.96 [[ 9.94752359e-01 -8.56791851e-02 -5.59179822e-02 3.55752960e+02] [ 8.55422929e-02 9.96322777e-01 -4.84148319e-03 2.77868637e+01] [ 5.61271736e-02 3.27244202e-05 9.98423627e-01 1.99629403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.81, Y:27.79, Z:19.97 [[ 9.94421933e-01 -8.94335314e-02 -5.59165625e-02 3.55811003e+02] [ 8.93016493e-02 9.95992780e-01 -4.85782410e-03 2.77899699e+01] [ 5.61269449e-02 -1.62714419e-04 9.98423627e-01 1.99668826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.87, Y:27.79, Z:19.97 [[ 9.94057839e-01 -9.33943824e-02 -5.59151356e-02 3.55869592e+02] [ 9.32678385e-02 9.95629124e-01 -4.87419349e-03 2.77925052e+01] [ 5.61259598e-02 -3.69853589e-04 9.98423627e-01 1.99699185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.93, Y:27.79, Z:19.97 [[ 9.93442138e-01 -9.97314090e-02 -5.59139024e-02 3.55928847e+02] [ 9.96140936e-02 9.95014139e-01 -4.88829886e-03 2.77923811e+01] [ 5.61226404e-02 -7.13570639e-04 9.98423628e-01 1.99738180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.99, Y:27.79, Z:19.98 [[ 9.93054526e-01 -1.03520453e-01 -5.59126574e-02 3.55988001e+02] [ 1.03408336e-01 9.94626906e-01 -4.90249828e-03 2.77939420e+01] [ 5.61197423e-02 -9.13386752e-04 9.98423628e-01 1.99760732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.05, Y:27.79, Z:19.98 [[ 9.92610475e-01 -1.07695195e-01 -5.59123393e-02 3.56046791e+02] [ 1.07589486e-01 9.94183299e-01 -4.90612423e-03 2.77938676e+01] [ 5.61154799e-02 -1.14570956e-03 9.98423628e-01 1.99790952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.11, Y:27.80, Z:19.98 [[ 9.92491428e-01 -1.08787463e-01 -5.59111254e-02 3.56106601e+02] [ 1.08682709e-01 9.94064315e-01 -4.91991925e-03 2.77956018e+01] [ 5.61144801e-02 -1.19359487e-03 9.98423628e-01 1.99821959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.17, Y:27.80, Z:19.99 [[ 9.92518571e-01 -1.08539628e-01 -5.59109540e-02 3.56166768e+02] [ 1.08434371e-01 9.94091426e-01 -4.92186565e-03 2.77967749e+01] [ 5.61148175e-02 -1.17762607e-03 9.98423628e-01 1.99867083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.23, Y:27.80, Z:19.99 [[ 9.92842981e-01 -1.05530949e-01 -5.59109540e-02 3.56227230e+02] [ 1.05420925e-01 9.94415509e-01 -4.92186565e-03 2.77990002e+01] [ 5.61181289e-02 -1.00754474e-03 9.98423628e-01 1.99909815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.29, Y:27.80, Z:19.99 [[ 9.93255324e-01 -1.01576703e-01 -5.59109540e-02 3.56286112e+02] [ 1.01460419e-01 9.94827401e-01 -4.92186565e-03 2.78022379e+01] [ 5.61216960e-02 -7.84079562e-04 9.98423628e-01 1.99919787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.34, Y:27.80, Z:20.00 [[ 9.93914844e-01 -9.49066803e-02 -5.59106843e-02 3.56344359e+02] [ 9.47796732e-02 9.95486092e-01 -4.92492780e-03 2.78039955e+01] [ 5.61257171e-02 -4.04237543e-04 9.98423628e-01 1.99963799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.40, Y:27.81, Z:20.00 [[ 9.94489257e-01 -8.86863613e-02 -5.59092818e-02 3.56402904e+02] [ 8.85486340e-02 9.96059601e-01 -4.94079820e-03 2.78055505e+01] [ 5.61271583e-02 -3.71198051e-05 9.98423628e-01 2.00000613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.46, Y:27.81, Z:20.00 [[ 9.94721250e-01 -8.60460884e-02 -5.59080024e-02 3.56460998e+02] [ 8.59033816e-02 9.96291150e-01 -4.95523279e-03 2.78075253e+01] [ 5.61270264e-02 1.26388892e-04 9.98423628e-01 2.00034555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.52, Y:27.81, Z:20.01 [[ 9.94763967e-01 -8.55511311e-02 -5.59075538e-02 3.56518964e+02] [ 8.54073590e-02 9.96333769e-01 -4.96028966e-03 2.78110529e+01] [ 5.61269421e-02 1.59400898e-04 9.98423628e-01 2.00074716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.58, Y:27.81, Z:20.01 [[ 9.94645795e-01 -8.69151879e-02 -5.59060969e-02 3.56575703e+02] [ 8.67726487e-02 9.96215710e-01 -4.97665640e-03 2.78108200e+01] [ 5.61270790e-02 9.88902582e-05 9.98423628e-01 2.00112086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.63, Y:27.81, Z:20.02 [[ 9.94335024e-01 -9.04017734e-02 -5.59051019e-02 3.56634259e+02] [ 9.02641120e-02 9.95905373e-01 -4.98780776e-03 2.78121374e+01] [ 5.61270981e-02 -8.66724347e-05 9.98423628e-01 2.00159071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.69, Y:27.81, Z:20.02 [[ 9.93535647e-01 -9.88012084e-02 -5.59038331e-02 3.56692512e+02] [ 9.86760244e-02 9.95107041e-01 -5.00198856e-03 2.78102008e+01] [ 5.61245005e-02 -5.46714056e-04 9.98423628e-01 2.00193501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.75, Y:27.81, Z:20.02 [[ 9.92554661e-01 -1.08213531e-01 -5.59023875e-02 3.56750965e+02] [ 1.08102340e-01 9.94127106e-01 -5.01809274e-03 2.78090176e+01] [ 5.61171043e-02 -1.06244757e-03 9.98423628e-01 2.00230313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.81, Y:27.81, Z:20.03 [[ 9.91549710e-01 -1.17065182e-01 -5.59009544e-02 3.56809198e+02] [ 1.16967128e-01 9.93123028e-01 -5.03400780e-03 2.78092224e+01] [ 5.61058321e-02 -1.54710514e-03 9.98423629e-01 2.00261128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.87, Y:27.81, Z:20.03 [[ 9.90761546e-01 -1.23558913e-01 -5.58994919e-02 3.56867269e+02] [ 1.23470257e-01 9.92335423e-01 -5.05019599e-03 2.78115425e+01] [ 5.60950426e-02 -1.89838465e-03 9.98423629e-01 2.00291702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.93, Y:27.81, Z:20.03 [[ 9.89938064e-01 -1.29992455e-01 -5.58980344e-02 3.56925310e+02] [ 1.29913118e-01 9.91512438e-01 -5.06627683e-03 2.78135159e+01] [ 5.60821741e-02 -2.24658766e-03 9.98423629e-01 2.00319674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.98, Y:27.82, Z:20.04 [[ 9.88709915e-01 -1.39026170e-01 -5.58965846e-02 3.56984115e+02] [ 1.38960313e-01 9.90284910e-01 -5.08222203e-03 2.78160437e+01] [ 5.60601061e-02 -2.74256356e-03 9.98423629e-01 2.00350763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.04, Y:27.82, Z:20.04 [[ 9.87729575e-01 -1.45828694e-01 -5.58952518e-02 3.57042288e+02] [ 1.45772856e-01 9.89304956e-01 -5.09683839e-03 2.78214996e+01] [ 5.60407150e-02 -3.11371248e-03 9.98423629e-01 2.00382247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.10, Y:27.83, Z:20.04 [[ 9.87316236e-01 -1.48601514e-01 -5.58948971e-02 3.57100962e+02] [ 1.48549880e-01 9.88891761e-01 -5.10072570e-03 2.78279762e+01] [ 5.60319788e-02 -3.26715094e-03 9.98423629e-01 2.00419749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.16, Y:27.84, Z:20.05 [[ 9.87354382e-01 -1.48348336e-01 -5.58936005e-02 3.57159922e+02] [ 1.48295499e-01 9.88929868e-01 -5.11489417e-03 2.78356832e+01] [ 5.60336370e-02 -3.23855620e-03 9.98423629e-01 2.00456469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.22, Y:27.84, Z:20.05 [[ 9.87564708e-01 -1.46941738e-01 -5.58934165e-02 3.57219111e+02] [ 1.46886543e-01 9.89140112e-01 -5.11690421e-03 2.78439543e+01] [ 5.60383070e-02 -3.15671674e-03 9.98423629e-01 2.00484839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.28, Y:27.85, Z:20.05 [[ 9.87964568e-01 -1.44228843e-01 -5.58932291e-02 3.57279255e+02] [ 1.44169206e-01 9.89539810e-01 -5.11895053e-03 2.78545835e+01] [ 5.60468756e-02 -3.00074073e-03 9.98423629e-01 2.00506639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.34, Y:27.86, Z:20.05 [[ 9.88223299e-01 -1.42445279e-01 -5.58932291e-02 3.57338055e+02] [ 1.42382798e-01 9.89798432e-01 -5.11895053e-03 2.78629420e+01] [ 5.60522008e-02 -2.89956819e-03 9.98423629e-01 2.00536589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.40, Y:27.87, Z:20.06 [[ 9.88766510e-01 -1.38624477e-01 -5.58931363e-02 3.57397487e+02] [ 1.38555852e-01 9.90341387e-01 -5.11996397e-03 2.78747822e+01] [ 5.60630384e-02 -2.68187219e-03 9.98423629e-01 2.00583337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.46, Y:27.88, Z:20.06 [[ 9.89230769e-01 -1.35271738e-01 -5.58931363e-02 3.57457904e+02] [ 1.35197774e-01 9.90805404e-01 -5.11996397e-03 2.78845069e+01] [ 5.60718079e-02 -2.49180172e-03 9.98423629e-01 2.00624023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.52, Y:27.90, Z:20.07 [[ 9.90080990e-01 -1.28901396e-01 -5.58933254e-02 3.57518719e+02] [ 1.28817414e-01 9.91655122e-01 -5.11789890e-03 2.78954339e+01] [ 5.60866067e-02 -2.13289924e-03 9.98423629e-01 2.00663726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.58, Y:27.91, Z:20.07 [[ 9.90969516e-01 -1.21882458e-01 -5.58935146e-02 3.57578117e+02] [ 1.21787441e-01 9.92543021e-01 -5.11583091e-03 2.79062637e+01] [ 5.61002479e-02 -1.73749561e-03 9.98423629e-01 2.00699770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.64, Y:27.92, Z:20.07 [[ 9.91577449e-01 -1.16833551e-01 -5.58935146e-02 3.57637768e+02] [ 1.16730520e-01 9.93150449e-01 -5.11583091e-03 2.79154685e+01] [ 5.61083698e-02 -1.45173648e-03 9.98423629e-01 2.00729507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.70, Y:27.92, Z:20.08 [[ 9.92300282e-01 -1.10526310e-01 -5.58935146e-02 3.57696607e+02] [ 1.10413280e-01 9.93872595e-01 -5.11583091e-03 2.79248321e+01] [ 5.61164664e-02 -1.09494585e-03 9.98423629e-01 2.00758984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.76, Y:27.93, Z:20.08 [[ 9.92679603e-01 -1.07066058e-01 -5.58933292e-02 3.57755573e+02] [ 1.06947433e-01 9.94251504e-01 -5.11785655e-03 2.79322060e+01] [ 5.61199753e-02 -8.97256249e-04 9.98423629e-01 2.00785773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.82, Y:27.94, Z:20.08 [[ 9.92751312e-01 -1.06399200e-01 -5.58931418e-02 3.57815113e+02] [ 1.06279404e-01 9.94323124e-01 -5.11990219e-03 2.79390457e+01] [ 5.61205968e-02 -8.57500177e-04 9.98423629e-01 2.00819420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.87, Y:27.95, Z:20.08 [[ 9.92660868e-01 -1.07239817e-01 -5.58929513e-02 3.57873981e+02] [ 1.07121234e-01 9.94232773e-01 -5.12198042e-03 2.79451664e+01] [ 5.61198842e-02 -9.02932415e-04 9.98423629e-01 2.00845251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.93, Y:27.95, Z:20.09 [[ 9.92230430e-01 -1.11152600e-01 -5.58916274e-02 3.57932852e+02] [ 1.11039405e-01 9.93802731e-01 -5.13638716e-03 2.79505734e+01] [ 5.61161747e-02 -1.10969342e-03 9.98423629e-01 2.00877755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.99, Y:27.96, Z:20.09 [[ 9.91865571e-01 -1.14363288e-01 -5.58903209e-02 3.57992583e+02] [ 1.14254384e-01 9.93438175e-01 -5.15056454e-03 2.79559844e+01] [ 5.61126138e-02 -1.27704652e-03 9.98423629e-01 2.00913473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.05, Y:27.96, Z:20.10 [[ 9.91296622e-01 -1.19194380e-01 -5.58901333e-02 3.58052442e+02] [ 1.19093024e-01 9.92869731e-01 -5.15259871e-03 2.79618826e+01] [ 5.61057824e-02 -1.54837130e-03 9.98423629e-01 2.00961651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.11, Y:27.97, Z:20.10 [[ 9.90820442e-01 -1.23089988e-01 -5.58901333e-02 3.58111933e+02] [ 1.22994817e-01 9.92393937e-01 -5.15259871e-03 2.79672697e+01] [ 5.60992628e-02 -1.76889657e-03 9.98423629e-01 2.00993915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.17, Y:27.97, Z:20.10 [[ 9.90669555e-01 -1.24298580e-01 -5.58900413e-02 3.58171564e+02] [ 1.24205271e-01 9.92243161e-01 -5.15359681e-03 2.79733051e+01] [ 5.60970960e-02 -1.83632628e-03 9.98423629e-01 2.01028580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.23, Y:27.98, Z:20.11 [[ 9.90890693e-01 -1.22523217e-01 -5.58900413e-02 3.58232004e+02] [ 1.22427089e-01 9.92464129e-01 -5.15359681e-03 2.79804293e+01] [ 5.61002964e-02 -1.73580395e-03 9.98423629e-01 2.01065639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.29, Y:27.99, Z:20.11 [[ 9.91307888e-01 -1.19100600e-01 -5.58902277e-02 3.58291361e+02] [ 1.18999153e-01 9.92880991e-01 -5.15157480e-03 2.79874609e+01] [ 5.61059003e-02 -1.54409301e-03 9.98423629e-01 2.01100468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.35, Y:27.99, Z:20.11 [[ 9.91621589e-01 -1.16459853e-01 -5.58903194e-02 3.58351680e+02] [ 1.16354273e-01 9.93194419e-01 -5.15057959e-03 2.79936487e+01] [ 5.61097890e-02 -1.39565156e-03 9.98423629e-01 2.01128453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.41, Y:28.00, Z:20.11 [[ 9.91840209e-01 -1.14583038e-01 -5.58903194e-02 3.58410752e+02] [ 1.14474481e-01 9.93412837e-01 -5.15057959e-03 2.79994348e+01] [ 5.61123298e-02 -1.28946336e-03 9.98423629e-01 2.01146399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.47, Y:28.01, Z:20.12 [[ 9.92037446e-01 -1.12862696e-01 -5.58902279e-02 3.58470300e+02] [ 1.12751356e-01 9.93609880e-01 -5.15157238e-03 2.80056567e+01] [ 5.61145029e-02 -1.19114626e-03 9.98423629e-01 2.01166262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.53, Y:28.01, Z:20.12 [[ 9.92175390e-01 -1.11643621e-01 -5.58900462e-02 3.58530213e+02] [ 1.11530238e-01 9.93747678e-01 -5.15354260e-03 2.80118088e+01] [ 5.61159638e-02 -1.12021200e-03 9.98423629e-01 2.01194838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.59, Y:28.02, Z:20.12 [[ 9.92214183e-01 -1.11298329e-01 -5.58900462e-02 3.58590067e+02] [ 1.11184399e-01 9.93786431e-01 -5.15354260e-03 2.80175485e+01] [ 5.61163502e-02 -1.10068313e-03 9.98423629e-01 2.01229098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.65, Y:28.02, Z:20.13 [[ 9.92265902e-01 -1.10836285e-01 -5.58900462e-02 3.58649647e+02] [ 1.10721623e-01 9.93838097e-01 -5.15354260e-03 2.80235443e+01] [ 5.61168567e-02 -1.07455203e-03 9.98423629e-01 2.01289776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.71, Y:28.03, Z:20.13 [[ 9.92074189e-01 -1.12539353e-01 -5.58900462e-02 3.58709682e+02] [ 1.12427390e-01 9.93646579e-01 -5.15354260e-03 2.80294723e+01] [ 5.61149295e-02 -1.17087543e-03 9.98423629e-01 2.01341052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.77, Y:28.03, Z:20.14 [[ 9.91662746e-01 -1.16109004e-01 -5.58900462e-02 3.58770086e+02] [ 1.16002700e-01 9.93235528e-01 -5.15354260e-03 2.80342966e+01] [ 5.61103523e-02 -1.37282006e-03 9.98423629e-01 2.01381428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.83, Y:28.04, Z:20.14 [[ 9.90571850e-01 -1.25074830e-01 -5.58900462e-02 3.58830690e+02] [ 1.24982758e-01 9.92145529e-01 -5.15354260e-03 2.80374269e+01] [ 5.60956379e-02 -1.88033789e-03 9.98423629e-01 2.01408537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.89, Y:28.04, Z:20.14 [[ 9.89066806e-01 -1.36466648e-01 -5.58901389e-02 3.58892092e+02] [ 1.36392750e-01 9.90641443e-01 -5.15253730e-03 2.80409212e+01] [ 5.60702373e-02 -2.52680612e-03 9.98423629e-01 2.01440276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.95, Y:28.05, Z:20.15 [[ 9.88279073e-01 -1.42058947e-01 -5.58903273e-02 3.58954084e+02] [ 1.41994072e-01 9.89854108e-01 -5.15049251e-03 2.80456021e+01] [ 5.60549437e-02 -2.84597118e-03 9.98423629e-01 2.01466713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.02, Y:28.05, Z:20.15 [[ 9.87802147e-01 -1.45338047e-01 -5.58907011e-02 3.59016287e+02] [ 1.45278628e-01 9.89377397e-01 -5.14643300e-03 2.80511959e+01] [ 5.60449689e-02 -3.03606683e-03 9.98423629e-01 2.01511672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.08, Y:28.06, Z:20.15 [[ 9.87861138e-01 -1.44936396e-01 -5.58910880e-02 3.59078165e+02] [ 1.44876574e-01 9.89436373e-01 -5.14222785e-03 2.80570781e+01] [ 5.60459714e-02 -3.01750232e-03 9.98423629e-01 2.01538523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.14, Y:28.07, Z:20.16 [[ 9.88459473e-01 -1.40797778e-01 -5.58914706e-02 3.59139629e+02] [ 1.40731594e-01 9.90034453e-01 -5.13806583e-03 2.80653645e+01] [ 5.60579098e-02 -2.78692592e-03 9.98423629e-01 2.01574592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.20, Y:28.07, Z:20.16 [[ 9.89050215e-01 -1.36586139e-01 -5.58918479e-02 3.59201220e+02] [ 1.36513478e-01 9.90624910e-01 -5.13395852e-03 2.80735663e+01] [ 5.60690844e-02 -2.55224777e-03 9.98423629e-01 2.01613720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.26, Y:28.08, Z:20.17 [[ 9.90034759e-01 -1.29256471e-01 -5.58922215e-02 3.59262978e+02] [ 1.29172378e-01 9.91608885e-01 -5.12988762e-03 2.80832640e+01] [ 5.60862946e-02 -2.14096412e-03 9.98423629e-01 2.01652919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.32, Y:28.09, Z:20.17 [[ 9.90668135e-01 -1.24308744e-01 -5.58926030e-02 3.59323611e+02] [ 1.24217022e-01 9.92241835e-01 -5.12572779e-03 2.80915305e+01] [ 5.60961517e-02 -1.86491751e-03 9.98423629e-01 2.01691152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.38, Y:28.10, Z:20.17 [[ 9.91530395e-01 -1.17232553e-01 -5.58927910e-02 3.59383999e+02] [ 1.17129713e-01 9.93103408e-01 -5.12367719e-03 2.81008105e+01] [ 5.61079830e-02 -1.46642492e-03 9.98423629e-01 2.01724766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.44, Y:28.11, Z:20.17 [[ 9.92052677e-01 -1.12727372e-01 -5.58929772e-02 3.59443700e+02] [ 1.12617503e-01 9.93625214e-01 -5.12164560e-03 2.81082594e+01] [ 5.61140211e-02 -1.21358528e-03 9.98423629e-01 2.01749315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.50, Y:28.12, Z:20.18 [[ 9.92845290e-01 -1.05518691e-01 -5.58930687e-02 3.59504405e+02] [ 1.05397459e-01 9.94416992e-01 -5.12064668e-03 2.81161185e+01] [ 5.61213412e-02 -8.06977486e-04 9.98423629e-01 2.01781650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.56, Y:28.12, Z:20.18 [[ 9.93688444e-01 -9.72585207e-02 -5.58932555e-02 3.59564105e+02] [ 9.71243372e-02 9.95259093e-01 -5.11860681e-03 2.81240425e+01] [ 5.61260989e-02 -3.42294960e-04 9.98423629e-01 2.01816301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.62, Y:28.13, Z:20.19 [[ 9.94105735e-01 -9.28963478e-02 -5.58932555e-02 3.59623487e+02] [ 9.27552722e-02 9.95675780e-01 -5.11860681e-03 2.81303293e+01] [ 5.61270606e-02 -9.59577412e-05 9.98423629e-01 2.01855763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.68, Y:28.14, Z:20.19 [[ 9.94333798e-01 -9.04226848e-02 -5.58930724e-02 3.59681661e+02] [ 9.02775910e-02 9.95903477e-01 -5.12060483e-03 2.81351074e+01] [ 5.61271240e-02 4.56985160e-05 9.98423629e-01 2.01893255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.74, Y:28.14, Z:20.19 [[ 9.93923726e-01 -9.48247485e-02 -5.58917985e-02 3.59739393e+02] [ 9.46858268e-02 9.95493964e-01 -5.13447273e-03 2.81378037e+01] [ 5.61268231e-02 -1.88886877e-04 9.98423630e-01 2.01923744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.80, Y:28.14, Z:20.20 [[ 9.93319977e-01 -1.00953925e-01 -5.58903316e-02 3.59797960e+02] [ 1.00823796e-01 9.94890967e-01 -5.15039053e-03 2.81406565e+01] [ 5.61247382e-02 -5.19089618e-04 9.98423630e-01 2.01952256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.86, Y:28.14, Z:20.20 [[ 9.91969740e-01 -1.13456817e-01 -5.58890560e-02 3.59856888e+02] [ 1.13345707e-01 9.93542189e-01 -5.16419558e-03 2.81407631e+01] [ 5.61140483e-02 -1.21205884e-03 9.98423630e-01 2.01968778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.92, Y:28.14, Z:20.20 [[ 9.90959718e-01 -1.21964733e-01 -5.58877610e-02 3.59916598e+02] [ 1.21866333e-01 9.92533014e-01 -5.17817273e-03 2.81431948e+01] [ 5.61020023e-02 -1.67947591e-03 9.98423630e-01 2.01992974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.98, Y:28.14, Z:20.20 [[ 9.89592956e-01 -1.32598452e-01 -5.58876698e-02 3.59978338e+02] [ 1.32516897e-01 9.91167215e-01 -5.17915737e-03 2.81444959e+01] [ 5.60807743e-02 -2.28080291e-03 9.98423630e-01 2.02028924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.04, Y:28.15, Z:20.21 [[ 9.88930021e-01 -1.37455308e-01 -5.58878518e-02 3.60040148e+02] [ 1.37381594e-01 9.90504667e-01 -5.17719220e-03 2.81484651e+01] [ 5.60688106e-02 -2.55808136e-03 9.98423630e-01 2.02063449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.10, Y:28.15, Z:20.21 [[ 9.88189860e-01 -1.42679031e-01 -5.58882269e-02 3.60102374e+02] [ 1.42613866e-01 9.89764883e-01 -5.17313975e-03 2.81526711e+01] [ 5.60543029e-02 -2.85839187e-03 9.98423630e-01 2.02103696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.16, Y:28.16, Z:20.21 [[ 9.87890271e-01 -1.44738649e-01 -5.58885983e-02 3.60164384e+02] [ 1.44676995e-01 9.89465435e-01 -5.16912444e-03 2.81572433e+01] [ 5.60480083e-02 -2.97926669e-03 9.98423630e-01 2.02138060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.23, Y:28.16, Z:20.22 [[ 9.87661218e-01 -1.46293342e-01 -5.58889728e-02 3.60225118e+02] [ 1.46234395e-01 9.89236485e-01 -5.16507195e-03 2.81610277e+01] [ 5.60430267e-02 -3.07154888e-03 9.98423630e-01 2.02158827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.29, Y:28.17, Z:20.22 [[ 9.87766359e-01 -1.45581634e-01 -5.58892497e-02 3.60286853e+02] [ 1.45521721e-01 9.89341590e-01 -5.16207412e-03 2.81665091e+01] [ 5.60450623e-02 -3.03417663e-03 9.98423630e-01 2.02178072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.35, Y:28.17, Z:20.22 [[ 9.87956342e-01 -1.44286579e-01 -5.58896265e-02 3.60348732e+02] [ 1.44224831e-01 9.89531502e-01 -5.15799162e-03 2.81723521e+01] [ 5.60487750e-02 -2.96480142e-03 9.98423630e-01 2.02210210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.41, Y:28.18, Z:20.22 [[ 9.88657228e-01 -1.39402989e-01 -5.58900045e-02 3.60410299e+02] [ 1.39333691e-01 9.90232074e-01 -5.15389241e-03 2.81792011e+01] [ 5.60625430e-02 -2.69192760e-03 9.98423630e-01 2.02229123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.47, Y:28.19, Z:20.23 [[ 9.89194883e-01 -1.35535047e-01 -5.58903832e-02 3.60472250e+02] [ 1.35459821e-01 9.90769457e-01 -5.14978168e-03 2.81862196e+01] [ 5.60724605e-02 -2.47676361e-03 9.98423630e-01 2.02261025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.53, Y:28.20, Z:20.23 [[ 9.90270149e-01 -1.27441179e-01 -5.58907671e-02 3.60533962e+02] [ 1.27353314e-01 9.91844068e-01 -5.14561197e-03 2.81952149e+01] [ 5.60906887e-02 -2.02232846e-03 9.98423630e-01 2.02297278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.59, Y:28.20, Z:20.23 [[ 9.91130942e-01 -1.20563827e-01 -5.58911455e-02 3.60593364e+02] [ 1.20465270e-01 9.92704228e-01 -5.14149895e-03 2.82032751e+01] [ 5.61032552e-02 -1.63704322e-03 9.98423630e-01 2.02335857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.65, Y:28.21, Z:20.24 [[ 9.92482945e-01 -1.08875039e-01 -5.58912380e-02 3.60654424e+02] [ 1.08758004e-01 9.94054964e-01 -5.14049321e-03 2.82125724e+01] [ 5.61186340e-02 -9.76767666e-04 9.98423630e-01 2.02383942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.71, Y:28.22, Z:20.24 [[ 9.93401291e-01 -1.00150010e-01 -5.58914237e-02 3.60713521e+02] [ 1.00019280e-01 9.94972231e-01 -5.13847374e-03 2.82208338e+01] [ 5.61250327e-02 -4.85653513e-04 9.98423630e-01 2.02434086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.77, Y:28.23, Z:20.25 [[ 9.93666245e-01 -9.74862154e-02 -5.58912413e-02 3.60773013e+02] [ 9.73511628e-02 9.95236819e-01 -5.14045651e-03 2.82264451e+01] [ 5.61261449e-02 -3.33179214e-04 9.98423630e-01 2.02470540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.83, Y:28.23, Z:20.25 [[ 9.93617259e-01 -9.79843533e-02 -5.58910533e-02 3.60831989e+02] [ 9.78499732e-02 9.95187891e-01 -5.14249989e-03 2.82313148e+01] [ 5.61259839e-02 -3.59261427e-04 9.98423630e-01 2.02498065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.89, Y:28.24, Z:20.25 [[ 9.93492186e-01 -9.92452215e-02 -5.58897419e-02 3.60890350e+02] [ 9.91120351e-02 9.95062919e-01 -5.15671315e-03 2.82358763e+01] [ 5.61255888e-02 -4.16191848e-04 9.98423630e-01 2.02526602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.95, Y:28.24, Z:20.26 [[ 9.93346847e-01 -1.00690246e-01 -5.58884308e-02 3.60947716e+02] [ 1.00558547e-01 9.94917705e-01 -5.17088355e-03 2.82393887e+01] [ 5.61250469e-02 -4.83578529e-04 9.98423630e-01 2.02552173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.01, Y:28.24, Z:20.26 [[ 9.93189362e-01 -1.02232777e-01 -5.58869414e-02 3.61006550e+02] [ 1.02102616e-01 9.94760349e-01 -5.18693112e-03 2.82437830e+01] [ 5.61243877e-02 -5.54598085e-04 9.98423630e-01 2.02590049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.06, Y:28.25, Z:20.26 [[ 9.92961482e-01 -1.04423620e-01 -5.58856169e-02 3.61064411e+02] [ 1.04296123e-01 9.94532688e-01 -5.20116305e-03 2.82464081e+01] [ 5.61231971e-02 -6.64098610e-04 9.98423630e-01 2.02631065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.12, Y:28.25, Z:20.27 [[ 9.92553913e-01 -1.08229288e-01 -5.58851520e-02 3.61122789e+02] [ 1.08107534e-01 9.94125574e-01 -5.20615378e-03 2.82474927e+01] [ 5.61203171e-02 -8.74217674e-04 9.98423630e-01 2.02673460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.18, Y:28.25, Z:20.27 [[ 9.92114663e-01 -1.12185139e-01 -5.58837250e-02 3.61181631e+02] [ 1.12068792e-01 9.93686733e-01 -5.22142684e-03 2.82500617e+01] [ 5.61166826e-02 -1.08256740e-03 9.98423631e-01 2.02722115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.24, Y:28.25, Z:20.28 [[ 9.91333802e-01 -1.18888396e-01 -5.58823996e-02 3.61240910e+02] [ 1.18781880e-01 9.92906569e-01 -5.23557293e-03 2.82505167e+01] [ 5.61084505e-02 -1.44761605e-03 9.98423631e-01 2.02761183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.30, Y:28.25, Z:20.28 [[ 9.90226634e-01 -1.27782595e-01 -5.58822095e-02 3.61301660e+02] [ 1.27690088e-01 9.91800287e-01 -5.23760184e-03 2.82516699e+01] [ 5.60932657e-02 -1.94919139e-03 9.98423631e-01 2.02780670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.36, Y:28.25, Z:20.28 [[ 9.89413793e-01 -1.33931047e-01 -5.58822095e-02 3.61362561e+02] [ 1.33848316e-01 9.90987990e-01 -5.23760184e-03 2.82544234e+01] [ 5.60800759e-02 -2.29758414e-03 9.98423631e-01 2.02807602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.42, Y:28.26, Z:20.28 [[ 9.88455957e-01 -1.40826131e-01 -5.58822095e-02 3.61422690e+02] [ 1.40754378e-01 9.90030693e-01 -5.23760184e-03 2.82565338e+01] [ 5.60626938e-02 -2.68852687e-03 9.98423631e-01 2.02828515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.48, Y:28.26, Z:20.29 [[ 9.88149773e-01 -1.42958713e-01 -5.58823047e-02 3.61483293e+02] [ 1.42890415e-01 9.89724662e-01 -5.23658597e-03 2.82611242e+01] [ 5.60567107e-02 -2.81051448e-03 9.98423631e-01 2.02866709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.54, Y:28.27, Z:20.29 [[ 9.88249211e-01 -1.42269617e-01 -5.58824973e-02 3.61543692e+02] [ 1.42200337e-01 9.89824057e-01 -5.23452931e-03 2.82670707e+01] [ 5.60585547e-02 -2.77349050e-03 9.98423631e-01 2.02916218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.60, Y:28.27, Z:20.30 [[ 9.88568797e-01 -1.40031632e-01 -5.58826875e-02 3.61604844e+02] [ 1.39958901e-01 9.90143488e-01 -5.23249830e-03 2.82731211e+01] [ 5.60645944e-02 -2.64859499e-03 9.98423631e-01 2.02964037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.67, Y:28.28, Z:20.30 [[ 9.88698218e-01 -1.39114839e-01 -5.58828795e-02 3.61665330e+02] [ 1.39040764e-01 9.90272845e-01 -5.23044739e-03 2.82784976e+01] [ 5.60669309e-02 -2.59866422e-03 9.98423631e-01 2.02997377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.73, Y:28.28, Z:20.30 [[ 9.88705626e-01 -1.39062140e-01 -5.58829737e-02 3.61726762e+02] [ 1.38988037e-01 9.90280253e-01 -5.22943989e-03 2.82833506e+01] [ 5.60670224e-02 -2.59668819e-03 9.98423631e-01 2.03031692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.79, Y:28.29, Z:20.31 [[ 9.88643176e-01 -1.39505346e-01 -5.58831666e-02 3.61787964e+02] [ 1.39432065e-01 9.90217842e-01 -5.22737831e-03 2.82885842e+01] [ 5.60657558e-02 -2.62389344e-03 9.98423631e-01 2.03061873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.85, Y:28.29, Z:20.31 [[ 9.88856088e-01 -1.37987995e-01 -5.58833586e-02 3.61849019e+02] [ 1.37912414e-01 9.90430645e-01 -5.22532450e-03 2.82941148e+01] [ 5.60696230e-02 -2.53991496e-03 9.98423631e-01 2.03081587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.91, Y:28.30, Z:20.31 [[ 9.89699850e-01 -1.31799985e-01 -5.58835492e-02 3.61909921e+02] [ 1.31714672e-01 9.91273909e-01 -5.22328565e-03 2.83017089e+01] [ 5.60843332e-02 -2.19119830e-03 9.98423631e-01 2.03117547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.97, Y:28.31, Z:20.32 [[ 9.90487653e-01 -1.25742662e-01 -5.58837389e-02 3.61968906e+02] [ 1.25647834e-01 9.92061168e-01 -5.22125527e-03 2.83089997e+01] [ 5.60966218e-02 -1.85008188e-03 9.98423631e-01 2.03152995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.03, Y:28.32, Z:20.32 [[ 9.91763843e-01 -1.15245378e-01 -5.58836457e-02 3.62028396e+02] [ 1.15133834e-01 9.93336261e-01 -5.22225284e-03 2.83164322e+01] [ 5.61130922e-02 -1.25485685e-03 9.98423631e-01 2.03200405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.09, Y:28.32, Z:20.32 [[ 9.92432284e-01 -1.09339749e-01 -5.58836457e-02 3.62087430e+02] [ 1.09218848e-01 9.94004010e-01 -5.22225284e-03 2.83235896e+01] [ 5.61195677e-02 -9.20815074e-04 9.98423631e-01 2.03239813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.15, Y:28.33, Z:20.33 [[ 9.93034918e-01 -1.03724106e-01 -5.58834547e-02 3.62145206e+02] [ 1.03594201e-01 9.94605926e-01 -5.22429506e-03 2.83295136e+01] [ 5.61239006e-02 -6.01294440e-04 9.98423631e-01 2.03269844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.20, Y:28.33, Z:20.33 [[ 9.93049934e-01 -1.03580647e-01 -5.58827204e-02 3.62202878e+02] [ 1.03450074e-01 9.94620886e-01 -5.23213867e-03 2.83345737e+01] [ 5.61240692e-02 -5.85296597e-04 9.98423631e-01 2.03300640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.26, Y:28.34, Z:20.33 [[ 9.92739330e-01 -1.06517190e-01 -5.58812257e-02 3.62261148e+02] [ 1.06390367e-01 9.94310589e-01 -5.24805388e-03 2.83375836e+01] [ 5.61223024e-02 -7.35274640e-04 9.98423631e-01 2.03330352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.32, Y:28.34, Z:20.34 [[ 9.92309843e-01 -1.10447426e-01 -5.58797092e-02 3.62319260e+02] [ 1.10325921e-01 9.93881522e-01 -5.26415152e-03 2.83411346e+01] [ 5.61192225e-02 -9.41310995e-04 9.98423631e-01 2.03361633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.38, Y:28.34, Z:20.34 [[ 9.91768833e-01 -1.15205005e-01 -5.58783467e-02 3.62377658e+02] [ 1.15090226e-01 9.93341017e-01 -5.27857510e-03 2.83437968e+01] [ 5.61143720e-02 -1.19592529e-03 9.98423631e-01 2.03387098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.44, Y:28.35, Z:20.34 [[ 9.91456471e-01 -1.17863603e-01 -5.58769859e-02 3.62436477e+02] [ 1.17752230e-01 9.93028900e-01 -5.29294107e-03 2.83474880e+01] [ 5.61113070e-02 -1.33191902e-03 9.98423631e-01 2.03419371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.50, Y:28.35, Z:20.34 [[ 9.91026353e-01 -1.21427686e-01 -5.58756208e-02 3.62495241e+02] [ 1.21321158e-01 9.92599118e-01 -5.30731335e-03 2.83510239e+01] [ 5.61065467e-02 -1.51920761e-03 9.98423631e-01 2.03449633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.55, Y:28.36, Z:20.35 [[ 9.90844514e-01 -1.22903285e-01 -5.58742510e-02 3.62554507e+02] [ 1.22798289e-01 9.92417382e-01 -5.32169542e-03 2.83561192e+01] [ 5.61046317e-02 -1.58828969e-03 9.98423631e-01 2.03484409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.61, Y:28.36, Z:20.35 [[ 9.90194590e-01 -1.28034226e-01 -5.58740557e-02 3.62612960e+02] [ 1.27937263e-01 9.91767974e-01 -5.32374498e-03 2.83592126e+01] [ 5.60957206e-02 -1.87683028e-03 9.98423631e-01 2.03511722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.67, Y:28.36, Z:20.35 [[ 9.89645900e-01 -1.32208605e-01 -5.58737669e-02 3.62672534e+02] [ 1.32118107e-01 9.91219669e-01 -5.32677428e-03 2.83628648e+01] [ 5.60874221e-02 -2.11031599e-03 9.98423631e-01 2.03545156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.73, Y:28.37, Z:20.36 [[ 9.89430529e-01 -1.33810959e-01 -5.58735711e-02 3.62731500e+02] [ 1.33722893e-01 9.91004436e-01 -5.32882670e-03 2.83668893e+01] [ 5.60840122e-02 -2.19907176e-03 9.98423631e-01 2.03564731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.79, Y:28.37, Z:20.36 [[ 9.89554198e-01 -1.32893439e-01 -5.58732817e-02 3.62791300e+02] [ 1.32803743e-01 9.91128012e-01 -5.33186015e-03 2.83721328e+01] [ 5.60861438e-02 -2.14401636e-03 9.98423631e-01 2.03596805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.85, Y:28.38, Z:20.36 [[ 9.90057272e-01 -1.29092205e-01 -5.58730842e-02 3.62849674e+02] [ 1.28996350e-01 9.91630723e-01 -5.33392883e-03 2.83782212e+01] [ 5.60940355e-02 -1.92652888e-03 9.98423631e-01 2.03634281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.91, Y:28.39, Z:20.37 [[ 9.90531308e-01 -1.25403188e-01 -5.58727928e-02 3.62909028e+02] [ 1.25301299e-01 9.92104380e-01 -5.33697910e-03 2.83850660e+01] [ 5.61009167e-02 -1.71448866e-03 9.98423631e-01 2.03665027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.97, Y:28.39, Z:20.37 [[ 9.91469509e-01 -1.17755960e-01 -5.58725989e-02 3.62967947e+02] [ 1.17641822e-01 9.93041740e-01 -5.33900873e-03 2.83938381e+01] [ 5.61125229e-02 -1.27948995e-03 9.98423631e-01 2.03692248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.03, Y:28.40, Z:20.37 [[ 9.92101458e-01 -1.12307486e-01 -5.58724063e-02 3.63025844e+02] [ 1.12184598e-01 9.93673029e-01 -5.34102334e-03 2.84017730e+01] [ 5.61187401e-02 -9.69186421e-04 9.98423631e-01 2.03724921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.08, Y:28.41, Z:20.38 [[ 9.92973625e-01 -1.04315903e-01 -5.58710323e-02 3.63082651e+02] [ 1.04179560e-01 9.94544086e-01 -5.35535759e-03 2.84099990e+01] [ 5.61248537e-02 -5.02890694e-04 9.98423631e-01 2.03750954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.14, Y:28.42, Z:20.38 [[ 9.93626955e-01 -9.78976766e-02 -5.58705504e-02 3.63139810e+02] [ 9.77509062e-02 9.95196476e-01 -5.36038073e-03 2.84170645e+01] [ 5.61269437e-02 -1.35178148e-04 9.98423631e-01 2.03793562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.20, Y:28.42, Z:20.38 [[ 9.93869115e-01 -9.54088051e-02 -5.58689703e-02 3.63197428e+02] [ 9.52571813e-02 9.95438175e-01 -5.37679923e-03 2.84226773e+01] [ 5.61270998e-02 2.19140599e-05 9.98423632e-01 2.03828123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.25, Y:28.43, Z:20.39 [[ 9.93854894e-01 -9.55577448e-02 -5.58673980e-02 3.63254796e+02] [ 9.54054406e-02 9.95423888e-01 -5.39308645e-03 2.84257546e+01] [ 5.61270937e-02 2.98916344e-05 9.98423632e-01 2.03856578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.31, Y:28.43, Z:20.39 [[ 9.93632324e-01 -9.78458836e-02 -5.58658095e-02 3.63312077e+02] [ 9.76962701e-02 9.95201576e-01 -5.40949138e-03 2.84286029e+01] [ 5.61270381e-02 -8.28357303e-05 9.98423632e-01 2.03882379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.37, Y:28.43, Z:20.39 [[ 9.93027487e-01 -1.03805091e-01 -5.58651264e-02 3.63369900e+02] [ 1.03664498e-01 9.94597573e-01 -5.41653673e-03 2.84310177e+01] [ 5.61255833e-02 -4.12460413e-04 9.98423632e-01 2.03908450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.43, Y:28.43, Z:20.39 [[ 9.92082981e-01 -1.12474990e-01 -5.58635418e-02 3.63427923e+02] [ 1.12347200e-01 9.93654161e-01 -5.43283112e-03 2.84320415e+01] [ 5.61200984e-02 -8.86293205e-04 9.98423632e-01 2.03935218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.285099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.49, Y:28.43, Z:20.40 [[ 9.91233232e-01 -1.19733543e-01 -5.58619648e-02 3.63485127e+02] [ 1.19616346e-01 9.92805237e-01 -5.44899840e-03 2.84345853e+01] [ 5.61124791e-02 -1.28077579e-03 9.98423632e-01 2.03969538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.54, Y:28.44, Z:20.40 [[ 9.89822385e-01 -1.30886066e-01 -5.58612848e-02 3.63543344e+02] [ 1.30786183e-01 9.91395585e-01 -5.45596012e-03 2.84371097e+01] [ 5.60947403e-02 -1.90545275e-03 9.98423632e-01 2.03993110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.60, Y:28.44, Z:20.40 [[ 9.88145547e-01 -1.42996749e-01 -5.58597171e-02 3.63601103e+02] [ 1.42915235e-01 9.89719805e-01 -5.47196408e-03 2.84396126e+01] [ 5.60679414e-02 -2.57610764e-03 9.98423632e-01 2.04017666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.66, Y:28.44, Z:20.40 [[ 9.87042816e-01 -1.50420571e-01 -5.58581340e-02 3.63659696e+02] [ 1.50349983e-01 9.88617602e-01 -5.48807764e-03 2.84435991e+01] [ 5.60478542e-02 -2.98130189e-03 9.98423632e-01 2.04043650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.72, Y:28.45, Z:20.41 [[ 9.85871034e-01 -1.57918732e-01 -5.58567629e-02 3.63718738e+02] [ 1.57859330e-01 9.87446282e-01 -5.50199642e-03 2.84500054e+01] [ 5.60244212e-02 -3.39325229e-03 9.98423633e-01 2.04077653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.78, Y:28.46, Z:20.41 [[ 9.85570145e-01 -1.59785899e-01 -5.58565672e-02 3.63777030e+02] [ 1.59729369e-01 9.87145498e-01 -5.50398250e-03 2.84571819e+01] [ 5.60180177e-02 -3.49737344e-03 9.98423633e-01 2.04115526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.84, Y:28.47, Z:20.41 [[ 9.85751579e-01 -1.58662855e-01 -5.58562777e-02 3.63835234e+02] [ 1.58604364e-01 9.87326861e-01 -5.50691899e-03 2.84654458e+01] [ 5.60221468e-02 -3.43059533e-03 9.98423633e-01 2.04142312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.89, Y:28.48, Z:20.42 [[ 9.86394294e-01 -1.54617344e-01 -5.58549358e-02 3.63893811e+02] [ 1.54551625e-01 9.87969291e-01 -5.52049634e-03 2.84774111e+01] [ 5.60365258e-02 -3.18708501e-03 9.98423633e-01 2.04151559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.95, Y:28.49, Z:20.42 [[ 9.87007372e-01 -1.50654185e-01 -5.58548416e-02 3.63954099e+02] [ 1.50582086e-01 9.88582090e-01 -5.52144928e-03 2.84881457e+01] [ 5.60489255e-02 -2.96102742e-03 9.98423633e-01 2.04177793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.01, Y:28.50, Z:20.42 [[ 9.87654852e-01 -1.46349225e-01 -5.58551485e-02 3.64014716e+02] [ 1.46270436e-01 9.89229249e-01 -5.51834319e-03 2.85010068e+01] [ 5.60611518e-02 -2.71973849e-03 9.98423633e-01 2.04219536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.08, Y:28.51, Z:20.43 [[ 9.87906497e-01 -1.44640702e-01 -5.58553554e-02 3.64075769e+02] [ 1.44559308e-01 9.89480762e-01 -5.51624817e-03 2.85094586e+01] [ 5.60656736e-02 -2.62487411e-03 9.98423633e-01 2.04257808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.14, Y:28.52, Z:20.43 [[ 9.88851756e-01 -1.38030295e-01 -5.58555568e-02 3.64136187e+02] [ 1.37938489e-01 9.90425447e-01 -5.51420750e-03 2.85235597e+01] [ 5.60818925e-02 -2.25189736e-03 9.98423633e-01 2.04292338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.20, Y:28.54, Z:20.43 [[ 9.89744299e-01 -1.31477587e-01 -5.58557608e-02 3.64195953e+02] [ 1.31375476e-01 9.91317356e-01 -5.51214091e-03 2.85350063e+01] [ 5.60955081e-02 -1.88246713e-03 9.98423633e-01 2.04331299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.26, Y:28.55, Z:20.44 [[ 9.91240913e-01 -1.19672680e-01 -5.58560896e-02 3.64256339e+02] [ 1.19552017e-01 9.92812655e-01 -5.50880704e-03 2.85484390e+01] [ 5.61138863e-02 -1.21715325e-03 9.98423633e-01 2.04372388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.32, Y:28.56, Z:20.44 [[ 9.92012625e-01 -1.13097417e-01 -5.58562905e-02 3.64316210e+02] [ 1.12966450e-01 9.93583543e-01 -5.50676939e-03 2.85589940e+01] [ 5.61206924e-02 -8.47102092e-04 9.98423633e-01 2.04409718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.37, Y:28.57, Z:20.44 [[ 9.92641168e-01 -1.07441088e-01 -5.58562905e-02 3.64374852e+02] [ 1.07301169e-01 9.94211313e-01 -5.50676939e-03 2.85692869e+01] [ 5.61246092e-02 -5.27199242e-04 9.98423633e-01 2.04433523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.43, Y:28.58, Z:20.45 [[ 9.92610441e-01 -1.07724644e-01 -5.58561922e-02 3.64434089e+02] [ 1.07585117e-01 9.94180621e-01 -5.50776605e-03 2.85763911e+01] [ 5.61244660e-02 -5.42228881e-04 9.98423633e-01 2.04469792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.49, Y:28.58, Z:20.45 [[ 9.92169482e-01 -1.11713148e-01 -5.58559930e-02 3.64493556e+02] [ 1.11579819e-01 9.93740201e-01 -5.50978562e-03 2.85831470e+01] [ 5.61218611e-02 -7.65760458e-04 9.98423633e-01 2.04502208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.55, Y:28.59, Z:20.45 [[ 9.91521982e-01 -1.17321313e-01 -5.58557938e-02 3.64553760e+02] [ 1.17196754e-01 9.93093420e-01 -5.51180433e-03 2.85891962e+01] [ 5.61166734e-02 -1.08104257e-03 9.98423633e-01 2.04537058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.61, Y:28.60, Z:20.46 [[ 9.91039696e-01 -1.21327864e-01 -5.58557938e-02 3.64614471e+02] [ 1.21209658e-01 9.92611625e-01 -5.51180433e-03 2.85951199e+01] [ 5.61118457e-02 -1.30784476e-03 9.98423633e-01 2.04573098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.68, Y:28.60, Z:20.46 [[ 9.90216750e-01 -1.27870623e-01 -5.58559935e-02 3.64675878e+02] [ 1.27762915e-01 9.91789433e-01 -5.50977990e-03 2.86014710e+01] [ 5.61019231e-02 -1.68044821e-03 9.98423633e-01 2.04603786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.74, Y:28.61, Z:20.46 [[ 9.89309642e-01 -1.34708928e-01 -5.58563984e-02 3.64736989e+02] [ 1.34612320e-01 9.90883046e-01 -5.50567121e-03 2.86075824e+01] [ 5.60888213e-02 -2.07214578e-03 9.98423633e-01 2.04629019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.80, Y:28.61, Z:20.47 [[ 9.88818995e-01 -1.38264329e-01 -5.58566978e-02 3.64799045e+02] [ 1.38173549e-01 9.90392746e-01 -5.50263242e-03 2.86139241e+01] [ 5.60808861e-02 -2.27681071e-03 9.98423633e-01 2.04666102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.86, Y:28.62, Z:20.47 [[ 9.88280530e-01 -1.42061881e-01 -5.58571000e-02 3.64860903e+02] [ 1.41977378e-01 9.89854631e-01 -5.49854660e-03 2.86218921e+01] [ 5.60715430e-02 -2.49633803e-03 9.98423633e-01 2.04704724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.92, Y:28.63, Z:20.47 [[ 9.88022365e-01 -1.43846260e-01 -5.58574974e-02 3.64922479e+02] [ 1.43764827e-01 9.89596627e-01 -5.49450629e-03 2.86288135e+01] [ 5.60667553e-02 -2.60164834e-03 9.98423633e-01 2.04737851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.785099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.98, Y:28.64, Z:20.48 [[ 9.87665625e-01 -1.46275453e-01 -5.58578956e-02 3.64984535e+02] [ 1.46198120e-01 9.89240095e-01 -5.49045605e-03 2.86365526e+01] [ 5.60599888e-02 -2.74358459e-03 9.98423633e-01 2.04764922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.05, Y:28.65, Z:20.48 [[ 9.87466817e-01 -1.47611434e-01 -5.58582952e-02 3.65045799e+02] [ 1.47536461e-01 9.89041401e-01 -5.48638717e-03 2.86453555e+01] [ 5.60560200e-02 -2.82350989e-03 9.98423633e-01 2.04793394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.11, Y:28.65, Z:20.48 [[ 9.87350340e-01 -1.48388385e-01 -5.58586911e-02 3.65107430e+02] [ 1.48314879e-01 9.88924992e-01 -5.48235360e-03 2.86529678e+01] [ 5.60535733e-02 -2.87167130e-03 9.98423633e-01 2.04821089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.17, Y:28.66, Z:20.48 [[ 9.87214436e-01 -1.49289715e-01 -5.58590901e-02 3.65168902e+02] [ 1.49217876e-01 9.88789166e-01 -5.47828511e-03 2.86611300e+01] [ 5.60507147e-02 -2.92693262e-03 9.98423633e-01 2.04843319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.23, Y:28.67, Z:20.49 [[ 9.87300610e-01 -1.48718605e-01 -5.58594872e-02 3.65230613e+02] [ 1.48646083e-01 9.88875308e-01 -5.47423303e-03 2.86688386e+01] [ 5.60521879e-02 -2.89858036e-03 9.98423633e-01 2.04875895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.29, Y:28.68, Z:20.49 [[ 9.87907909e-01 -1.44629305e-01 -5.58598894e-02 3.65292064e+02] [ 1.44550496e-01 9.89482305e-01 -5.47012631e-03 2.86785521e+01] [ 5.60635126e-02 -2.67059364e-03 9.98423633e-01 2.04913963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.35, Y:28.69, Z:20.50 [[ 9.88619479e-01 -1.39682330e-01 -5.58602935e-02 3.65353270e+02] [ 1.39595873e-01 9.90193474e-01 -5.46599639e-03 2.86869208e+01] [ 5.60760011e-02 -2.39407595e-03 9.98423633e-01 2.04958740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.41, Y:28.70, Z:20.50 [[ 9.89865482e-01 -1.30559985e-01 -5.58606956e-02 3.65413926e+02] [ 1.30459250e-01 9.91438627e-01 -5.46188385e-03 2.86970610e+01] [ 5.60955548e-02 -1.88101414e-03 9.98423633e-01 2.05006265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.48, Y:28.71, Z:20.50 [[ 9.91078598e-01 -1.21007283e-01 -5.58609923e-02 3.65475301e+02] [ 1.20891551e-01 9.92650711e-01 -5.45884739e-03 2.87067164e+01] [ 5.61110140e-02 -1.34297517e-03 9.98423633e-01 2.05049080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.54, Y:28.71, Z:20.51 [[ 9.91794947e-01 -1.14988205e-01 -5.58613917e-02 3.65537072e+02] [ 1.14863161e-01 9.93366347e-01 -5.45475731e-03 2.87149949e+01] [ 5.61180594e-02 -1.00641529e-03 9.98423633e-01 2.05084531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.60, Y:28.72, Z:20.51 [[ 9.92629289e-01 -1.07547918e-01 -5.58617904e-02 3.65599133e+02] [ 1.07411324e-01 9.94199727e-01 -5.45067160e-03 2.87226580e+01] [ 5.61239851e-02 -5.89692608e-04 9.98423633e-01 2.05117391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.66, Y:28.73, Z:20.51 [[ 9.93022945e-01 -1.03850114e-01 -5.58621906e-02 3.65660079e+02] [ 1.03707903e-01 9.94592884e-01 -5.44656647e-03 2.87295518e+01] [ 5.61257638e-02 -3.84785185e-04 9.98423633e-01 2.05142540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.72, Y:28.74, Z:20.52 [[ 9.93388677e-01 -1.00291222e-01 -5.58623893e-02 3.65720558e+02] [ 1.00143501e-01 9.94958108e-01 -5.44452773e-03 2.87359398e+01] [ 5.61267755e-02 -1.85723044e-04 9.98423633e-01 2.05175664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.78, Y:28.74, Z:20.52 [[ 9.93362390e-01 -1.00551148e-01 -5.58625892e-02 3.65781073e+02] [ 1.00403954e-01 9.94931870e-01 -5.44247646e-03 2.87408208e+01] [ 5.61267175e-02 -2.02473382e-04 9.98423633e-01 2.05210448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.84, Y:28.75, Z:20.53 [[ 9.93087465e-01 -1.03230921e-01 -5.58629026e-02 3.65841837e+02] [ 1.03088143e-01 9.94657353e-01 -5.43925722e-03 2.87450638e+01] [ 5.61259464e-02 -3.57144709e-04 9.98423633e-01 2.05257356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.90, Y:28.75, Z:20.53 [[ 9.92311507e-01 -1.10440874e-01 -5.58631004e-02 3.65903209e+02] [ 1.10309616e-01 9.93882400e-01 -5.43722498e-03 2.87473726e+01] [ 5.61218442e-02 -7.66816225e-04 9.98423633e-01 2.05301561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.96, Y:28.75, Z:20.53 [[ 9.91610453e-01 -1.16567585e-01 -5.58632989e-02 3.65964685e+02] [ 1.16446146e-01 9.93182135e-01 -5.43518511e-03 2.87500914e+01] [ 5.61159969e-02 -1.11547948e-03 9.98423633e-01 2.05334619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.03, Y:28.75, Z:20.54 [[ 9.90767368e-01 -1.23528302e-01 -5.58639510e-02 3.66026741e+02] [ 1.23418281e-01 9.92339891e-01 -5.42847420e-03 2.87523137e+01] [ 5.61065973e-02 -1.51627770e-03 9.98423633e-01 2.05363630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.09, Y:28.75, Z:20.54 [[ 9.89953214e-01 -1.29891525e-01 -5.58643427e-02 3.66088278e+02] [ 1.29791838e-01 9.91526426e-01 -5.42444022e-03 2.87542725e+01] [ 5.60955609e-02 -1.88079368e-03 9.98423633e-01 2.05382661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.15, Y:28.76, Z:20.54 [[ 9.89025718e-01 -1.36774532e-01 -5.58646324e-02 3.66151022e+02] [ 1.36685958e-01 9.90599594e-01 -5.42145468e-03 2.87554563e+01] [ 5.60809992e-02 -2.27395272e-03 9.98423633e-01 2.05416186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.21, Y:28.76, Z:20.55 [[ 9.88790118e-01 -1.38467327e-01 -5.58650389e-02 3.66212837e+02] [ 1.38381685e-01 9.90364157e-01 -5.41726352e-03 2.87592212e+01] [ 5.60768461e-02 -2.37416157e-03 9.98423633e-01 2.05452996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.27, Y:28.76, Z:20.55 [[ 9.88978316e-01 -1.37116529e-01 -5.58654452e-02 3.66274389e+02] [ 1.37028973e-01 9.90552250e-01 -5.41307000e-03 2.87622735e+01] [ 5.60798638e-02 -2.30177570e-03 9.98423633e-01 2.05482419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.34, Y:28.77, Z:20.55 [[ 9.89394701e-01 -1.34078733e-01 -5.58660874e-02 3.66336233e+02] [ 1.33986718e-01 9.90968380e-01 -5.40643372e-03 2.87671776e+01] [ 5.60864139e-02 -2.13621682e-03 9.98423633e-01 2.05521284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.40, Y:28.77, Z:20.56 [[ 9.90342244e-01 -1.26890412e-01 -5.58664784e-02 3.66398264e+02] [ 1.26787199e-01 9.91915228e-01 -5.40239061e-03 2.87716649e+01] [ 5.61003222e-02 -1.73293868e-03 9.98423633e-01 2.05559843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.46, Y:28.78, Z:20.56 [[ 9.90905164e-01 -1.22416704e-01 -5.58668632e-02 3.66460665e+02] [ 1.22306613e-01 9.92477682e-01 -5.39840792e-03 2.87765277e+01] [ 5.61074702e-02 -1.48357656e-03 9.98423633e-01 2.05589967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.52, Y:28.78, Z:20.56 [[ 9.91418066e-01 -1.18190807e-01 -5.58672594e-02 3.66522290e+02] [ 1.18074243e-01 9.92990118e-01 -5.39430464e-03 2.87805136e+01] [ 5.61131938e-02 -1.24847330e-03 9.98423633e-01 2.05604963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.58, Y:28.78, Z:20.56 [[ 9.91482974e-01 -1.17644971e-01 -5.58674538e-02 3.66581947e+02] [ 1.17527656e-01 9.93054970e-01 -5.39229094e-03 2.87838833e+01] [ 5.61138286e-02 -1.21960622e-03 9.98423633e-01 2.05622059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.64, Y:28.79, Z:20.57 [[ 9.91413104e-01 -1.18232323e-01 -5.58674783e-02 3.66641957e+02] [ 1.18115953e-01 9.92985170e-01 -5.39203692e-03 2.87875744e+01] [ 5.61130905e-02 -1.25310439e-03 9.98423633e-01 2.05650424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.70, Y:28.79, Z:20.57 [[ 9.91159928e-01 -1.20336291e-01 -5.58674783e-02 3.66702334e+02] [ 1.20223258e-01 9.92732237e-01 -5.39203692e-03 2.87909721e+01] [ 5.61103044e-02 -1.37219932e-03 9.98423633e-01 2.05688877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.76, Y:28.79, Z:20.58 [[ 9.90795389e-01 -1.23301754e-01 -5.58674783e-02 3.66762507e+02] [ 1.23193427e-01 9.92368029e-01 -5.39203692e-03 2.87946764e+01] [ 5.61059470e-02 -1.54010080e-03 9.98423633e-01 2.05756828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.82, Y:28.80, Z:20.58 [[ 9.90348996e-01 -1.26837260e-01 -5.58674783e-02 3.66823000e+02] [ 1.26734546e-01 9.91922013e-01 -5.39203692e-03 2.87989097e+01] [ 5.61000928e-02 -1.74034115e-03 9.98423633e-01 2.05763841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.88, Y:28.80, Z:20.58 [[ 9.89842633e-01 -1.30730203e-01 -5.58674783e-02 3.66884293e+02] [ 1.30633675e-01 9.91416042e-01 -5.39203692e-03 2.88043667e+01] [ 5.60928163e-02 -1.96090599e-03 9.98423633e-01 2.05813253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.95, Y:28.81, Z:20.59 [[ 9.89062096e-01 -1.36509970e-01 -5.58676778e-02 3.66945217e+02] [ 1.36422751e-01 9.90636049e-01 -5.38996920e-03 2.88087013e+01] [ 5.60803201e-02 -2.29060807e-03 9.98423633e-01 2.05856294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.01, Y:28.81, Z:20.59 [[ 9.87678194e-01 -1.46186748e-01 -5.58678753e-02 3.67006705e+02] [ 1.46115059e-01 9.89252930e-01 -5.38792171e-03 2.88124495e+01] [ 5.60551021e-02 -2.84160510e-03 9.98423633e-01 2.05873639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.07, Y:28.82, Z:20.59 [[ 9.86320000e-01 -1.55085798e-01 -5.58681686e-02 3.67067471e+02] [ 1.55028482e-01 9.87895325e-01 -5.38487808e-03 2.88181138e+01] [ 5.60270207e-02 -3.34994440e-03 9.98423633e-01 2.05883581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.13, Y:28.82, Z:20.59 [[ 9.85676890e-01 -1.59121954e-01 -5.58683563e-02 3.67128884e+02] [ 1.59071196e-01 9.87252439e-01 -5.38293026e-03 2.88243609e+01] [ 5.60127134e-02 -3.58121631e-03 9.98423633e-01 2.05918429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.19, Y:28.83, Z:20.59 [[ 9.85371643e-01 -1.61001268e-01 -5.58687496e-02 3.67190948e+02] [ 1.60953745e-01 9.86947293e-01 -5.37884534e-03 2.88306655e+01] [ 5.60055121e-02 -3.69212279e-03 9.98423633e-01 2.05946602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.25, Y:28.84, Z:20.60 [[ 9.85368619e-01 -1.61019637e-01 -5.58691503e-02 3.67251616e+02] [ 1.60972378e-01 9.86944277e-01 -5.37467953e-03 2.88385302e+01] [ 5.60051671e-02 -3.69734946e-03 9.98423633e-01 2.05987288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.31, Y:28.85, Z:20.60 [[ 9.86002892e-01 -1.57088834e-01 -5.58694467e-02 3.67313210e+02] [ 1.57035467e-01 9.87578355e-01 -5.37159707e-03 2.88484913e+01] [ 5.60192742e-02 -3.47707440e-03 9.98423633e-01 2.06030836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.37, Y:28.86, Z:20.61 [[ 9.86665264e-01 -1.52873210e-01 -5.58698381e-02 3.67374309e+02] [ 1.52813340e-01 9.88240493e-01 -5.36752342e-03 2.88577806e+01] [ 5.60333869e-02 -3.24170764e-03 9.98423633e-01 2.06060838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.44, Y:28.87, Z:20.61 [[ 9.87819317e-01 -1.45229185e-01 -5.58702238e-02 3.67435973e+02] [ 1.45157346e-01 9.89394046e-01 -5.36350562e-03 2.88696716e+01] [ 5.60566043e-02 -2.81179894e-03 9.98423633e-01 2.06100538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.50, Y:28.88, Z:20.62 [[ 9.88989564e-01 -1.37033269e-01 -5.58706180e-02 3.67497514e+02] [ 1.36948607e-01 9.90563656e-01 -5.35939634e-03 2.88814305e+01] [ 5.60778192e-02 -2.35101626e-03 9.98423633e-01 2.06151380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.56, Y:28.89, Z:20.62 [[ 9.89751568e-01 -1.31416379e-01 -5.58710100e-02 3.67559325e+02] [ 1.31323013e-01 9.91325167e-01 -5.35530600e-03 2.88912641e+01] [ 5.60901133e-02 -2.03672686e-03 9.98423633e-01 2.06188479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.62, Y:28.90, Z:20.62 [[ 9.90917104e-01 -1.22317948e-01 -5.58713980e-02 3.67620668e+02] [ 1.22210357e-01 9.92489795e-01 -5.35125478e-03 2.89022301e+01] [ 5.61063469e-02 -1.52541360e-03 9.98423633e-01 2.06218577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.68, Y:28.91, Z:20.63 [[ 9.92448958e-01 -1.09194362e-01 -5.58717899e-02 3.67682270e+02] [ 1.09066200e-01 9.94020106e-01 -5.34716042e-03 2.89136873e+01] [ 5.61215623e-02 -7.86940010e-04 9.98423633e-01 2.06250507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.74, Y:28.92, Z:20.63 [[ 9.93644950e-01 -9.77139313e-02 -5.58721762e-02 3.67739890e+02] [ 9.75678413e-02 9.95214533e-01 -5.34312032e-03 2.89237764e+01] [ 5.61268991e-02 -1.42163101e-04 9.98423633e-01 2.06260891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.80, Y:28.93, Z:20.63 [[ 9.93519316e-01 -9.89832909e-02 -5.58719728e-02 3.67798592e+02] [ 9.88390866e-02 9.95089073e-01 -5.34524717e-03 2.89294773e+01] [ 5.61266798e-02 -2.11728439e-04 9.98423633e-01 2.06330346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.86, Y:28.93, Z:20.64 [[ 9.93374075e-01 -1.00430542e-01 -5.58717571e-02 3.67858148e+02] [ 1.00288498e-01 9.94944029e-01 -5.34750061e-03 2.89347860e+01] [ 5.61263235e-02 -2.91226123e-04 9.98423633e-01 2.06360257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.92, Y:28.94, Z:20.64 [[ 9.93096989e-01 -1.03134514e-01 -5.58716608e-02 3.67918363e+02] [ 1.02996688e-01 9.94667319e-01 -5.34850660e-03 2.89398950e+01] [ 5.61253307e-02 -4.43010229e-04 9.98423633e-01 2.06404192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.98, Y:28.95, Z:20.64 [[ 9.92903874e-01 -1.04977403e-01 -5.58716608e-02 3.67979813e+02] [ 1.04842492e-01 9.94474457e-01 -5.34850660e-03 2.89454218e+01] [ 5.61244119e-02 -5.47171200e-04 9.98423633e-01 2.06443277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.04, Y:28.95, Z:20.65 [[ 9.92120462e-01 -1.12139760e-01 -5.58718522e-02 3.68040949e+02] [ 1.12016299e-01 9.93691986e-01 -5.34650649e-03 2.89487455e+01] [ 5.61189677e-02 -9.54179593e-04 9.98423633e-01 2.06479299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.10, Y:28.95, Z:20.65 [[ 9.91454510e-01 -1.17882435e-01 -5.58720442e-02 3.68101858e+02] [ 1.17768188e-01 9.93026732e-01 -5.34449899e-03 2.89525540e+01] [ 5.61124560e-02 -1.28112178e-03 9.98423633e-01 2.06514180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.16, Y:28.96, Z:20.65 [[ 9.90715780e-01 -1.23937630e-01 -5.58722362e-02 3.68164182e+02] [ 1.23833103e-01 9.92288678e-01 -5.34249128e-03 2.89561738e+01] [ 5.61035231e-02 -1.62594199e-03 9.98423633e-01 2.06546343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.23, Y:28.96, Z:20.66 [[ 9.89461450e-01 -1.33582521e-01 -5.58726192e-02 3.68226097e+02] [ 1.33493547e-01 9.91035304e-01 -5.33848305e-03 2.89594034e+01] [ 5.60848661e-02 -2.17641095e-03 9.98423633e-01 2.06585861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.29, Y:28.96, Z:20.66 [[ 9.88247933e-01 -1.42282216e-01 -5.58730123e-02 3.68287825e+02] [ 1.42207324e-01 9.89822520e-01 -5.33436558e-03 2.89626961e+01] [ 5.60633512e-02 -2.67387581e-03 9.98423633e-01 2.06579772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.35, Y:28.97, Z:20.66 [[ 9.87369828e-01 -1.48253102e-01 -5.58734258e-02 3.68349744e+02] [ 1.48187974e-01 9.88944849e-01 -5.33003065e-03 2.89677143e+01] [ 5.60459302e-02 -3.01705831e-03 9.98423633e-01 2.06644630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.41, Y:28.97, Z:20.67 [[ 9.86435451e-01 -1.54347705e-01 -5.58738431e-02 3.68411473e+02] [ 1.54292552e-01 9.88010853e-01 -5.32565233e-03 2.89743158e+01] [ 5.60259656e-02 -3.36750557e-03 9.98423633e-01 2.06672994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.47, Y:28.98, Z:20.67 [[ 9.86032949e-01 -1.56898359e-01 -5.58742222e-02 3.68473492e+02] [ 1.56847505e-01 9.87608495e-01 -5.32167287e-03 2.89812328e+01] [ 5.60168182e-02 -3.51638755e-03 9.98423633e-01 2.06697483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.53, Y:28.99, Z:20.67 [[ 9.85661632e-01 -1.59214248e-01 -5.58746014e-02 3.68534838e+02] [ 1.59167321e-01 9.87237300e-01 -5.31768755e-03 2.89880481e+01] [ 5.60081423e-02 -3.65197003e-03 9.98423633e-01 2.06723854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.60, Y:29.00, Z:20.68 [[ 9.85692452e-01 -1.59023196e-01 -5.58749818e-02 3.68595552e+02] [ 1.58976188e-01 9.87268118e-01 -5.31368797e-03 2.89962472e+01] [ 5.60085878e-02 -3.64512950e-03 9.98423633e-01 2.06751756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.66, Y:29.01, Z:20.68 [[ 9.86050623e-01 -1.56786871e-01 -5.58752626e-02 3.68656752e+02] [ 1.56736456e-01 9.87626184e-01 -5.31073398e-03 2.90052045e+01] [ 5.60165257e-02 -3.52103811e-03 9.98423633e-01 2.06794996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.72, Y:29.02, Z:20.68 [[ 9.87040344e-01 -1.50430292e-01 -5.58756345e-02 3.68718674e+02] [ 1.50369948e-01 9.88615556e-01 -5.30681824e-03 2.90158032e+01] [ 5.60378276e-02 -3.16397252e-03 9.98423633e-01 2.06832917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.78, Y:29.03, Z:20.69 [[ 9.88303949e-01 -1.41891350e-01 -5.58761901e-02 3.68778747e+02] [ 1.41817720e-01 9.89878596e-01 -5.30096159e-03 2.90276307e+01] [ 5.60628052e-02 -2.68527259e-03 9.98423633e-01 2.06873991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.84, Y:29.04, Z:20.69 [[ 9.89174694e-01 -1.35688043e-01 -5.58764625e-02 3.68839518e+02] [ 1.35604697e-01 9.90748856e-01 -5.29808833e-03 2.90377705e+01] [ 5.60784286e-02 -2.33637588e-03 9.98423633e-01 2.06930399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.90, Y:29.05, Z:20.70 [[ 9.90369849e-01 -1.26670249e-01 -5.58767370e-02 3.68900775e+02] [ 1.26572728e-01 9.91943197e-01 -5.29519233e-03 2.90502869e+01] [ 5.60972924e-02 -1.82827220e-03 9.98423633e-01 2.06987086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.96, Y:29.06, Z:20.70 [[ 9.91016467e-01 -1.21507651e-01 -5.58771148e-02 3.68961982e+02] [ 1.21402158e-01 9.92589300e-01 -5.29120183e-03 2.90593468e+01] [ 5.61059478e-02 -1.53993417e-03 9.98423633e-01 2.07029395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.02, Y:29.07, Z:20.71 [[ 9.91586679e-01 -1.16762854e-01 -5.58774982e-02 3.69022406e+02] [ 1.16650061e-01 9.93159005e-01 -5.28715061e-03 2.90684303e+01] [ 5.61125833e-02 -1.27544548e-03 9.98423633e-01 2.07056529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.08, Y:29.08, Z:20.71 [[ 9.91910160e-01 -1.13982048e-01 -5.58777810e-02 3.69084471e+02] [ 1.13865015e-01 9.93482177e-01 -5.28415998e-03 2.90757641e+01] [ 5.61158789e-02 -1.12111242e-03 9.98423633e-01 2.07088954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.15, Y:29.08, Z:20.71 [[ 9.92348738e-01 -1.10098199e-01 -5.58781550e-02 3.69146353e+02] [ 1.09975237e-01 9.93920302e-01 -5.28020174e-03 2.90842021e+01] [ 5.61197734e-02 -9.05411787e-04 9.98423633e-01 2.07127988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.21, Y:29.09, Z:20.71 [[ 9.92806709e-01 -1.05888756e-01 -5.58785235e-02 3.69207807e+02] [ 1.05759349e-01 9.94377756e-01 -5.27629984e-03 2.90900112e+01] [ 5.61230616e-02 -6.71330400e-04 9.98423633e-01 2.07139175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.27, Y:29.10, Z:20.72 [[ 9.92774159e-01 -1.06193347e-01 -5.58788189e-02 3.69269093e+02] [ 1.06064598e-01 9.94345259e-01 -5.27316853e-03 2.90969675e+01] [ 5.61228141e-02 -6.91699034e-04 9.98423633e-01 2.07186968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.33, Y:29.10, Z:20.72 [[ 9.92531245e-01 -1.08440012e-01 -5.58792632e-02 3.69329537e+02] [ 1.08315085e-01 9.94102654e-01 -5.26845671e-03 2.91014103e+01] [ 5.61210353e-02 -8.23459251e-04 9.98423633e-01 2.07243385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.39, Y:29.10, Z:20.73 [[ 9.91878313e-01 -1.14258018e-01 -5.58794842e-02 3.69391241e+02] [ 1.14142439e-01 9.93450437e-01 -5.26611121e-03 2.91046790e+01] [ 5.61151935e-02 -1.15487913e-03 9.98423633e-01 2.07275325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.45, Y:29.11, Z:20.73 [[ 9.90941038e-01 -1.22120026e-01 -5.58798596e-02 3.69453196e+02] [ 1.22017142e-01 9.92514044e-01 -5.26212551e-03 2.91068195e+01] [ 5.61041563e-02 -1.60384465e-03 9.98423633e-01 2.07315032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.52, Y:29.11, Z:20.74 [[ 9.90582444e-01 -1.24995287e-01 -5.58802337e-02 3.69515250e+02] [ 1.24897193e-01 9.92155755e-01 -5.25814894e-03 2.91113636e+01] [ 5.60991394e-02 -1.77065432e-03 9.98423633e-01 2.07350361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.58, Y:29.11, Z:20.74 [[ 9.89884261e-01 -1.30409004e-01 -5.58806045e-02 3.69577023e+02] [ 1.30319735e-01 9.91458098e-01 -5.25420609e-03 2.91132954e+01] [ 5.60884736e-02 -2.08128967e-03 9.98423633e-01 2.07361933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.64, Y:29.12, Z:20.74 [[ 9.89747211e-01 -1.31444994e-01 -5.58808788e-02 3.69638641e+02] [ 1.31357537e-01 9.91321150e-01 -5.25128711e-03 2.91173316e+01] [ 5.60861524e-02 -2.14292783e-03 9.98423633e-01 2.07411891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.70, Y:29.12, Z:20.74 [[ 9.89926913e-01 -1.30084558e-01 -5.58812587e-02 3.69700046e+02] [ 1.29995166e-01 9.91500743e-01 -5.24724077e-03 2.91223997e+01] [ 5.60888945e-02 -2.06990867e-03 9.98423633e-01 2.07443058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.76, Y:29.13, Z:20.75 [[ 9.90598685e-01 -1.24865749e-01 -5.58819331e-02 3.69761393e+02] [ 1.24768469e-01 9.92172047e-01 -5.24004909e-03 2.91281187e+01] [ 5.60987946e-02 -1.78151750e-03 9.98423633e-01 2.07477652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.82, Y:29.14, Z:20.75 [[ 9.91607111e-01 -1.16586895e-01 -5.58823129e-02 3.69822602e+02] [ 1.16476704e-01 9.93179622e-01 -5.23599580e-03 2.91357656e+01] [ 5.61116229e-02 -1.31693697e-03 9.98423633e-01 2.07510171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.88, Y:29.14, Z:20.75 [[ 9.91964516e-01 -1.13505608e-01 -5.58826903e-02 3.69884485e+02] [ 1.13390760e-01 9.93536694e-01 -5.23196434e-03 2.91420941e+01] [ 5.61153607e-02 -1.14665776e-03 9.98423633e-01 2.07544361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.95, Y:29.15, Z:20.76 [[ 9.92984579e-01 -1.04205130e-01 -5.58830630e-02 3.69946406e+02] [ 1.04075779e-01 9.94555630e-01 -5.22798050e-03 2.91491123e+01] [ 5.61235973e-02 -6.24769292e-04 9.98423633e-01 2.07584235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.01, Y:29.16, Z:20.76 [[ 9.93545643e-01 -9.87121897e-02 -5.58834456e-02 3.70007589e+02] [ 9.85743822e-02 9.95115974e-01 -5.22388750e-03 2.91556018e+01] [ 5.61261708e-02 -3.18505462e-04 9.98423633e-01 2.07622583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.07, Y:29.16, Z:20.77 [[ 9.94074746e-01 -9.32330821e-02 -5.58837280e-02 3.70067527e+02] [ 9.30867892e-02 9.95644310e-01 -5.22086524e-03 2.91617755e+01] [ 5.61270731e-02 -1.21065091e-05 9.98423633e-01 2.07667607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.13, Y:29.17, Z:20.77 [[ 9.94174482e-01 -9.21634920e-02 -5.58837280e-02 3.70128113e+02] [ 9.20155104e-02 9.95743887e-01 -5.22086524e-03 2.91671708e+01] [ 5.61270537e-02 4.82812434e-05 9.98423633e-01 2.07715469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.19, Y:29.17, Z:20.78 [[ 9.93845566e-01 -9.56451170e-02 -5.58838226e-02 3.70188329e+02] [ 9.55026903e-02 9.95415486e-01 -5.21985165e-03 2.91705297e+01] [ 5.61268758e-02 -1.49328987e-04 9.98423633e-01 2.07753768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.25, Y:29.17, Z:20.78 [[ 9.93432284e-01 -9.98463584e-02 -5.58838226e-02 3.70249638e+02] [ 9.97105708e-02 9.95002792e-01 -5.21985165e-03 2.91731456e+01] [ 5.61257427e-02 -3.86638706e-04 9.98423633e-01 2.07797932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.31, Y:29.17, Z:20.78 [[ 9.92944006e-01 -1.04590523e-01 -5.58840106e-02 3.70310968e+02] [ 1.04462352e-01 9.94515154e-01 -5.21783906e-03 2.91718573e+01] [ 5.61232319e-02 -6.56753138e-04 9.98423633e-01 2.07799035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.37, Y:29.18, Z:20.78 [[ 9.92141295e-01 -1.11949175e-01 -5.58841095e-02 3.70371837e+02] [ 1.11832715e-01 9.93713354e-01 -5.21677905e-03 2.91758015e+01] [ 5.61168000e-02 -1.07388979e-03 9.98423633e-01 2.07832779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.43, Y:29.18, Z:20.79 [[ 9.91718306e-01 -1.15636205e-01 -5.58844250e-02 3.70431952e+02] [ 1.15525780e-01 9.93290801e-01 -5.21339692e-03 2.91779095e+01] [ 5.61123427e-02 -1.28587062e-03 9.98423633e-01 2.07907875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.49, Y:29.18, Z:20.79 [[ 9.91760806e-01 -1.15271084e-01 -5.58845303e-02 3.70493917e+02] [ 1.15160143e-01 9.93333264e-01 -5.21226832e-03 2.91817514e+01] [ 5.61127867e-02 -1.26634709e-03 9.98423633e-01 2.07944085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.56, Y:29.18, Z:20.80 [[ 9.92413388e-01 -1.09510481e-01 -5.58849022e-02 3.70555857e+02] [ 1.09390637e-01 9.93985192e-01 -5.20827726e-03 2.91845359e+01] [ 5.61191262e-02 -9.44520986e-04 9.98423633e-01 2.07995575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.62, Y:29.19, Z:20.80 [[ 9.92839619e-01 -1.05576167e-01 -5.58852833e-02 3.70617005e+02] [ 1.05450324e-01 9.94410954e-01 -5.20418543e-03 2.91882116e+01] [ 5.61223758e-02 -7.26199748e-04 9.98423633e-01 2.08026386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.68, Y:29.19, Z:20.81 [[ 9.93213692e-01 -1.01996946e-01 -5.58854710e-02 3.70676048e+02] [ 1.01865554e-01 9.94784573e-01 -5.20216895e-03 2.91918370e+01] [ 5.61246097e-02 -5.25939008e-04 9.98423633e-01 2.08050024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.74, Y:29.19, Z:20.81 [[ 9.93510715e-01 -9.90620153e-02 -5.58853785e-02 3.70736413e+02] [ 9.89259265e-02 9.95081197e-01 -5.20316249e-03 2.91942209e+01] [ 5.61259251e-02 -3.59115157e-04 9.98423633e-01 2.08092076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.80, Y:29.20, Z:20.81 [[ 9.93541680e-01 -9.87509688e-02 -5.58853785e-02 3.70795989e+02] [ 9.86143884e-02 9.95112119e-01 -5.20316249e-03 2.91960799e+01] [ 5.61260348e-02 -3.41543614e-04 9.98423633e-01 2.08135599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.85, Y:29.20, Z:20.82 [[ 9.93522539e-01 -9.89434700e-02 -5.58851913e-02 3.70854444e+02] [ 9.88070808e-02 9.95092994e-01 -5.20517224e-03 2.91984789e+01] [ 5.61259801e-02 -3.50396674e-04 9.98423633e-01 2.08166478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.91, Y:29.20, Z:20.82 [[ 9.93331835e-01 -1.00840220e-01 -5.58848405e-02 3.70913545e+02] [ 1.00706618e-01 9.94902530e-01 -5.20893557e-03 2.91987727e+01] [ 5.61252394e-02 -4.53771776e-04 9.98423633e-01 2.08205952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.97, Y:29.20, Z:20.82 [[ 9.93028738e-01 -1.03783228e-01 -5.58835162e-02 3.70972333e+02] [ 1.03653484e-01 9.94599756e-01 -5.22310473e-03 2.91998432e+01] [ 5.61238023e-02 -6.05828034e-04 9.98423633e-01 2.08248520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.03, Y:29.20, Z:20.83 [[ 9.92366092e-01 -1.09939618e-01 -5.58822008e-02 3.71031966e+02] [ 1.09818828e-01 9.93937824e-01 -5.23714103e-03 2.91984705e+01] [ 5.61192023e-02 -9.39756642e-04 9.98423634e-01 2.08295018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.09, Y:29.20, Z:20.83 [[ 9.91740465e-01 -1.15447183e-01 -5.58820103e-02 3.71092054e+02] [ 1.15335006e-01 9.93312835e-01 -5.23917275e-03 2.91993932e+01] [ 5.61131658e-02 -1.24925240e-03 9.98423634e-01 2.08322334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.15, Y:29.20, Z:20.83 [[ 9.90585622e-01 -1.24969390e-01 -5.58818206e-02 3.71152585e+02] [ 1.24872211e-01 9.92158990e-01 -5.24119539e-03 2.91967773e+01] [ 5.60986397e-02 -1.78623368e-03 9.98423634e-01 2.08348023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.21, Y:29.19, Z:20.84 [[ 9.89153386e-01 -1.35841168e-01 -5.58816281e-02 3.71213085e+02] [ 1.35761159e-01 9.90727720e-01 -5.24324700e-03 2.91945377e+01] [ 5.60757268e-02 -2.40017906e-03 9.98423634e-01 2.08379903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.27, Y:29.20, Z:20.84 [[ 9.88154196e-01 -1.42928407e-01 -5.58816281e-02 3.71273263e+02] [ 1.42859685e-01 9.89729063e-01 -5.24324700e-03 2.91964259e+01] [ 5.60570804e-02 -2.80209525e-03 9.98423634e-01 2.08410130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.33, Y:29.20, Z:20.85 [[ 9.86943743e-01 -1.51060519e-01 -5.58817238e-02 3.71334892e+02] [ 1.51004825e-01 9.88519126e-01 -5.24222646e-03 2.91976596e+01] [ 5.60320462e-02 -3.26462735e-03 9.98423634e-01 2.08450142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.39, Y:29.20, Z:20.85 [[ 9.86404961e-01 -1.54539526e-01 -5.58819172e-02 3.71394854e+02] [ 1.54489504e-01 9.87980533e-01 -5.24016471e-03 2.92008698e+01] [ 5.60200589e-02 -3.46424519e-03 9.98423634e-01 2.08481997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.46, Y:29.20, Z:20.85 [[ 9.86014322e-01 -1.57012603e-01 -5.58820125e-02 3.71456319e+02] [ 1.56966589e-01 9.87590017e-01 -5.23914753e-03 2.92048762e+01] [ 5.60111299e-02 -3.60573439e-03 9.98423634e-01 2.08523742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.52, Y:29.21, Z:20.86 [[ 9.86076045e-01 -1.56624435e-01 -5.58822001e-02 3.71516588e+02] [ 1.56577914e-01 9.87651725e-01 -5.23714600e-03 2.92106987e+01] [ 5.60124164e-02 -3.58569408e-03 9.98423634e-01 2.08563880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.58, Y:29.22, Z:20.86 [[ 9.86246754e-01 -1.55545842e-01 -5.58822927e-02 3.71576179e+02] [ 1.55497654e-01 9.87822384e-01 -5.23615805e-03 2.92167000e+01] [ 5.60162422e-02 -3.52542151e-03 9.98423634e-01 2.08599862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.64, Y:29.22, Z:20.86 [[ 9.86599104e-01 -1.53295033e-01 -5.58823834e-02 3.71637496e+02] [ 1.53243304e-01 9.88174621e-01 -5.23518919e-03 2.92244368e+01] [ 5.60240816e-02 -3.39856813e-03 9.98423634e-01 2.08624581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.70, Y:29.23, Z:20.87 [[ 9.86901412e-01 -1.51336445e-01 -5.58827735e-02 3.71698283e+02] [ 1.51281824e-01 9.88476831e-01 -5.23102190e-03 2.92317891e+01] [ 5.60304712e-02 -3.29154501e-03 9.98423634e-01 2.08658091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.76, Y:29.24, Z:20.87 [[ 9.87400699e-01 -1.48043722e-01 -5.58830613e-02 3.71758872e+02] [ 1.47984020e-01 9.88975934e-01 -5.22794599e-03 2.92407425e+01] [ 5.60409673e-02 -3.10772254e-03 9.98423634e-01 2.08690746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.82, Y:29.25, Z:20.87 [[ 9.87543613e-01 -1.47087303e-01 -5.58832517e-02 3.71819602e+02] [ 1.47026190e-01 9.89118794e-01 -5.22591019e-03 2.92474959e+01] [ 5.60438396e-02 -3.05548736e-03 9.98423634e-01 2.08728105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.88, Y:29.26, Z:20.88 [[ 9.88008029e-01 -1.43934621e-01 -5.58834410e-02 3.71879504e+02] [ 1.43868595e-01 9.89583012e-01 -5.22388477e-03 2.92565234e+01] [ 5.60532018e-02 -2.87863202e-03 9.98423634e-01 2.08761664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.94, Y:29.26, Z:20.88 [[ 9.88364470e-01 -1.41466270e-01 -5.58835341e-02 3.71940511e+02] [ 1.41396367e-01 9.89939285e-01 -5.22288916e-03 2.92645498e+01] [ 5.60601684e-02 -2.73961061e-03 9.98423634e-01 2.08794928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.00, Y:29.27, Z:20.88 [[ 9.88820418e-01 -1.38243234e-01 -5.58837188e-02 3.72001157e+02] [ 1.38168308e-01 9.90395002e-01 -5.22091188e-03 2.92730681e+01] [ 5.60687115e-02 -2.55881463e-03 9.98423634e-01 2.08836639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.06, Y:29.28, Z:20.89 [[ 9.89245950e-01 -1.35164489e-01 -5.58839057e-02 3.72061913e+02] [ 1.35084774e-01 9.90820300e-01 -5.21891029e-03 2.92810982e+01] [ 5.60763196e-02 -2.38627893e-03 9.98423634e-01 2.08880448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.12, Y:29.29, Z:20.89 [[ 9.89460446e-01 -1.33585151e-01 -5.58840971e-02 3.72121547e+02] [ 1.33503040e-01 9.91034673e-01 -5.21686000e-03 2.92893099e+01] [ 5.60799729e-02 -2.29882021e-03 9.98423634e-01 2.08909328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.18, Y:29.30, Z:20.89 [[ 9.89457264e-01 -1.33608684e-01 -5.58841911e-02 3.72183398e+02] [ 1.33526667e-01 9.91031495e-01 -5.21585248e-03 2.92965497e+01] [ 5.60798767e-02 -2.30116666e-03 9.98423634e-01 2.08937342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.24, Y:29.30, Z:20.90 [[ 9.89245242e-01 -1.35169390e-01 -5.58845814e-02 3.72244598e+02] [ 1.35090092e-01 9.90819613e-01 -5.21166767e-03 2.93032375e+01] [ 5.60759973e-02 -2.39383579e-03 9.98423634e-01 2.08959026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.31, Y:29.31, Z:20.90 [[ 9.88664169e-01 -1.39355810e-01 -5.58848696e-02 3.72306767e+02] [ 1.39283352e-01 9.90238869e-01 -5.20857603e-03 2.93107263e+01] [ 5.60652154e-02 -2.63429946e-03 9.98423634e-01 2.08988567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.37, Y:29.32, Z:20.90 [[ 9.88095890e-01 -1.43329521e-01 -5.58852469e-02 3.72367477e+02] [ 1.43263623e-01 9.89670878e-01 -5.20452424e-03 2.93175124e+01] [ 5.60539633e-02 -2.86375392e-03 9.98423634e-01 2.09030115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.43, Y:29.32, Z:20.91 [[ 9.87265610e-01 -1.48941007e-01 -5.58855256e-02 3.72428166e+02] [ 1.48884227e-01 9.88840953e-01 -5.20152945e-03 2.93243744e+01] [ 5.60366175e-02 -3.18518216e-03 9.98423634e-01 2.09077925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.49, Y:29.33, Z:20.91 [[ 9.86773707e-01 -1.52165791e-01 -5.58858005e-02 3.72489780e+02] [ 1.52114325e-01 9.88349233e-01 -5.19857458e-03 2.93309329e+01] [ 5.60257333e-02 -3.37121412e-03 9.98423634e-01 2.09119776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.55, Y:29.34, Z:20.92 [[ 9.86111203e-01 -1.56401508e-01 -5.58861692e-02 3.72551032e+02] [ 1.56357031e-01 9.87686942e-01 -5.19460835e-03 2.93377412e+01] [ 5.60104841e-02 -3.61573401e-03 9.98423634e-01 2.09165047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.61, Y:29.34, Z:20.92 [[ 9.85740242e-01 -1.58722610e-01 -5.58865605e-02 3.72611948e+02] [ 1.58682081e-01 9.87316088e-01 -5.19039516e-03 2.93439016e+01] [ 5.60015333e-02 -3.75181436e-03 9.98423634e-01 2.09197611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.67, Y:29.35, Z:20.92 [[ 9.85193163e-01 -1.62083594e-01 -5.58868495e-02 3.72673594e+02] [ 1.62048615e-01 9.86769141e-01 -5.18728151e-03 2.93506456e+01] [ 5.59881917e-02 -3.94591227e-03 9.98423634e-01 2.09215875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.74, Y:29.36, Z:20.92 [[ 9.84943350e-01 -1.63594673e-01 -5.58872186e-02 3.72735602e+02] [ 1.63562337e-01 9.86519384e-01 -5.18330112e-03 2.93569593e+01] [ 5.59817849e-02 -4.03578611e-03 9.98423634e-01 2.09245889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.80, Y:29.36, Z:20.93 [[ 9.84863469e-01 -1.64074752e-01 -5.58875973e-02 3.72797594e+02] [ 1.64043415e-01 9.86439524e-01 -5.17921482e-03 2.93648318e+01] [ 5.59795133e-02 -4.06717283e-03 9.98423634e-01 2.09285026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.86, Y:29.37, Z:20.93 [[ 9.85053332e-01 -1.62930861e-01 -5.58879863e-02 3.72859678e+02] [ 1.62897931e-01 9.86629355e-01 -5.17501360e-03 2.93723662e+01] [ 5.59838973e-02 -4.00637293e-03 9.98423634e-01 2.09319304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.92, Y:29.38, Z:20.93 [[ 9.85708330e-01 -1.58919971e-01 -5.58885673e-02 3.72921226e+02] [ 1.58880980e-01 9.87284214e-01 -5.16873206e-03 2.93823652e+01] [ 5.59993149e-02 -3.78476809e-03 9.98423634e-01 2.09349537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.98, Y:29.39, Z:20.94 [[ 9.86001130e-01 -1.57092923e-01 -5.58890433e-02 3.72983885e+02] [ 1.57051303e-01 9.87576947e-01 -5.16357904e-03 2.93902272e+01] [ 5.60058925e-02 -3.68615230e-03 9.98423634e-01 2.09387620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.05, Y:29.40, Z:20.94 [[ 9.86196509e-01 -1.55861462e-01 -5.58896213e-02 3.73045433e+02] [ 1.55818227e-01 9.87772283e-01 -5.15731527e-03 2.93975180e+01] [ 5.60100455e-02 -3.62249541e-03 9.98423634e-01 2.09415494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.11, Y:29.40, Z:20.94 [[ 9.86117174e-01 -1.56362450e-01 -5.58900946e-02 3.73107587e+02] [ 1.56320305e-01 9.87692977e-01 -5.15218162e-03 2.94048339e+01] [ 5.60078617e-02 -3.65610187e-03 9.98423634e-01 2.09446519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.17, Y:29.41, Z:20.95 [[ 9.86007505e-01 -1.57052325e-01 -5.58906643e-02 3.73169361e+02] [ 1.57011632e-01 9.87583346e-01 -5.14599365e-03 2.94109665e+01] [ 5.60048796e-02 -3.70149608e-03 9.98423634e-01 2.09471464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.23, Y:29.42, Z:20.95 [[ 9.86055132e-01 -1.56752858e-01 -5.58911320e-02 3.73230813e+02] [ 1.56711973e-01 9.87630968e-01 -5.14090977e-03 2.94176389e+01] [ 5.60056650e-02 -3.68958911e-03 9.98423634e-01 2.09499887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.29, Y:29.42, Z:20.95 [[ 9.86395441e-01 -1.54596806e-01 -5.58915110e-02 3.73292783e+02] [ 1.54552709e-01 9.87971191e-01 -5.13678515e-03 2.94246941e+01] [ 5.60133333e-02 -3.57128300e-03 9.98423634e-01 2.09525991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.35, Y:29.43, Z:20.96 [[ 9.87400926e-01 -1.48038874e-01 -5.58918873e-02 3.73354597e+02] [ 1.47984538e-01 9.88976356e-01 -5.13268756e-03 2.94337607e+01] [ 5.60355923e-02 -3.20311470e-03 9.98423634e-01 2.09563584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.42, Y:29.44, Z:20.96 [[ 9.88322994e-01 -1.41752297e-01 -5.58922656e-02 3.73416505e+02] [ 1.41688169e-01 9.89898056e-01 -5.12856512e-03 2.94420159e+01] [ 5.60546309e-02 -2.85059396e-03 9.98423634e-01 2.09607876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.48, Y:29.45, Z:20.97 [[ 9.89758830e-01 -1.31352391e-01 -5.58928256e-02 3.73477747e+02] [ 1.31272050e-01 9.91333147e-01 -5.12245504e-03 2.94509744e+01] [ 5.60812574e-02 -2.26717071e-03 9.98423634e-01 2.09658225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.54, Y:29.46, Z:20.97 [[ 9.90706940e-01 -1.23998828e-01 -5.58931962e-02 3.73538715e+02] [ 1.23907026e-01 9.92280631e-01 -5.11840827e-03 2.94587040e+01] [ 5.60964126e-02 -1.85471713e-03 9.98423634e-01 2.09696191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.60, Y:29.47, Z:20.97 [[ 9.91834388e-01 -1.14631876e-01 -5.58934696e-02 3.73599197e+02] [ 1.14525376e-01 9.93407153e-01 -5.11542086e-03 2.94654043e+01] [ 5.61113627e-02 -1.32757032e-03 9.98423634e-01 2.09729276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.66, Y:29.47, Z:20.98 [[ 9.92405234e-01 -1.09579846e-01 -5.58937330e-02 3.73659886e+02] [ 1.09465502e-01 9.93977447e-01 -5.11254064e-03 2.94709560e+01] [ 5.61173415e-02 -1.04472344e-03 9.98423634e-01 2.09761487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.72, Y:29.48, Z:20.98 [[ 9.93055566e-01 -1.03520592e-01 -5.58939144e-02 3.73721721e+02] [ 1.03396765e-01 9.94627061e-01 -5.11055682e-03 2.94752463e+01] [ 5.61226477e-02 -7.04183032e-04 9.98423634e-01 2.09785012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.78, Y:29.48, Z:20.98 [[ 9.93289935e-01 -1.01246890e-01 -5.58942928e-02 3.73781869e+02] [ 1.01119699e-01 9.94861162e-01 -5.10641451e-03 2.94803138e+01] [ 5.61240697e-02 -5.79863953e-04 9.98423634e-01 2.09813300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.84, Y:29.48, Z:20.98 [[ 9.93818494e-01 -9.59198559e-02 -5.58943854e-02 3.73842381e+02] [ 9.57842994e-02 9.95389021e-01 -5.10540079e-03 2.94843119e+01] [ 5.61263669e-02 -2.79962825e-04 9.98423634e-01 2.09839357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.90, Y:29.49, Z:20.99 [[ 9.94014698e-01 -9.38647850e-02 -5.58943854e-02 3.73901424e+02] [ 9.37259815e-02 9.95584941e-01 -5.10540079e-03 2.94876313e+01] [ 5.61268258e-02 -1.63912713e-04 9.98423634e-01 2.09862717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.96, Y:29.49, Z:20.99 [[ 9.93929586e-01 -9.47618443e-02 -5.58942927e-02 3.73960749e+02] [ 9.46244009e-02 9.95499948e-01 -5.10641556e-03 2.94895725e+01] [ 5.61266589e-02 -2.13546467e-04 9.98423634e-01 2.09894348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.02, Y:29.49, Z:20.99 [[ 9.93608467e-01 -9.80717235e-02 -5.58941026e-02 3.74019158e+02] [ 9.79393942e-02 9.95179269e-01 -5.10849608e-03 2.94920318e+01] [ 5.61256512e-02 -3.98389582e-04 9.98423634e-01 2.09928965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.08, Y:29.49, Z:21.00 [[ 9.92690489e-01 -1.06964829e-01 -5.58938214e-02 3.74078390e+02] [ 1.06846398e-01 9.94262400e-01 -5.11157015e-03 2.94922086e+01] [ 5.61198833e-02 -8.97846414e-04 9.98423634e-01 2.09958035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.14, Y:29.49, Z:21.00 [[ 9.91293792e-01 -1.19216350e-01 -5.58934663e-02 3.74137892e+02] [ 1.19117122e-01 9.92867032e-01 -5.11545037e-03 2.94911683e+01] [ 5.61046253e-02 -1.58695466e-03 9.98423634e-01 2.09984206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.20, Y:29.49, Z:21.00 [[ 9.90245959e-01 -1.27627906e-01 -5.58932823e-02 3.74198813e+02] [ 1.27541924e-01 9.91819978e-01 -5.11746040e-03 2.94924959e+01] [ 5.60892048e-02 -2.06119230e-03 9.98423634e-01 2.10016907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.26, Y:29.49, Z:21.00 [[ 9.88860173e-01 -1.37954626e-01 -5.58934669e-02 3.74259914e+02] [ 1.37885189e-01 9.90435009e-01 -5.11544364e-03 2.94926869e+01] [ 5.60645455e-02 -2.64842276e-03 9.98423634e-01 2.10042233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.32, Y:29.50, Z:21.01 [[ 9.88322831e-01 -1.41752888e-01 -5.58936488e-02 3.74320512e+02] [ 1.41689614e-01 9.89897927e-01 -5.11345445e-03 2.94956849e+01] [ 5.60538541e-02 -2.86580575e-03 9.98423634e-01 2.10074382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.38, Y:29.50, Z:21.01 [[ 9.88100660e-01 -1.43293318e-01 -5.58937385e-02 3.74381774e+02] [ 1.43232555e-01 9.89675855e-01 -5.11247372e-03 2.94991096e+01] [ 5.60492668e-02 -2.95416430e-03 9.98423634e-01 2.10106975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.44, Y:29.50, Z:21.01 [[ 9.88353716e-01 -1.41537280e-01 -5.58939210e-02 3.74443387e+02] [ 1.41473830e-01 9.89928805e-01 -5.11047826e-03 2.95039388e+01] [ 5.60543256e-02 -2.85656690e-03 9.98423634e-01 2.10132696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.50, Y:29.51, Z:21.02 [[ 9.89157884e-01 -1.35803196e-01 -5.58942955e-02 3.74504869e+02] [ 1.35730844e-01 9.90732589e-01 -5.10637874e-03 2.95102640e+01] [ 5.60697627e-02 -2.53556513e-03 9.98423634e-01 2.10164492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.57, Y:29.52, Z:21.02 [[ 9.90206948e-01 -1.27929614e-01 -5.58946635e-02 3.74565965e+02] [ 1.27844964e-01 9.91781040e-01 -5.10234813e-03 2.95177702e+01] [ 5.60880089e-02 -2.09347066e-03 9.98423634e-01 2.10198459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.63, Y:29.53, Z:21.02 [[ 9.90982313e-01 -1.21777753e-01 -5.58948470e-02 3.74627147e+02] [ 1.21683443e-01 9.92555856e-01 -5.10033685e-03 2.95252424e+01] [ 5.60998652e-02 -1.74713381e-03 9.98423634e-01 2.10227670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.69, Y:29.53, Z:21.03 [[ 9.91581552e-01 -1.16797995e-01 -5.58950280e-02 3.74687643e+02] [ 1.16695892e-01 9.93154608e-01 -5.09835279e-03 2.95322115e+01] [ 5.61078820e-02 -1.46728758e-03 9.98423634e-01 2.10261854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.75, Y:29.54, Z:21.03 [[ 9.92223345e-01 -1.11214116e-01 -5.58950280e-02 3.74747962e+02] [ 1.11103160e-01 9.93795801e-01 -5.09835279e-03 2.95386925e+01] [ 5.61152529e-02 -1.15140957e-03 9.98423634e-01 2.10306615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.81, Y:29.54, Z:21.04 [[ 9.92334553e-01 -1.10217426e-01 -5.58950280e-02 3.74807753e+02] [ 1.10104891e-01 9.93906897e-01 -5.09835279e-03 2.95448880e+01] [ 5.61163811e-02 -1.09504432e-03 9.98423634e-01 2.10351860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.87, Y:29.55, Z:21.04 [[ 9.92044862e-01 -1.12795117e-01 -5.58950280e-02 3.74866562e+02] [ 1.12686667e-01 9.93617493e-01 -5.09835279e-03 2.95501183e+01] [ 5.61133468e-02 -1.24082969e-03 9.98423634e-01 2.10395195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.93, Y:29.55, Z:21.04 [[ 9.91539935e-01 -1.17150815e-01 -5.58949355e-02 3.74927271e+02] [ 1.17049215e-01 9.93113024e-01 -5.09936617e-03 2.95544464e+01] [ 5.61073833e-02 -1.48623315e-03 9.98423634e-01 2.10437432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.99, Y:29.56, Z:21.05 [[ 9.90505618e-01 -1.25596086e-01 -5.58949355e-02 3.74986929e+02] [ 1.25507895e-01 9.92079515e-01 -5.09936617e-03 2.95576998e+01] [ 5.60926810e-02 -1.96430487e-03 9.98423634e-01 2.10481985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.05, Y:29.56, Z:21.05 [[ 9.89120846e-01 -1.36072249e-01 -5.58953965e-02 3.75047948e+02] [ 1.36001006e-01 9.90695601e-01 -5.09430794e-03 2.95600548e+01] [ 5.60685174e-02 -2.56294397e-03 9.98423634e-01 2.10502956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.11, Y:29.56, Z:21.05 [[ 9.87613584e-01 -1.46612050e-01 -5.58955796e-02 3.75109359e+02] [ 1.46557717e-01 9.89189013e-01 -5.09229854e-03 2.95633289e+01] [ 5.60378855e-02 -3.16270533e-03 9.98423634e-01 2.10522352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.805099893 meters Centerline goodness : 0.998644 with order 1 Centerline is valid? [True, True] Translation: X:375.17, Y:29.57, Z:21.05 [[ 9.87023247e-01 -1.50534958e-01 -5.58957608e-02 3.75168833e+02] [ 1.50486998e-01 9.88598883e-01 -5.09030824e-03 2.95683408e+01] [ 5.60247561e-02 -3.38733267e-03 9.98423634e-01 2.10534453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.23, Y:29.57, Z:21.06 [[ 9.85935026e-01 -1.57504959e-01 -5.58955476e-02 3.75227605e+02] [ 1.57468000e-01 9.87510959e-01 -5.09264905e-03 2.95737994e+01] [ 5.59995832e-02 -3.78073901e-03 9.98423634e-01 2.10613563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.29, Y:29.58, Z:21.07 [[ 9.85814418e-01 -1.58258162e-01 -5.58953275e-02 3.75289104e+02] [ 1.58222271e-01 9.87390375e-01 -5.09506311e-03 2.95801030e+01] [ 5.59968437e-02 -3.82109898e-03 9.98423634e-01 2.10650840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.35, Y:29.59, Z:21.07 [[ 9.86324644e-01 -1.55046337e-01 -5.58957057e-02 3.75349304e+02] [ 1.55005547e-01 9.87900482e-01 -5.09091076e-03 2.95883796e+01] [ 5.60087217e-02 -3.64285372e-03 9.98423634e-01 2.10692261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.41, Y:29.60, Z:21.07 [[ 9.86880534e-01 -1.51467528e-01 -5.58963269e-02 3.75410880e+02] [ 1.51421408e-01 9.88456225e-01 -5.08408105e-03 2.95964070e+01] [ 5.60211455e-02 -3.44651988e-03 9.98423634e-01 2.10737103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.47, Y:29.61, Z:21.08 [[ 9.87537030e-01 -1.47126385e-01 -5.58966985e-02 3.75472034e+02] [ 1.47073567e-01 9.89112511e-01 -5.07999234e-03 2.96059823e+01] [ 5.60355247e-02 -3.20424626e-03 9.98423634e-01 2.10775878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.53, Y:29.61, Z:21.08 [[ 9.87890891e-01 -1.44731150e-01 -5.58970660e-02 3.75533273e+02] [ 1.44674740e-01 9.89466247e-01 -5.07594485e-03 2.96141184e+01] [ 5.60429075e-02 -3.07241382e-03 9.98423634e-01 2.10806803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.59, Y:29.62, Z:21.08 [[ 9.88513914e-01 -1.40412670e-01 -5.58974405e-02 3.75593415e+02] [ 1.40349609e-01 9.90089018e-01 -5.07181755e-03 2.96237729e+01] [ 5.60555895e-02 -2.83162169e-03 9.98423634e-01 2.10831778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.65, Y:29.63, Z:21.09 [[ 9.89179893e-01 -1.35641381e-01 -5.58977169e-02 3.75653719e+02] [ 1.35570893e-01 9.90754682e-01 -5.06876938e-03 2.96324426e+01] [ 5.60684597e-02 -2.56417863e-03 9.98423634e-01 2.10867204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.71, Y:29.64, Z:21.09 [[ 9.90015551e-01 -1.29401018e-01 -5.58979864e-02 3.75714857e+02] [ 1.29320768e-01 9.91589873e-01 -5.06579542e-03 2.96413950e+01] [ 5.60833964e-02 -2.21355428e-03 9.98423634e-01 2.10916868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.78, Y:29.65, Z:21.10 [[ 9.90953302e-01 -1.22011999e-01 -5.58983476e-02 3.75776650e+02] [ 1.21920232e-01 9.92526995e-01 -5.06180717e-03 2.96506440e+01] [ 5.60982202e-02 -1.79912497e-03 9.98423634e-01 2.10959993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.84, Y:29.66, Z:21.10 [[ 9.91879607e-01 -1.14237382e-01 -5.58987074e-02 3.75838493e+02] [ 1.14133501e-01 9.93452547e-01 -5.05783094e-03 2.96590386e+01] [ 5.61105066e-02 -1.36315581e-03 9.98423634e-01 2.11009671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.90, Y:29.67, Z:21.10 [[ 9.93013690e-01 -1.03918740e-01 -5.58990796e-02 3.75898161e+02] [ 1.03798742e-01 9.94585482e-01 -5.05371333e-03 2.96675544e+01] [ 5.61215886e-02 -7.83847641e-04 9.98423634e-01 2.11036524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.96, Y:29.67, Z:21.11 [[ 9.93673513e-01 -9.74074399e-02 -5.58993844e-02 3.75957834e+02] [ 9.72773318e-02 9.95244500e-01 -5.05034036e-03 2.96740768e+01] [ 5.61254956e-02 -4.19353515e-04 9.98423634e-01 2.11087749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.02, Y:29.68, Z:21.11 [[ 9.93971594e-01 -9.43171777e-02 -5.58993844e-02 3.76018812e+02] [ 9.41821852e-02 9.95542169e-01 -5.05034036e-03 2.96766738e+01] [ 5.61265282e-02 -2.44831318e-04 9.98423634e-01 2.11078220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.08, Y:29.68, Z:21.11 [[ 9.93756371e-01 -9.65584477e-02 -5.58993844e-02 3.76076636e+02] [ 9.64269974e-02 9.95327247e-01 -5.05034036e-03 2.96822112e+01] [ 5.61258334e-02 -3.71401881e-04 9.98423634e-01 2.11146294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.14, Y:29.68, Z:21.12 [[ 9.93451780e-01 -9.96436241e-02 -5.58991049e-02 3.76136442e+02] [ 9.95168781e-02 9.95023042e-01 -5.05343201e-03 2.96846904e+01] [ 5.61244397e-02 -5.42563384e-04 9.98423634e-01 2.11167925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.20, Y:29.69, Z:21.12 [[ 9.93211265e-01 -1.02013199e-01 -5.58989222e-02 3.76195622e+02] [ 1.01890088e-01 9.94782817e-01 -5.05545227e-03 2.96876958e+01] [ 5.61230101e-02 -6.74413926e-04 9.98423634e-01 2.11203058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.26, Y:29.69, Z:21.12 [[ 9.92991464e-01 -1.04131084e-01 -5.58987416e-02 3.76255819e+02] [ 1.04011213e-01 9.94563266e-01 -5.05744777e-03 2.96894047e+01] [ 5.61214726e-02 -7.92093434e-04 9.98423634e-01 2.11248505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.32, Y:29.69, Z:21.13 [[ 9.93005906e-01 -1.03993277e-01 -5.58987416e-02 3.76316440e+02] [ 1.03873187e-01 9.94577691e-01 -5.05744777e-03 2.96926494e+01] [ 5.61215819e-02 -7.84304941e-04 9.98423634e-01 2.11287940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.38, Y:29.69, Z:21.13 [[ 9.93177026e-01 -1.02346110e-01 -5.58987416e-02 3.76376452e+02] [ 1.02223413e-01 9.94748609e-01 -5.05744777e-03 2.96943646e+01] [ 5.61228056e-02 -6.91219227e-04 9.98423634e-01 2.11325410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.44, Y:29.70, Z:21.13 [[ 9.93432754e-01 -9.98333284e-02 -5.58987416e-02 3.76436418e+02] [ 9.97066565e-02 9.95004023e-01 -5.05744777e-03 2.96962481e+01] [ 5.61243746e-02 -5.49242362e-04 9.98423634e-01 2.11341092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.49, Y:29.70, Z:21.14 [[ 9.93715490e-01 -9.69787466e-02 -5.58985556e-02 3.76494470e+02] [ 9.68474453e-02 9.95286378e-01 -5.05950289e-03 2.96979491e+01] [ 5.61257352e-02 -3.85925919e-04 9.98423634e-01 2.11394157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.55, Y:29.70, Z:21.14 [[ 9.94002292e-01 -9.39937510e-02 -5.58982814e-02 3.76551853e+02] [ 9.38575619e-02 9.95572764e-01 -5.06253093e-03 2.97005284e+01] [ 5.61266528e-02 -2.14309055e-04 9.98423634e-01 2.11425660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.61, Y:29.70, Z:21.15 [[ 9.94421532e-01 -8.94503371e-02 -5.58968200e-02 3.76610801e+02] [ 8.93060685e-02 9.95991282e-01 -5.07861546e-03 2.97018292e+01] [ 5.61270293e-02 5.83593334e-05 9.98423634e-01 2.11455879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.67, Y:29.70, Z:21.15 [[ 9.94670398e-01 -8.66400187e-02 -5.58954897e-02 3.76668240e+02] [ 8.64904946e-02 9.96239657e-01 -5.09321453e-03 2.97042158e+01] [ 5.61265797e-02 2.31641170e-04 9.98423634e-01 2.11468482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.73, Y:29.71, Z:21.15 [[ 9.94962483e-01 -8.32190076e-02 -5.58950230e-02 3.76725688e+02] [ 8.30638006e-02 9.96531190e-01 -5.09833110e-03 2.97057005e+01] [ 5.61254119e-02 4.29795120e-04 9.98423634e-01 2.11511171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.78, Y:29.71, Z:21.15 [[ 9.95023915e-01 -8.24822348e-02 -5.58935514e-02 3.76783778e+02] [ 8.23249629e-02 9.96592416e-01 -5.11441469e-03 2.97066981e+01] [ 5.61249377e-02 4.87530389e-04 9.98423634e-01 2.11547012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.84, Y:29.71, Z:21.16 [[ 9.94872956e-01 -8.42844983e-02 -5.58920815e-02 3.76841378e+02] [ 8.41291682e-02 9.96441650e-01 -5.13042793e-03 2.97086593e+01] [ 5.61256134e-02 4.01969675e-04 9.98423635e-01 2.11581082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.90, Y:29.71, Z:21.16 [[ 9.94382433e-01 -8.98878033e-02 -5.58906123e-02 3.76899864e+02] [ 8.97404161e-02 9.95951893e-01 -5.14638335e-03 2.97076261e+01] [ 5.61269582e-02 1.01826391e-04 9.98423635e-01 2.11600942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.96, Y:29.71, Z:21.16 [[ 9.93858892e-01 -9.55034162e-02 -5.58891790e-02 3.76958763e+02] [ 9.53640242e-02 9.95429082e-01 -5.16190270e-03 2.97078300e+01] [ 5.61266935e-02 -1.99614115e-04 9.98423635e-01 2.11646451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.02, Y:29.71, Z:21.17 [[ 9.93285572e-01 -1.01293252e-01 -5.58878362e-02 3.77016356e+02] [ 1.01162197e-01 9.94856480e-01 -5.17640003e-03 2.97082503e+01] [ 5.61247104e-02 -5.12092815e-04 9.98423635e-01 2.11680762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.07, Y:29.71, Z:21.17 [[ 9.92534697e-01 -1.08404766e-01 -5.58863342e-02 3.77074559e+02] [ 1.08284055e-01 9.94106433e-01 -5.19256619e-03 2.97064924e+01] [ 5.61198633e-02 -8.97796764e-04 9.98423635e-01 2.11711101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.13, Y:29.71, Z:21.17 [[ 9.92148112e-01 -1.11888371e-01 -5.58848467e-02 3.77133003e+02] [ 1.11772279e-01 9.93720196e-01 -5.20852576e-03 2.97077741e+01] [ 5.61166743e-02 -1.07874770e-03 9.98423635e-01 2.11737932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.19, Y:29.71, Z:21.18 [[ 9.92000170e-01 -1.13193258e-01 -5.58833547e-02 3.77191257e+02] [ 1.13078335e-01 9.93572340e-01 -5.22448491e-03 2.97081199e+01] [ 5.61155320e-02 -1.13650681e-03 9.98423635e-01 2.11766688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.25, Y:29.71, Z:21.18 [[ 9.92142673e-01 -1.11938077e-01 -5.58818736e-02 3.77249886e+02] [ 1.11820277e-01 9.93714630e-01 -5.24027949e-03 2.97107989e+01] [ 5.61172221e-02 -1.04962167e-03 9.98423635e-01 2.11819266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.31, Y:29.71, Z:21.18 [[ 9.92271640e-01 -1.10789710e-01 -5.58805147e-02 3.77306757e+02] [ 1.10669276e-01 9.93843398e-01 -5.25473069e-03 2.97115210e+01] [ 5.61186507e-02 -9.70135886e-04 9.98423635e-01 2.11840910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.37, Y:29.71, Z:21.18 [[ 9.92291676e-01 -1.10610641e-01 -5.58794682e-02 3.77365378e+02] [ 1.10489299e-01 9.93863364e-01 -5.26583619e-03 2.97143177e+01] [ 5.61190137e-02 -9.48837826e-04 9.98423636e-01 2.11838258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.42, Y:29.72, Z:21.19 [[ 9.92248213e-01 -1.11000523e-01 -5.58781585e-02 3.77424438e+02] [ 1.10879018e-01 9.93819887e-01 -5.27969761e-03 2.97152217e+01] [ 5.61188743e-02 -9.56944799e-04 9.98423636e-01 2.11879593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.48, Y:29.72, Z:21.19 [[ 9.92240053e-01 -1.11074113e-01 -5.58768254e-02 3.77482528e+02] [ 1.10951932e-01 9.93811675e-01 -5.29376788e-03 2.97166605e+01] [ 5.61190420e-02 -9.46953233e-04 9.98423636e-01 2.11909677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.54, Y:29.72, Z:21.19 [[ 9.92185013e-01 -1.11564924e-01 -5.58763570e-02 3.77540312e+02] [ 1.11443242e-01 9.93756674e-01 -5.29870814e-03 2.97187235e+01] [ 5.61186526e-02 -9.69743585e-04 9.98423636e-01 2.11934238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.60, Y:29.72, Z:21.20 [[ 9.92137329e-01 -1.11988917e-01 -5.58748863e-02 3.77597862e+02] [ 1.11867037e-01 9.93708974e-01 -5.31417118e-03 2.97221458e+01] [ 5.61185042e-02 -9.78170365e-04 9.98423636e-01 2.11971061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.66, Y:29.73, Z:21.20 [[ 9.92042174e-01 -1.12829471e-01 -5.58733806e-02 3.77655342e+02] [ 1.12708034e-01 9.93613854e-01 -5.32995556e-03 2.97251453e+01] [ 5.61179411e-02 -1.00983818e-03 9.98423636e-01 2.12016775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.71, Y:29.73, Z:21.20 [[ 9.91873317e-01 -1.14305123e-01 -5.58718324e-02 3.77713637e+02] [ 1.14185113e-01 9.93445106e-01 -5.34613575e-03 2.97253251e+01] [ 5.61166892e-02 -1.07704207e-03 9.98423636e-01 2.12039198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.77, Y:29.73, Z:21.21 [[ 9.91512433e-01 -1.17395079e-01 -5.58702932e-02 3.77771091e+02] [ 1.17279064e-01 9.93084522e-01 -5.36217268e-03 2.97274164e+01] [ 5.61134162e-02 -1.23575480e-03 9.98423636e-01 2.12081420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.83, Y:29.73, Z:21.21 [[ 9.91141573e-01 -1.20486287e-01 -5.58698202e-02 3.77828631e+02] [ 1.20374897e-01 9.92713996e-01 -5.36709703e-03 2.97307320e+01] [ 5.61094141e-02 -1.40577085e-03 9.98423636e-01 2.12125229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.89, Y:29.73, Z:21.22 [[ 9.90747394e-01 -1.23686451e-01 -5.58682583e-02 3.77886916e+02] [ 1.23579226e-01 9.92320107e-01 -5.38330676e-03 2.97331650e+01] [ 5.61050381e-02 -1.57065895e-03 9.98423636e-01 2.12158351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.94, Y:29.74, Z:21.22 [[ 9.90566244e-01 -1.25129646e-01 -5.58666903e-02 3.77944320e+02] [ 1.25023799e-01 9.92139050e-01 -5.39953026e-03 2.97357221e+01] [ 5.61031663e-02 -1.63607342e-03 9.98423637e-01 2.12183439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.00, Y:29.74, Z:21.22 [[ 9.90717675e-01 -1.23925463e-01 -5.58656178e-02 3.78002284e+02] [ 1.23817079e-01 9.92290308e-01 -5.41060398e-03 2.97400115e+01] [ 5.61054227e-02 -1.55673664e-03 9.98423637e-01 2.12216121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.06, Y:29.74, Z:21.22 [[ 9.91255140e-01 -1.19551080e-01 -5.58640102e-02 3.78058763e+02] [ 1.19434823e-01 9.92827210e-01 -5.42715163e-03 2.97442965e+01] [ 5.61121312e-02 -1.29241625e-03 9.98423637e-01 2.12233574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.12, Y:29.75, Z:21.23 [[ 9.91661323e-01 -1.16134214e-01 -5.58629130e-02 3.78116817e+02] [ 1.16011906e-01 9.93232934e-01 -5.43842205e-03 2.97492437e+01] [ 5.61164718e-02 -1.08769019e-03 9.98423637e-01 2.12258291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.17, Y:29.76, Z:21.23 [[ 9.92200543e-01 -1.11434272e-01 -5.58612976e-02 3.78174066e+02] [ 1.11303588e-01 9.93771480e-01 -5.45496461e-03 2.97550525e+01] [ 5.61212344e-02 -8.05143991e-04 9.98423637e-01 2.12287154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.23, Y:29.76, Z:21.23 [[ 9.92122121e-01 -1.12131141e-01 -5.58596860e-02 3.78231723e+02] [ 1.12000633e-01 9.93693072e-01 -5.47141804e-03 2.97611113e+01] [ 5.61208993e-02 -8.28005334e-04 9.98423637e-01 2.12311059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.29, Y:29.77, Z:21.23 [[ 9.91873284e-01 -1.14312128e-01 -5.58580942e-02 3.78287921e+02] [ 1.14184163e-01 9.93444444e-01 -5.48762072e-03 2.97672650e+01] [ 5.61192149e-02 -9.35085328e-04 9.98423637e-01 2.12346044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.35, Y:29.77, Z:21.24 [[ 9.91631323e-01 -1.16392734e-01 -5.58574097e-02 3.78345328e+02] [ 1.16267673e-01 9.93202717e-01 -5.49457903e-03 2.97734752e+01] [ 5.61172602e-02 -1.04581439e-03 9.98423637e-01 2.12381891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.40, Y:29.78, Z:21.24 [[ 9.91398753e-01 -1.18358066e-01 -5.58558865e-02 3.78403202e+02] [ 1.18235250e-01 9.92970324e-01 -5.51002018e-03 2.97795062e+01] [ 5.61153931e-02 -1.14150759e-03 9.98423637e-01 2.12420740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.46, Y:29.79, Z:21.25 [[ 9.90862909e-01 -1.22763948e-01 -5.58543581e-02 3.78460348e+02] [ 1.22647250e-01 9.92434946e-01 -5.52547007e-03 2.97851138e+01] [ 5.61101454e-02 -1.37540007e-03 9.98423637e-01 2.12464983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.225099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.52, Y:29.79, Z:21.25 [[ 9.89897702e-01 -1.30318875e-01 -5.58527493e-02 3.78518370e+02] [ 1.30213258e-01 9.91470523e-01 -5.54168541e-03 2.97906405e+01] [ 5.60985407e-02 -1.78706681e-03 9.98423638e-01 2.12496037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.58, Y:29.80, Z:21.25 [[ 9.89150083e-01 -1.35877746e-01 -5.58511578e-02 3.78575799e+02] [ 1.35780065e-01 9.90723416e-01 -5.55767891e-03 2.97971024e+01] [ 5.60882147e-02 -2.08609526e-03 9.98423638e-01 2.12530826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.63, Y:29.80, Z:21.26 [[ 9.88573536e-01 -1.40011417e-01 -5.58495000e-02 3.78632232e+02] [ 1.39919377e-01 9.90147209e-01 -5.57428833e-03 2.98031270e+01] [ 5.60796906e-02 -2.30383331e-03 9.98423638e-01 2.12553641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.69, Y:29.81, Z:21.26 [[ 9.87830770e-01 -1.45159673e-01 -5.58483673e-02 3.78689525e+02] [ 1.45075193e-01 9.89404866e-01 -5.58561355e-03 2.98103172e+01] [ 5.60674522e-02 -2.58457174e-03 9.98423638e-01 2.12577998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.75, Y:29.82, Z:21.26 [[ 9.87445785e-01 -1.47756434e-01 -5.58467302e-02 3.78746533e+02] [ 1.47675172e-01 9.89020051e-01 -5.60193405e-03 2.98179681e+01] [ 5.60612578e-02 -2.71556931e-03 9.98423638e-01 2.12607732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.80, Y:29.83, Z:21.26 [[ 9.86837469e-01 -1.51766710e-01 -5.58451070e-02 3.78803288e+02] [ 1.51690934e-01 9.88412008e-01 -5.61807011e-03 2.98280537e+01] [ 5.60506103e-02 -2.92707434e-03 9.98423638e-01 2.12636167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.86, Y:29.84, Z:21.27 [[ 9.86420979e-01 -1.54451158e-01 -5.58434635e-02 3.78860194e+02] [ 1.54378747e-01 9.87995676e-01 -5.63435864e-03 2.98366266e+01] [ 5.60433337e-02 -3.06319434e-03 9.98423638e-01 2.12667756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.92, Y:29.85, Z:21.27 [[ 9.85898018e-01 -1.57755492e-01 -5.58417676e-02 3.78917623e+02] [ 1.57687411e-01 9.87472909e-01 -5.65111703e-03 2.98467769e+01] [ 5.60337274e-02 -3.23411868e-03 9.98423638e-01 2.12699103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.97, Y:29.86, Z:21.27 [[ 9.85592513e-01 -1.59653229e-01 -5.58412476e-02 3.78974966e+02] [ 1.59587891e-01 9.87167520e-01 -5.65625072e-03 2.98563969e+01] [ 5.60277046e-02 -3.33682857e-03 9.98423638e-01 2.12747970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.03, Y:29.87, Z:21.28 [[ 9.85376388e-01 -1.60982339e-01 -5.58395958e-02 3.79032153e+02] [ 1.60918207e-01 9.86951444e-01 -5.67251137e-03 2.98657523e+01] [ 5.60241438e-02 -3.39604886e-03 9.98423639e-01 2.12785370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.09, Y:29.88, Z:21.28 [[ 9.85433470e-01 -1.60633128e-01 -5.58379257e-02 3.79088599e+02] [ 1.60567512e-01 9.87008465e-01 -5.68890391e-03 2.98770027e+01] [ 5.60263317e-02 -3.35972047e-03 9.98423639e-01 2.12819005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.15, Y:29.89, Z:21.29 [[ 9.85798671e-01 -1.58376653e-01 -5.58374120e-02 3.79147028e+02] [ 1.58307147e-01 9.87373499e-01 -5.69394053e-03 2.98876319e+01] [ 5.60341681e-02 -3.22638237e-03 9.98423639e-01 2.12866803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.20, Y:29.90, Z:21.29 [[ 9.86724734e-01 -1.52500841e-01 -5.58372006e-02 3.79204384e+02] [ 1.52421837e-01 9.88299114e-01 -5.69601374e-03 2.99007883e+01] [ 5.60525027e-02 -2.89041106e-03 9.98423639e-01 2.12900308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.26, Y:29.91, Z:21.29 [[ 9.87742485e-01 -1.45763617e-01 -5.58368329e-02 3.79262550e+02] [ 1.45673667e-01 9.89316278e-01 -5.69961511e-03 2.99136550e+01] [ 5.60710842e-02 -2.50420423e-03 9.98423639e-01 2.12932720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.32, Y:29.92, Z:21.30 [[ 9.88450066e-01 -1.40885550e-01 -5.58366263e-02 3.79321508e+02] [ 1.40787718e-01 9.90023389e-01 -5.70163891e-03 2.99242932e+01] [ 5.60828445e-02 -2.22532584e-03 9.98423639e-01 2.12957296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.38, Y:29.94, Z:21.30 [[ 9.89277053e-01 -1.34956319e-01 -5.58364163e-02 3.79380155e+02] [ 1.34848939e-01 9.90849752e-01 -5.70369462e-03 2.99351334e+01] [ 5.60952489e-02 -1.88694731e-03 9.98423639e-01 2.12983878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.44, Y:29.95, Z:21.30 [[ 9.90162844e-01 -1.28295984e-01 -5.58362089e-02 3.79439219e+02] [ 1.28177909e-01 9.91734777e-01 -5.70572381e-03 2.99461677e+01] [ 5.61067317e-02 -1.50737280e-03 9.98423639e-01 2.13013224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.50, Y:29.96, Z:21.30 [[ 9.90959624e-01 -1.21989196e-01 -5.58360009e-02 3.79497268e+02] [ 1.21861001e-01 9.92530764e-01 -5.70775883e-03 2.99560026e+01] [ 5.61152336e-02 -1.14807243e-03 9.98423639e-01 2.13042678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.56, Y:29.97, Z:21.31 [[ 9.91758936e-01 -1.15310882e-01 -5.58356000e-02 3.79556258e+02] [ 1.15171885e-01 9.93329157e-01 -5.71167776e-03 2.99675730e+01] [ 5.61217481e-02 -7.66083838e-04 9.98423639e-01 2.13078950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.61, Y:29.98, Z:21.31 [[ 9.91934967e-01 -1.13786780e-01 -5.58353903e-02 3.79613712e+02] [ 1.13645256e-01 9.93504962e-01 -5.71372700e-03 2.99757235e+01] [ 5.61228839e-02 -6.77781598e-04 9.98423639e-01 2.13113285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.67, Y:29.98, Z:21.31 [[ 9.91513490e-01 -1.17403004e-01 -5.58348743e-02 3.79671445e+02] [ 1.17266922e-01 9.93083967e-01 -5.71876553e-03 2.99822713e+01] [ 5.61201187e-02 -8.77350649e-04 9.98423639e-01 2.13145123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.73, Y:29.99, Z:21.32 [[ 9.90897657e-01 -1.22492275e-01 -5.58343684e-02 3.79730780e+02] [ 1.22363980e-01 9.92468788e-01 -5.72370002e-03 2.99877949e+01] [ 5.61149770e-02 -1.16051457e-03 9.98423639e-01 2.13184313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.79, Y:29.99, Z:21.32 [[ 9.89575012e-01 -1.32754819e-01 -5.58341547e-02 3.79789968e+02] [ 1.32642696e-01 9.91147381e-01 -5.72578402e-03 2.99931078e+01] [ 5.61000016e-02 -1.73990001e-03 9.98423639e-01 2.13216313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.85, Y:30.00, Z:21.33 [[ 9.88604301e-01 -1.39800237e-01 -5.58339442e-02 3.79850395e+02] [ 1.39699200e-01 9.90177421e-01 -5.72783608e-03 2.99983570e+01] [ 5.60862637e-02 -2.13739397e-03 9.98423639e-01 2.13253419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.91, Y:30.00, Z:21.33 [[ 9.87706454e-01 -1.46008672e-01 -5.58339442e-02 3.79910516e+02] [ 1.45917521e-01 9.89280177e-01 -5.72783608e-03 3.00034443e+01] [ 5.60717279e-02 -2.48973007e-03 9.98423639e-01 2.13287835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.725099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.97, Y:30.01, Z:21.33 [[ 9.86888656e-01 -1.51437618e-01 -5.58339442e-02 3.79971902e+02] [ 1.51355122e-01 9.88462857e-01 -5.72783608e-03 3.00096406e+01] [ 5.60571898e-02 -2.79801698e-03 9.98423639e-01 2.13312900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.03, Y:30.02, Z:21.33 [[ 9.86653335e-01 -1.52963210e-01 -5.58341528e-02 3.80031666e+02] [ 1.52883262e-01 9.88227668e-01 -5.72580186e-03 3.00169021e+01] [ 5.60526916e-02 -2.88672593e-03 9.98423639e-01 2.13338859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.09, Y:30.02, Z:21.34 [[ 9.86698683e-01 -1.52670382e-01 -5.58342555e-02 3.80091912e+02] [ 1.52590024e-01 9.88272994e-01 -5.72479990e-03 3.00247986e+01] [ 5.60534943e-02 -2.87109785e-03 9.98423639e-01 2.13378932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.15, Y:30.03, Z:21.34 [[ 9.86691717e-01 -1.52715318e-01 -5.58344689e-02 3.80153765e+02] [ 1.52635149e-01 9.88266038e-01 -5.72271850e-03 3.00329881e+01] [ 5.60532561e-02 -2.87574356e-03 9.98423639e-01 2.13409218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.22, Y:30.04, Z:21.34 [[ 9.86133036e-01 -1.56282113e-01 -5.58348961e-02 3.80215648e+02] [ 1.56207873e-01 9.87707648e-01 -5.71854702e-03 3.00423956e+01] [ 5.60422605e-02 -3.08260219e-03 9.98423639e-01 2.13431972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.28, Y:30.05, Z:21.35 [[ 9.85525621e-01 -1.60067697e-01 -5.58353194e-02 3.80277305e+02] [ 1.59999737e-01 9.87100517e-01 -5.71441087e-03 3.00501108e+01] [ 5.60297652e-02 -3.30193810e-03 9.98423639e-01 2.13458772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.34, Y:30.06, Z:21.35 [[ 9.84476148e-01 -1.66400369e-01 -5.58357485e-02 3.80338494e+02] [ 1.66342773e-01 9.86051457e-01 -5.71021542e-03 3.00590956e+01] [ 5.60071031e-02 -3.66630235e-03 9.98423639e-01 2.13489593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.40, Y:30.07, Z:21.35 [[ 9.83955933e-01 -1.69449237e-01 -5.58361791e-02 3.80399528e+02] [ 1.69396759e-01 9.85531420e-01 -5.70600183e-03 3.00682999e+01] [ 5.59951865e-02 -3.84401342e-03 9.98423639e-01 2.13524115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.46, Y:30.08, Z:21.36 [[ 9.83763925e-01 -1.70560292e-01 -5.58366079e-02 3.80461166e+02] [ 1.70509830e-01 9.85339478e-01 -5.70180262e-03 3.00796996e+01] [ 5.59905152e-02 -3.91146282e-03 9.98423639e-01 2.13569995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.52, Y:30.09, Z:21.36 [[ 9.84107502e-01 -1.68566455e-01 -5.58370333e-02 3.80522020e+02] [ 1.68513037e-01 9.85682958e-01 -5.69763328e-03 3.00895594e+01] [ 5.59980420e-02 -3.80218438e-03 9.98423639e-01 2.13618338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.58, Y:30.10, Z:21.37 [[ 9.84790682e-01 -1.64528086e-01 -5.58374519e-02 3.80583194e+02] [ 1.64468436e-01 9.86365914e-01 -5.69352821e-03 3.01001077e+01] [ 5.60129046e-02 -3.57656487e-03 9.98423639e-01 2.13666924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.64, Y:30.11, Z:21.37 [[ 9.86438907e-01 -1.54338642e-01 -5.58378669e-02 3.80643394e+02] [ 1.54262941e-01 9.88013449e-01 -5.68945561e-03 3.01135087e+01] [ 5.60466663e-02 -3.00141317e-03 9.98423639e-01 2.13721858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.70, Y:30.13, Z:21.37 [[ 9.88416639e-01 -1.41119261e-01 -5.58381730e-02 3.80703073e+02] [ 1.41022658e-01 9.89990037e-01 -5.68644948e-03 3.01271477e+01] [ 5.60817025e-02 -2.25386627e-03 9.98423639e-01 2.13747147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.76, Y:30.14, Z:21.38 [[ 9.89595989e-01 -1.32596391e-01 -5.58388439e-02 3.80764435e+02] [ 1.32486604e-01 9.91168522e-01 -5.67985406e-03 3.01376122e+01] [ 5.60988325e-02 -1.77713801e-03 9.98423639e-01 2.13774001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.83, Y:30.15, Z:21.38 [[ 9.90563209e-01 -1.25165925e-01 -5.58392364e-02 3.80825761e+02] [ 1.25044558e-01 9.92134891e-01 -5.67599248e-03 3.01478095e+01] [ 5.61104956e-02 -1.35996329e-03 9.98423639e-01 2.13812552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.89, Y:30.16, Z:21.39 [[ 9.91790352e-01 -1.15038391e-01 -5.58396499e-02 3.80886544e+02] [ 1.14901201e-01 9.93360732e-01 -5.67192149e-03 3.01588457e+01] [ 5.61214042e-02 -7.90685832e-04 9.98423639e-01 2.13852852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.95, Y:30.17, Z:21.39 [[ 9.92414359e-01 -1.09524550e-01 -5.58400672e-02 3.80947332e+02] [ 1.09378866e-01 9.93983974e-01 -5.66781000e-03 3.01674456e+01] [ 5.61248963e-02 -4.82907184e-04 9.98423639e-01 2.13881494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.01, Y:30.18, Z:21.39 [[ 9.93059641e-01 -1.03510393e-01 -5.58403750e-02 3.81008636e+02] [ 1.03355373e-01 9.94628361e-01 -5.66477595e-03 3.01754992e+01] [ 5.61267839e-02 -1.45942411e-04 9.98423639e-01 2.13914348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.07, Y:30.18, Z:21.39 [[ 9.93245103e-01 -1.01715150e-01 -5.58407895e-02 3.81069562e+02] [ 1.01557524e-01 9.94813563e-01 -5.66068783e-03 3.01816727e+01] [ 5.61269525e-02 -4.86018606e-05 9.98423639e-01 2.13945347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.13, Y:30.19, Z:21.40 [[ 9.93132841e-01 -1.02805369e-01 -5.58409932e-02 3.81130412e+02] [ 1.02649578e-01 9.94701485e-01 -5.65867764e-03 3.01863909e+01] [ 5.61268612e-02 -1.12235790e-04 9.98423639e-01 2.13980372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.19, Y:30.19, Z:21.40 [[ 9.92746342e-01 -1.06472822e-01 -5.58412001e-02 3.81191342e+02] [ 1.06322940e-01 9.94315561e-01 -5.65663464e-03 3.01907899e+01] [ 5.61260521e-02 -3.21597246e-04 9.98423639e-01 2.14020793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.25, Y:30.19, Z:21.41 [[ 9.91891329e-01 -1.14163601e-01 -5.58414061e-02 3.81252588e+02] [ 1.14026001e-01 9.93461673e-01 -5.65460016e-03 3.01915286e+01] [ 5.61218463e-02 -7.58623354e-04 9.98423639e-01 2.14057980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.31, Y:30.20, Z:21.41 [[ 9.91562180e-01 -1.16987852e-01 -5.58416088e-02 3.81313824e+02] [ 1.16854837e-01 9.93132919e-01 -5.65259819e-03 3.01955460e+01] [ 5.61194253e-02 -9.20459487e-04 9.98423639e-01 2.14089764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.38, Y:30.20, Z:21.41 [[ 9.90705203e-01 -1.24035854e-01 -5.58418102e-02 3.81375821e+02] [ 1.23914124e-01 9.92276857e-01 -5.65060731e-03 3.01957796e+01] [ 5.61114138e-02 -1.32150292e-03 9.98423639e-01 2.14119467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.44, Y:30.20, Z:21.42 [[ 9.90414251e-01 -1.26337871e-01 -5.58422250e-02 3.81438122e+02] [ 1.26220024e-01 9.91986201e-01 -5.64650541e-03 3.01983317e+01] [ 5.61080841e-02 -1.45602758e-03 9.98423639e-01 2.14150281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.50, Y:30.20, Z:21.42 [[ 9.90419193e-01 -1.26298939e-01 -5.58426392e-02 3.81499157e+02] [ 1.26181262e-01 9.91991155e-01 -5.64240570e-03 3.02000563e+01] [ 5.61080341e-02 -1.45794777e-03 9.98423639e-01 2.14173846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.56, Y:30.20, Z:21.42 [[ 9.90635097e-01 -1.24593862e-01 -5.58432933e-02 3.81560721e+02] [ 1.24473844e-01 9.92206883e-01 -5.63592513e-03 3.02037157e+01] [ 5.61103016e-02 -1.36788413e-03 9.98423639e-01 2.14203404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.62, Y:30.21, Z:21.42 [[ 9.91192228e-01 -1.20081103e-01 -5.58434977e-02 3.81620669e+02] [ 1.19954042e-01 9.92763460e-01 -5.63389901e-03 3.02076482e+01] [ 5.61159088e-02 -1.11437638e-03 9.98423639e-01 2.14228474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.68, Y:30.21, Z:21.43 [[ 9.91696296e-01 -1.15844503e-01 -5.58435983e-02 3.81679581e+02] [ 1.15710786e-01 9.93266975e-01 -5.63290182e-03 3.02122613e+01] [ 5.61201427e-02 -8.75578769e-04 9.98423639e-01 2.14262082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.74, Y:30.22, Z:21.43 [[ 9.91940196e-01 -1.13737253e-01 -5.58434045e-02 3.81740079e+02] [ 1.13600090e-01 9.93510578e-01 -5.63482232e-03 3.02171089e+01] [ 5.61219023e-02 -7.54409052e-04 9.98423639e-01 2.14301775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.80, Y:30.22, Z:21.43 [[ 9.92082612e-01 -1.12488241e-01 -5.58434045e-02 3.81799165e+02] [ 1.12349102e-01 9.93652821e-01 -5.63482232e-03 3.02216746e+01] [ 5.61228076e-02 -6.83747111e-04 9.98423639e-01 2.14330611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.86, Y:30.22, Z:21.44 [[ 9.92018708e-01 -1.13050466e-01 -5.58433019e-02 3.81858262e+02] [ 1.12912160e-01 9.93588990e-01 -5.63583854e-03 3.02245030e+01] [ 5.61224242e-02 -7.14530558e-04 9.98423639e-01 2.14370170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.92, Y:30.23, Z:21.44 [[ 9.91815632e-01 -1.14818460e-01 -5.58432984e-02 3.81918657e+02] [ 1.14682950e-01 9.93386157e-01 -5.63587397e-03 3.02276684e+01] [ 5.61210619e-02 -8.14526302e-04 9.98423639e-01 2.14408415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.98, Y:30.23, Z:21.44 [[ 9.91238422e-01 -1.19699273e-01 -5.58432984e-02 3.81978863e+02] [ 1.19571496e-01 9.92809596e-01 -5.63587397e-03 3.02297557e+01] [ 5.61163725e-02 -1.09077189e-03 9.98423639e-01 2.14424775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.04, Y:30.23, Z:21.45 [[ 9.90753901e-01 -1.23645690e-01 -5.58430923e-02 3.82038820e+02] [ 1.23524056e-01 9.92325562e-01 -5.63791472e-03 3.02335896e+01] [ 5.61116318e-02 -1.31217926e-03 9.98423639e-01 2.14450241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.10, Y:30.24, Z:21.45 [[ 9.90040931e-01 -1.29230432e-01 -5.58430923e-02 3.82097964e+02] [ 1.29117663e-01 9.91613253e-01 -5.63791472e-03 3.02362430e+01] [ 5.61033406e-02 -1.62856321e-03 9.98423639e-01 2.14480682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.16, Y:30.24, Z:21.45 [[ 9.89642834e-01 -1.32244551e-01 -5.58429913e-02 3.82158119e+02] [ 1.32136513e-01 9.91215489e-01 -5.63891523e-03 3.02407468e+01] [ 5.60981537e-02 -1.79838608e-03 9.98423639e-01 2.14526870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.22, Y:30.25, Z:21.46 [[ 9.89211903e-01 -1.35430317e-01 -5.58429913e-02 3.82218733e+02] [ 1.35327343e-01 9.90784897e-01 -5.63891523e-03 3.02451259e+01] [ 5.60920725e-02 -1.97900157e-03 9.98423639e-01 2.14577164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.28, Y:30.25, Z:21.46 [[ 9.89072762e-01 -1.36442777e-01 -5.58429913e-02 3.82278979e+02] [ 1.36341413e-01 9.90645861e-01 -5.63891523e-03 3.02509937e+01] [ 5.60900174e-02 -2.03641490e-03 9.98423639e-01 2.14617253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.34, Y:30.26, Z:21.46 [[ 9.88990998e-01 -1.37034180e-01 -5.58429913e-02 3.82338992e+02] [ 1.36933757e-01 9.90564157e-01 -5.63891523e-03 3.02567217e+01] [ 5.60887897e-02 -2.06995420e-03 9.98423639e-01 2.14647948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.40, Y:30.26, Z:21.47 [[ 9.88881790e-01 -1.37820007e-01 -5.58430923e-02 3.82398776e+02] [ 1.37720890e-01 9.90455032e-01 -5.63791447e-03 3.02623168e+01] [ 5.60870892e-02 -2.11552943e-03 9.98423639e-01 2.14670703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.46, Y:30.27, Z:21.47 [[ 9.88564898e-01 -1.40074950e-01 -5.58430923e-02 3.82458374e+02] [ 1.39979422e-01 9.90138362e-01 -5.63791448e-03 3.02684303e+01] [ 5.60821185e-02 -2.24343946e-03 9.98423639e-01 2.14695342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.52, Y:30.28, Z:21.47 [[ 9.88276779e-01 -1.42093441e-01 -5.58431927e-02 3.82519390e+02] [ 1.42001183e-01 9.89850438e-01 -5.63692051e-03 3.02750562e+01] [ 5.60773781e-02 -2.35896177e-03 9.98423639e-01 2.14727158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.58, Y:30.28, Z:21.47 [[ 9.87885701e-01 -1.44787281e-01 -5.58433979e-02 3.82580583e+02] [ 1.44699428e-01 9.89459612e-01 -5.63488704e-03 3.02820595e+01] [ 5.60706467e-02 -2.51388341e-03 9.98423639e-01 2.14743679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.64, Y:30.29, Z:21.48 [[ 9.87811250e-01 -1.45294274e-01 -5.58436047e-02 3.82642677e+02] [ 1.45207344e-01 9.89385212e-01 -5.63283647e-03 3.02898570e+01] [ 5.60692556e-02 -2.54472230e-03 9.98423639e-01 2.14776017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.70, Y:30.30, Z:21.48 [[ 9.87832592e-01 -1.45148943e-01 -5.58440246e-02 3.82703394e+02] [ 1.45062017e-01 9.89406554e-01 -5.62867072e-03 3.02993856e+01] [ 5.60694395e-02 -2.54066247e-03 9.98423639e-01 2.14814464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.76, Y:30.31, Z:21.49 [[ 9.87840329e-01 -1.45096157e-01 -5.58443345e-02 3.82763728e+02] [ 1.45009320e-01 9.89414296e-01 -5.62559395e-03 3.03083815e+01] [ 5.60694350e-02 -2.54076042e-03 9.98423639e-01 2.14863508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.82, Y:30.32, Z:21.49 [[ 9.87703127e-01 -1.46027126e-01 -5.58445372e-02 3.82824316e+02] [ 1.45941886e-01 9.89277181e-01 -5.62358086e-03 3.03184508e+01] [ 5.60669217e-02 -2.59562869e-03 9.98423639e-01 2.14913810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.89, Y:30.33, Z:21.50 [[ 9.87569050e-01 -1.46931059e-01 -5.58447368e-02 3.82885633e+02] [ 1.46847372e-01 9.89143188e-01 -5.62159859e-03 3.03271369e+01] [ 5.60644284e-02 -2.64893604e-03 9.98423639e-01 2.14952393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.95, Y:30.34, Z:21.50 [[ 9.87308039e-01 -1.48674667e-01 -5.58451342e-02 3.82946614e+02] [ 1.48593982e-01 9.88882334e-01 -5.61764803e-03 3.03368687e+01] [ 5.60594686e-02 -2.75190179e-03 9.98423639e-01 2.14984119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.01, Y:30.35, Z:21.50 [[ 9.87266314e-01 -1.48951345e-01 -5.58455271e-02 3.83007700e+02] [ 1.48871322e-01 9.88840642e-01 -5.61373921e-03 3.03467737e+01] [ 5.60585009e-02 -2.77154182e-03 9.98423639e-01 2.15008559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.07, Y:30.36, Z:21.50 [[ 9.87433320e-01 -1.47840024e-01 -5.58459153e-02 3.83068722e+02] [ 1.47758448e-01 9.89007568e-01 -5.60987520e-03 3.03562153e+01] [ 5.60613969e-02 -2.71232805e-03 9.98423639e-01 2.15044465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.13, Y:30.37, Z:21.51 [[ 9.87961487e-01 -1.44268115e-01 -5.58463247e-02 3.83129191e+02] [ 1.44181076e-01 9.89535443e-01 -5.60579586e-03 3.03682295e+01] [ 5.60706553e-02 -2.51367275e-03 9.98423639e-01 2.15080064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.19, Y:30.38, Z:21.51 [[ 9.88489558e-01 -1.40604228e-01 -5.58466270e-02 3.83191066e+02] [ 1.40511524e-01 9.90063190e-01 -5.60278263e-03 3.03781939e+01] [ 5.60794647e-02 -2.30880254e-03 9.98423639e-01 2.15118538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.25, Y:30.39, Z:21.52 [[ 9.88805858e-01 -1.38362146e-01 -5.58470377e-02 3.83252230e+02] [ 1.38266104e-01 9.90379291e-01 -5.59868657e-03 3.03861529e+01] [ 5.60843958e-02 -2.18573826e-03 9.98423639e-01 2.15151917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.31, Y:30.40, Z:21.52 [[ 9.89612470e-01 -1.32469702e-01 -5.58474446e-02 3.83312488e+02] [ 1.32364518e-01 9.91185318e-01 -5.59462457e-03 3.03981154e+01] [ 5.60962854e-02 -1.85570986e-03 9.98423639e-01 2.15184987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.37, Y:30.41, Z:21.52 [[ 9.90046234e-01 -1.29187787e-01 -5.58477451e-02 3.83373841e+02] [ 1.29077559e-01 9.91618736e-01 -5.59162363e-03 3.04073122e+01] [ 5.61020398e-02 -1.67272467e-03 9.98423639e-01 2.15226337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.43, Y:30.42, Z:21.53 [[ 9.90601126e-01 -1.24861502e-01 -5.58481454e-02 3.83434877e+02] [ 1.24744630e-01 9.92173148e-01 -5.58762262e-03 3.04172834e+01] [ 5.61087091e-02 -1.43165098e-03 9.98423639e-01 2.15259724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.50, Y:30.43, Z:21.53 [[ 9.91031664e-01 -1.21396786e-01 -5.58485507e-02 3.83495147e+02] [ 1.21274647e-01 9.92603286e-01 -5.58356789e-03 3.04256088e+01] [ 5.61132822e-02 -1.23952067e-03 9.98423639e-01 2.15281666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.56, Y:30.43, Z:21.53 [[ 9.91768420e-01 -1.15222698e-01 -5.58491825e-02 3.83555932e+02] [ 1.15091130e-01 9.93339281e-01 -5.57724108e-03 3.04345197e+01] [ 5.61198116e-02 -8.96413930e-04 9.98423639e-01 2.15300235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.62, Y:30.44, Z:21.53 [[ 9.92358200e-01 -1.10027261e-01 -5.58498381e-02 3.83617932e+02] [ 1.09887837e-01 9.93928383e-01 -5.57066859e-03 3.04425155e+01] [ 5.61236647e-02 -6.09119268e-04 9.98423639e-01 2.15332151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.68, Y:30.45, Z:21.54 [[ 9.93194483e-01 -1.02203079e-01 -5.58502382e-02 3.83677397e+02] [ 1.02051511e-01 9.94763541e-01 -5.56665435e-03 3.04501929e+01] [ 5.61267099e-02 -1.70830789e-04 9.98423639e-01 2.15367936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.74, Y:30.46, Z:21.54 [[ 9.93556654e-01 -9.86200531e-02 -5.58503362e-02 3.83737739e+02] [ 9.84628819e-02 9.95125160e-01 -5.56567135e-03 3.04559180e+01] [ 5.61269615e-02 3.06247483e-05 9.98423639e-01 2.15402362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.80, Y:30.46, Z:21.54 [[ 9.93636909e-01 -9.78081481e-02 -5.58503362e-02 3.83797978e+02] [ 9.76496952e-02 9.95205286e-01 -5.56567135e-03 3.04589389e+01] [ 5.61269178e-02 7.64881642e-05 9.98423639e-01 2.15423328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.86, Y:30.46, Z:21.54 [[ 9.93199534e-01 -1.02153931e-01 -5.58503362e-02 3.83857216e+02] [ 1.02002341e-01 9.94768589e-01 -5.56567135e-03 3.04598140e+01] [ 5.61267153e-02 -1.69042826e-04 9.98423639e-01 2.15434894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.92, Y:30.46, Z:21.55 [[ 9.92642270e-01 -1.07434050e-01 -5.58502366e-02 3.83918102e+02] [ 1.07290749e-01 9.94212104e-01 -5.56667020e-03 3.04614177e+01] [ 5.61250312e-02 -4.66501581e-04 9.98423639e-01 2.15457027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.98, Y:30.46, Z:21.55 [[ 9.91624762e-01 -1.16452062e-01 -5.58502366e-02 3.83979834e+02] [ 1.16323036e-01 9.93195833e-01 -5.56667020e-03 3.04611205e+01] [ 5.61184725e-02 -9.76621083e-04 9.98423639e-01 2.15451839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.04, Y:30.46, Z:21.55 [[ 9.90784502e-01 -1.23396912e-01 -5.58504452e-02 3.84040492e+02] [ 1.23279015e-01 9.92356448e-01 -5.56457630e-03 3.04630016e+01] [ 5.61102010e-02 -1.37189193e-03 9.98423639e-01 2.15506259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.10, Y:30.47, Z:21.55 [[ 9.90058848e-01 -1.29089780e-01 -5.58507551e-02 3.84101625e+02] [ 1.28981096e-01 9.91631457e-01 -5.56146430e-03 3.04656803e+01] [ 5.61012939e-02 -1.69751466e-03 9.98423639e-01 2.15535507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.16, Y:30.47, Z:21.56 [[ 9.89069377e-01 -1.36464055e-01 -5.58509550e-02 3.84163034e+02] [ 1.36367205e-01 9.90642760e-01 -5.55945671e-03 3.04665946e+01] [ 5.60870102e-02 -2.11755025e-03 9.98423639e-01 2.15574493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.22, Y:30.47, Z:21.56 [[ 9.88491472e-01 -1.40588972e-01 -5.58511536e-02 3.84224013e+02] [ 1.40498800e-01 9.90065251e-01 -5.55746006e-03 3.04697111e+01] [ 5.60776041e-02 -2.35351818e-03 9.98423639e-01 2.15624038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.29, Y:30.47, Z:21.57 [[ 9.87709024e-01 -1.45984588e-01 -5.58514485e-02 3.84285887e+02] [ 1.45903178e-01 9.89283281e-01 -5.55449537e-03 3.04727623e+01] [ 5.60637749e-02 -2.66267865e-03 9.98423639e-01 2.15655555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.35, Y:30.48, Z:21.57 [[ 9.87330324e-01 -1.48524079e-01 -5.58518460e-02 3.84347918e+02] [ 1.48446943e-01 9.88904797e-01 -5.55049578e-03 3.04767966e+01] [ 5.60565406e-02 -2.81086300e-03 9.98423639e-01 2.15679188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.41, Y:30.48, Z:21.57 [[ 9.87091761e-01 -1.50101239e-01 -5.58522455e-02 3.84409924e+02] [ 1.50026846e-01 9.88666365e-01 -5.54647206e-03 3.04805908e+01] [ 5.60517689e-02 -2.90445938e-03 9.98423639e-01 2.15697518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.47, Y:30.49, Z:21.57 [[ 9.87495774e-01 -1.47419737e-01 -5.58526435e-02 3.84472236e+02] [ 1.47341294e-01 9.89070182e-01 -5.54246145e-03 3.04866556e+01] [ 5.60592525e-02 -2.75624349e-03 9.98423639e-01 2.15716243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.53, Y:30.49, Z:21.57 [[ 9.88171619e-01 -1.42819081e-01 -5.58530376e-02 3.84534173e+02] [ 1.42733530e-01 9.89745656e-01 -5.53848724e-03 3.04940260e+01] [ 5.60713030e-02 -2.49912534e-03 9.98423639e-01 2.15745989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.59, Y:30.50, Z:21.58 [[ 9.89518951e-01 -1.33163958e-01 -5.58534383e-02 3.84594734e+02] [ 1.33063271e-01 9.91092093e-01 -5.53444335e-03 3.05035666e+01] [ 5.60928894e-02 -1.95560462e-03 9.98423639e-01 2.15780662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.65, Y:30.51, Z:21.58 [[ 9.90481982e-01 -1.25800652e-01 -5.58537339e-02 3.84654931e+02] [ 1.25688435e-01 9.92054343e-01 -5.53145840e-03 3.05121907e+01] [ 5.61058004e-02 -1.54135853e-03 9.98423639e-01 2.15827633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.71, Y:30.52, Z:21.59 [[ 9.91344505e-01 -1.18812498e-01 -5.58539385e-02 3.84714297e+02] [ 1.18689312e-01 9.92916045e-01 -5.52939187e-03 3.05207926e+01] [ 5.61152326e-02 -1.14773328e-03 9.98423639e-01 2.15874733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.78, Y:30.53, Z:21.59 [[ 9.92273552e-01 -1.10785941e-01 -5.58540390e-02 3.84775105e+02] [ 1.10650098e-01 9.93844049e-01 -5.52837651e-03 3.05291893e+01] [ 5.61226707e-02 -6.94593103e-04 9.98423639e-01 2.15925467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.84, Y:30.54, Z:21.60 [[ 9.92633832e-01 -1.07509899e-01 -5.58542414e-02 3.84835106e+02] [ 1.07368988e-01 9.94203883e-01 -5.52633128e-03 3.05358217e+01] [ 5.61246389e-02 -5.11389989e-04 9.98423639e-01 2.15956529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.89, Y:30.54, Z:21.60 [[ 9.92768098e-01 -1.06262917e-01 -5.58542414e-02 3.84894281e+02] [ 1.06120034e-01 9.94337970e-01 -5.52633128e-03 3.05415786e+01] [ 5.61252371e-02 -4.40888593e-04 9.98423639e-01 2.15981361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.95, Y:30.55, Z:21.60 [[ 9.92638055e-01 -1.07470961e-01 -5.58541413e-02 3.84952451e+02] [ 1.07329932e-01 9.94208094e-01 -5.52734262e-03 3.05455605e+01] [ 5.61246682e-02 -5.08170539e-04 9.98423639e-01 2.16002383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.01, Y:30.55, Z:21.60 [[ 9.92336979e-01 -1.10216988e-01 -5.58528112e-02 3.85011166e+02] [ 1.10079549e-01 9.93907336e-01 -5.54075029e-03 3.05496700e+01] [ 5.61232036e-02 -6.49960839e-04 9.98423639e-01 2.16040180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.07, Y:30.55, Z:21.61 [[ 9.92097155e-01 -1.12355952e-01 -5.58513702e-02 3.85071453e+02] [ 1.12221083e-01 9.93667735e-01 -5.55523816e-03 3.05544680e+01] [ 5.61218686e-02 -7.56365255e-04 9.98423639e-01 2.16097833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.13, Y:30.56, Z:21.61 [[ 9.91910719e-01 -1.13990128e-01 -5.58513702e-02 3.85131754e+02] [ 1.13857846e-01 9.93481520e-01 -5.55523816e-03 3.05586419e+01] [ 5.61205465e-02 -8.48816399e-04 9.98423639e-01 2.16113893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88509989299996 meters Centerline goodness : 0.997823 with order 1 Centerline is valid? [True, True] Translation: X:385.19, Y:30.56, Z:21.61 [[ 9.91787559e-01 -1.15056622e-01 -5.58516880e-02 3.85190095e+02] [ 1.14926209e-01 9.93358516e-01 -5.55204114e-03 3.05621973e+01] [ 5.61195490e-02 -9.12377416e-04 9.98423639e-01 2.16120428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.25, Y:30.57, Z:21.62 [[ 9.91346615e-01 -1.18796665e-01 -5.58501722e-02 3.85247808e+02] [ 1.18671322e-01 9.92917984e-01 -5.56724735e-03 3.05662442e+01] [ 5.61160108e-02 -1.10874196e-03 9.98423640e-01 2.16177612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.31, Y:30.57, Z:21.62 [[ 9.90882458e-01 -1.22608228e-01 -5.58495893e-02 3.85308493e+02] [ 1.22488600e-01 9.92454273e-01 -5.57308893e-03 3.05681016e+01] [ 5.61114701e-02 -1.31866195e-03 9.98423640e-01 2.16221718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.37, Y:30.57, Z:21.62 [[ 9.90192313e-01 -1.28062511e-01 -5.58495893e-02 3.85369340e+02] [ 1.27951540e-01 9.91764762e-01 -5.57308893e-03 3.05688365e+01] [ 5.61033584e-02 -1.62761114e-03 9.98423640e-01 2.16249457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.43, Y:30.57, Z:21.63 [[ 9.89797589e-01 -1.31078439e-01 -5.58495893e-02 3.85429765e+02] [ 1.30972258e-01 9.91370369e-01 -5.57308893e-03 3.05710564e+01] [ 5.60981397e-02 -1.79851685e-03 9.98423640e-01 2.16281057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.49, Y:30.57, Z:21.63 [[ 9.89426064e-01 -1.33853980e-01 -5.58495893e-02 3.85489085e+02] [ 1.33752211e-01 9.90999136e-01 -5.57308893e-03 3.05716311e+01] [ 5.60928749e-02 -1.95584663e-03 9.98423640e-01 2.16302237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.55, Y:30.58, Z:21.63 [[ 9.89307417e-01 -1.34728131e-01 -5.58494887e-02 3.85548291e+02] [ 1.34627695e-01 9.90880575e-01 -5.57409687e-03 3.05755019e+01] [ 5.60911611e-02 -2.00439256e-03 9.98423640e-01 2.16335368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.61, Y:30.58, Z:21.64 [[ 9.89039584e-01 -1.36680499e-01 -5.58492908e-02 3.85606878e+02] [ 1.36583057e-01 9.90612929e-01 -5.57607898e-03 3.05790078e+01] [ 5.60871708e-02 -2.11310402e-03 9.98423640e-01 2.16368444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.67, Y:30.58, Z:21.64 [[ 9.88750139e-01 -1.38758972e-01 -5.58489983e-02 3.85666440e+02] [ 1.38664672e-01 9.90323676e-01 -5.57900725e-03 3.05836818e+01] [ 5.60827226e-02 -2.22803883e-03 9.98423640e-01 2.16413286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.73, Y:30.59, Z:21.65 [[ 9.88380801e-01 -1.41365851e-01 -5.58488061e-02 3.85725783e+02] [ 1.41275592e-01 9.89954575e-01 -5.58093106e-03 3.05881587e+01] [ 5.60767341e-02 -2.37398804e-03 9.98423640e-01 2.16455018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.78, Y:30.59, Z:21.65 [[ 9.87760447e-01 -1.45637332e-01 -5.58486075e-02 3.85784872e+02] [ 1.45553765e-01 9.89334591e-01 -5.58291769e-03 3.05929963e+01] [ 5.60660404e-02 -2.61438982e-03 9.98423640e-01 2.16486778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.84, Y:30.60, Z:21.65 [[ 9.87156535e-01 -1.49676085e-01 -5.58484081e-02 3.85844537e+02] [ 1.49598844e-01 9.88731002e-01 -5.58491139e-03 3.05981556e+01] [ 5.60549802e-02 -2.84167553e-03 9.98423640e-01 2.16506593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.91, Y:30.60, Z:21.66 [[ 9.86825473e-01 -1.51843480e-01 -5.58483973e-02 3.85905286e+02] [ 1.51769691e-01 9.88400105e-01 -5.58501931e-03 3.06041629e+01] [ 5.60486105e-02 -2.96465467e-03 9.98423640e-01 2.16561878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.97, Y:30.61, Z:21.66 [[ 9.86623718e-01 -1.53148859e-01 -5.58485996e-02 3.85966171e+02] [ 1.53077267e-01 9.88198452e-01 -5.58299602e-03 3.06105891e+01] [ 5.60445291e-02 -3.04083472e-03 9.98423640e-01 2.16604376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.03, Y:30.62, Z:21.66 [[ 9.86288567e-01 -1.55292541e-01 -5.58488066e-02 3.86027139e+02] [ 1.55224489e-01 9.87863458e-01 -5.58092405e-03 3.06183287e+01] [ 5.60376711e-02 -3.16470086e-03 9.98423640e-01 2.16642617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.09, Y:30.63, Z:21.67 [[ 9.85980522e-01 -1.57236443e-01 -5.58490124e-02 3.86088287e+02] [ 1.57171611e-01 9.87555548e-01 -5.57886374e-03 3.06259450e+01] [ 5.60312028e-02 -3.27722830e-03 9.98423640e-01 2.16666251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.15, Y:30.63, Z:21.67 [[ 9.85775800e-01 -1.58514784e-01 -5.58492168e-02 3.86148745e+02] [ 1.58452111e-01 9.87350914e-01 -5.57681671e-03 3.06336821e+01] [ 5.60267832e-02 -3.35193535e-03 9.98423640e-01 2.16696332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.21, Y:30.64, Z:21.67 [[ 9.85461883e-01 -1.60454695e-01 -5.58495198e-02 3.86209770e+02] [ 1.60395294e-01 9.87037123e-01 -5.57378088e-03 3.06436905e+01] [ 5.60198887e-02 -3.46525152e-03 9.98423640e-01 2.16730976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.27, Y:30.65, Z:21.68 [[ 9.85265227e-01 -1.61657792e-01 -5.58497179e-02 3.86271166e+02] [ 1.61600425e-01 9.86840543e-01 -5.57179492e-03 3.06526693e+01] [ 5.60154900e-02 -3.53564239e-03 9.98423640e-01 2.16755609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.33, Y:30.66, Z:21.68 [[ 9.84902889e-01 -1.63850736e-01 -5.58501129e-02 3.86332370e+02] [ 1.63797101e-01 9.86478337e-01 -5.56783332e-03 3.06627149e+01] [ 5.60072200e-02 -3.66431144e-03 9.98423640e-01 2.16775195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.39, Y:30.67, Z:21.68 [[ 9.84797702e-01 -1.64481625e-01 -5.58505227e-02 3.86393876e+02] [ 1.64429231e-01 9.86373192e-01 -5.56371929e-03 3.06718364e+01] [ 5.60045879e-02 -3.70432052e-03 9.98423640e-01 2.16815726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.46, Y:30.68, Z:21.69 [[ 9.84890937e-01 -1.63922290e-01 -5.58509271e-02 3.86455396e+02] [ 1.63869231e-01 9.86466404e-01 -5.55965659e-03 3.06817041e+01] [ 5.60064149e-02 -3.67659307e-03 9.98423640e-01 2.16864827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.52, Y:30.69, Z:21.69 [[ 9.85182236e-01 -1.62162235e-01 -5.58513354e-02 3.86516769e+02] [ 1.62106592e-01 9.86757614e-01 -5.55555226e-03 3.06933240e+01] [ 5.60126312e-02 -3.58063824e-03 9.98423640e-01 2.16906024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.58, Y:30.70, Z:21.69 [[ 9.85250233e-01 -1.61748450e-01 -5.58517403e-02 3.86577866e+02] [ 1.61692375e-01 9.86825596e-01 -5.55147820e-03 3.07030693e+01] [ 5.60138699e-02 -3.56120537e-03 9.98423640e-01 2.16935786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.64, Y:30.71, Z:21.70 [[ 9.85222040e-01 -1.61919950e-01 -5.58521425e-02 3.86639029e+02] [ 1.61864379e-01 9.86797420e-01 -5.54742882e-03 3.07140162e+01] [ 5.60129896e-02 -3.57502321e-03 9.98423640e-01 2.16963110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.70, Y:30.73, Z:21.70 [[ 9.85032432e-01 -1.63069312e-01 -5.58525458e-02 3.86700964e+02] [ 1.63015807e-01 9.86607884e-01 -5.54336600e-03 3.07258365e+01] [ 5.60085149e-02 -3.64445255e-03 9.98423640e-01 2.17005037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.76, Y:30.73, Z:21.70 [[ 9.84974283e-01 -1.63419969e-01 -5.58531657e-02 3.86763390e+02] [ 1.63367379e-01 9.86549766e-01 -5.53711251e-03 3.07349086e+01] [ 5.60068023e-02 -3.67067184e-03 9.98423640e-01 2.17040213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.83, Y:30.74, Z:21.71 [[ 9.84971307e-01 -1.63437697e-01 -5.58537769e-02 3.86825977e+02] [ 1.63385484e-01 9.86546802e-01 -5.53094069e-03 3.07445528e+01] [ 5.60063292e-02 -3.67787847e-03 9.98423640e-01 2.17073785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.89, Y:30.76, Z:21.71 [[ 9.85143650e-01 -1.62395429e-01 -5.58543911e-02 3.86886661e+02] [ 1.62341900e-01 9.86719101e-01 -5.52473051e-03 3.07558098e+01] [ 5.60097856e-02 -3.62485478e-03 9.98423640e-01 2.17106199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.95, Y:30.77, Z:21.71 [[ 9.85295189e-01 -1.61473285e-01 -5.58548955e-02 3.86948954e+02] [ 1.61418569e-01 9.86870599e-01 -5.51962653e-03 3.07651837e+01] [ 5.60128264e-02 -3.57755582e-03 9.98423640e-01 2.17144919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.01, Y:30.78, Z:21.72 [[ 9.85478913e-01 -1.60347981e-01 -5.58554922e-02 3.87010164e+02] [ 1.60291807e-01 9.87054273e-01 -5.51358188e-03 3.07754737e+01] [ 5.60164940e-02 -3.51965912e-03 9.98423640e-01 2.17176440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.07, Y:30.78, Z:21.72 [[ 9.85570635e-01 -1.59783081e-01 -5.58559813e-02 3.87072335e+02] [ 1.59726284e-01 9.87145972e-01 -5.50862238e-03 3.07829963e+01] [ 5.60181916e-02 -3.49253187e-03 9.98423640e-01 2.17210991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.13, Y:30.79, Z:21.72 [[ 9.85752808e-01 -1.58655114e-01 -5.58565777e-02 3.87134225e+02] [ 1.58596856e-01 9.87328091e-01 -5.50256859e-03 3.07920699e+01] [ 5.60217789e-02 -3.43450518e-03 9.98423640e-01 2.17244825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.20, Y:30.80, Z:21.73 [[ 9.86309625e-01 -1.55155730e-01 -5.58571650e-02 3.87195513e+02] [ 1.55092219e-01 9.87884705e-01 -5.49660017e-03 3.08029085e+01] [ 5.60332680e-02 -3.24166200e-03 9.98423640e-01 2.17274762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.26, Y:30.81, Z:21.73 [[ 9.86865516e-01 -1.51579604e-01 -5.58576468e-02 3.87257673e+02] [ 1.51510660e-01 9.88440368e-01 -5.49170025e-03 3.08117126e+01] [ 5.60443827e-02 -3.04345934e-03 9.98423640e-01 2.17321316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.32, Y:30.82, Z:21.73 [[ 9.87772513e-01 -1.45551769e-01 -5.58582547e-02 3.87319554e+02] [ 1.45473561e-01 9.89346932e-01 -5.48550981e-03 3.08222977e+01] [ 5.60616186e-02 -2.70746343e-03 9.98423640e-01 2.17346126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.38, Y:30.83, Z:21.74 [[ 9.88319350e-01 -1.41790858e-01 -5.58588798e-02 3.87381105e+02] [ 1.41707017e-01 9.89893479e-01 -5.47913699e-03 3.08310070e+01] [ 5.60712324e-02 -2.50045814e-03 9.98423640e-01 2.17403903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.44, Y:30.84, Z:21.74 [[ 9.89036890e-01 -1.36695902e-01 -5.58592878e-02 3.87442045e+02] [ 1.36604186e-01 9.90610580e-01 -5.47497374e-03 3.08410074e+01] [ 5.60832080e-02 -2.21566154e-03 9.98423640e-01 2.17438869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.50, Y:30.85, Z:21.74 [[ 9.89421186e-01 -1.33885565e-01 -5.58602874e-02 3.87503676e+02] [ 1.33789954e-01 9.90994644e-01 -5.46475593e-03 3.08495293e+01] [ 5.60888976e-02 -2.06659997e-03 9.98423640e-01 2.17439159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.56, Y:30.86, Z:21.75 [[ 9.89700815e-01 -1.31802314e-01 -5.58609655e-02 3.87564593e+02] [ 1.31703782e-01 9.91274092e-01 -5.45781605e-03 3.08564360e+01] [ 5.60928807e-02 -1.95549545e-03 9.98423640e-01 2.17503483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.63, Y:30.86, Z:21.75 [[ 9.89744673e-01 -1.31472217e-01 -5.58617725e-02 3.87626964e+02] [ 1.31373626e-01 9.91317947e-01 -5.44954360e-03 3.08636231e+01] [ 5.60932412e-02 -1.94510688e-03 9.98423640e-01 2.17540357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.69, Y:30.87, Z:21.76 [[ 9.89598495e-01 -1.32567773e-01 -5.58623646e-02 3.87689129e+02] [ 1.32471267e-01 9.91171898e-01 -5.44346733e-03 3.08704185e+01] [ 5.60908343e-02 -2.01331114e-03 9.98423640e-01 2.17564504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.75, Y:30.88, Z:21.76 [[ 9.89346948e-01 -1.34431802e-01 -5.58632849e-02 3.87751295e+02] [ 1.34338793e-01 9.90920562e-01 -5.43400677e-03 3.08765195e+01] [ 5.60865810e-02 -2.12848827e-03 9.98423640e-01 2.17601310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.81, Y:30.88, Z:21.76 [[ 9.88889963e-01 -1.37753008e-01 -5.58636784e-02 3.87813954e+02] [ 1.37665512e-01 9.90463892e-01 -5.42995827e-03 3.08833967e+01] [ 5.60789494e-02 -2.32087068e-03 9.98423640e-01 2.17630304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.87, Y:30.89, Z:21.77 [[ 9.88599395e-01 -1.39822806e-01 -5.58642863e-02 3.87874360e+02] [ 1.39738958e-01 9.90173524e-01 -5.42369659e-03 3.08884716e+01] [ 5.60736937e-02 -2.44455398e-03 9.98423640e-01 2.17669609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.94, Y:30.89, Z:21.77 [[ 9.88302048e-01 -1.41909161e-01 -5.58645896e-02 3.87937477e+02] [ 1.41828812e-01 9.89876359e-01 -5.42057090e-03 3.08946391e+01] [ 5.60682652e-02 -2.56604709e-03 9.98423640e-01 2.17706596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.00, Y:30.90, Z:21.77 [[ 9.88237264e-01 -1.42359384e-01 -5.58651658e-02 3.87999405e+02] [ 1.42280088e-01 9.89811628e-01 -5.41462585e-03 3.09008499e+01] [ 5.60668135e-02 -2.59756566e-03 9.98423640e-01 2.17741300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.06, Y:30.91, Z:21.78 [[ 9.88273404e-01 -1.42108089e-01 -5.58656391e-02 3.88061612e+02] [ 1.42028669e-01 9.89847762e-01 -5.40973887e-03 3.09075011e+01] [ 5.60672454e-02 -2.58822128e-03 9.98423640e-01 2.17782875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.12, Y:30.91, Z:21.78 [[ 9.88393479e-01 -1.41270292e-01 -5.58662199e-02 3.88123581e+02] [ 1.41189875e-01 9.89967787e-01 -5.40373368e-03 3.09141091e+01] [ 5.60691451e-02 -2.54672947e-03 9.98423640e-01 2.17817227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.19, Y:30.92, Z:21.78 [[ 9.88504719e-01 -1.40489615e-01 -5.58666973e-02 3.88186565e+02] [ 1.40408234e-01 9.90078977e-01 -5.39879330e-03 3.09203192e+01] [ 5.60709169e-02 -2.50741164e-03 9.98423640e-01 2.17847101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.25, Y:30.93, Z:21.79 [[ 9.88611042e-01 -1.39739250e-01 -5.58672579e-02 3.88249500e+02] [ 1.39657001e-01 9.90185254e-01 -5.39298637e-03 3.09266229e+01] [ 5.60725468e-02 -2.47068781e-03 9.98423640e-01 2.17883519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.31, Y:30.93, Z:21.79 [[ 9.88601025e-01 -1.39809858e-01 -5.58678487e-02 3.88311735e+02] [ 1.39728067e-01 9.90175262e-01 -5.38685866e-03 3.09334932e+01] [ 5.60720977e-02 -2.48085251e-03 9.98423640e-01 2.17913002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.37, Y:30.94, Z:21.79 [[ 9.88594053e-01 -1.39858921e-01 -5.58684292e-02 3.88373385e+02] [ 1.39777548e-01 9.90168311e-01 -5.38083174e-03 3.09403961e+01] [ 5.60717055e-02 -2.48969380e-03 9.98423640e-01 2.17945904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.43, Y:30.95, Z:21.80 [[ 9.88508355e-01 -1.40463188e-01 -5.58688199e-02 3.88434912e+02] [ 1.40383006e-01 9.90082674e-01 -5.37677164e-03 3.09471674e+01] [ 5.60699891e-02 -2.52804921e-03 9.98423640e-01 2.17978158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.50, Y:30.95, Z:21.80 [[ 9.88386426e-01 -1.41318448e-01 -5.58692063e-02 3.88496061e+02] [ 1.41239856e-01 9.89960826e-01 -5.37275391e-03 3.09539840e+01] [ 5.60675949e-02 -2.58060160e-03 9.98423640e-01 2.18026862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.56, Y:30.96, Z:21.81 [[ 9.88321311e-01 -1.41773007e-01 -5.58695047e-02 3.88556602e+02] [ 1.41695313e-01 9.89895755e-01 -5.36964966e-03 3.09602167e+01] [ 5.60662569e-02 -2.60950778e-03 9.98423640e-01 2.18068865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.62, Y:30.97, Z:21.81 [[ 9.88165018e-01 -1.42858195e-01 -5.58697988e-02 3.88619070e+02] [ 1.42782403e-01 9.89739554e-01 -5.36658734e-03 3.09657214e+01] [ 5.60632108e-02 -2.67415026e-03 9.98423640e-01 2.18104138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.68, Y:30.97, Z:21.81 [[ 9.88003635e-01 -1.43969845e-01 -5.58703911e-02 3.88679875e+02] [ 1.43896173e-01 9.89578272e-01 -5.36041368e-03 3.09708253e+01] [ 5.60598631e-02 -2.74342726e-03 9.98423640e-01 2.18131285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.74, Y:30.97, Z:21.82 [[ 9.87652178e-01 -1.46361341e-01 -5.58706821e-02 3.88742615e+02] [ 1.46291652e-01 9.89226997e-01 -5.35737961e-03 3.09748904e+01] [ 5.60529003e-02 -2.88218676e-03 9.98423640e-01 2.18173856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.81, Y:30.98, Z:21.82 [[ 9.87320877e-01 -1.48579569e-01 -5.58712661e-02 3.88805748e+02] [ 1.48513763e-01 9.88895862e-01 -5.35128223e-03 3.09801269e+01] [ 5.60459551e-02 -3.01421928e-03 9.98423640e-01 2.18208948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.87, Y:30.98, Z:21.82 [[ 9.87042235e-01 -1.50419296e-01 -5.58718416e-02 3.88867455e+02] [ 1.50356764e-01 9.88617354e-01 -5.34526640e-03 3.09848073e+01] [ 5.60399034e-02 -3.12470562e-03 9.98423640e-01 2.18235631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.93, Y:30.99, Z:21.82 [[ 9.86507458e-01 -1.53887394e-01 -5.58722231e-02 3.88928740e+02] [ 1.53830624e-01 9.88082795e-01 -5.34127581e-03 3.09882857e+01] [ 5.60283374e-02 -3.32565052e-03 9.98423640e-01 2.18249071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.99, Y:30.99, Z:21.83 [[ 9.86085669e-01 -1.56567293e-01 -5.58725052e-02 3.88991222e+02] [ 1.56514970e-01 9.87661160e-01 -5.33832318e-03 3.09911947e+01] [ 5.60189101e-02 -3.48083952e-03 9.98423640e-01 2.18287948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.05, Y:31.00, Z:21.83 [[ 9.85986562e-01 -1.57190006e-01 -5.58730776e-02 3.89053664e+02] [ 1.57139016e-01 9.87562097e-01 -5.33232613e-03 3.09965093e+01] [ 5.60163220e-02 -3.52223853e-03 9.98423640e-01 2.18327269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.12, Y:31.00, Z:21.84 [[ 9.85899917e-01 -1.57732334e-01 -5.58736540e-02 3.89115645e+02] [ 1.57682552e-01 9.87475490e-01 -5.32627953e-03 3.10016382e+01] [ 5.60139903e-02 -3.55912182e-03 9.98423640e-01 2.18372212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.18, Y:31.01, Z:21.84 [[ 9.86027304e-01 -1.56933899e-01 -5.58740332e-02 3.89178114e+02] [ 1.56883066e-01 9.87602844e-01 -5.32229842e-03 3.10070769e+01] [ 5.60166031e-02 -3.51775807e-03 9.98423640e-01 2.18421273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.24, Y:31.01, Z:21.85 [[ 9.86385422e-01 -1.54666830e-01 -5.58746070e-02 3.89239529e+02] [ 1.54612716e-01 9.87960852e-01 -5.31626760e-03 3.10115767e+01] [ 5.60241746e-02 -3.39503587e-03 9.98423640e-01 2.18457516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.30, Y:31.02, Z:21.85 [[ 9.86704656e-01 -1.52616834e-01 -5.58750785e-02 3.89302499e+02] [ 1.52559726e-01 9.88279981e-01 -5.31130698e-03 3.10170126e+01] [ 5.60308164e-02 -3.28359534e-03 9.98423640e-01 2.18496269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.37, Y:31.02, Z:21.85 [[ 9.86981768e-01 -1.50814125e-01 -5.58756522e-02 3.89365566e+02] [ 1.50754480e-01 9.88556999e-01 -5.30526523e-03 3.10219480e+01] [ 5.60363760e-02 -3.18730484e-03 9.98423640e-01 2.18530358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.43, Y:31.03, Z:21.86 [[ 9.86925608e-01 -1.51180984e-01 -5.58762405e-02 3.89426203e+02] [ 1.51122275e-01 9.88500874e-01 -5.29906213e-03 3.10266253e+01] [ 5.60348300e-02 -3.21436444e-03 9.98423640e-01 2.18556468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.49, Y:31.03, Z:21.86 [[ 9.86658815e-01 -1.52912382e-01 -5.58765283e-02 3.89487998e+02] [ 1.52856608e-01 9.88234188e-01 -5.29602484e-03 3.10311495e+01] [ 5.60289234e-02 -3.31572702e-03 9.98423640e-01 2.18588666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.55, Y:31.03, Z:21.86 [[ 9.86259264e-01 -1.55468439e-01 -5.58769061e-02 3.89549467e+02] [ 1.55416973e-01 9.87834783e-01 -5.29203601e-03 3.10344775e+01] [ 5.60198960e-02 -3.46490005e-03 9.98423640e-01 2.18603858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.61, Y:31.04, Z:21.86 [[ 9.86040965e-01 -1.56846919e-01 -5.58771854e-02 3.89611194e+02] [ 1.56797822e-01 9.87616560e-01 -5.28908556e-03 3.10384232e+01] [ 5.60148104e-02 -3.54616592e-03 9.98423640e-01 2.18638107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.67, Y:31.04, Z:21.87 [[ 9.85769847e-01 -1.58541809e-01 -5.58775734e-02 3.89674214e+02] [ 1.58495652e-01 9.87345531e-01 -5.28498329e-03 3.10420104e+01] [ 5.60083632e-02 -3.64657525e-03 9.98423640e-01 2.18678765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.74, Y:31.05, Z:21.87 [[ 9.85570108e-01 -1.59778576e-01 -5.58781661e-02 3.89736149e+02] [ 1.59734750e-01 9.87145858e-01 -5.27870914e-03 3.10463425e+01] [ 5.60033249e-02 -3.72314698e-03 9.98423640e-01 2.18706094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.80, Y:31.05, Z:21.87 [[ 9.85105572e-01 -1.62617924e-01 -5.58786494e-02 3.89798433e+02] [ 1.62578928e-01 9.86681449e-01 -5.27358809e-03 3.10492955e+01] [ 5.59920067e-02 -3.88964992e-03 9.98423640e-01 2.18749628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.86, Y:31.05, Z:21.88 [[ 9.84764578e-01 -1.64670156e-01 -5.58790288e-02 3.89861057e+02] [ 1.64634670e-01 9.86340538e-01 -5.26956457e-03 3.10544282e+01] [ 5.59834914e-02 -4.01034496e-03 9.98423640e-01 2.18788358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.92, Y:31.06, Z:21.88 [[ 9.85213226e-01 -1.61964098e-01 -5.58796151e-02 3.89923434e+02] [ 1.61924634e-01 9.86789091e-01 -5.26334010e-03 3.10566823e+01] [ 5.59938668e-02 -3.86277396e-03 9.98423640e-01 2.18830065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.99, Y:31.06, Z:21.89 [[ 9.85734550e-01 -1.58760234e-01 -5.58800970e-02 3.89986362e+02] [ 1.58715937e-01 9.87310287e-01 -5.25821954e-03 3.10623162e+01] [ 5.60057907e-02 -3.68585326e-03 9.98423640e-01 2.18863424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.05, Y:31.07, Z:21.89 [[ 9.86527962e-01 -1.53752824e-01 -5.58806633e-02 3.90049156e+02] [ 1.53700866e-01 9.88103465e-01 -5.25219381e-03 3.10680363e+01] [ 5.60234167e-02 -3.40747027e-03 9.98423641e-01 2.18892455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.11, Y:31.07, Z:21.89 [[ 9.87024459e-01 -1.50532411e-01 -5.58812254e-02 3.90112274e+02] [ 1.50475650e-01 9.88599796e-01 -5.24620656e-03 3.10740103e+01] [ 5.60338922e-02 -3.23062951e-03 9.98423641e-01 2.18929409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.17, Y:31.08, Z:21.90 [[ 9.87696579e-01 -1.46057155e-01 -5.58817910e-02 3.90173963e+02] [ 1.45993594e-01 9.89271657e-01 -5.24017566e-03 3.10795158e+01] [ 5.60476371e-02 -2.98267993e-03 9.98423641e-01 2.18965357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.23, Y:31.08, Z:21.90 [[ 9.88119630e-01 -1.43166966e-01 -5.58821701e-02 3.90234521e+02] [ 1.43099025e-01 9.89694525e-01 -5.23612970e-03 3.10848404e+01] [ 5.60559185e-02 -2.82276151e-03 9.98423641e-01 2.19000844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.30, Y:31.09, Z:21.90 [[ 9.88429952e-01 -1.41008443e-01 -5.58824501e-02 3.90296152e+02] [ 1.40937231e-01 9.90004703e-01 -5.23313914e-03 3.10894909e+01] [ 5.60618052e-02 -2.70332632e-03 9.98423641e-01 2.19041540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.36, Y:31.09, Z:21.91 [[ 9.88971137e-01 -1.37161221e-01 -5.58828237e-02 3.90358320e+02] [ 1.37084107e-01 9.90545609e-01 -5.22914656e-03 3.10933112e+01] [ 5.60717218e-02 -2.48917198e-03 9.98423641e-01 2.19080584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.42, Y:31.10, Z:21.91 [[ 9.89200118e-01 -1.35499794e-01 -5.58831982e-02 3.90420440e+02] [ 1.35420262e-01 9.90774470e-01 -5.22514093e-03 3.11000340e+01] [ 5.60756516e-02 -2.39900729e-03 9.98423641e-01 2.19076692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.045099893 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:390.48, Y:31.10, Z:21.91 [[ 9.89418792e-01 -1.33893542e-01 -5.58835686e-02 3.90480919e+02] [ 1.33811677e-01 9.90993024e-01 -5.22117653e-03 3.11022237e+01] [ 5.60793085e-02 -2.31194388e-03 9.98423641e-01 2.19114409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.54, Y:31.11, Z:21.92 [[ 9.89357859e-01 -1.34342960e-01 -5.58837713e-02 3.90541869e+02] [ 1.34261933e-01 9.90932135e-01 -5.21900692e-03 3.11064164e+01] [ 5.60781616e-02 -2.33959764e-03 9.98423641e-01 2.19180441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.60, Y:31.11, Z:21.92 [[ 9.89182751e-01 -1.35626192e-01 -5.58839892e-02 3.90603299e+02] [ 1.35547339e-01 9.90757137e-01 -5.21667245e-03 3.11109582e+01] [ 5.60749786e-02 -2.41468359e-03 9.98423641e-01 2.19214145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.67, Y:31.12, Z:21.93 [[ 9.89026102e-01 -1.36763733e-01 -5.58842713e-02 3.90665152e+02] [ 1.36686860e-01 9.90600586e-01 -5.21364889e-03 3.11167238e+01] [ 5.60720299e-02 -2.48221075e-03 9.98423641e-01 2.19254840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.73, Y:31.12, Z:21.93 [[ 9.88800902e-01 -1.38382377e-01 -5.58846539e-02 3.90726277e+02] [ 1.38308313e-01 9.90375520e-01 -5.20954433e-03 3.11217288e+01] [ 5.60677023e-02 -2.57811006e-03 9.98423641e-01 2.19289146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.79, Y:31.13, Z:21.93 [[ 9.88717462e-01 -1.38977042e-01 -5.58852603e-02 3.90787153e+02] [ 1.38904293e-01 9.90292142e-01 -5.20303130e-03 3.11271239e+01] [ 5.60658360e-02 -2.61837463e-03 9.98423641e-01 2.19323514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.85, Y:31.13, Z:21.94 [[ 9.88677885e-01 -1.39258200e-01 -5.58855369e-02 3.90849339e+02] [ 1.39186066e-01 9.90252593e-01 -5.20005801e-03 3.11324743e+01] [ 5.60649486e-02 -2.63730568e-03 9.98423641e-01 2.19366283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.91, Y:31.14, Z:21.94 [[ 9.88680084e-01 -1.39242444e-01 -5.58859032e-02 3.90910936e+02] [ 1.39170507e-01 9.90254801e-01 -5.19611888e-03 3.11369731e+01] [ 5.60648042e-02 -2.64037023e-03 9.98423641e-01 2.19399727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.97, Y:31.14, Z:21.94 [[ 9.88638548e-01 -1.39536897e-01 -5.58862792e-02 3.90972070e+02] [ 1.39465658e-01 9.90213297e-01 -5.19207090e-03 3.11416790e+01] [ 5.60638223e-02 -2.66113525e-03 9.98423641e-01 2.19432469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.03, Y:31.15, Z:21.95 [[ 9.88513576e-01 -1.40419384e-01 -5.58865570e-02 3.91034051e+02] [ 1.40349719e-01 9.90088395e-01 -5.18907980e-03 3.11469721e+01] [ 5.60612789e-02 -2.71418677e-03 9.98423641e-01 2.19472308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.10, Y:31.15, Z:21.95 [[ 9.88432273e-01 -1.40990397e-01 -5.58869357e-02 3.91095966e+02] [ 1.40921872e-01 9.90007142e-01 -5.18499749e-03 3.11519834e+01] [ 5.60595004e-02 -2.75067273e-03 9.98423641e-01 2.19505651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.16, Y:31.16, Z:21.95 [[ 9.88501821e-01 -1.40501809e-01 -5.58873095e-02 3.91157842e+02] [ 1.40432733e-01 9.90076666e-01 -5.18096570e-03 3.11566834e+01] [ 5.60606561e-02 -2.72701356e-03 9.98423641e-01 2.19546760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.22, Y:31.16, Z:21.96 [[ 9.88859063e-01 -1.37964923e-01 -5.58876897e-02 3.91218344e+02] [ 1.37892038e-01 9.90433736e-01 -5.17686092e-03 3.11619280e+01] [ 5.60672785e-02 -2.58728159e-03 9.98423641e-01 2.19585748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.28, Y:31.17, Z:21.96 [[ 9.89727362e-01 -1.31591205e-01 -5.58883063e-02 3.91280067e+02] [ 1.31508552e-01 9.91301553e-01 -5.17019583e-03 3.11677588e+01] [ 5.60825171e-02 -2.23270596e-03 9.98423641e-01 2.19619723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.34, Y:31.17, Z:21.96 [[ 9.90413249e-01 -1.26325185e-01 -5.58886766e-02 3.91342049e+02] [ 1.26234386e-01 9.91986991e-01 -5.16618981e-03 3.11730063e+01] [ 5.60934600e-02 -1.93840996e-03 9.98423641e-01 2.19642382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.40, Y:31.18, Z:21.97 [[ 9.91335097e-01 -1.18874472e-01 -5.58890409e-02 3.91403963e+02] [ 1.18772065e-01 9.92908127e-01 -5.16224515e-03 3.11776221e+01] [ 5.61063421e-02 -1.52054198e-03 9.98423641e-01 2.19661296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.47, Y:31.18, Z:21.97 [[ 9.91805793e-01 -1.14880997e-01 -5.58894084e-02 3.91465241e+02] [ 1.14772479e-01 9.93378412e-01 -5.15826418e-03 3.11825064e+01] [ 5.61119183e-02 -1.29856967e-03 9.98423641e-01 2.19697134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.53, Y:31.19, Z:21.97 [[ 9.92199941e-01 -1.11425447e-01 -5.58895960e-02 3.91526074e+02] [ 1.11311566e-01 9.93772181e-01 -5.15623011e-03 3.11865100e+01] [ 5.61160610e-02 -1.10514727e-03 9.98423641e-01 2.19736030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.59, Y:31.19, Z:21.98 [[ 9.92469506e-01 -1.08998219e-01 -5.58897849e-02 3.91586634e+02] [ 1.08880609e-01 9.94041472e-01 -5.15418160e-03 3.11899373e+01] [ 5.61185607e-02 -9.69945766e-04 9.98423641e-01 2.19780658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.65, Y:31.19, Z:21.98 [[ 9.92392991e-01 -1.09692677e-01 -5.58897849e-02 3.91646903e+02] [ 1.09576167e-01 9.93965039e-01 -5.15418160e-03 3.11925751e+01] [ 5.61178682e-02 -1.00921469e-03 9.98423641e-01 2.19813109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.71, Y:31.19, Z:21.99 [[ 9.91742302e-01 -1.15427636e-01 -5.58897849e-02 3.91706193e+02] [ 1.15320216e-01 9.93314996e-01 -5.15418160e-03 3.11935525e+01] [ 5.61110965e-02 -1.33360214e-03 9.98423641e-01 2.19850857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.77, Y:31.20, Z:21.99 [[ 9.90962156e-01 -1.21943983e-01 -5.58897993e-02 3.91767300e+02] [ 1.21846911e-01 9.92535524e-01 -5.15402546e-03 3.11954706e+01] [ 5.61011137e-02 -1.70255524e-03 9.98423641e-01 2.19885887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.83, Y:31.20, Z:21.99 [[ 9.90032368e-01 -1.29275751e-01 -5.58899852e-02 3.91828735e+02] [ 1.29190441e-01 9.91606417e-01 -5.15200882e-03 3.11969329e+01] [ 5.60868978e-02 -2.11979636e-03 9.98423641e-01 2.19921567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.89, Y:31.20, Z:21.99 [[ 9.88652973e-01 -1.39433094e-01 -5.58901742e-02 3.91889069e+02] [ 1.39364065e-01 9.90227820e-01 -5.14995831e-03 3.11966314e+01] [ 5.60620799e-02 -2.69756025e-03 9.98423641e-01 2.19949437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.95, Y:31.20, Z:22.00 [[ 9.87823145e-01 -1.45195425e-01 -5.58902674e-02 3.91951317e+02] [ 1.45135637e-01 9.89398370e-01 -5.14894650e-03 3.11975799e+01] [ 5.60453429e-02 -3.02542103e-03 9.98423641e-01 2.19973082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.01, Y:31.20, Z:22.00 [[ 9.87815464e-01 -1.45247529e-01 -5.58906485e-02 3.92012549e+02] [ 1.45188057e-01 9.89390701e-01 -5.14480671e-03 3.12011783e+01] [ 5.60449583e-02 -3.03253505e-03 9.98423641e-01 2.20003667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.07, Y:31.21, Z:22.00 [[ 9.88255494e-01 -1.42222531e-01 -5.58912349e-02 3.92072458e+02] [ 1.42158596e-01 9.89830556e-01 -5.13842758e-03 3.12055898e+01] [ 5.60536523e-02 -2.86734020e-03 9.98423641e-01 2.20046861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.13, Y:31.21, Z:22.01 [[ 9.89347407e-01 -1.34416682e-01 -5.58915365e-02 3.92133583e+02] [ 1.34340501e-01 9.90921924e-01 -5.13514507e-03 3.12113550e+01] [ 5.60743981e-02 -2.42805454e-03 9.98423641e-01 2.20096146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.19, Y:31.22, Z:22.01 [[ 9.90079320e-01 -1.28914917e-01 -5.58917243e-02 3.92194257e+02] [ 1.28830099e-01 9.91653395e-01 -5.13310044e-03 3.12175154e+01] [ 5.60869514e-02 -2.11835981e-03 9.98423641e-01 2.20129776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.25, Y:31.22, Z:22.01 [[ 9.90856662e-01 -1.22797270e-01 -5.58919109e-02 3.92254808e+02] [ 1.22702847e-01 9.92430191e-01 -5.13106802e-03 3.12230916e+01] [ 5.60989009e-02 -1.77394366e-03 9.98423641e-01 2.20148189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.31, Y:31.23, Z:22.02 [[ 9.91158022e-01 -1.20340601e-01 -5.58920026e-02 3.92313388e+02] [ 1.20242334e-01 9.92731315e-01 -5.13006870e-03 3.12282042e+01] [ 5.61030968e-02 -1.63587609e-03 9.98423641e-01 2.20167275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.37, Y:31.23, Z:22.02 [[ 9.91450039e-01 -1.17910709e-01 -5.58917326e-02 3.92373204e+02] [ 1.17808420e-01 9.93023075e-01 -5.13300855e-03 3.12345233e+01] [ 5.61070169e-02 -1.49539518e-03 9.98423641e-01 2.20196366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.43, Y:31.24, Z:22.02 [[ 9.91593595e-01 -1.16697290e-01 -5.58917326e-02 3.92432063e+02] [ 1.16593075e-01 9.93166505e-01 -5.13300855e-03 3.12404826e+01] [ 5.61088049e-02 -1.42673060e-03 9.98423641e-01 2.20228121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.49, Y:31.25, Z:22.03 [[ 9.91791208e-01 -1.15005801e-01 -5.58915468e-02 3.92492259e+02] [ 1.14898790e-01 9.93363931e-01 -5.13503134e-03 3.12462593e+01] [ 5.61112050e-02 -1.32899214e-03 9.98423641e-01 2.20276500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.55, Y:31.25, Z:22.03 [[ 9.91822133e-01 -1.14738800e-01 -5.58915468e-02 3.92551214e+02] [ 1.14631365e-01 9.93394827e-01 -5.13503134e-03 3.12519793e+01] [ 5.61115607e-02 -1.31388658e-03 9.98423641e-01 2.20317206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.61, Y:31.26, Z:22.04 [[ 9.91661481e-01 -1.16119090e-01 -5.58915379e-02 3.92610094e+02] [ 1.16013839e-01 9.93234323e-01 -5.13512792e-03 3.12567262e+01] [ 5.61096802e-02 -1.39188333e-03 9.98423641e-01 2.20354709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.67, Y:31.26, Z:22.04 [[ 9.91338789e-01 -1.18842596e-01 -5.58913560e-02 3.92669658e+02] [ 1.18741555e-01 9.92911906e-01 -5.13710699e-03 3.12612721e+01] [ 5.61056999e-02 -1.54401308e-03 9.98423641e-01 2.20382864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.73, Y:31.27, Z:22.04 [[ 9.90778906e-01 -1.23423401e-01 -5.58911728e-02 3.92727966e+02] [ 1.23329519e-01 9.92352467e-01 -5.13909951e-03 3.12658847e+01] [ 5.60980284e-02 -1.80132009e-03 9.98423641e-01 2.20405536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.79, Y:31.27, Z:22.04 [[ 9.90536605e-01 -1.25353269e-01 -5.58909021e-02 3.92786813e+02] [ 1.25262287e-01 9.92110336e-01 -5.14204204e-03 3.12707626e+01] [ 5.60945134e-02 -1.90764135e-03 9.98423641e-01 2.20430735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.85, Y:31.28, Z:22.05 [[ 9.90485379e-01 -1.25757540e-01 -5.58905677e-02 3.92846882e+02] [ 1.25666996e-01 9.92059135e-01 -5.14567376e-03 3.12761234e+01] [ 5.60938556e-02 -1.92688511e-03 9.98423641e-01 2.20470409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.91, Y:31.28, Z:22.05 [[ 9.90671348e-01 -1.24284047e-01 -5.58905677e-02 3.92906655e+02] [ 1.24191162e-01 9.92244968e-01 -5.14567376e-03 3.12816266e+01] [ 5.60966598e-02 -1.84344298e-03 9.98423641e-01 2.20505006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.97, Y:31.29, Z:22.05 [[ 9.91004071e-01 -1.21602531e-01 -5.58905677e-02 3.92966221e+02] [ 1.21505388e-01 9.92577434e-01 -5.14567376e-03 3.12880512e+01] [ 5.61014432e-02 -1.69162146e-03 9.98423641e-01 2.20533440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.03, Y:31.30, Z:22.06 [[ 9.91658013e-01 -1.16149216e-01 -5.58904747e-02 3.93026629e+02] [ 1.16043362e-01 9.93230814e-01 -5.14668340e-03 3.12952348e+01] [ 5.61099250e-02 -1.38196876e-03 9.98423641e-01 2.20555857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.08, Y:31.30, Z:22.06 [[ 9.91945018e-01 -1.13672053e-01 -5.58904747e-02 3.93084512e+02] [ 1.13562271e-01 9.93517550e-01 -5.14668340e-03 3.13006990e+01] [ 5.61132016e-02 -1.24182229e-03 9.98423641e-01 2.20576500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.14, Y:31.30, Z:22.06 [[ 9.91963025e-01 -1.13514943e-01 -5.58901968e-02 3.93143520e+02] [ 1.13404742e-01 9.93535528e-01 -5.14969983e-03 3.13048777e+01] [ 5.61134641e-02 -1.22990154e-03 9.98423641e-01 2.20608471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.20, Y:31.31, Z:22.06 [[ 9.91685499e-01 -1.15915060e-01 -5.58888986e-02 3.93202327e+02] [ 1.15807873e-01 9.93258210e-01 -5.16375067e-03 3.13094390e+01] [ 5.61106639e-02 -1.35155782e-03 9.98423641e-01 2.20637139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.26, Y:31.31, Z:22.07 [[ 9.91298256e-01 -1.19181984e-01 -5.58875861e-02 3.93260714e+02] [ 1.19079182e-01 9.92871259e-01 -5.17791762e-03 3.13140795e+01] [ 5.61062925e-02 -1.52218730e-03 9.98423641e-01 2.20664608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.32, Y:31.32, Z:22.07 [[ 9.90681736e-01 -1.24202687e-01 -5.58873096e-02 3.93320486e+02] [ 1.24107687e-01 9.92255229e-01 -5.18089988e-03 3.13183974e+01] [ 5.60979569e-02 -1.80342183e-03 9.98423641e-01 2.20698116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.38, Y:31.32, Z:22.07 [[ 9.90070334e-01 -1.28985900e-01 -5.58871231e-02 3.93380977e+02] [ 1.28898387e-01 9.91644262e-01 -5.18291055e-03 3.13236587e+01] [ 5.60886674e-02 -2.07231407e-03 9.98423641e-01 2.20737765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.44, Y:31.33, Z:22.08 [[ 9.89807453e-01 -1.30987921e-01 -5.58871231e-02 3.93441216e+02] [ 1.30903592e-01 9.91381555e-01 -5.18291055e-03 3.13294007e+01] [ 5.60843617e-02 -2.18574168e-03 9.98423641e-01 2.20778751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.50, Y:31.34, Z:22.08 [[ 9.89659265e-01 -1.32102871e-01 -5.58871231e-02 3.93500735e+02] [ 1.32020315e-01 9.91233461e-01 -5.18291055e-03 3.13356610e+01] [ 5.60818638e-02 -2.24892014e-03 9.98423641e-01 2.20811356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.56, Y:31.34, Z:22.08 [[ 9.89677601e-01 -1.31965428e-01 -5.58871439e-02 3.93560577e+02] [ 1.31882666e-01 9.91251785e-01 -5.18268673e-03 3.13426274e+01] [ 5.60821666e-02 -2.24135655e-03 9.98423641e-01 2.20842365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.165099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.62, Y:31.35, Z:22.09 [[ 9.89884292e-01 -1.30405968e-01 -5.58871439e-02 3.93619549e+02] [ 1.30320726e-01 9.91458344e-01 -5.18268673e-03 3.13497100e+01] [ 5.60856284e-02 -2.15299300e-03 9.98423641e-01 2.20876407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.68, Y:31.36, Z:22.09 [[ 9.90377311e-01 -1.26607342e-01 -5.58870530e-02 3.93679998e+02] [ 1.26516006e-01 9.91951022e-01 -5.18366660e-03 3.13580037e+01] [ 5.60935096e-02 -1.93682097e-03 9.98423641e-01 2.20917142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.74, Y:31.37, Z:22.10 [[ 9.90688370e-01 -1.24149787e-01 -5.58872432e-02 3.93739996e+02] [ 1.24054663e-01 9.92261856e-01 -5.18161532e-03 3.13655256e+01] [ 5.60980761e-02 -1.79970711e-03 9.98423641e-01 2.20950575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.80, Y:31.37, Z:22.10 [[ 9.90945259e-01 -1.22082349e-01 -5.58873368e-02 3.93799762e+02] [ 1.21983999e-01 9.92518547e-01 -5.18060591e-03 3.13738566e+01] [ 5.61016788e-02 -1.68366396e-03 9.98423641e-01 2.20981707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.86, Y:31.38, Z:22.10 [[ 9.90981468e-01 -1.21788080e-01 -5.58873368e-02 3.93859848e+02] [ 1.21689263e-01 9.92554726e-01 -5.18060591e-03 3.13814451e+01] [ 5.61021763e-02 -1.66700437e-03 9.98423641e-01 2.21013510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.92, Y:31.39, Z:22.10 [[ 9.91111318e-01 -1.20726804e-01 -5.58873368e-02 3.93919723e+02] [ 1.20626302e-01 9.92684470e-01 -5.18060591e-03 3.13899446e+01] [ 5.61039293e-02 -1.60692563e-03 9.98423641e-01 2.21043810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.98, Y:31.40, Z:22.11 [[ 9.91333525e-01 -1.18888384e-01 -5.58873368e-02 3.93979785e+02] [ 1.18784965e-01 9.92906488e-01 -5.18060591e-03 3.13980505e+01] [ 5.61068131e-02 -1.50286700e-03 9.98423641e-01 2.21080053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.04, Y:31.41, Z:22.11 [[ 9.91687588e-01 -1.15897947e-01 -5.58873368e-02 3.94039436e+02] [ 1.15789784e-01 9.93260231e-01 -5.18060591e-03 3.14057418e+01] [ 5.61110906e-02 -1.33364004e-03 9.98423641e-01 2.21116741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.10, Y:31.41, Z:22.12 [[ 9.92330006e-01 -1.10262250e-01 -5.58873368e-02 3.94099474e+02] [ 1.10145155e-01 9.93902010e-01 -5.18060591e-03 3.14149129e+01] [ 5.61177616e-02 -1.01484864e-03 9.98423641e-01 2.21156143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.16, Y:31.42, Z:22.12 [[ 9.92778475e-01 -1.06148506e-01 -5.58873368e-02 3.94158698e+02] [ 1.06024896e-01 9.94349980e-01 -5.18060591e-03 3.14217713e+01] [ 5.61214858e-02 -7.82255029e-04 9.98423641e-01 2.21189624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.22, Y:31.43, Z:22.12 [[ 9.93366776e-01 -1.00494056e-01 -5.58873280e-02 3.94217583e+02] [ 1.00361495e-01 9.94937551e-01 -5.18070026e-03 3.14285572e+01] [ 5.61250309e-02 -4.62600292e-04 9.98423641e-01 2.21226965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.28, Y:31.43, Z:22.13 [[ 9.93633323e-01 -9.78235469e-02 -5.58871469e-02 3.94275654e+02] [ 9.76866541e-02 9.95203727e-01 -5.18265281e-03 3.14342441e+01] [ 5.61260824e-02 -3.09771861e-04 9.98423641e-01 2.21257142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.33, Y:31.44, Z:22.13 [[ 9.93722541e-01 -9.69137916e-02 -5.58858573e-02 3.94332980e+02] [ 9.67746811e-02 9.95292750e-01 -5.19652234e-03 3.14387339e+01] [ 5.61264033e-02 -2.44434634e-04 9.98423641e-01 2.21275941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.39, Y:31.44, Z:22.13 [[ 9.93607804e-01 -9.80839726e-02 -5.58843979e-02 3.94391566e+02] [ 9.79458313e-02 9.95178098e-01 -5.21217004e-03 3.14423393e+01] [ 5.61261592e-02 -2.94790976e-04 9.98423641e-01 2.21302041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.45, Y:31.45, Z:22.13 [[ 9.93230748e-01 -1.01832034e-01 -5.58830798e-02 3.94450461e+02] [ 1.01699025e-01 9.94801485e-01 -5.22626443e-03 3.14450071e+01] [ 5.61247719e-02 -4.92368226e-04 9.98423641e-01 2.21325338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.51, Y:31.45, Z:22.14 [[ 9.92908367e-01 -1.04929512e-01 -5.58817677e-02 3.94507822e+02] [ 1.04800615e-01 9.94479447e-01 -5.24025598e-03 3.14486028e+01] [ 5.61231270e-02 -6.53349630e-04 9.98423641e-01 2.21358352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.57, Y:31.45, Z:22.14 [[ 9.92375522e-01 -1.09855441e-01 -5.58802737e-02 3.94565840e+02] [ 1.09733449e-01 9.93947153e-01 -5.25613964e-03 3.14509935e+01] [ 5.61194545e-02 -9.15870822e-04 9.98423642e-01 2.21393098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.63, Y:31.45, Z:22.14 [[ 9.92021552e-01 -1.13007459e-01 -5.58798149e-02 3.94625053e+02] [ 1.12890185e-01 9.93593543e-01 -5.26101245e-03 3.14543658e+01] [ 5.61163569e-02 -1.08924493e-03 9.98423642e-01 2.21432795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.68, Y:31.46, Z:22.15 [[ 9.91392906e-01 -1.18395831e-01 -5.58796252e-02 3.94683817e+02] [ 1.18286987e-01 9.92965503e-01 -5.26302732e-03 3.14564278e+01] [ 5.61096606e-02 -1.39210455e-03 9.98423642e-01 2.21471455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.74, Y:31.46, Z:22.15 [[ 9.90642286e-01 -1.24520518e-01 -5.58793448e-02 3.94743969e+02] [ 1.24421227e-01 9.92215515e-01 -5.26600233e-03 3.14570620e+01] [ 5.61000782e-02 -1.73585207e-03 9.98423642e-01 2.21511046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.80, Y:31.46, Z:22.15 [[ 9.90399786e-01 -1.26434818e-01 -5.58793448e-02 3.94803174e+02] [ 1.26338568e-01 9.91973203e-01 -5.26600233e-03 3.14611418e+01] [ 5.60966187e-02 -1.84426882e-03 9.98423642e-01 2.21546430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.86, Y:31.46, Z:22.16 [[ 9.90088785e-01 -1.28847560e-01 -5.58793656e-02 3.94863847e+02] [ 1.28755156e-01 9.91662433e-01 -5.26578159e-03 3.14640207e+01] [ 5.60919508e-02 -1.98116515e-03 9.98423642e-01 2.21580478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.92, Y:31.47, Z:22.16 [[ 9.90011006e-01 -1.29443828e-01 -5.58793656e-02 3.94923029e+02] [ 1.29352372e-01 9.91584709e-01 -5.26578159e-03 3.14676272e+01] [ 5.60907474e-02 -2.01494678e-03 9.98423642e-01 2.21608782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.98, Y:31.47, Z:22.17 [[ 9.90228074e-01 -1.27772721e-01 -5.58792706e-02 3.94982841e+02] [ 1.27678552e-01 9.91801617e-01 -5.26678921e-03 3.14716087e+01] [ 5.60941030e-02 -1.91926185e-03 9.98423642e-01 2.21651133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.04, Y:31.48, Z:22.17 [[ 9.90557507e-01 -1.25193268e-01 -5.58790823e-02 3.95042307e+02] [ 1.25094889e-01 9.92130792e-01 -5.26878693e-03 3.14764237e+01] [ 5.60989748e-02 -1.77115113e-03 9.98423642e-01 2.21685919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.665099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.10, Y:31.48, Z:22.17 [[ 9.91011284e-01 -1.21549098e-01 -5.58788954e-02 3.95102329e+02] [ 1.21444821e-01 9.92584190e-01 -5.27076843e-03 3.14816489e+01] [ 5.61051653e-02 -1.56281148e-03 9.98423642e-01 2.21715587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.16, Y:31.49, Z:22.17 [[ 9.91433527e-01 -1.18055539e-01 -5.58788954e-02 3.95160487e+02] [ 1.17945720e-01 9.93006055e-01 -5.27076843e-03 3.14874375e+01] [ 5.61103249e-02 -1.36505999e-03 9.98423642e-01 2.21737962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.22, Y:31.49, Z:22.18 [[ 9.91702322e-01 -1.15776016e-01 -5.58786105e-02 3.95220012e+02] [ 1.15662411e-01 9.93274581e-01 -5.27378709e-03 3.14931983e+01] [ 5.61133815e-02 -1.23302792e-03 9.98423642e-01 2.21771961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.28, Y:31.50, Z:22.18 [[ 9.92063395e-01 -1.12640232e-01 -5.58784200e-02 3.95278954e+02] [ 1.12521544e-01 9.93635279e-01 -5.27580490e-03 3.14993099e+01] [ 5.61170373e-02 -1.05359315e-03 9.98423642e-01 2.21821442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.34, Y:31.51, Z:22.19 [[ 9.92059694e-01 -1.12672924e-01 -5.58782307e-02 3.95337174e+02] [ 1.12554175e-01 9.93631573e-01 -5.27780869e-03 3.15050209e+01] [ 5.61170404e-02 -1.05342689e-03 9.98423642e-01 2.21879943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.40, Y:31.51, Z:22.19 [[ 9.91842018e-01 -1.14573930e-01 -5.58768808e-02 3.95395131e+02] [ 1.14457391e-01 9.93414063e-01 -5.29206145e-03 3.15100916e+01] [ 5.61152115e-02 -1.14663307e-03 9.98423642e-01 2.21924080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.45, Y:31.51, Z:22.20 [[ 9.91193113e-01 -1.20058898e-01 -5.58755245e-02 3.95453708e+02] [ 1.19950253e-01 9.92765722e-01 -5.30634369e-03 3.15142235e+01] [ 5.61083792e-02 -1.44267195e-03 9.98423642e-01 2.21958434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.51, Y:31.52, Z:22.20 [[ 9.90660781e-01 -1.24375618e-01 -5.58741604e-02 3.95513580e+02] [ 1.24273017e-01 9.92233797e-01 -5.32066879e-03 3.15187210e+01] [ 5.61019918e-02 -1.67267257e-03 9.98423642e-01 2.21983541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.57, Y:31.52, Z:22.20 [[ 9.89802476e-01 -1.31031136e-01 -5.58739628e-02 3.95572650e+02] [ 1.30938993e-01 9.91376139e-01 -5.32274246e-03 3.15228562e+01] [ 5.60895585e-02 -2.04761674e-03 9.98423642e-01 2.22013430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.63, Y:31.53, Z:22.21 [[ 9.89335364e-01 -1.34512633e-01 -5.58738656e-02 3.95632964e+02] [ 1.34425969e-01 9.90909338e-01 -5.32376306e-03 3.15282389e+01] [ 5.60820486e-02 -2.24391148e-03 9.98423642e-01 2.22054806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.69, Y:31.53, Z:22.21 [[ 9.89013917e-01 -1.36856065e-01 -5.58738656e-02 3.95693375e+02] [ 1.36773130e-01 9.90588092e-01 -5.32376306e-03 3.15346142e+01] [ 5.60765752e-02 -2.37676775e-03 9.98423642e-01 2.22074580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.75, Y:31.54, Z:22.21 [[ 9.89119761e-01 -1.36088980e-01 -5.58738656e-02 3.95753241e+02] [ 1.36004824e-01 9.90693871e-01 -5.32376305e-03 3.15413655e+01] [ 5.60784017e-02 -2.33327604e-03 9.98423642e-01 2.22105540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.81, Y:31.55, Z:22.21 [[ 9.89587566e-01 -1.32644450e-01 -5.58739605e-02 3.95813573e+02] [ 1.32554871e-01 9.91161377e-01 -5.32276719e-03 3.15493504e+01] [ 5.60861471e-02 -2.13902137e-03 9.98423642e-01 2.22145327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.87, Y:31.56, Z:22.22 [[ 9.90124209e-01 -1.28577330e-01 -5.58741577e-02 3.95873245e+02] [ 1.28481401e-01 9.91697645e-01 -5.32069631e-03 3.15579781e+01] [ 5.60943915e-02 -1.91063986e-03 9.98423642e-01 2.22178014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.93, Y:31.57, Z:22.22 [[ 9.90344520e-01 -1.26869223e-01 -5.58742545e-02 3.95932872e+02] [ 1.26770638e-01 9.91917792e-01 -5.31967873e-03 3.15660114e+01] [ 5.60975707e-02 -1.81490022e-03 9.98423642e-01 2.22212344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.99, Y:31.57, Z:22.22 [[ 9.90399032e-01 -1.26442968e-01 -5.58742545e-02 3.95992617e+02] [ 1.26343706e-01 9.91972262e-01 -5.31967873e-03 3.15741843e+01] [ 5.60983466e-02 -1.79075573e-03 9.98423642e-01 2.22236555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.05, Y:31.58, Z:22.23 [[ 9.90394172e-01 -1.26481035e-01 -5.58742545e-02 3.96052119e+02] [ 1.26381833e-01 9.91967405e-01 -5.31967873e-03 3.15812777e+01] [ 5.60982778e-02 -1.79291189e-03 9.98423642e-01 2.22264814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.11, Y:31.59, Z:22.23 [[ 9.90629333e-01 -1.24625797e-01 -5.58742789e-02 3.96111931e+02] [ 1.24523663e-01 9.92202379e-01 -5.31942313e-03 3.15891477e+01] [ 5.61015298e-02 -1.68809327e-03 9.98423642e-01 2.22303121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.17, Y:31.60, Z:22.23 [[ 9.90980316e-01 -1.21803445e-01 -5.58742789e-02 3.96171817e+02] [ 1.21696831e-01 9.92553064e-01 -5.31942313e-03 3.15973912e+01] [ 5.61061108e-02 -1.52827905e-03 9.98423642e-01 2.22342812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.23, Y:31.61, Z:22.24 [[ 9.91589576e-01 -1.16739788e-01 -5.58742789e-02 3.96230340e+02] [ 1.16625142e-01 9.93161759e-01 -5.31942313e-03 3.16060084e+01] [ 5.61131854e-02 -1.24166115e-03 9.98423642e-01 2.22375522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.29, Y:31.61, Z:22.24 [[ 9.91885586e-01 -1.14197463e-01 -5.58741853e-02 3.96290732e+02] [ 1.14078731e-01 9.93457466e-01 -5.32040541e-03 3.16130175e+01] [ 5.61162034e-02 -1.09682274e-03 9.98423642e-01 2.22411954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.35, Y:31.62, Z:22.24 [[ 9.91973825e-01 -1.13428422e-01 -5.58741853e-02 3.96350498e+02] [ 1.13308471e-01 9.93545612e-01 -5.32040541e-03 3.16194849e+01] [ 5.61170369e-02 -1.05331561e-03 9.98423642e-01 2.22436989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.41, Y:31.63, Z:22.25 [[ 9.91721210e-01 -1.15616248e-01 -5.58741853e-02 3.96410240e+02] [ 1.15499765e-01 9.93293259e-01 -5.32040541e-03 3.16256301e+01] [ 5.61145769e-02 -1.17709637e-03 9.98423642e-01 2.22473533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.47, Y:31.63, Z:22.25 [[ 9.90923089e-01 -1.22268178e-01 -5.58741853e-02 3.96470631e+02] [ 1.22162246e-01 9.92495884e-01 -5.32040541e-03 3.16313451e+01] [ 5.61054152e-02 -1.55360341e-03 9.98423642e-01 2.22498327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.53, Y:31.64, Z:22.25 [[ 9.90257243e-01 -1.27548691e-01 -5.58741853e-02 3.96531388e+02] [ 1.27451145e-01 9.91830580e-01 -5.32040541e-03 3.16371242e+01] [ 5.60963364e-02 -1.85265890e-03 9.98423642e-01 2.22528726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.59, Y:31.64, Z:22.26 [[ 9.89240055e-01 -1.35211565e-01 -5.58743796e-02 3.96590910e+02] [ 1.35126317e-01 9.90814106e-01 -5.31836426e-03 3.16436668e+01] [ 5.60802279e-02 -2.28896018e-03 9.98423642e-01 2.22570328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.65, Y:31.65, Z:22.26 [[ 9.88629472e-01 -1.39605913e-01 -5.58744752e-02 3.96652558e+02] [ 1.39527717e-01 9.90203889e-01 -5.31736020e-03 3.16505410e+01] [ 5.60694575e-02 -2.53913897e-03 9.98423642e-01 2.22620951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.71, Y:31.66, Z:22.27 [[ 9.88096825e-01 -1.43327123e-01 -5.58748697e-02 3.96714055e+02] [ 1.43255089e-01 9.89671536e-01 -5.31321166e-03 3.16575538e+01] [ 5.60592954e-02 -2.75439187e-03 9.98423642e-01 2.22663319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.78, Y:31.67, Z:22.27 [[ 9.87633181e-01 -1.46487728e-01 -5.58752633e-02 3.96776137e+02] [ 1.46420967e-01 9.89208125e-01 -5.30906849e-03 3.16652461e+01] [ 5.60499779e-02 -2.93789787e-03 9.98423642e-01 2.22702208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.84, Y:31.67, Z:22.27 [[ 9.87158842e-01 -1.49650702e-01 -5.58756509e-02 3.96837224e+02] [ 1.49589216e-01 9.88734000e-01 -5.30498701e-03 3.16741741e+01] [ 5.60400508e-02 -3.12153000e-03 9.98423642e-01 2.22744807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.90, Y:31.68, Z:22.28 [[ 9.86967514e-01 -1.50907237e-01 -5.58760349e-02 3.96897734e+02] [ 1.50847985e-01 9.88542758e-01 -5.30093933e-03 3.16814901e+01] [ 5.60357997e-02 -3.19693237e-03 9.98423642e-01 2.22785334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.96, Y:31.69, Z:22.28 [[ 9.86951074e-01 -1.51014620e-01 -5.58763190e-02 3.96959481e+02] [ 1.50955708e-01 9.88526330e-01 -5.29794220e-03 3.16900107e+01] [ 5.60352793e-02 -3.20603957e-03 9.98423642e-01 2.22825677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.02, Y:31.70, Z:22.29 [[ 9.87053363e-01 -1.50344453e-01 -5.58766917e-02 3.97021093e+02] [ 1.50284694e-01 9.88628588e-01 -5.29400900e-03 3.16980164e+01] [ 5.60372197e-02 -3.17194211e-03 9.98423642e-01 2.22854423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.08, Y:31.71, Z:22.29 [[ 9.87227203e-01 -1.49198532e-01 -5.58770686e-02 3.97082303e+02] [ 1.49137169e-01 9.88802367e-01 -5.29002725e-03 3.17058928e+01] [ 5.60406420e-02 -3.11088904e-03 9.98423642e-01 2.22867370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.14, Y:31.72, Z:22.29 [[ 9.87744566e-01 -1.45733950e-01 -5.58774391e-02 3.97143499e+02] [ 1.45667282e-01 9.89319514e-01 -5.28611139e-03 3.17151506e+01] [ 5.60510068e-02 -2.91818686e-03 9.98423642e-01 2.22906654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.21, Y:31.72, Z:22.30 [[ 9.88320493e-01 -1.41775427e-01 -5.58778238e-02 3.97205207e+02] [ 1.41702679e-01 9.89895172e-01 -5.28204108e-03 3.17244333e+01] [ 5.60620517e-02 -2.69768787e-03 9.98423642e-01 2.22955425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.26, Y:31.74, Z:22.30 [[ 9.89529978e-01 -1.33071594e-01 -5.58782092e-02 3.97264994e+02] [ 1.32985220e-01 9.91103968e-01 -5.27796161e-03 3.17359408e+01] [ 5.60834616e-02 -2.20827470e-03 9.98423642e-01 2.23001987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.33, Y:31.75, Z:22.31 [[ 9.90906669e-01 -1.22399217e-01 -5.58784938e-02 3.97326364e+02] [ 1.22296054e-01 9.92479647e-01 -5.27494632e-03 3.17473318e+01] [ 5.61039171e-02 -1.60673981e-03 9.98423642e-01 2.23071518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.39, Y:31.76, Z:22.31 [[ 9.91744374e-01 -1.15415111e-01 -5.58788760e-02 3.97388016e+02] [ 1.15301098e-01 9.93316603e-01 -5.27089456e-03 3.17559956e+01] [ 5.61137562e-02 -1.21551571e-03 9.98423642e-01 2.23112095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.45, Y:31.76, Z:22.31 [[ 9.92660127e-01 -1.07253814e-01 -5.58792627e-02 3.97449309e+02] [ 1.07127103e-01 9.94231384e-01 -5.26679170e-03 3.17648336e+01] [ 5.61218002e-02 -7.58049412e-04 9.98423642e-01 2.23132090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.51, Y:31.77, Z:22.31 [[ 9.93072205e-01 -1.03368563e-01 -5.58796491e-02 3.97509354e+02] [ 1.03235935e-01 9.94642974e-01 -5.26268928e-03 3.17718009e+01] [ 5.61242970e-02 -5.42557355e-04 9.98423642e-01 2.23149875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.57, Y:31.78, Z:22.32 [[ 9.93296369e-01 -1.01191790e-01 -5.58797437e-02 3.97570652e+02] [ 1.01055776e-01 9.94866848e-01 -5.26168459e-03 3.17783389e+01] [ 5.61253437e-02 -4.20558660e-04 9.98423642e-01 2.23184800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.63, Y:31.78, Z:22.32 [[ 9.93469528e-01 -9.94772797e-02 -5.58799324e-02 3.97631932e+02] [ 9.93386684e-02 9.95039780e-01 -5.25967956e-03 3.17841390e+01] [ 5.61259743e-02 -3.25706703e-04 9.98423642e-01 2.23213292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.69, Y:31.79, Z:22.32 [[ 9.93530081e-01 -9.88705677e-02 -5.58801221e-02 3.97691592e+02] [ 9.87311108e-02 9.95100259e-01 -5.25766328e-03 3.17918105e+01] [ 5.61261521e-02 -2.93459905e-04 9.98423642e-01 2.23225521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.75, Y:31.80, Z:22.33 [[ 9.93703678e-01 -9.71102510e-02 -5.58802279e-02 3.97751090e+02] [ 9.69680759e-02 9.95273611e-01 -5.25653922e-03 3.17955359e+01] [ 5.61265800e-02 -1.95155819e-04 9.98423642e-01 2.23286182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.81, Y:31.80, Z:22.33 [[ 9.93689174e-01 -9.72586095e-02 -5.58801220e-02 3.97812178e+02] [ 9.71166054e-02 9.95259123e-01 -5.25766449e-03 3.18003080e+01] [ 5.61265543e-02 -2.02403477e-04 9.98423642e-01 2.23328323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.87, Y:31.81, Z:22.34 [[ 9.93556845e-01 -9.86011539e-02 -5.58803079e-02 3.97872686e+02] [ 9.84613825e-02 9.95126994e-01 -5.25568733e-03 3.18051395e+01] [ 5.61262197e-02 -2.80228251e-04 9.98423642e-01 2.23371068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.93, Y:31.81, Z:22.34 [[ 9.93212372e-01 -1.02012569e-01 -5.58804012e-02 3.97933451e+02] [ 1.01878247e-01 9.94782997e-01 -5.25469540e-03 3.18078405e+01] [ 5.61249180e-02 -4.73968808e-04 9.98423642e-01 2.23402955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.00, Y:31.81, Z:22.34 [[ 9.92943885e-01 -1.04593557e-01 -5.58804939e-02 3.97995002e+02] [ 1.04463372e-01 9.94514858e-01 -5.25370922e-03 3.18111535e+01] [ 5.61234856e-02 -6.20826397e-04 9.98423642e-01 2.23440321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.06, Y:31.81, Z:22.35 [[ 9.92895234e-01 -1.05054287e-01 -5.58806837e-02 3.98055812e+02] [ 1.04924945e-01 9.94466277e-01 -5.25169034e-03 3.18135759e+01] [ 5.61231680e-02 -6.48899327e-04 9.98423642e-01 2.23461256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.12, Y:31.82, Z:22.35 [[ 9.93059943e-01 -1.03485691e-01 -5.58807770e-02 3.98116909e+02] [ 1.03353923e-01 9.94630784e-01 -5.25069664e-03 3.18174096e+01] [ 5.61241131e-02 -5.61241031e-04 9.98423642e-01 2.23497872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.18, Y:31.82, Z:22.35 [[ 9.93339036e-01 -1.00771406e-01 -5.58809680e-02 3.98177857e+02] [ 1.00635460e-01 9.94909521e-01 -5.24866375e-03 3.18208851e+01] [ 5.61254223e-02 -4.09904326e-04 9.98423642e-01 2.23534132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.24, Y:31.82, Z:22.36 [[ 9.93806135e-01 -9.60555129e-02 -5.58811616e-02 3.98238321e+02] [ 9.59122303e-02 9.95375968e-01 -5.24660114e-03 3.18228340e+01] [ 5.61267303e-02 -1.45582445e-04 9.98423642e-01 2.23566524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.30, Y:31.83, Z:22.36 [[ 9.94020611e-01 -9.38100214e-02 -5.58811616e-02 3.98297955e+02] [ 9.36631926e-02 9.95590116e-01 -5.24660114e-03 3.18257867e+01] [ 5.61269160e-02 -1.87783327e-05 9.98423642e-01 2.23596328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.36, Y:31.83, Z:22.36 [[ 9.94079232e-01 -9.31868924e-02 -5.58809729e-02 3.98356506e+02] [ 9.30389668e-02 9.95648634e-01 -5.24861053e-03 3.18270834e+01] [ 5.61269160e-02 1.84267434e-05 9.98423642e-01 2.23627821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.42, Y:31.83, Z:22.37 [[ 9.93871741e-01 -9.53752003e-02 -5.58796289e-02 3.98415475e+02] [ 9.52299279e-02 9.95441391e-01 -5.26288053e-03 3.18280781e+01] [ 5.61268438e-02 -9.07847925e-05 9.98423642e-01 2.23654789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.47, Y:31.83, Z:22.37 [[ 9.93579289e-01 -9.83758789e-02 -5.58782903e-02 3.98474489e+02] [ 9.82345497e-02 9.95149298e-01 -5.27705485e-03 3.18300094e+01] [ 5.61263763e-02 -2.46006281e-04 9.98423642e-01 2.23686507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.53, Y:31.83, Z:22.37 [[ 9.92873824e-01 -1.05258427e-01 -5.58769410e-02 3.98533497e+02] [ 1.05127179e-01 9.94444709e-01 -5.29130435e-03 3.18310888e+01] [ 5.61234827e-02 -6.20587581e-04 9.98423642e-01 2.23727756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.59, Y:31.83, Z:22.38 [[ 9.92324420e-01 -1.10318468e-01 -5.58755820e-02 3.98592820e+02] [ 1.10194423e-01 9.93895890e-01 -5.30561644e-03 3.18333972e+01] [ 5.61198187e-02 -8.92284766e-04 9.98423642e-01 2.23764373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.65, Y:31.84, Z:22.38 [[ 9.92051787e-01 -1.12743930e-01 -5.58753904e-02 3.98651886e+02] [ 1.12623614e-01 9.93623546e-01 -5.30763307e-03 3.18372075e+01] [ 5.61175070e-02 -1.02744150e-03 9.98423642e-01 2.23797440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.71, Y:31.84, Z:22.38 [[ 9.91360882e-01 -1.18665716e-01 -5.58752961e-02 3.98712043e+02] [ 1.18554732e-01 9.92933328e-01 -5.30862561e-03 3.18385976e+01] [ 5.61103956e-02 -1.36151697e-03 9.98423642e-01 2.23842542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.77, Y:31.84, Z:22.39 [[ 9.90812898e-01 -1.23157433e-01 -5.58752961e-02 3.98772609e+02] [ 1.23053576e-01 9.92385830e-01 -5.30862561e-03 3.18412064e+01] [ 5.61036488e-02 -1.61580027e-03 9.98423642e-01 2.23874043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.83, Y:31.85, Z:22.39 [[ 9.90529191e-01 -1.25418654e-01 -5.58756104e-02 3.98832533e+02] [ 1.25318574e-01 9.92102368e-01 -5.30531517e-03 3.18450580e+01] [ 5.60997109e-02 -1.74718229e-03 9.98423642e-01 2.23908662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.89, Y:31.85, Z:22.39 [[ 9.90240512e-01 -1.27677897e-01 -5.58756104e-02 3.98892517e+02] [ 1.27581407e-01 9.91813913e-01 -5.30531517e-03 3.18486897e+01] [ 5.60955793e-02 -1.87515096e-03 9.98423642e-01 2.23948152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.95, Y:31.85, Z:22.40 [[ 9.90229258e-01 -1.27765144e-01 -5.58756104e-02 3.98953105e+02] [ 1.27668791e-01 9.91802669e-01 -5.30531517e-03 3.18536364e+01] [ 5.60954139e-02 -1.88009335e-03 9.98423642e-01 2.23976070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.01, Y:31.86, Z:22.40 [[ 9.90326502e-01 -1.27009198e-01 -5.58756104e-02 3.99013668e+02] [ 1.26911645e-01 9.91899838e-01 -5.30531517e-03 3.18590832e+01] [ 5.60968328e-02 -1.83727142e-03 9.98423642e-01 2.23991791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.07, Y:31.86, Z:22.40 [[ 9.90395142e-01 -1.26472836e-01 -5.58756104e-02 3.99074059e+02] [ 1.26374431e-01 9.91968425e-01 -5.30531517e-03 3.18647240e+01] [ 5.60978196e-02 -1.80689009e-03 9.98423642e-01 2.24015544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.13, Y:31.87, Z:22.40 [[ 9.90543395e-01 -1.25306420e-01 -5.58756104e-02 3.99134608e+02] [ 1.25206162e-01 9.92116561e-01 -5.30531517e-03 3.18705706e+01] [ 5.60999085e-02 -1.74082586e-03 9.98423642e-01 2.24047814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.20, Y:31.88, Z:22.41 [[ 9.90757295e-01 -1.23603795e-01 -5.58756104e-02 3.99195062e+02] [ 1.23500833e-01 9.92330287e-01 -5.30531517e-03 3.18770458e+01] [ 5.61028176e-02 -1.64440472e-03 9.98423642e-01 2.24090349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.25, Y:31.88, Z:22.41 [[ 9.90915100e-01 -1.22332256e-01 -5.58756104e-02 3.99253987e+02] [ 1.22227276e-01 9.92487958e-01 -5.30531517e-03 3.18841469e+01] [ 5.61048817e-02 -1.57240672e-03 9.98423642e-01 2.24143356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.31, Y:31.89, Z:22.42 [[ 9.90850948e-01 -1.22850829e-01 -5.58755161e-02 3.99314234e+02] [ 1.22746616e-01 9.92423857e-01 -5.30630853e-03 3.18903407e+01] [ 5.61040796e-02 -1.60076966e-03 9.98423642e-01 2.24195541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.37, Y:31.90, Z:22.42 [[ 9.90690011e-01 -1.24141968e-01 -5.58755161e-02 3.99373233e+02] [ 1.24039804e-01 9.92263055e-01 -5.30630853e-03 3.18952503e+01] [ 5.61019459e-02 -1.67388123e-03 9.98423642e-01 2.24194116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.43, Y:31.90, Z:22.42 [[ 9.90234908e-01 -1.27721479e-01 -5.58753181e-02 3.99432111e+02] [ 1.27624884e-01 9.91808303e-01 -5.30839315e-03 3.19007180e+01] [ 5.60956002e-02 -1.87452479e-03 9.98423642e-01 2.24246549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.49, Y:31.91, Z:22.43 [[ 9.89870269e-01 -1.30517513e-01 -5.58751143e-02 3.99493087e+02] [ 1.30425241e-01 9.91443924e-01 -5.31053664e-03 3.19065063e+01] [ 5.60901607e-02 -2.03078291e-03 9.98423642e-01 2.24283625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.55, Y:31.91, Z:22.43 [[ 9.89514270e-01 -1.33189558e-01 -5.58753092e-02 3.99553051e+02] [ 1.33101651e-01 9.91088175e-01 -5.30848580e-03 3.19121722e+01] [ 5.60843931e-02 -2.18427345e-03 9.98423642e-01 2.24312029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.61, Y:31.92, Z:22.43 [[ 9.89571071e-01 -1.32766843e-01 -5.58754051e-02 3.99614249e+02] [ 1.32678321e-01 9.91144941e-01 -5.30747618e-03 3.19189109e+01] [ 5.60852819e-02 -2.16133002e-03 9.98423642e-01 2.24344246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.68, Y:31.93, Z:22.44 [[ 9.90055681e-01 -1.29103319e-01 -5.58755960e-02 3.99675802e+02] [ 1.29009084e-01 9.91629219e-01 -5.30546560e-03 3.19282456e+01] [ 5.60928268e-02 -1.95575313e-03 9.98423642e-01 2.24386617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.74, Y:31.94, Z:22.44 [[ 9.90502948e-01 -1.25625571e-01 -5.58759881e-02 3.99735116e+02] [ 1.25526044e-01 9.92076160e-01 -5.30133227e-03 3.19363647e+01] [ 5.60992187e-02 -1.76290650e-03 9.98423642e-01 2.24415074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.80, Y:31.95, Z:22.44 [[ 9.91042716e-01 -1.21293853e-01 -5.58760841e-02 3.99796103e+02] [ 1.21187506e-01 9.92615482e-01 -5.30032028e-03 3.19467887e+01] [ 5.61063625e-02 -1.51863947e-03 9.98423642e-01 2.24444136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.86, Y:31.95, Z:22.45 [[ 9.91116789e-01 -1.20687000e-01 -5.58762773e-02 3.99857051e+02] [ 1.20579805e-01 9.92689498e-01 -5.29828366e-03 3.19545511e+01] [ 5.61072276e-02 -1.48633275e-03 9.98423642e-01 2.24466921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.92, Y:31.96, Z:22.45 [[ 9.90816293e-01 -1.23129580e-01 -5.58764698e-02 3.99917777e+02] [ 1.23026376e-01 9.92389269e-01 -5.29625180e-03 3.19625447e+01] [ 5.61033343e-02 -1.62666702e-03 9.98423642e-01 2.24488994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.98, Y:31.97, Z:22.45 [[ 9.90473094e-01 -1.25860433e-01 -5.58766617e-02 3.99978961e+02] [ 1.25761680e-01 9.92046355e-01 -5.29422642e-03 3.19714938e+01] [ 5.60985723e-02 -1.78335402e-03 9.98423642e-01 2.24518403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.04, Y:31.98, Z:22.45 [[ 9.90412964e-01 -1.26332600e-01 -5.58769533e-02 4.00039334e+02] [ 1.26234771e-01 9.91986283e-01 -5.29114792e-03 3.19802988e+01] [ 5.60976157e-02 -1.81319288e-03 9.98423642e-01 2.24529219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.10, Y:31.99, Z:22.45 [[ 9.90649593e-01 -1.24463363e-01 -5.58771446e-02 4.00100616e+02] [ 1.24362679e-01 9.92222732e-01 -5.28912639e-03 3.19890099e+01] [ 5.61008755e-02 -1.70936048e-03 9.98423642e-01 2.24546318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.16, Y:32.00, Z:22.46 [[ 9.91010977e-01 -1.21552232e-01 -5.58775282e-02 4.00162060e+02] [ 1.21447154e-01 9.92583829e-01 -5.28507128e-03 3.19955320e+01] [ 5.61055430e-02 -1.54860314e-03 9.98423642e-01 2.24593239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.22, Y:32.00, Z:22.47 [[ 9.91398983e-01 -1.18345746e-01 -5.58779076e-02 4.00222936e+02] [ 1.18235807e-01 9.92971502e-01 -5.28105674e-03 3.19995940e+01] [ 5.61101604e-02 -1.37113523e-03 9.98423642e-01 2.24668787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.28, Y:32.00, Z:22.47 [[ 9.91360001e-01 -1.18671761e-01 -5.58780952e-02 4.00284354e+02] [ 1.18562451e-01 9.92932564e-01 -5.27907059e-03 3.20025995e+01] [ 5.61096570e-02 -1.39158452e-03 9.98423642e-01 2.24742413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.34, Y:32.00, Z:22.48 [[ 9.91085638e-01 -1.20941621e-01 -5.58782828e-02 4.00344489e+02] [ 1.20836025e-01 9.92658455e-01 -5.27708464e-03 3.20019701e+01] [ 5.61062690e-02 -1.52206675e-03 9.98423643e-01 2.24832877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.41, Y:32.00, Z:22.49 [[ 9.90738122e-01 -1.23756137e-01 -5.58783751e-02 4.00405306e+02] [ 1.23655063e-01 9.92311235e-01 -5.27610640e-03 3.20004270e+01] [ 5.61016900e-02 -1.68240428e-03 9.98423643e-01 2.24889480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.47, Y:32.00, Z:22.49 [[ 9.90660162e-01 -1.24378660e-01 -5.58783751e-02 4.00467220e+02] [ 1.24278575e-01 9.92233339e-01 -5.27610640e-03 3.19998417e+01] [ 5.61006218e-02 -1.71765641e-03 9.98423643e-01 2.24917663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.53, Y:32.00, Z:22.49 [[ 9.90732703e-01 -1.23799419e-01 -5.58785699e-02 4.00527907e+02] [ 1.23698530e-01 9.92305829e-01 -5.27404299e-03 3.20036048e+01] [ 5.61015541e-02 -1.68693007e-03 9.98423643e-01 2.24946470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.59, Y:32.00, Z:22.50 [[ 9.91659407e-01 -1.16143037e-01 -5.58785699e-02 4.00587378e+02] [ 1.16030000e-01 9.93231707e-01 -5.27404299e-03 3.20024654e+01] [ 5.61129107e-02 -1.25353614e-03 9.98423643e-01 2.24966938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.65, Y:31.98, Z:22.49 [[ 9.89237397e-01 -1.35229320e-01 -5.58784747e-02 4.00648128e+02] [ 1.35146543e-01 9.90811579e-01 -5.27505102e-03 3.19832849e+01] [ 5.60783814e-02 -2.33350496e-03 9.98423643e-01 2.24926056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.71, Y:31.99, Z:22.50 [[ 9.89232359e-01 -1.35266735e-01 -5.58771065e-02 4.00707916e+02] [ 1.35183203e-01 9.90806501e-01 -5.28950471e-03 3.19889803e+01] [ 5.60788944e-02 -2.32109698e-03 9.98423643e-01 2.24959854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.77, Y:32.00, Z:22.50 [[ 9.89564032e-01 -1.32818661e-01 -5.58769104e-02 4.00766844e+02] [ 1.32731117e-01 9.91137957e-01 -5.29157556e-03 3.19950785e+01] [ 5.60845468e-02 -2.18025188e-03 9.98423643e-01 2.24993533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.83, Y:32.00, Z:22.50 [[ 9.89944708e-01 -1.29951019e-01 -5.58767175e-02 4.00825591e+02] [ 1.29858801e-01 9.91518366e-01 -5.29361186e-03 3.20017401e+01] [ 5.60907019e-02 -2.01570047e-03 9.98423643e-01 2.25026885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.89, Y:32.01, Z:22.51 [[ 9.89940040e-01 -1.29986657e-01 -5.58765272e-02 4.00885379e+02] [ 1.29894382e-01 9.91513694e-01 -5.29561939e-03 3.20074373e+01] [ 5.60907018e-02 -2.01570132e-03 9.98423643e-01 2.25060652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.94, Y:32.01, Z:22.51 [[ 9.90305021e-01 -1.27176258e-01 -5.58763368e-02 4.00944051e+02] [ 1.27079403e-01 9.91878400e-01 -5.29762776e-03 3.20142172e+01] [ 5.60962640e-02 -1.85446417e-03 9.98423643e-01 2.25095419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.00, Y:32.02, Z:22.51 [[ 9.90674987e-01 -1.24262043e-01 -5.58749940e-02 4.01003319e+02] [ 1.24159764e-01 9.92248023e-01 -5.31175250e-03 3.20211381e+01] [ 5.61019016e-02 -1.67520573e-03 9.98423643e-01 2.25129681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.06, Y:32.03, Z:22.52 [[ 9.90643121e-01 -1.24515920e-01 -5.58747996e-02 4.01062209e+02] [ 1.24413929e-01 9.92216175e-01 -5.31379726e-03 3.20267747e+01] [ 5.61015323e-02 -1.68752665e-03 9.98423643e-01 2.25162943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.12, Y:32.03, Z:22.52 [[ 9.90611169e-01 -1.24770479e-01 -5.58734326e-02 4.01121097e+02] [ 1.24668084e-01 9.92184197e-01 -5.32813212e-03 3.20324324e+01] [ 5.61015304e-02 -1.68752659e-03 9.98423643e-01 2.25196236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.18, Y:32.04, Z:22.52 [[ 9.90940749e-01 -1.22125940e-01 -5.58720619e-02 4.01178127e+02] [ 1.22018539e-01 9.92513443e-01 -5.34246664e-03 3.20386725e+01] [ 5.61062263e-02 -1.52335946e-03 9.98423643e-01 2.25224449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.24, Y:32.04, Z:22.53 [[ 9.91489101e-01 -1.17591369e-01 -5.58715805e-02 4.01236709e+02] [ 1.17476491e-01 9.93061266e-01 -5.34749677e-03 3.20449943e+01] [ 5.61127219e-02 -1.26161247e-03 9.98423643e-01 2.25253107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.29, Y:32.05, Z:22.53 [[ 9.91818796e-01 -1.14778010e-01 -5.58702524e-02 4.01294689e+02] [ 1.14657893e-01 9.93390570e-01 -5.36133752e-03 3.20519061e+01] [ 5.61163455e-02 -1.08849010e-03 9.98423643e-01 2.25296622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.35, Y:32.06, Z:22.54 [[ 9.91705673e-01 -1.15752008e-01 -5.58688751e-02 4.01352576e+02] [ 1.15632629e-01 9.93277503e-01 -5.37565121e-03 3.20585448e+01] [ 5.61155392e-02 -1.12920109e-03 9.98423643e-01 2.25356760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.41, Y:32.06, Z:22.54 [[ 9.91265280e-01 -1.19465336e-01 -5.58675082e-02 4.01410398e+02] [ 1.19351047e-01 9.92837488e-01 -5.38981955e-03 3.20629984e+01] [ 5.61112531e-02 -1.32510460e-03 9.98423643e-01 2.25384099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.47, Y:32.07, Z:22.54 [[ 9.90738402e-01 -1.23759501e-01 -5.58659509e-02 4.01467465e+02] [ 1.23651118e-01 9.92311028e-01 -5.40591323e-03 3.20699278e+01] [ 5.61054323e-02 -1.55204147e-03 9.98423643e-01 2.25402185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.53, Y:32.08, Z:22.54 [[ 9.90473896e-01 -1.25859570e-01 -5.58643971e-02 4.01525476e+02] [ 1.25753619e-01 9.92046687e-01 -5.42192254e-03 3.20771946e+01] [ 5.61024910e-02 -1.65487736e-03 9.98423644e-01 2.25430493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.59, Y:32.08, Z:22.55 [[ 9.90298390e-01 -1.27233718e-01 -5.58630460e-02 4.01585020e+02] [ 1.27129167e-01 9.91871275e-01 -5.43580830e-03 3.20840650e+01] [ 5.61005688e-02 -1.71875028e-03 9.98423644e-01 2.25470000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.64, Y:32.09, Z:22.55 [[ 9.90097063e-01 -1.28791103e-01 -5.58628518e-02 4.01643285e+02] [ 1.28688914e-01 9.91670103e-01 -5.43780336e-03 3.20923038e+01] [ 5.60978607e-02 -1.80497657e-03 9.98423644e-01 2.25519927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.70, Y:32.10, Z:22.55 [[ 9.89920024e-01 -1.30144997e-01 -5.58625649e-02 4.01702568e+02] [ 1.30044793e-01 9.91493192e-01 -5.44074834e-03 3.20991163e+01] [ 5.60954390e-02 -1.87872994e-03 9.98423644e-01 2.25549539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.76, Y:32.11, Z:22.56 [[ 9.89487405e-01 -1.33394421e-01 -5.58623735e-02 4.01762600e+02] [ 1.33299272e-01 9.91060887e-01 -5.44271331e-03 3.21054050e+01] [ 5.60890410e-02 -2.06091743e-03 9.98423644e-01 2.25562988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.82, Y:32.11, Z:22.56 [[ 9.89292897e-01 -1.34829371e-01 -5.58623735e-02 4.01822637e+02] [ 1.34736504e-01 9.90866515e-01 -5.44271331e-03 3.21128786e+01] [ 5.60859930e-02 -2.14226327e-03 9.98423644e-01 2.25600332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.88, Y:32.12, Z:22.56 [[ 9.89225487e-01 -1.35323059e-01 -5.58623735e-02 4.01881869e+02] [ 1.35230977e-01 9.90799152e-01 -5.44271331e-03 3.21188211e+01] [ 5.60849169e-02 -2.17025260e-03 9.98423644e-01 2.25628752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.94, Y:32.13, Z:22.57 [[ 9.89154869e-01 -1.35838329e-01 -5.58622774e-02 4.01942311e+02] [ 1.35747011e-01 9.90728578e-01 -5.44369894e-03 3.21250594e+01] [ 5.60838177e-02 -2.19847588e-03 9.98423644e-01 2.25659725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.00, Y:32.13, Z:22.57 [[ 9.88935710e-01 -1.37424773e-01 -5.58622774e-02 4.02002317e+02] [ 1.37335980e-01 9.90509563e-01 -5.44369894e-03 3.21324632e+01] [ 5.60802191e-02 -2.28843233e-03 9.98423644e-01 2.25689490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.06, Y:32.14, Z:22.57 [[ 9.88876979e-01 -1.37846752e-01 -5.58622774e-02 4.02063517e+02] [ 1.37758630e-01 9.90450870e-01 -5.44369894e-03 3.21400753e+01] [ 5.60792375e-02 -2.31236227e-03 9.98423644e-01 2.25722696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.12, Y:32.15, Z:22.58 [[ 9.89580243e-01 -1.32703902e-01 -5.58624775e-02 4.02123781e+02] [ 1.32607715e-01 9.91153662e-01 -5.44164480e-03 3.21497441e+01] [ 5.60904267e-02 -2.02285131e-03 9.98423644e-01 2.25753720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.18, Y:32.16, Z:22.58 [[ 9.90465325e-01 -1.25927765e-01 -5.58626799e-02 4.02183273e+02] [ 1.25820928e-01 9.92038056e-01 -5.43956643e-03 3.21590207e+01] [ 5.61028969e-02 -1.64099230e-03 9.98423644e-01 2.25794340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.24, Y:32.17, Z:22.58 [[ 9.91821210e-01 -1.14760784e-01 -5.58627792e-02 4.02241521e+02] [ 1.14636292e-01 9.93392643e-01 -5.43854677e-03 3.21693945e+01] [ 5.61178057e-02 -1.00983585e-03 9.98423644e-01 2.25840636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.30, Y:32.18, Z:22.59 [[ 9.92466116e-01 -1.09042968e-01 -5.58626821e-02 4.02300955e+02] [ 1.08909366e-01 9.94036801e-01 -5.43954397e-03 3.21759257e+01] [ 5.61227058e-02 -6.85406207e-04 9.98423644e-01 2.25870696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.36, Y:32.18, Z:22.59 [[ 9.92997091e-01 -1.04096881e-01 -5.58624879e-02 4.02360640e+02] [ 1.03955343e-01 9.94567080e-01 -5.44153733e-03 3.21816116e+01] [ 5.61254385e-02 -4.03773351e-04 9.98423644e-01 2.25892090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.42, Y:32.19, Z:22.59 [[ 9.93030775e-01 -1.03775157e-01 -5.58622941e-02 4.02418641e+02] [ 1.03632999e-01 9.94600709e-01 -5.44352612e-03 3.21872417e+01] [ 5.61255801e-02 -3.83588089e-04 9.98423644e-01 2.25920367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.48, Y:32.19, Z:22.59 [[ 9.92985731e-01 -1.04206149e-01 -5.58606976e-02 4.02476670e+02] [ 1.04063753e-01 9.94555642e-01 -5.45986095e-03 3.21927922e+01] [ 5.61255230e-02 -3.91509795e-04 9.98423644e-01 2.25945283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.53, Y:32.20, Z:22.60 [[ 9.92862091e-01 -1.05378509e-01 -5.58591003e-02 4.02534276e+02] [ 1.05237050e-01 9.94432087e-01 -5.47615404e-03 3.21980752e+01] [ 5.61251506e-02 -4.41381183e-04 9.98423644e-01 2.25980228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.59, Y:32.20, Z:22.60 [[ 9.92654646e-01 -1.07315847e-01 -5.58575220e-02 4.02592209e+02] [ 1.07176549e-01 9.94224835e-01 -5.49220525e-03 3.22034030e+01] [ 5.61243363e-02 -5.34753416e-04 9.98423644e-01 2.26020716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.65, Y:32.21, Z:22.61 [[ 9.92491460e-01 -1.08815517e-01 -5.58559388e-02 4.02650180e+02] [ 1.08677689e-01 9.94061778e-01 -5.50826003e-03 3.22086685e+01] [ 5.61236380e-02 -6.03393285e-04 9.98423644e-01 2.26056557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.71, Y:32.21, Z:22.61 [[ 9.92267438e-01 -1.10840423e-01 -5.58545606e-02 4.02707225e+02] [ 1.10705014e-01 9.93837967e-01 -5.52220032e-03 3.22131355e+01] [ 5.61224659e-02 -7.03880321e-04 9.98423644e-01 2.26093035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.77, Y:32.22, Z:22.61 [[ 9.92201138e-01 -1.11432596e-01 -5.58540758e-02 4.02765157e+02] [ 1.11297848e-01 9.93771724e-01 -5.52709896e-03 3.22184403e+01] [ 5.61221002e-02 -7.32444568e-04 9.98423644e-01 2.26128765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.82, Y:32.22, Z:22.62 [[ 9.92304186e-01 -1.10511886e-01 -5.58527041e-02 4.02824314e+02] [ 1.10374903e-01 9.93874579e-01 -5.54092597e-03 3.22233637e+01] [ 5.61229209e-02 -6.66452782e-04 9.98423644e-01 2.26163120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.88, Y:32.23, Z:22.62 [[ 9.92591708e-01 -1.07899019e-01 -5.58525026e-02 4.02884026e+02] [ 1.07757788e-01 9.94161725e-01 -5.54295662e-03 3.22269577e+01] [ 5.61244999e-02 -5.16649338e-04 9.98423644e-01 2.26193554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.94, Y:32.23, Z:22.62 [[ 9.92924540e-01 -1.04792073e-01 -5.58522958e-02 4.02942987e+02] [ 1.04645812e-01 9.94494096e-01 -5.54503945e-03 3.22291487e+01] [ 5.61258546e-02 -3.38903077e-04 9.98423644e-01 2.26222385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.00, Y:32.23, Z:22.62 [[ 9.93105228e-01 -1.03066417e-01 -5.58508641e-02 4.02999858e+02] [ 1.02916619e-01 9.94674450e-01 -5.55942218e-03 3.22327828e+01] [ 5.61264173e-02 -2.26890880e-04 9.98423644e-01 2.26244231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.06, Y:32.24, Z:22.63 [[ 9.93187732e-01 -1.02268960e-01 -5.58497030e-02 4.03057185e+02] [ 1.02117248e-01 9.94756770e-01 -5.57106275e-03 3.22364639e+01] [ 5.61266169e-02 -1.70106800e-04 9.98423645e-01 2.26262746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.12, Y:32.24, Z:22.63 [[ 9.93093749e-01 -1.03178474e-01 -5.58480741e-02 4.03115011e+02] [ 1.03027284e-01 9.94662838e-01 -5.58734433e-03 3.22395058e+01] [ 5.61264975e-02 -2.05118658e-04 9.98423645e-01 2.26281933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.17, Y:32.24, Z:22.63 [[ 9.92908938e-01 -1.04942919e-01 -5.58464336e-02 4.03172959e+02] [ 1.04793597e-01 9.94478205e-01 -5.60369360e-03 3.22438916e+01] [ 5.61261290e-02 -2.88391180e-04 9.98423645e-01 2.26291293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.23, Y:32.25, Z:22.64 [[ 9.92573571e-01 -1.08069738e-01 -5.58447704e-02 4.03230384e+02] [ 1.07924430e-01 9.94143214e-01 -5.62021921e-03 3.22463566e+01] [ 5.61250752e-02 -4.48533963e-04 9.98423645e-01 2.26355577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.29, Y:32.25, Z:22.64 [[ 9.92154348e-01 -1.11853354e-01 -5.58442168e-02 4.03288801e+02] [ 1.11713722e-01 9.93724507e-01 -5.62571548e-03 3.22490775e+01] [ 5.61230219e-02 -6.56987221e-04 9.98423645e-01 2.26403982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.35, Y:32.25, Z:22.64 [[ 9.91695695e-01 -1.15850053e-01 -5.58427619e-02 4.03346251e+02] [ 1.15715938e-01 9.93266334e-01 -5.64011968e-03 3.22519009e+01] [ 5.61201436e-02 -8.68615145e-04 9.98423645e-01 2.26435825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.40, Y:32.25, Z:22.65 [[ 9.90593459e-01 -1.24925460e-01 -5.58411005e-02 4.03404823e+02] [ 1.24804808e-01 9.92165190e-01 -5.65652157e-03 3.22524678e+01] [ 5.61102396e-02 -1.36592453e-03 9.98423645e-01 2.26462174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.46, Y:32.25, Z:22.65 [[ 9.89565451e-01 -1.32823851e-01 -5.58394327e-02 4.03461422e+02] [ 1.32714816e-01 9.91138030e-01 -5.67293753e-03 3.22543641e+01] [ 5.60980868e-02 -1.79697705e-03 9.98423645e-01 2.26485084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.52, Y:32.26, Z:22.65 [[ 9.88223733e-01 -1.42463815e-01 -5.58382903e-02 4.03518934e+02] [ 1.42369482e-01 9.89797263e-01 -5.68416008e-03 3.22569776e+01] [ 5.60783740e-02 -2.33244656e-03 9.98423645e-01 2.26508801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.58, Y:32.26, Z:22.65 [[ 9.86530839e-01 -1.53750357e-01 -5.58366441e-02 4.03577255e+02] [ 1.53673105e-01 9.88105300e-01 -5.70028555e-03 3.22602575e+01] [ 5.60489049e-02 -2.95708300e-03 9.98423646e-01 2.26534705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.64, Y:32.27, Z:22.66 [[ 9.85915039e-01 -1.57651401e-01 -5.58352163e-02 4.03636412e+02] [ 1.57579590e-01 9.87489757e-01 -5.71423684e-03 3.22664582e+01] [ 5.60375616e-02 -3.16473847e-03 9.98423646e-01 2.26559217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.70, Y:32.27, Z:22.66 [[ 9.86016091e-01 -1.57018215e-01 -5.58350136e-02 4.03696321e+02] [ 1.56945281e-01 9.87590757e-01 -5.71621659e-03 3.22748700e+01] [ 5.60396935e-02 -3.12676037e-03 9.98423646e-01 2.26587241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.76, Y:32.29, Z:22.66 [[ 9.86864615e-01 -1.51593810e-01 -5.58350136e-02 4.03755569e+02] [ 1.51512218e-01 9.88438856e-01 -5.71621659e-03 3.22856427e+01] [ 5.60560401e-02 -2.81855489e-03 9.98423646e-01 2.26611469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.82, Y:32.30, Z:22.67 [[ 9.87475254e-01 -1.47563799e-01 -5.58350136e-02 4.03816356e+02] [ 1.47475782e-01 9.89049149e-01 -5.71621659e-03 3.22958247e+01] [ 5.60670793e-02 -2.58968986e-03 9.98423646e-01 2.26659586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.88, Y:32.31, Z:22.67 [[ 9.88233678e-01 -1.42396016e-01 -5.58352259e-02 4.03876105e+02] [ 1.42299884e-01 9.89807098e-01 -5.71414197e-03 3.23066974e+01] [ 5.60797740e-02 -2.29843862e-03 9.98423646e-01 2.26704949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.94, Y:32.32, Z:22.67 [[ 9.88536695e-01 -1.40276933e-01 -5.58353303e-02 4.03935420e+02] [ 1.40177485e-01 9.90109910e-01 -5.71312183e-03 3.23162250e+01] [ 5.60845331e-02 -2.17922560e-03 9.98423646e-01 2.26748589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.99, Y:32.33, Z:22.68 [[ 9.88747205e-01 -1.38785373e-01 -5.58353303e-02 4.03994548e+02] [ 1.38683551e-01 9.90320268e-01 -5.71312183e-03 3.23254537e+01] [ 5.60877570e-02 -2.09460866e-03 9.98423646e-01 2.26781074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.05, Y:32.34, Z:22.68 [[ 9.89047716e-01 -1.36627426e-01 -5.58351284e-02 4.04054619e+02] [ 1.36522061e-01 9.90620545e-01 -5.71509460e-03 3.23358068e+01] [ 5.60922640e-02 -1.97022554e-03 9.98423646e-01 2.26797730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.11, Y:32.35, Z:22.68 [[ 9.89357534e-01 -1.34365576e-01 -5.58351284e-02 4.04114307e+02] [ 1.34256615e-01 9.90930118e-01 -5.71509460e-03 3.23454179e+01] [ 5.60966224e-02 -1.84196343e-03 9.98423646e-01 2.26825641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.17, Y:32.36, Z:22.69 [[ 9.90141892e-01 -1.28458054e-01 -5.58351284e-02 4.04174867e+02] [ 1.28339709e-01 9.91713798e-01 -5.71509460e-03 3.23583177e+01] [ 5.61066172e-02 -1.50710952e-03 9.98423646e-01 2.26863695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.23, Y:32.37, Z:22.69 [[ 9.91152577e-01 -1.20411730e-01 -5.58353375e-02 4.04234704e+02] [ 1.20280736e-01 9.92723479e-01 -5.71305094e-03 3.23707919e+01] [ 5.61169688e-02 -1.05341035e-03 9.98423646e-01 2.26905368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.29, Y:32.38, Z:22.69 [[ 9.91461258e-01 -1.17842976e-01 -5.58355435e-02 4.04294225e+02] [ 1.17708025e-01 9.93031825e-01 -5.71103733e-03 3.23790762e+01] [ 5.61194773e-02 -9.10019276e-04 9.98423646e-01 2.26943600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.35, Y:32.39, Z:22.70 [[ 9.91992718e-01 -1.13282122e-01 -5.58355435e-02 4.04353783e+02] [ 1.13139950e-01 9.93562648e-01 -5.71103733e-03 3.23886476e+01] [ 5.61230689e-02 -6.51923127e-04 9.98423646e-01 2.26996000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.41, Y:32.40, Z:22.70 [[ 9.92294654e-01 -1.10606110e-01 -5.58355435e-02 4.04413605e+02] [ 1.10459704e-01 9.93864195e-01 -5.71103733e-03 3.23986654e+01] [ 5.61246231e-02 -5.00545803e-04 9.98423646e-01 2.27035169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.47, Y:32.41, Z:22.71 [[ 9.92150420e-01 -1.11892518e-01 -5.58355435e-02 4.04473515e+02] [ 1.11748146e-01 9.93720150e-01 -5.71103733e-03 3.24065273e+01] [ 5.61239270e-02 -5.73310398e-04 9.98423646e-01 2.27074429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.53, Y:32.41, Z:22.71 [[ 9.91727510e-01 -1.15580873e-01 -5.58355435e-02 4.04533508e+02] [ 1.15442340e-01 9.93297765e-01 -5.71103733e-03 3.24134605e+01] [ 5.61214072e-02 -7.81992955e-04 9.98423646e-01 2.27106153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.59, Y:32.42, Z:22.71 [[ 9.90643147e-01 -1.24533268e-01 -5.58356472e-02 4.04594874e+02] [ 1.24408980e-01 9.92214594e-01 -5.71002284e-03 3.24201666e+01] [ 5.61120319e-02 -1.28986091e-03 9.98423646e-01 2.27138191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.65, Y:32.43, Z:22.72 [[ 9.89763469e-01 -1.31341665e-01 -5.58358546e-02 4.04654535e+02] [ 1.31228299e-01 9.91335741e-01 -5.70799419e-03 3.24258990e+01] [ 5.61017758e-02 -1.67768009e-03 9.98423646e-01 2.27157001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.72, Y:32.43, Z:22.72 [[ 9.88481080e-01 -1.40668052e-01 -5.58359568e-02 4.04716125e+02] [ 1.40569571e-01 9.90054355e-01 -5.70699441e-03 3.24329071e+01] [ 5.60834240e-02 -2.20758051e-03 9.98423646e-01 2.27191094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.78, Y:32.44, Z:22.72 [[ 9.87505174e-01 -1.47362922e-01 -5.58363743e-02 4.04777084e+02] [ 1.47275335e-01 9.89079093e-01 -5.70290661e-03 3.24415444e+01] [ 5.60669874e-02 -2.59167096e-03 9.98423646e-01 2.27230922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.84, Y:32.45, Z:22.73 [[ 9.87054471e-01 -1.50352039e-01 -5.58366834e-02 4.04838596e+02] [ 1.50269389e-01 9.88628657e-01 -5.69987857e-03 3.24494699e+01] [ 5.60587337e-02 -2.76445368e-03 9.98423646e-01 2.27268179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.90, Y:32.46, Z:22.73 [[ 9.86555506e-01 -1.53591836e-01 -5.58370919e-02 4.04900134e+02] [ 1.53514580e-01 9.88129966e-01 -5.69587456e-03 3.24578402e+01] [ 5.60491435e-02 -2.95251131e-03 9.98423646e-01 2.27307408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.96, Y:32.47, Z:22.73 [[ 9.86262913e-01 -1.55459448e-01 -5.58374952e-02 4.04961092e+02] [ 1.55385397e-01 9.87837527e-01 -5.69191757e-03 3.24651450e+01] [ 5.60432356e-02 -3.06260416e-03 9.98423646e-01 2.27337841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.02, Y:32.47, Z:22.74 [[ 9.86031442e-01 -1.56920795e-01 -5.58377939e-02 4.05023075e+02] [ 1.56849243e-01 9.87606172e-01 -5.68898646e-03 3.24737260e+01] [ 5.60384701e-02 -3.14859620e-03 9.98423646e-01 2.27359943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.08, Y:32.48, Z:22.74 [[ 9.86285264e-01 -1.55317324e-01 -5.58382144e-02 4.05083339e+02] [ 1.55243445e-01 9.87859886e-01 -5.68485593e-03 3.24820249e+01] [ 5.60432887e-02 -3.06162712e-03 9.98423646e-01 2.27381710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.15, Y:32.49, Z:22.74 [[ 9.86862139e-01 -1.51608637e-01 -5.58385245e-02 4.05145931e+02] [ 1.51529011e-01 9.88436481e-01 -5.68180806e-03 3.24918222e+01] [ 5.60542458e-02 -2.85399512e-03 9.98423646e-01 2.27421149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.21, Y:32.51, Z:22.75 [[ 9.88441802e-01 -1.40942518e-01 -5.58391465e-02 4.05206257e+02] [ 1.40846241e-01 9.90015214e-01 -5.67568871e-03 3.25052995e+01] [ 5.60815504e-02 -2.25464589e-03 9.98423646e-01 2.27478414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.27, Y:32.52, Z:22.75 [[ 9.89792515e-01 -1.31121062e-01 -5.58394513e-02 4.05267505e+02] [ 1.31009336e-01 9.91364905e-01 -5.67268821e-03 3.25166238e+01] [ 5.61010813e-02 -1.70070509e-03 9.98423646e-01 2.27520839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.33, Y:32.53, Z:22.76 [[ 9.91735616e-01 -1.15509214e-01 -5.58398562e-02 4.05328413e+02] [ 1.15372950e-01 9.93306070e-01 -5.66869994e-03 3.25294536e+01] [ 5.61208552e-02 -8.20557315e-04 9.98423646e-01 2.27560968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.39, Y:32.54, Z:22.76 [[ 9.93235744e-01 -1.01806781e-01 -5.58402682e-02 4.05389546e+02] [ 1.01649078e-01 9.94804190e-01 -5.66463846e-03 3.25415285e+01] [ 5.61268314e-02 -4.97903559e-05 9.98423646e-01 2.27584733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.45, Y:32.55, Z:22.76 [[ 9.93820465e-01 -9.59307205e-02 -5.58406765e-02 4.05450339e+02] [ 9.57639701e-02 9.95387974e-01 -5.66061048e-03 3.25509661e+01] [ 5.61261643e-02 2.78105657e-04 9.98423646e-01 2.27612938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.51, Y:32.56, Z:22.76 [[ 9.94113244e-01 -9.28474820e-02 -5.58408802e-02 4.05510771e+02] [ 9.26759830e-02 9.95680241e-01 -5.65860029e-03 3.25588412e+01] [ 5.61250479e-02 4.50181021e-04 9.98423646e-01 2.27643335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.57, Y:32.57, Z:22.77 [[ 9.94062014e-01 -9.33943722e-02 -5.58408802e-02 4.05570527e+02] [ 9.32237353e-02 9.95629105e-01 -5.65860029e-03 3.25650684e+01] [ 5.61252871e-02 4.19304163e-04 9.98423646e-01 2.27680922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.63, Y:32.57, Z:22.77 [[ 9.93740623e-01 -9.67541719e-02 -5.58408802e-02 4.05629938e+02] [ 9.65888334e-02 9.95308283e-01 -5.65860029e-03 3.25702009e+01] [ 5.61263838e-02 2.29575502e-04 9.98423646e-01 2.27714918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.69, Y:32.58, Z:22.78 [[ 9.92685758e-01 -1.07036412e-01 -5.58407791e-02 4.05689466e+02] [ 1.06887255e-01 9.94255040e-01 -5.65959845e-03 3.25771432e+01] [ 5.61257591e-02 -3.50464827e-04 9.98423646e-01 2.27755950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.75, Y:32.58, Z:22.78 [[ 9.92047931e-01 -1.12794935e-01 -5.58408900e-02 4.05749943e+02] [ 1.12654948e-01 9.93618057e-01 -5.65850386e-03 3.25782354e+01] [ 5.61227672e-02 -6.77245494e-04 9.98423646e-01 2.27771254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.81, Y:32.58, Z:22.78 [[ 9.90671116e-01 -1.24308223e-01 -5.58408900e-02 4.05812148e+02] [ 1.24186480e-01 9.92242762e-01 -5.65850386e-03 3.25813265e+01] [ 5.61111175e-02 -1.32896723e-03 9.98423646e-01 2.27805718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.87, Y:32.59, Z:22.78 [[ 9.89674069e-01 -1.32011308e-01 -5.58413028e-02 4.05873721e+02] [ 1.31902025e-01 9.91246631e-01 -5.65442708e-03 3.25857972e+01] [ 5.60989516e-02 -1.76954108e-03 9.98423646e-01 2.27846905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.94, Y:32.59, Z:22.79 [[ 9.88750541e-01 -1.38759038e-01 -5.58417136e-02 4.05936125e+02] [ 1.38660713e-01 9.90323826e-01 -5.65036723e-03 3.25903221e+01] [ 5.60854190e-02 -2.15624818e-03 9.98423646e-01 2.27888541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.00, Y:32.59, Z:22.79 [[ 9.87660478e-01 -1.46316225e-01 -5.58421270e-02 4.05997614e+02] [ 1.46230165e-01 9.89234481e-01 -5.64627855e-03 3.25942952e+01] [ 5.60670997e-02 -2.58919727e-03 9.98423646e-01 2.27922969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.06, Y:32.60, Z:22.79 [[ 9.86953096e-01 -1.51013938e-01 -5.58424333e-02 4.06059323e+02] [ 1.50935539e-01 9.88527499e-01 -5.64324730e-03 3.26001070e+01] [ 5.60539900e-02 -2.85898738e-03 9.98423646e-01 2.27946639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.12, Y:32.61, Z:22.80 [[ 9.86575531e-01 -1.53461067e-01 -5.58428323e-02 4.06121464e+02] [ 1.53386796e-01 9.88150135e-01 -5.63929690e-03 3.26066021e+01] [ 5.60465148e-02 -3.00196079e-03 9.98423646e-01 2.27981553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.18, Y:32.61, Z:22.80 [[ 9.86120072e-01 -1.56360846e-01 -5.58434448e-02 4.06183337e+02] [ 1.56291547e-01 9.87694902e-01 -5.63322525e-03 3.26138834e+01] [ 5.60371015e-02 -3.17282187e-03 9.98423646e-01 2.28002797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.24, Y:32.62, Z:22.80 [[ 9.86004634e-01 -1.57086965e-01 -5.58439472e-02 4.06244681e+02] [ 1.57019108e-01 9.87579527e-01 -5.62823980e-03 3.26206388e+01] [ 5.60344621e-02 -3.21909623e-03 9.98423646e-01 2.28033384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.31, Y:32.63, Z:22.81 [[ 9.85775265e-01 -1.58519794e-01 -5.58444387e-02 4.06307642e+02] [ 1.58454500e-01 9.87350267e-01 -5.62335864e-03 3.26280431e+01] [ 5.60294351e-02 -3.30543478e-03 9.98423646e-01 2.28061162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.37, Y:32.64, Z:22.81 [[ 9.85796341e-01 -1.58388461e-01 -5.58450472e-02 4.06369482e+02] [ 1.58323299e-01 9.87371348e-01 -5.61730935e-03 3.26359159e+01] [ 5.60295165e-02 -3.30404912e-03 9.98423646e-01 2.28079698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.43, Y:32.65, Z:22.81 [[ 9.86280040e-01 -1.55347892e-01 -5.58454554e-02 4.06430656e+02] [ 1.55278103e-01 9.87854849e-01 -5.61324878e-03 3.26456005e+01] [ 5.60392102e-02 -3.13534113e-03 9.98423646e-01 2.28108415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.49, Y:32.65, Z:22.82 [[ 9.86842433e-01 -1.51734114e-01 -5.58459590e-02 4.06493349e+02] [ 1.51658840e-01 9.88416989e-01 -5.60823375e-03 3.26546369e+01] [ 5.60500550e-02 -2.93509031e-03 9.98423646e-01 2.28156432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.55, Y:32.67, Z:22.82 [[ 9.88049127e-01 -1.43666583e-01 -5.58465408e-02 4.06554057e+02] [ 1.43578775e-01 9.89623033e-01 -5.60243431e-03 3.26652429e+01] [ 5.60719057e-02 -2.48289757e-03 9.98423646e-01 2.28218358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.62, Y:32.67, Z:22.83 [[ 9.88922596e-01 -1.37525340e-01 -5.58469368e-02 4.06615863e+02] [ 1.37427978e-01 9.90495940e-01 -5.59848362e-03 3.26741754e+01] [ 5.60860976e-02 -2.13846466e-03 9.98423646e-01 2.28263990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.68, Y:32.68, Z:22.83 [[ 9.90114369e-01 -1.28664630e-01 -5.58475493e-02 4.06678574e+02] [ 1.28553528e-01 9.91686803e-01 -5.59236667e-03 3.26825358e+01] [ 5.61028175e-02 -1.64231691e-03 9.98423646e-01 2.28304550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.74, Y:32.69, Z:22.83 [[ 9.90862508e-01 -1.22770000e-01 -5.58481589e-02 4.06740968e+02] [ 1.22649886e-01 9.92434280e-01 -5.58627251e-03 3.26893339e+01] [ 5.61114540e-02 -1.31454231e-03 9.98423646e-01 2.28346248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.80, Y:32.70, Z:22.84 [[ 9.92071123e-01 -1.12586862e-01 -5.58487781e-02 4.06802554e+02] [ 1.12450960e-01 9.93641608e-01 -5.58007513e-03 3.26960698e+01] [ 5.61219128e-02 -7.44417306e-04 9.98423646e-01 2.28375229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.86, Y:32.70, Z:22.84 [[ 9.92864117e-01 -1.05364667e-01 -5.58491854e-02 4.06863111e+02] [ 1.05217570e-01 9.94433593e-01 -5.57599603e-03 3.27025340e+01] [ 5.61258191e-02 -3.40109208e-04 9.98423646e-01 2.28400414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.92, Y:32.71, Z:22.84 [[ 9.93788625e-01 -9.62548894e-02 -5.58494853e-02 4.06924511e+02] [ 9.60935739e-02 9.95356703e-01 -5.57299056e-03 3.27075104e+01] [ 5.61265872e-02 1.71597978e-04 9.98423646e-01 2.28429378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.99, Y:32.71, Z:22.85 [[ 9.94197021e-01 -9.19407223e-02 -5.58496810e-02 4.06985622e+02] [ 9.17727128e-02 9.95764396e-01 -5.57102874e-03 3.27118962e+01] [ 5.61253283e-02 4.13223440e-04 9.98423646e-01 2.28465466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.05, Y:32.71, Z:22.85 [[ 9.94411793e-01 -8.95878188e-02 -5.58498809e-02 4.07046161e+02] [ 8.94162133e-02 9.95978778e-01 -5.56902393e-03 3.27148748e+01] [ 5.61242128e-02 5.44018209e-04 9.98423646e-01 2.28502767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.11, Y:32.72, Z:22.85 [[ 9.94213516e-01 -9.17620620e-02 -5.58498809e-02 4.07105972e+02] [ 9.15938834e-02 9.95780873e-01 -5.56902393e-03 3.27172337e+01] [ 5.61252683e-02 4.21291382e-04 9.98423646e-01 2.28540682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.17, Y:32.72, Z:22.86 [[ 9.93643100e-01 -9.77456071e-02 -5.58496827e-02 4.07165659e+02] [ 9.75867555e-02 9.95211429e-01 -5.57101040e-03 3.27161401e+01] [ 5.61267844e-02 8.54067097e-05 9.98423646e-01 2.28590677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.23, Y:32.71, Z:22.86 [[ 9.92779732e-01 -1.06156671e-01 -5.58494812e-02 4.07225228e+02] [ 1.06010993e-01 9.94349340e-01 -5.57302974e-03 3.27144098e+01] [ 5.61255091e-02 -3.87868000e-04 9.98423646e-01 2.28632282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.28, Y:32.71, Z:22.87 [[ 9.92135485e-01 -1.12017930e-01 -5.58494729e-02 4.07284704e+02] [ 1.11881519e-01 9.93705925e-01 -5.57311363e-03 3.27147854e+01] [ 5.61222408e-02 -7.19240053e-04 9.98423646e-01 2.28650534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.35, Y:32.71, Z:22.87 [[ 9.91225981e-01 -1.19799621e-01 -5.58489611e-02 4.07345117e+02] [ 1.19675249e-01 9.92797421e-01 -5.57823704e-03 3.27118219e+01] [ 5.61149752e-02 -1.15444482e-03 9.98423646e-01 2.28693300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.41, Y:32.72, Z:22.87 [[ 9.91032227e-01 -1.21392110e-01 -5.58487347e-02 4.07406692e+02] [ 1.21270135e-01 9.92603855e-01 -5.58050323e-03 3.27156841e+01] [ 5.61130984e-02 -1.24232505e-03 9.98423646e-01 2.28726534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.47, Y:32.72, Z:22.87 [[ 9.90899583e-01 -1.22469959e-01 -5.58491394e-02 4.07467762e+02] [ 1.22349922e-01 9.92471360e-01 -5.57645018e-03 3.27158671e+01] [ 5.61116189e-02 -1.30743569e-03 9.98423646e-01 2.28747043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.53, Y:32.72, Z:22.88 [[ 9.91283254e-01 -1.19324654e-01 -5.58492386e-02 4.07529491e+02] [ 1.19199686e-01 9.92854647e-01 -5.57545611e-03 3.27174660e+01] [ 5.61154655e-02 -1.13035542e-03 9.98423646e-01 2.28780280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.59, Y:32.72, Z:22.88 [[ 9.91692432e-01 -1.15874764e-01 -5.58494370e-02 4.07589914e+02] [ 1.15744441e-01 9.93263390e-01 -5.57346829e-03 3.27208444e+01] [ 5.61190254e-02 -9.37095514e-04 9.98423646e-01 2.28810193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.65, Y:32.72, Z:22.88 [[ 9.92439883e-01 -1.09288236e-01 -5.58494370e-02 4.07649429e+02] [ 1.09147486e-01 9.94009941e-01 -5.57346829e-03 3.27233854e+01] [ 5.61240101e-02 -5.64493405e-04 9.98423646e-01 2.28833890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.71, Y:32.73, Z:22.89 [[ 9.92916428e-01 -1.04870535e-01 -5.58492370e-02 4.07707737e+02] [ 1.04722686e-01 9.94485834e-01 -5.57547210e-03 3.27266212e+01] [ 5.61259777e-02 -3.12704279e-04 9.98423646e-01 2.28855029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.77, Y:32.73, Z:22.89 [[ 9.93434366e-01 -9.98452038e-02 -5.58488624e-02 4.07766175e+02] [ 9.96892052e-02 9.95002982e-01 -5.57922126e-03 3.27290982e+01] [ 5.61268432e-02 -2.49385766e-05 9.98423646e-01 2.28915932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.82, Y:32.73, Z:22.90 [[ 9.93618214e-01 -9.79995322e-02 -5.58474416e-02 4.07823427e+02] [ 9.78398225e-02 9.95186456e-01 -5.59340736e-03 3.27323912e+01] [ 5.61267688e-02 9.36076528e-05 9.98423646e-01 2.28955609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.88, Y:32.73, Z:22.90 [[ 9.93720900e-01 -9.69537040e-02 -5.58457981e-02 4.07881055e+02] [ 9.67914243e-02 9.95288878e-01 -5.60976900e-03 3.27334325e+01] [ 5.61265896e-02 1.69150360e-04 9.98423646e-01 2.28984292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.94, Y:32.74, Z:22.90 [[ 9.93649267e-01 -9.76860436e-02 -5.58441608e-02 4.07938969e+02] [ 9.75240062e-02 9.95217271e-01 -5.62602082e-03 3.27353199e+01] [ 5.61266570e-02 1.44145187e-04 9.98423646e-01 2.29016345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.00, Y:32.74, Z:22.90 [[ 9.93330996e-01 -1.00871925e-01 -5.58425215e-02 4.07997504e+02] [ 1.00714004e-01 9.94899419e-01 -5.64224553e-03 3.27358192e+01] [ 5.61268364e-02 -1.95065737e-05 9.98423646e-01 2.29048292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.06, Y:32.74, Z:22.91 [[ 9.93017749e-01 -1.03911248e-01 -5.58408617e-02 4.08055278e+02] [ 1.03757206e-01 9.94586558e-01 -5.65862441e-03 3.27383123e+01] [ 5.61265652e-02 -1.74777341e-04 9.98423647e-01 2.29074291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.11, Y:32.74, Z:22.91 [[ 9.92672781e-01 -1.07157517e-01 -5.58392056e-02 4.08113340e+02] [ 1.07007689e-01 9.94241998e-01 -5.67492001e-03 3.27411103e+01] [ 5.61257937e-02 -3.41885724e-04 9.98423647e-01 2.29101965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.17, Y:32.74, Z:22.91 [[ 9.92384383e-01 -1.09797097e-01 -5.58375598e-02 4.08170811e+02] [ 1.09650535e-01 9.93953908e-01 -5.69106798e-03 3.27434947e+01] [ 5.61248236e-02 -4.74891331e-04 9.98423647e-01 2.29125587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.23, Y:32.74, Z:22.92 [[ 9.92116778e-01 -1.12189774e-01 -5.58368516e-02 4.08229246e+02] [ 1.12046606e-01 9.93686616e-01 -5.69800780e-03 3.27440623e+01] [ 5.61235903e-02 -6.03240582e-04 9.98423647e-01 2.29176601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.29, Y:32.75, Z:22.92 [[ 9.91957176e-01 -1.13592992e-01 -5.58354063e-02 4.08287205e+02] [ 1.13451250e-01 9.93527144e-01 -5.71213543e-03 3.27451413e+01] [ 5.61228503e-02 -6.68402925e-04 9.98423647e-01 2.29215661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.35, Y:32.75, Z:22.92 [[ 9.91769873e-01 -1.15217110e-01 -5.58348983e-02 4.08345341e+02] [ 1.15077659e-01 9.93340046e-01 -5.71709672e-03 3.27473699e+01] [ 5.61217478e-02 -7.55305126e-04 9.98423647e-01 2.29246470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.40, Y:32.75, Z:22.93 [[ 9.91351136e-01 -1.18766910e-01 -5.58331991e-02 4.08403334e+02] [ 1.18632150e-01 9.92921718e-01 -5.73364380e-03 3.27477261e+01] [ 5.61189631e-02 -9.39558176e-04 9.98423647e-01 2.29263225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.46, Y:32.75, Z:22.93 [[ 9.91005834e-01 -1.21614755e-01 -5.58326779e-02 4.08461291e+02] [ 1.21484222e-01 9.92576773e-01 -5.73871489e-03 3.27503568e+01] [ 5.61161316e-02 -1.09568950e-03 9.98423647e-01 2.29293158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.105099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.52, Y:32.75, Z:22.93 [[ 9.90610608e-01 -1.24793398e-01 -5.58321732e-02 4.08519283e+02] [ 1.24667630e-01 9.92181935e-01 -5.74362020e-03 3.27529285e+01] [ 5.61124396e-02 -1.27077361e-03 9.98423647e-01 2.29340542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.58, Y:32.76, Z:22.94 [[ 9.90436455e-01 -1.26168872e-01 -5.58304927e-02 4.08575679e+02] [ 1.26044368e-01 9.92007883e-01 -5.75990910e-03 3.27575364e+01] [ 5.61110102e-02 -1.33229522e-03 9.98423647e-01 2.29368617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.63, Y:32.76, Z:22.94 [[ 9.90223139e-01 -1.27832593e-01 -5.58297688e-02 4.08632873e+02] [ 1.27710334e-01 9.91794744e-01 -5.76691812e-03 3.27627486e+01] [ 5.61088713e-02 -1.41950264e-03 9.98423647e-01 2.29402436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.69, Y:32.77, Z:22.94 [[ 9.89780507e-01 -1.31216503e-01 -5.58281088e-02 4.08690302e+02] [ 1.31098713e-01 9.91352452e-01 -5.78294294e-03 3.27672409e+01] [ 5.61041502e-02 -1.59514904e-03 9.98423647e-01 2.29430628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.75, Y:32.77, Z:22.95 [[ 9.89391544e-01 -1.34118557e-01 -5.58263885e-02 4.08746990e+02] [ 1.34004445e-01 9.90963760e-01 -5.79950283e-03 3.27732600e+01] [ 5.60997489e-02 -1.74300514e-03 9.98423648e-01 2.29450475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.81, Y:32.78, Z:22.95 [[ 9.89034503e-01 -1.36727313e-01 -5.58246682e-02 4.08805162e+02] [ 1.36616416e-01 9.90606950e-01 -5.81601550e-03 3.27797499e+01] [ 5.60955124e-02 -1.87432610e-03 9.98423648e-01 2.29501899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.86, Y:32.79, Z:22.95 [[ 9.88727015e-01 -1.38934038e-01 -5.58231413e-02 4.08861584e+02] [ 1.38825826e-01 9.90299648e-01 -5.83063383e-03 3.27867192e+01] [ 5.60917107e-02 -1.98478852e-03 9.98423648e-01 2.29533280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.92, Y:32.79, Z:22.96 [[ 9.88303253e-01 -1.41917367e-01 -5.58224124e-02 4.08918885e+02] [ 1.41813508e-01 9.89876180e-01 -5.83760378e-03 3.27931967e+01] [ 5.60857337e-02 -2.14704934e-03 9.98423648e-01 2.29564843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.98, Y:32.80, Z:22.96 [[ 9.88193173e-01 -1.42682497e-01 -5.58207743e-02 4.08976304e+02] [ 1.42578975e-01 9.89766122e-01 -5.85322602e-03 3.27997197e+01] [ 5.60846642e-02 -2.17475081e-03 9.98423648e-01 2.29592454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.03, Y:32.81, Z:22.96 [[ 9.88168616e-01 -1.42853120e-01 -5.58191141e-02 4.09034238e+02] [ 1.42748979e-01 9.89741524e-01 -5.86901634e-03 3.28082579e+01] [ 5.60849023e-02 -2.16854380e-03 9.98423648e-01 2.29629155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.09, Y:32.82, Z:22.97 [[ 9.88328389e-01 -1.41744092e-01 -5.58176283e-02 4.09092552e+02] [ 1.41637391e-01 9.89901126e-01 -5.88311359e-03 3.28174271e+01] [ 5.60878297e-02 -2.09141505e-03 9.98423648e-01 2.29665413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.15, Y:32.83, Z:22.97 [[ 9.88518149e-01 -1.40415193e-01 -5.58161525e-02 4.09151746e+02] [ 1.40305590e-01 9.90090686e-01 -5.89708229e-03 3.28258241e+01] [ 5.60910926e-02 -2.00194533e-03 9.98423648e-01 2.29712139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.21, Y:32.84, Z:22.97 [[ 9.88966375e-01 -1.37222776e-01 -5.58159338e-02 4.09209506e+02] [ 1.37107980e-01 9.90538541e-01 -5.89915109e-03 3.28356901e+01] [ 5.60973316e-02 -1.81874784e-03 9.98423648e-01 2.29749328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.27, Y:32.85, Z:22.98 [[ 9.89293035e-01 -1.34847720e-01 -5.58156111e-02 4.09268658e+02] [ 1.34728977e-01 9.90864908e-01 -5.90220247e-03 3.28451815e+01] [ 5.61016290e-02 -1.68097240e-03 9.98423648e-01 2.29796601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.33, Y:32.85, Z:22.98 [[ 9.89778847e-01 -1.31234433e-01 -5.58153911e-02 4.09326182e+02] [ 1.31109834e-01 9.91350266e-01 -5.90428280e-03 3.28547376e+01] [ 5.61074480e-02 -1.47401246e-03 9.98423648e-01 2.29826310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.38, Y:32.86, Z:22.99 [[ 9.90102059e-01 -1.28773411e-01 -5.58150663e-02 4.09384656e+02] [ 1.28644733e-01 9.91673150e-01 -5.90735121e-03 3.28633764e+01] [ 5.61110124e-02 -1.33143372e-03 9.98423648e-01 2.29859352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.44, Y:32.87, Z:22.99 [[ 9.90687439e-01 -1.24190357e-01 -5.58135625e-02 4.09443067e+02] [ 1.24053611e-01 9.92257848e-01 -5.92152546e-03 3.28721991e+01] [ 5.61168418e-02 -1.05749311e-03 9.98423648e-01 2.29884380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.50, Y:32.88, Z:22.99 [[ 9.91060246e-01 -1.21179493e-01 -5.58132459e-02 4.09502576e+02] [ 1.21037808e-01 9.92630218e-01 -5.92450782e-03 3.28798827e+01] [ 5.61198433e-02 -8.83968791e-04 9.98423648e-01 2.29922915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.56, Y:32.89, Z:23.00 [[ 9.91461164e-01 -1.17854425e-01 -5.58130263e-02 4.09560703e+02] [ 1.17707359e-01 9.93030641e-01 -5.92657651e-03 3.28869491e+01] [ 5.61225185e-02 -6.93633460e-04 9.98423648e-01 2.29950480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.62, Y:32.89, Z:23.00 [[ 9.91560415e-01 -1.17016645e-01 -5.58126149e-02 4.09617853e+02] [ 1.16868035e-01 9.93129746e-01 -5.93044787e-03 3.28931905e+01] [ 5.61231292e-02 -6.42313274e-04 9.98423648e-01 2.29983972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.67, Y:32.90, Z:23.00 [[ 9.91598474e-01 -1.16694527e-01 -5.58108804e-02 4.09674859e+02] [ 1.16544491e-01 9.93167669e-01 -5.94672690e-03 3.28980538e+01] [ 5.61235124e-02 -6.07685342e-04 9.98423649e-01 2.30008222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.73, Y:32.90, Z:23.00 [[ 9.91470084e-01 -1.17780733e-01 -5.58101347e-02 4.09732569e+02] [ 1.17632022e-01 9.93039405e-01 -5.95371728e-03 3.29029019e+01] [ 5.61228961e-02 -6.62126421e-04 9.98423649e-01 2.30041790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.79, Y:32.91, Z:23.01 [[ 9.91270581e-01 -1.19448978e-01 -5.58084001e-02 4.09790272e+02] [ 1.19301996e-01 9.92840064e-01 -5.96993208e-03 3.29062362e+01] [ 5.61219179e-02 -7.40235502e-04 9.98423649e-01 2.30076866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.85, Y:32.91, Z:23.01 [[ 9.91099730e-01 -1.20858622e-01 -5.58078673e-02 4.09848426e+02] [ 1.20713592e-01 9.92669396e-01 -5.97490863e-03 3.29097934e+01] [ 5.61208812e-02 -8.15037817e-04 9.98423649e-01 2.30120512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.91, Y:32.91, Z:23.02 [[ 9.91049892e-01 -1.21267412e-01 -5.58061529e-02 4.09906214e+02] [ 1.21122131e-01 9.92619534e-01 -5.99087943e-03 3.29136285e+01] [ 5.61207759e-02 -8.22099730e-04 9.98423649e-01 2.30160609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.605099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.96, Y:32.92, Z:23.02 [[ 9.91000553e-01 -1.21670759e-01 -5.58043893e-02 4.09963720e+02] [ 1.21525193e-01 9.92570169e-01 -6.00726212e-03 3.29188753e+01] [ 5.61206802e-02 -8.28439115e-04 9.98423649e-01 2.30198091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.02, Y:32.92, Z:23.02 [[ 9.90998708e-01 -1.21686592e-01 -5.58026299e-02 4.10021333e+02] [ 1.21540134e-01 9.92568241e-01 -6.02356141e-03 3.29223911e+01] [ 5.61209048e-02 -8.12917542e-04 9.98423649e-01 2.30240858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.08, Y:32.93, Z:23.03 [[ 9.91008149e-01 -1.21610488e-01 -5.58008795e-02 4.10079502e+02] [ 1.21463000e-01 9.92577585e-01 -6.03973333e-03 3.29262100e+01] [ 5.61211971e-02 -7.92317261e-04 9.98423649e-01 2.30275064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.14, Y:32.93, Z:23.03 [[ 9.91124222e-01 -1.20661672e-01 -5.57990784e-02 4.10136063e+02] [ 1.20511747e-01 9.92693427e-01 -6.05632775e-03 3.29282046e+01] [ 5.61221450e-02 -7.21871279e-04 9.98423649e-01 2.30300864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.19, Y:32.93, Z:23.03 [[ 9.91116486e-01 -1.20725558e-01 -5.57983045e-02 4.10193961e+02] [ 1.20575333e-01 9.92685662e-01 -6.06344901e-03 3.29318541e+01] [ 5.61221901e-02 -7.18314855e-04 9.98423649e-01 2.30330416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.25, Y:32.93, Z:23.04 [[ 9.91044529e-01 -1.21315642e-01 -5.57965584e-02 4.10252376e+02] [ 1.21165449e-01 9.92613708e-01 -6.07947464e-03 3.29341747e+01] [ 5.61219641e-02 -7.35584971e-04 9.98423650e-01 2.30351329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.31, Y:32.94, Z:23.04 [[ 9.90969508e-01 -1.21927747e-01 -5.57947912e-02 4.10309355e+02] [ 1.21777613e-01 9.92538692e-01 -6.09565076e-03 3.29373398e+01] [ 5.61217180e-02 -7.53952444e-04 9.98423650e-01 2.30368368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.37, Y:32.94, Z:23.04 [[ 9.90822970e-01 -1.23113436e-01 -5.57935852e-02 4.10366944e+02] [ 1.22964559e-01 9.92392274e-01 -6.10666913e-03 3.29401462e+01] [ 5.61209359e-02 -8.10005557e-04 9.98423650e-01 2.30396275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.42, Y:32.95, Z:23.04 [[ 9.90727982e-01 -1.23876334e-01 -5.57917580e-02 4.10424592e+02] [ 1.23727728e-01 9.92297311e-01 -6.12331723e-03 3.29450833e+01] [ 5.61205456e-02 -8.36445751e-04 9.98423650e-01 2.30432294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.48, Y:32.95, Z:23.05 [[ 9.90655134e-01 -1.24458384e-01 -5.57899325e-02 4.10481701e+02] [ 1.24309766e-01 9.92224462e-01 -6.13990463e-03 3.29486041e+01] [ 5.61202984e-02 -8.52705446e-04 9.98423650e-01 2.30473093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.54, Y:32.95, Z:23.05 [[ 9.90515785e-01 -1.25562935e-01 -5.57891476e-02 4.10538963e+02] [ 1.25415667e-01 9.92085241e-01 -6.14702850e-03 3.29530986e+01] [ 5.61194288e-02 -9.08104366e-04 9.98423650e-01 2.30509840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.60, Y:32.96, Z:23.05 [[ 9.90086936e-01 -1.28901632e-01 -5.57873483e-02 4.10597241e+02] [ 1.28758738e-01 9.91656796e-01 -6.16331502e-03 3.29562892e+01] [ 5.61163644e-02 -1.08089091e-03 9.98423650e-01 2.30540793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.65, Y:32.96, Z:23.06 [[ 9.89708972e-01 -1.31773010e-01 -5.57855234e-02 4.10654049e+02] [ 1.31633742e-01 9.91279158e-01 -6.17978863e-03 3.29602186e+01] [ 5.61133560e-02 -1.22706493e-03 9.98423650e-01 2.30567132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.71, Y:32.96, Z:23.06 [[ 9.89269979e-01 -1.35029714e-01 -5.57842759e-02 4.10712120e+02] [ 1.34894981e-01 9.90840560e-01 -6.19102886e-03 3.29642003e+01] [ 5.61092960e-02 -1.40041986e-03 9.98423650e-01 2.30595206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.77, Y:32.97, Z:23.06 [[ 9.89013274e-01 -1.36897994e-01 -5.57824587e-02 4.10769880e+02] [ 1.36765308e-01 9.90584029e-01 -6.20735940e-03 3.29698368e+01] [ 5.61069878e-02 -1.48994427e-03 9.98423651e-01 2.30628193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.83, Y:32.98, Z:23.06 [[ 9.88834969e-01 -1.38180773e-01 -5.57806246e-02 4.10827300e+02] [ 1.38049198e-01 9.90405818e-01 -6.22379800e-03 3.29759921e+01] [ 5.61054643e-02 -1.54616136e-03 9.98423651e-01 2.30649543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.88, Y:32.98, Z:23.07 [[ 9.88461902e-01 -1.40825403e-01 -5.57788003e-02 4.10884994e+02] [ 1.40697110e-01 9.90033022e-01 -6.24010472e-03 3.29820021e+01] [ 5.61016195e-02 -1.67981025e-03 9.98423651e-01 2.30676380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.94, Y:32.99, Z:23.07 [[ 9.88154885e-01 -1.42964509e-01 -5.57769896e-02 4.10942748e+02] [ 1.42838708e-01 9.89726206e-01 -6.25624741e-03 3.29893790e+01] [ 5.60983697e-02 -1.78497169e-03 9.98423651e-01 2.30709513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.00, Y:33.00, Z:23.07 [[ 9.87930440e-01 -1.44508051e-01 -5.57751642e-02 4.10999481e+02] [ 1.44383789e-01 9.89501884e-01 -6.27247915e-03 3.29978836e+01] [ 5.60960538e-02 -1.85625646e-03 9.98423651e-01 2.30727489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.06, Y:33.01, Z:23.08 [[ 9.87151219e-01 -1.49739121e-01 -5.57733467e-02 4.11056337e+02] [ 1.49622275e-01 9.88723231e-01 -6.28859854e-03 3.30065093e+01] [ 5.60860528e-02 -2.13713729e-03 9.98423651e-01 2.30770454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.11, Y:33.02, Z:23.08 [[ 9.86745738e-01 -1.52388950e-01 -5.57714653e-02 4.11113821e+02] [ 1.52275386e-01 9.88317991e-01 -6.30524059e-03 3.30150289e+01] [ 5.60807915e-02 -2.27095210e-03 9.98423651e-01 2.30803188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.17, Y:33.02, Z:23.08 [[ 9.86470528e-01 -1.54161108e-01 -5.57696235e-02 4.11169916e+02] [ 1.54049451e-01 9.88042917e-01 -6.32148914e-03 3.30235672e+01] [ 5.60773092e-02 -2.35531718e-03 9.98423652e-01 2.30834704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.23, Y:33.03, Z:23.09 [[ 9.86404493e-01 -1.54583524e-01 -5.57683651e-02 4.11226701e+02] [ 1.54471915e-01 9.87976885e-01 -6.33257133e-03 3.30347901e+01] [ 5.60767669e-02 -2.36816935e-03 9.98423652e-01 2.30875862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.28, Y:33.05, Z:23.09 [[ 9.86738245e-01 -1.52439273e-01 -5.57665184e-02 4.11284519e+02] [ 1.52323332e-01 9.88310323e-01 -6.34879231e-03 3.30458665e+01] [ 5.60824311e-02 -2.22994571e-03 9.98423652e-01 2.30908422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.34, Y:33.06, Z:23.09 [[ 9.87794714e-01 -1.45436855e-01 -5.57648980e-02 4.11341905e+02] [ 1.45308966e-01 9.89365866e-01 -6.36299350e-03 3.30587818e+01] [ 5.60973004e-02 -1.81780832e-03 9.98423652e-01 2.30935331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.40, Y:33.07, Z:23.10 [[ 9.88869380e-01 -1.37941321e-01 -5.57632550e-02 4.11398020e+02] [ 1.37800710e-01 9.90439445e-01 -6.37736035e-03 3.30727203e+01] [ 5.61098288e-02 -1.37783977e-03 9.98423652e-01 2.30956609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.46, Y:33.08, Z:23.10 [[ 9.89375165e-01 -1.34265802e-01 -5.57626793e-02 4.11455842e+02] [ 1.34119075e-01 9.90944670e-01 -6.38239023e-03 3.30839896e+01] [ 5.61146665e-02 -1.16426057e-03 9.98423652e-01 2.30988765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.51, Y:33.10, Z:23.10 [[ 9.89771933e-01 -1.31309641e-01 -5.57610897e-02 4.11513221e+02] [ 1.31157445e-01 9.91340916e-01 -6.39624754e-03 3.30951572e+01] [ 5.61181388e-02 -9.82655772e-04 9.98423652e-01 2.31021002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.57, Y:33.10, Z:23.11 [[ 9.89817568e-01 -1.30965899e-01 -5.57594477e-02 4.11571848e+02] [ 1.30812354e-01 9.91386420e-01 -6.41052989e-03 3.31043855e+01] [ 5.61187201e-02 -9.48769515e-04 9.98423652e-01 2.31052773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.63, Y:33.11, Z:23.11 [[ 9.89642200e-01 -1.32284636e-01 -5.57592162e-02 4.11629347e+02] [ 1.32133068e-01 9.91211245e-01 -6.41254318e-03 3.31146246e+01] [ 5.61174430e-02 -1.02151296e-03 9.98423652e-01 2.31088719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.69, Y:33.12, Z:23.11 [[ 9.89467221e-01 -1.33587336e-01 -5.57587858e-02 4.11688144e+02] [ 1.33437624e-01 9.91036443e-01 -6.41628356e-03 3.31226188e+01] [ 5.61161230e-02 -1.09161761e-03 9.98423652e-01 2.31132063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.75, Y:33.13, Z:23.12 [[ 9.89250279e-01 -1.35184572e-01 -5.57585532e-02 4.11745504e+02] [ 1.35037279e-01 9.90819731e-01 -6.41830432e-03 3.31316410e+01] [ 5.61143304e-02 -1.18017398e-03 9.98423652e-01 2.31176523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.80, Y:33.14, Z:23.12 [[ 9.89217893e-01 -1.35421536e-01 -5.57581179e-02 4.11804977e+02] [ 1.35274406e-01 9.90787360e-01 -6.42208331e-03 3.31394460e+01] [ 5.61141268e-02 -1.18980658e-03 9.98423652e-01 2.31217826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.86, Y:33.15, Z:23.13 [[ 9.89175712e-01 -1.35729299e-01 -5.57581179e-02 4.11863263e+02] [ 1.35582657e-01 9.90745225e-01 -6.42208331e-03 3.31482168e+01] [ 5.61137539e-02 -1.20726495e-03 9.98423652e-01 2.31254214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.92, Y:33.16, Z:23.13 [[ 9.89408183e-01 -1.34024034e-01 -5.57584641e-02 4.11922699e+02] [ 1.33874857e-01 9.90977456e-01 -6.41907658e-03 3.31558928e+01] [ 5.61156914e-02 -1.11356950e-03 9.98423652e-01 2.31289855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.98, Y:33.16, Z:23.13 [[ 9.90184153e-01 -1.28165376e-01 -5.57582305e-02 4.11981147e+02] [ 1.28006798e-01 9.91752504e-01 -6.42110487e-03 3.31647382e+01] [ 5.61213280e-02 -7.79356259e-04 9.98423652e-01 2.31329398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.04, Y:33.17, Z:23.14 [[ 9.90760052e-01 -1.23634754e-01 -5.57581156e-02 4.12040409e+02] [ 1.23468948e-01 9.92327655e-01 -6.42210198e-03 3.31728208e+01] [ 5.61243151e-02 -5.21633804e-04 9.98423652e-01 2.31366974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.10, Y:33.18, Z:23.14 [[ 9.91254885e-01 -1.19602727e-01 -5.57578834e-02 4.12099558e+02] [ 1.19430431e-01 9.92821788e-01 -6.42411735e-03 3.31798202e+01] [ 5.61259835e-02 -2.91250364e-04 9.98423652e-01 2.31395025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.16, Y:33.19, Z:23.14 [[ 9.91389220e-01 -1.18484172e-01 -5.57576483e-02 4.12158252e+02] [ 1.18309994e-01 9.92955915e-01 -6.42615782e-03 3.31861000e+01] [ 5.61262847e-02 -2.25863428e-04 9.98423652e-01 2.31415987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.22, Y:33.19, Z:23.14 [[ 9.91170755e-01 -1.20298203e-01 -5.57573014e-02 4.12217077e+02] [ 1.20126723e-01 9.92737748e-01 -6.42916579e-03 3.31917571e+01] [ 5.61257949e-02 -3.25540765e-04 9.98423652e-01 2.31444082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.27, Y:33.20, Z:23.15 [[ 9.90810164e-01 -1.23233627e-01 -5.57556491e-02 4.12274504e+02] [ 1.23065984e-01 9.92377572e-01 -6.44346382e-03 3.31977230e+01] [ 5.61247071e-02 -4.77374370e-04 9.98423652e-01 2.31471791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.33, Y:33.20, Z:23.15 [[ 9.89878867e-01 -1.30503644e-01 -5.57550690e-02 4.12333480e+02] [ 1.30347230e-01 9.91447435e-01 -6.44847921e-03 3.32022524e+01] [ 5.61197702e-02 -8.84305490e-04 9.98423652e-01 2.31508349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.39, Y:33.21, Z:23.16 [[ 9.88990895e-01 -1.37071368e-01 -5.57534724e-02 4.12392725e+02] [ 1.36924592e-01 9.90560395e-01 -6.46225384e-03 3.32066649e+01] [ 5.61129716e-02 -1.24291125e-03 9.98423652e-01 2.31553592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.45, Y:33.21, Z:23.16 [[ 9.87629972e-01 -1.46555842e-01 -5.57532367e-02 4.12452395e+02] [ 1.46424021e-01 9.89200798e-01 -6.46428673e-03 3.32101209e+01] [ 5.60985253e-02 -1.77928977e-03 9.98423652e-01 2.31590277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.51, Y:33.21, Z:23.16 [[ 9.86797209e-01 -1.52062019e-01 -5.57531205e-02 4.12510428e+02] [ 1.51938904e-01 9.88368742e-01 -6.46528921e-03 3.32145918e+01] [ 5.60877665e-02 -2.09113868e-03 9.98423652e-01 2.31623750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.57, Y:33.22, Z:23.17 [[ 9.85571844e-01 -1.59811664e-01 -5.57527786e-02 4.12570985e+02] [ 1.59700736e-01 9.87144284e-01 -6.46823631e-03 3.32185033e+01] [ 5.60697363e-02 -2.52884819e-03 9.98423652e-01 2.31666627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.63, Y:33.22, Z:23.17 [[ 9.84707495e-01 -1.65053859e-01 -5.57527786e-02 4.12632295e+02] [ 1.64951299e-01 9.86280503e-01 -6.46823631e-03 3.32244195e+01] [ 5.60554858e-02 -2.82717248e-03 9.98423652e-01 2.31709801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.69, Y:33.23, Z:23.17 [[ 9.84330728e-01 -1.67286042e-01 -5.57530165e-02 4.12693238e+02] [ 1.67187165e-01 9.85903971e-01 -6.46618509e-03 3.32313836e+01] [ 5.60488228e-02 -2.95632409e-03 9.98423652e-01 2.31742264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.75, Y:33.24, Z:23.18 [[ 9.84054550e-01 -1.68902985e-01 -5.57532511e-02 4.12754085e+02] [ 1.68806807e-01 9.85627960e-01 -6.46416139e-03 3.32386342e+01] [ 5.60437793e-02 -3.05044089e-03 9.98423652e-01 2.31773115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.81, Y:33.25, Z:23.18 [[ 9.84188435e-01 -1.68121008e-01 -5.57534898e-02 4.12813379e+02] [ 1.68023696e-01 9.85761776e-01 -6.46210170e-03 3.32476287e+01] [ 5.60460742e-02 -3.00798168e-03 9.98423652e-01 2.31789535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.87, Y:33.26, Z:23.18 [[ 9.84723143e-01 -1.64960196e-01 -5.57536073e-02 4.12873663e+02] [ 1.64857890e-01 9.86296168e-01 -6.46108816e-03 3.32575362e+01] [ 5.60553916e-02 -2.82903903e-03 9.98423652e-01 2.31828832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.93, Y:33.27, Z:23.19 [[ 9.85781455e-01 -1.58513198e-01 -5.57538350e-02 4.12934169e+02] [ 1.58400712e-01 9.87353784e-01 -6.45912242e-03 3.32696225e+01] [ 5.60726161e-02 -2.46416408e-03 9.98423652e-01 2.31883010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.00, Y:33.28, Z:23.19 [[ 9.86438846e-01 -1.54369228e-01 -5.57543145e-02 4.12995700e+02] [ 1.54250370e-01 9.88010707e-01 -6.45498057e-03 3.32794038e+01] [ 5.60823101e-02 -2.23268007e-03 9.98423652e-01 2.31927222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.06, Y:33.29, Z:23.20 [[ 9.87073360e-01 -1.50258394e-01 -5.57547915e-02 4.13055896e+02] [ 1.50133222e-01 9.88644730e-01 -6.45085846e-03 3.32902387e+01] [ 5.60909764e-02 -2.00317592e-03 9.98423652e-01 2.31957123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.12, Y:33.30, Z:23.20 [[ 9.87632380e-01 -1.46538724e-01 -5.57555826e-02 4.13116441e+02] [ 1.46408018e-01 9.89203299e-01 -6.44401319e-03 3.33010908e+01] [ 5.60979037e-02 -1.79874827e-03 9.98423652e-01 2.32002762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.18, Y:33.31, Z:23.20 [[ 9.87927779e-01 -1.44533706e-01 -5.57558153e-02 4.13176513e+02] [ 1.44399926e-01 9.89498440e-01 -6.44199883e-03 3.33107607e+01] [ 5.61013783e-02 -1.68690601e-03 9.98423652e-01 2.32043437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.24, Y:33.32, Z:23.21 [[ 9.88218069e-01 -1.42535296e-01 -5.57560458e-02 4.13236777e+02] [ 1.42398452e-01 9.89788466e-01 -6.44000370e-03 3.33200640e+01] [ 5.61046189e-02 -1.57544657e-03 9.98423652e-01 2.32075871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.30, Y:33.33, Z:23.21 [[ 9.88749746e-01 -1.38799054e-01 -5.57562782e-02 4.13296651e+02] [ 1.38656388e-01 9.90319624e-01 -6.43799124e-03 3.33307088e+01] [ 5.61101235e-02 -1.36540195e-03 9.98423652e-01 2.32101336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.36, Y:33.34, Z:23.21 [[ 9.89433976e-01 -1.33834348e-01 -5.57563924e-02 4.13355224e+02] [ 1.33683859e-01 9.91003123e-01 -6.43700151e-03 3.33392150e+01] [ 5.61162509e-02 -1.08474174e-03 9.98423652e-01 2.32101954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.42, Y:33.35, Z:23.22 [[ 9.89797492e-01 -1.31118841e-01 -5.57563924e-02 4.13415005e+02] [ 1.30964048e-01 9.91366221e-01 -6.43700151e-03 3.33486263e+01] [ 5.61190162e-02 -9.30754896e-04 9.98423652e-01 2.32184716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.48, Y:33.36, Z:23.22 [[ 9.90170987e-01 -1.28267850e-01 -5.57563924e-02 4.13475525e+02] [ 1.28108539e-01 9.91739264e-01 -6.43700151e-03 3.33569319e+01] [ 5.61214639e-02 -7.69137856e-04 9.98423652e-01 2.32222242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.54, Y:33.36, Z:23.23 [[ 9.90360755e-01 -1.26794219e-01 -5.57566250e-02 4.13536403e+02] [ 1.26632689e-01 9.91928804e-01 -6.43498605e-03 3.33646525e+01] [ 5.61225214e-02 -6.87653697e-04 9.98423652e-01 2.32262889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.60, Y:33.37, Z:23.23 [[ 9.90193853e-01 -1.28091008e-01 -5.57568630e-02 4.13596736e+02] [ 1.27931647e-01 9.91762124e-01 -6.43292311e-03 3.33703074e+01] [ 5.61215445e-02 -7.63226413e-04 9.98423652e-01 2.32281408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.66, Y:33.38, Z:23.23 [[ 9.89829660e-01 -1.30875527e-01 -5.57569801e-02 4.13656574e+02] [ 1.30720635e-01 9.91398379e-01 -6.43190811e-03 3.33755282e+01] [ 5.61191591e-02 -9.22094443e-04 9.98423652e-01 2.32314363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.72, Y:33.38, Z:23.23 [[ 9.89635109e-01 -1.32338616e-01 -5.57569801e-02 4.13716700e+02] [ 1.32186043e-01 9.91204056e-01 -6.43190811e-03 3.33815752e+01] [ 5.61177347e-02 -1.00505251e-03 9.98423652e-01 2.32343334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.78, Y:33.39, Z:23.24 [[ 9.89029265e-01 -1.36792805e-01 -5.57569801e-02 4.13778161e+02] [ 1.36647297e-01 9.90598883e-01 -6.43190811e-03 3.33860658e+01] [ 5.61126410e-02 -1.25769527e-03 9.98423652e-01 2.32380973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.84, Y:33.39, Z:23.24 [[ 9.88661001e-01 -1.39429403e-01 -5.57572167e-02 4.13839479e+02] [ 1.39288197e-01 9.90231011e-01 -6.42985695e-03 3.33911542e+01] [ 5.61090362e-02 -1.40937335e-03 9.98423652e-01 2.32404581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.90, Y:33.40, Z:23.24 [[ 9.88390920e-01 -1.41331111e-01 -5.57575673e-02 4.13899438e+02] [ 1.41193097e-01 9.89961214e-01 -6.42681480e-03 3.33952212e+01] [ 5.61061379e-02 -1.52037822e-03 9.98423652e-01 2.32433303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.96, Y:33.40, Z:23.25 [[ 9.88507202e-01 -1.40515453e-01 -5.57576776e-02 4.13960260e+02] [ 1.40376197e-01 9.90077387e-01 -6.42585784e-03 3.34010478e+01] [ 5.61073481e-02 -1.47504398e-03 9.98423652e-01 2.32478387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.02, Y:33.41, Z:23.25 [[ 9.89130310e-01 -1.36059857e-01 -5.57579121e-02 4.14020309e+02] [ 1.35913641e-01 9.90699862e-01 -6.42382269e-03 3.34058826e+01] [ 5.61133802e-02 -1.22426314e-03 9.98423652e-01 2.32502134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.08, Y:33.41, Z:23.25 [[ 9.90037164e-01 -1.29295886e-01 -5.57582961e-02 4.14081060e+02] [ 1.29139134e-01 9.91605699e-01 -6.42048763e-03 3.34111078e+01] [ 5.61203868e-02 -8.44056709e-04 9.98423652e-01 2.32541228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.14, Y:33.42, Z:23.26 [[ 9.90791697e-01 -1.23380709e-01 -5.57585307e-02 4.14140333e+02] [ 1.23214707e-01 9.92359279e-01 -6.41844984e-03 3.34166037e+01] [ 5.61244082e-02 -5.10924193e-04 9.98423652e-01 2.32572799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.20, Y:33.42, Z:23.26 [[ 9.90967669e-01 -1.21959387e-01 -5.57582966e-02 4.14199968e+02] [ 1.21791022e-01 9.92534999e-01 -6.42048290e-03 3.34229310e+01] [ 5.61250990e-02 -4.28368963e-04 9.98423652e-01 2.32605073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.26, Y:33.43, Z:23.26 [[ 9.91232024e-01 -1.19791960e-01 -5.57580625e-02 4.14259591e+02] [ 1.19620053e-01 9.92798970e-01 -6.42251488e-03 3.34279387e+01] [ 5.61259127e-02 -3.03579959e-04 9.98423652e-01 2.32635268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.32, Y:33.43, Z:23.27 [[ 9.91652246e-01 -1.16262145e-01 -5.57578315e-02 4.14317163e+02] [ 1.16084548e-01 9.93218558e-01 -6.42452005e-03 3.34306295e+01] [ 5.61266414e-02 -1.01732940e-04 9.98423652e-01 2.32665542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.38, Y:33.43, Z:23.27 [[ 9.92280346e-01 -1.10773833e-01 -5.57572625e-02 4.14375157e+02] [ 1.10587295e-01 9.93845618e-01 -6.42945437e-03 3.34338796e+01] [ 5.61263263e-02 2.13776361e-04 9.98423652e-01 2.32703650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.43, Y:33.44, Z:23.27 [[ 9.92743725e-01 -1.06542146e-01 -5.57554218e-02 4.14432372e+02] [ 1.06348042e-01 9.94308077e-01 -6.44537699e-03 3.34381902e+01] [ 5.61247705e-02 4.69127636e-04 9.98423653e-01 2.32747806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.49, Y:33.44, Z:23.28 [[ 9.93107681e-01 -1.03095472e-01 -5.57535454e-02 4.14489834e+02] [ 1.02895030e-01 9.94671233e-01 -6.46156763e-03 3.34407963e+01] [ 5.61226061e-02 6.80269714e-04 9.98423653e-01 2.32782031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.55, Y:33.44, Z:23.28 [[ 9.93392597e-01 -1.00314004e-01 -5.57516789e-02 4.14547807e+02] [ 1.00108283e-01 9.94955462e-01 -6.47763243e-03 3.34403499e+01] [ 5.61202347e-02 8.53627265e-04 9.98423653e-01 2.32824011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.61, Y:33.44, Z:23.29 [[ 9.93322634e-01 -1.01004750e-01 -5.57511065e-02 4.14605508e+02] [ 1.00799839e-01 9.94885606e-01 -6.48255498e-03 3.34417283e+01] [ 5.61207422e-02 8.19566004e-04 9.98423653e-01 2.32860651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.66, Y:33.44, Z:23.29 [[ 9.92697511e-01 -1.06975089e-01 -5.57492822e-02 4.14664536e+02] [ 1.06778700e-01 9.94261576e-01 -6.49820663e-03 3.34400902e+01] [ 5.61245154e-02 4.97917656e-04 9.98423653e-01 2.32938647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.72, Y:33.44, Z:23.29 [[ 9.92175803e-01 -1.11710763e-01 -5.57483699e-02 4.14722769e+02] [ 1.11521401e-01 9.93740735e-01 -6.50602322e-03 3.34382009e+01] [ 5.61262189e-02 2.37982527e-04 9.98423653e-01 2.32914027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.78, Y:33.43, Z:23.29 [[ 9.90619336e-01 -1.24761981e-01 -5.57474663e-02 4.14781814e+02] [ 1.24592801e-01 9.92186578e-01 -6.51375689e-03 3.34345610e+01] [ 5.61245570e-02 -4.93079437e-04 9.98423653e-01 2.32946710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.84, Y:33.44, Z:23.30 [[ 9.89263104e-01 -1.35096021e-01 -5.57456336e-02 4.14840415e+02] [ 1.34942329e-01 9.90831941e-01 -6.52940368e-03 3.34353658e+01] [ 5.61166508e-02 -1.06314749e-03 9.98423653e-01 2.32984881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.90, Y:33.43, Z:23.30 [[ 9.87202960e-01 -1.49408655e-01 -5.57437771e-02 4.14899055e+02] [ 1.49276807e-01 9.88773784e-01 -6.54521533e-03 3.34343827e+01] [ 5.60958972e-02 -1.85979711e-03 9.98423653e-01 2.33022527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.96, Y:33.44, Z:23.31 [[ 9.85971954e-01 -1.57328159e-01 -5.57418649e-02 4.14956885e+02] [ 1.57208007e-01 9.87543715e-01 -6.56145993e-03 3.34372179e+01] [ 5.60798308e-02 -2.29365205e-03 9.98423653e-01 2.33061989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.01, Y:33.44, Z:23.31 [[ 9.84642622e-01 -1.65444752e-01 -5.57399454e-02 4.15014925e+02] [ 1.65336634e-01 9.86215256e-01 -6.57772656e-03 3.34409332e+01] [ 5.60598348e-02 -2.73914502e-03 9.98423654e-01 2.33114200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.07, Y:33.45, Z:23.31 [[ 9.84236683e-01 -1.67843455e-01 -5.57380090e-02 4.15071468e+02] [ 1.67738245e-01 9.85809515e-01 -6.59409396e-03 3.34468550e+01] [ 5.60538351e-02 -2.85924662e-03 9.98423654e-01 2.33145940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.13, Y:33.45, Z:23.32 [[ 9.84084437e-01 -1.68734074e-01 -5.57371747e-02 4.15129221e+02] [ 1.68629889e-01 9.85657337e-01 -6.60113883e-03 3.34531442e+01] [ 5.60515922e-02 -2.90287558e-03 9.98423654e-01 2.33182209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.19, Y:33.46, Z:23.32 [[ 9.84020543e-01 -1.69106940e-01 -5.57352043e-02 4.15186206e+02] [ 1.69002413e-01 9.85593420e-01 -6.61773347e-03 3.34605347e+01] [ 5.60513553e-02 -2.90739833e-03 9.98423654e-01 2.33202054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.24, Y:33.47, Z:23.32 [[ 9.83922061e-01 -1.69679289e-01 -5.57343433e-02 4.15244137e+02] [ 1.69575269e-01 9.85494971e-01 -6.62497700e-03 3.34699976e+01] [ 5.60500364e-02 -2.93270521e-03 9.98423654e-01 2.33240070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.30, Y:33.48, Z:23.33 [[ 9.83912136e-01 -1.69737395e-01 -5.57326247e-02 4.15301699e+02] [ 1.69632652e-01 9.85484998e-01 -6.63940354e-03 3.34787641e+01] [ 5.60506206e-02 -2.92148321e-03 9.98423654e-01 2.33271775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.36, Y:33.49, Z:23.33 [[ 9.84029102e-01 -1.69058627e-01 -5.57306609e-02 4.15358561e+02] [ 1.68951870e-01 9.85601829e-01 -6.65584628e-03 3.34889056e+01] [ 5.60534696e-02 -2.86625295e-03 9.98423654e-01 2.33305071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.42, Y:33.50, Z:23.33 [[ 9.84448419e-01 -1.66600186e-01 -5.57287039e-02 4.15415090e+02] [ 1.66488578e-01 9.86020809e-01 -6.67219227e-03 3.35017491e+01] [ 5.60612502e-02 -2.70976354e-03 9.98423654e-01 2.33347129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.47, Y:33.51, Z:23.34 [[ 9.84881651e-01 -1.64020326e-01 -5.57267085e-02 4.15472138e+02] [ 1.63903660e-01 9.86453673e-01 -6.68881663e-03 3.35128111e+01] [ 5.60689182e-02 -2.54611873e-03 9.98423654e-01 2.33387649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.305099893 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:415.53, Y:33.52, Z:23.34 [[ 9.85321176e-01 -1.61359647e-01 -5.57247289e-02 4.15529633e+02] [ 1.61237806e-01 9.86892805e-01 -6.70526803e-03 3.35238958e+01] [ 5.60762937e-02 -2.37809048e-03 9.98423655e-01 2.33426628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.365099893 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:415.59, Y:33.54, Z:23.35 [[ 9.85883247e-01 -1.57889740e-01 -5.57229993e-02 4.15587546e+02] [ 1.57761558e-01 9.87454372e-01 -6.71961117e-03 3.35352595e+01] [ 5.60848770e-02 -2.16619510e-03 9.98423655e-01 2.33470050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.425099893 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:415.65, Y:33.55, Z:23.35 [[ 9.86574044e-01 -1.53514818e-01 -5.57212434e-02 4.15645091e+02] [ 1.53378848e-01 9.88144514e-01 -6.73414062e-03 3.35469708e+01] [ 5.60944313e-02 -1.90273178e-03 9.98423655e-01 2.33492069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.485099893 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:415.70, Y:33.56, Z:23.35 [[ 9.87588787e-01 -1.46845404e-01 -5.57208734e-02 4.15702753e+02] [ 1.46698654e-01 9.89158286e-01 -6.73720090e-03 3.35595428e+01] [ 5.61060906e-02 -1.52059304e-03 9.98423655e-01 2.33537755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.545099893 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:415.76, Y:33.57, Z:23.36 [[ 9.88248329e-01 -1.42339795e-01 -5.57191493e-02 4.15759324e+02] [ 1.42185086e-01 9.89817064e-01 -6.75142992e-03 3.35696743e+01] [ 5.61127618e-02 -1.25034271e-03 9.98423655e-01 2.33573122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60509989299993 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:415.82, Y:33.58, Z:23.36 [[ 9.89082270e-01 -1.36424727e-01 -5.57185448e-02 4.15816989e+02] [ 1.36260355e-01 9.90650022e-01 -6.75641466e-03 3.35816413e+01] [ 5.61193197e-02 -9.09578766e-04 9.98423655e-01 2.33604832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66509989299993 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:415.87, Y:33.59, Z:23.36 [[ 9.89504508e-01 -1.33328389e-01 -5.57168631e-02 4.15874521e+02] [ 1.33158332e-01 9.91071654e-01 -6.77025477e-03 3.35917561e+01] [ 5.61220708e-02 -7.19966912e-04 9.98423655e-01 2.33636111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72509989299994 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:415.93, Y:33.60, Z:23.37 [[ 9.89804245e-01 -1.31085472e-01 -5.57149415e-02 4.15932588e+02] [ 1.30910975e-01 9.91370902e-01 -6.78603122e-03 3.36018733e+01] [ 5.61237220e-02 -5.76854829e-04 9.98423655e-01 2.33684002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78509989299994 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:415.99, Y:33.61, Z:23.37 [[ 9.89799611e-01 -1.31121201e-01 -5.57132041e-02 4.15990168e+02] [ 1.30945960e-01 9.91366185e-01 -6.80026528e-03 3.36097881e+01] [ 5.61238456e-02 -5.64519056e-04 9.98423655e-01 2.33702830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84509989299994 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:416.05, Y:33.62, Z:23.38 [[ 9.89370698e-01 -1.34319648e-01 -5.57122454e-02 4.16047887e+02] [ 1.34149029e-01 9.90937782e-01 -6.80811050e-03 3.36179819e+01] [ 5.61218319e-02 -7.37998599e-04 9.98423655e-01 2.33752442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90509989299994 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:416.11, Y:33.62, Z:23.38 [[ 9.88859330e-01 -1.38034646e-01 -5.57105137e-02 4.16106108e+02] [ 1.37869118e-01 9.90426960e-01 -6.82225209e-03 3.36243929e+01] [ 5.61189019e-02 -9.34511728e-04 9.98423655e-01 2.33786197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96509989299994 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:416.16, Y:33.63, Z:23.38 [[ 9.87842858e-01 -1.45131038e-01 -5.57087926e-02 4.16163327e+02] [ 1.44975979e-01 9.89411558e-01 -6.83627686e-03 3.36292996e+01] [ 5.61110793e-02 -1.32326949e-03 9.98423655e-01 2.33816314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02509989299995 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:416.22, Y:33.63, Z:23.39 [[ 9.87214445e-01 -1.49346146e-01 -5.57078768e-02 4.16221875e+02] [ 1.49197364e-01 9.88783753e-01 -6.84373189e-03 3.36349006e+01] [ 5.61051285e-02 -1.55523739e-03 9.98423655e-01 2.33854356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08509989299995 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:416.28, Y:33.64, Z:23.39 [[ 9.86280434e-01 -1.55395386e-01 -5.57061894e-02 4.16279221e+02] [ 1.55255454e-01 9.87850555e-01 -6.85743948e-03 3.36433077e+01] [ 5.60950046e-02 -1.88533132e-03 9.98423656e-01 2.33920870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14509989299995 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:416.34, Y:33.65, Z:23.39 [[ 9.86411631e-01 -1.54560955e-01 -5.57046233e-02 4.16337707e+02] [ 1.54418979e-01 9.87981569e-01 -6.87013746e-03 3.36464971e+01] [ 5.60969962e-02 -1.82506753e-03 9.98423656e-01 2.33921961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20509989299995 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:416.40, Y:33.65, Z:23.40 [[ 9.86489776e-01 -1.54061626e-01 -5.57040214e-02 4.16395321e+02] [ 1.53918579e-01 9.88059616e-01 -6.87501440e-03 3.36538086e+01] [ 5.60980699e-02 -1.79175241e-03 9.98423656e-01 2.33953672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26509989299996 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:416.45, Y:33.66, Z:23.40 [[ 9.87206245e-01 -1.49402473e-01 -5.57021613e-02 4.16453855e+02] [ 1.49251168e-01 9.88775311e-01 -6.89005267e-03 3.36619728e+01] [ 5.61063128e-02 -1.51170963e-03 9.98423656e-01 2.33998812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32509989299996 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:416.51, Y:33.67, Z:23.40 [[ 9.87878585e-01 -1.44890297e-01 -5.57019136e-02 4.16511555e+02] [ 1.44731712e-01 9.89446932e-01 -6.89205478e-03 3.36699013e+01] [ 5.61126793e-02 -1.25332000e-03 9.98423656e-01 2.34033545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38509989299996 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:416.57, Y:33.68, Z:23.41 [[ 9.88740092e-01 -1.38890316e-01 -5.57001923e-02 4.16569662e+02] [ 1.38721431e-01 9.90307363e-01 -6.90593766e-03 3.36779223e+01] [ 5.61194784e-02 -8.98632961e-04 9.98423656e-01 2.34063714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.44509989299996 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:416.63, Y:33.69, Z:23.41 [[ 9.89083511e-01 -1.36423927e-01 -5.56984715e-02 4.16627330e+02] [ 1.36250354e-01 9.90650270e-01 -6.91978884e-03 3.36855896e+01] [ 5.61217306e-02 -7.44687395e-04 9.98423656e-01 2.34083505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.50509989299997 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:416.69, Y:33.69, Z:23.41 [[ 9.89033137e-01 -1.36788897e-01 -5.56978674e-02 4.16685142e+02] [ 1.36615629e-01 9.90599929e-01 -6.92464778e-03 3.36915101e+01] [ 5.61215184e-02 -7.60493065e-04 9.98423656e-01 2.34099573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.56509989299997 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:416.74, Y:33.70, Z:23.41 [[ 9.88688003e-01 -1.39261790e-01 -5.56972744e-02 4.16742978e+02] [ 1.39092172e-01 9.90255195e-01 -6.92941394e-03 3.36972935e+01] [ 5.61195179e-02 -8.96026431e-04 9.98423656e-01 2.34147940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.62509989299997 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:416.80, Y:33.70, Z:23.42 [[ 9.87859576e-01 -1.45022307e-01 -5.56955070e-02 4.16801182e+02] [ 1.44861028e-01 9.89427647e-01 -6.94359094e-03 3.37020730e+01] [ 5.61136500e-02 -1.20881559e-03 9.98423656e-01 2.34193739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.685099893 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:416.86, Y:33.71, Z:23.42 [[ 9.87178188e-01 -1.49590899e-01 -5.56937025e-02 4.16860207e+02] [ 1.49436061e-01 9.88746909e-01 -6.95803453e-03 3.37079594e+01] [ 5.61078348e-02 -1.45382761e-03 9.98423656e-01 2.34227480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.745099893 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:416.92, Y:33.71, Z:23.43 [[ 9.86484705e-01 -1.54097915e-01 -5.56934449e-02 4.16918939e+02] [ 1.53950127e-01 9.88054106e-01 -6.96009567e-03 3.37131396e+01] [ 5.61006731e-02 -1.70798499e-03 9.98423656e-01 2.34253450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.805099893 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:416.98, Y:33.72, Z:23.43 [[ 9.85531196e-01 -1.60082965e-01 -5.56929637e-02 4.16978038e+02] [ 1.59944489e-01 9.87101446e-01 -6.96394409e-03 3.37173646e+01] [ 5.60894138e-02 -2.04459846e-03 9.98423656e-01 2.34295567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.865099893 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:417.04, Y:33.72, Z:23.43 [[ 9.85308592e-01 -1.61447519e-01 -5.56927065e-02 4.17036178e+02] [ 1.61311101e-01 9.86879022e-01 -6.96600050e-03 3.37236951e+01] [ 5.60866072e-02 -2.12019167e-03 9.98423656e-01 2.34333826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.925099893 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:417.09, Y:33.73, Z:23.44 [[ 9.85545377e-01 -1.59995858e-01 -5.56923262e-02 4.17094771e+02] [ 1.59856955e-01 9.87115589e-01 -6.96903961e-03 3.37314820e+01] [ 5.60897808e-02 -2.03450092e-03 9.98423656e-01 2.34365890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.985099893 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:417.15, Y:33.74, Z:23.44 [[ 9.86083511e-01 -1.56645685e-01 -5.56905706e-02 4.17152821e+02] [ 1.56500657e-01 9.87653169e-01 -6.98304060e-03 3.37390867e+01] [ 5.60968317e-02 -1.82974971e-03 9.98423656e-01 2.34391338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.045099893 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:417.21, Y:33.75, Z:23.44 [[ 9.86949833e-01 -1.51091970e-01 -5.56888051e-02 4.17210514e+02] [ 1.50937316e-01 9.88518572e-01 -6.99709239e-03 3.37472413e+01] [ 5.61066225e-02 -1.49973960e-03 9.98423656e-01 2.34418196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10509989299993 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:417.27, Y:33.76, Z:23.44 [[ 9.87314679e-01 -1.48689876e-01 -5.56870315e-02 4.17267832e+02] [ 1.48530611e-01 9.88882956e-01 -7.01117925e-03 3.37554878e+01] [ 5.61104477e-02 -1.34898861e-03 9.98423657e-01 2.34449599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16509989299993 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:417.33, Y:33.76, Z:23.45 [[ 9.87399329e-01 -1.48126936e-01 -5.56864086e-02 4.17326106e+02] [ 1.47966498e-01 9.88967487e-01 -7.01612272e-03 3.37641450e+01] [ 5.61113244e-02 -1.31200799e-03 9.98423657e-01 2.34486912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22509989299994 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:417.38, Y:33.77, Z:23.45 [[ 9.87255963e-01 -1.49080121e-01 -5.56846501e-02 4.17383329e+02] [ 1.48920412e-01 9.88824195e-01 -7.03005221e-03 3.37718132e+01] [ 5.61103703e-02 -1.35212005e-03 9.98423657e-01 2.34518173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28509989299994 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:417.44, Y:33.78, Z:23.46 [[ 9.86597801e-01 -1.53376080e-01 -5.56826419e-02 4.17442488e+02] [ 1.53222303e-01 9.88166626e-01 -7.04592271e-03 3.37802024e+01] [ 5.61044044e-02 -1.58033079e-03 9.98423657e-01 2.34559598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34509989299994 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:417.50, Y:33.79, Z:23.46 [[ 9.85966084e-01 -1.57386003e-01 -5.56823843e-02 4.17501497e+02] [ 1.57238492e-01 9.87535510e-01 -7.04795779e-03 3.37878624e+01] [ 5.60975817e-02 -1.80636677e-03 9.98423657e-01 2.34601631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40509989299994 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:417.56, Y:33.80, Z:23.46 [[ 9.85271552e-01 -1.61677053e-01 -5.56821245e-02 4.17559191e+02] [ 1.61536260e-01 9.86841595e-01 -7.05000982e-03 3.37952162e+01] [ 5.60892614e-02 -2.04850801e-03 9.98423657e-01 2.34640632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46509989299994 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:417.62, Y:33.80, Z:23.47 [[ 9.85132566e-01 -1.62521911e-01 -5.56817405e-02 4.17618390e+02] [ 1.62382293e-01 9.86702714e-01 -7.05304124e-03 3.38029157e+01] [ 5.60875982e-02 -2.09354808e-03 9.98423657e-01 2.34682311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52509989299995 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:417.68, Y:33.81, Z:23.47 [[ 9.85184904e-01 -1.62204430e-01 -5.56814875e-02 4.17677815e+02] [ 1.62064193e-01 9.86754997e-01 -7.05503818e-03 3.38107575e+01] [ 5.60883444e-02 -2.07345824e-03 9.98423657e-01 2.34715038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58509989299995 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:417.74, Y:33.82, Z:23.48 [[ 9.85680929e-01 -1.59162514e-01 -5.56812340e-02 4.17737613e+02] [ 1.59017318e-01 9.87250571e-01 -7.05703785e-03 3.38192360e+01] [ 5.60945460e-02 -1.89829289e-03 9.98423657e-01 2.34750335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64509989299995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:417.80, Y:33.83, Z:23.48 [[ 9.86678482e-01 -1.52856709e-01 -5.56812340e-02 4.17795531e+02] [ 1.52701480e-01 9.88247164e-01 -7.05703785e-03 3.38285910e+01] [ 5.61055372e-02 -1.53957945e-03 9.98423657e-01 2.34778997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.85, Y:33.84, Z:23.48 [[ 9.87374482e-01 -1.48294556e-01 -5.56808493e-02 4.17854114e+02] [ 1.48131907e-01 9.88942412e-01 -7.06007212e-03 3.38371513e+01] [ 5.61121237e-02 -1.27717534e-03 9.98423657e-01 2.34811795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76509989299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:417.91, Y:33.84, Z:23.48 [[ 9.87895616e-01 -1.44782330e-01 -5.56805943e-02 4.17911946e+02] [ 1.44613993e-01 9.89462945e-01 -7.06208258e-03 3.38446996e+01] [ 5.61163496e-02 -1.07559265e-03 9.98423657e-01 2.34833096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.97, Y:33.85, Z:23.49 [[ 9.87839591e-01 -1.45164239e-01 -5.56802180e-02 4.17969712e+02] [ 1.44996341e-01 9.89406967e-01 -7.06504823e-03 3.38522133e+01] [ 5.61159880e-02 -1.09429351e-03 9.98423657e-01 2.34855049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.03, Y:33.86, Z:23.49 [[ 9.87382707e-01 -1.48240679e-01 -5.56784624e-02 4.18027559e+02] [ 1.48076886e-01 9.88950517e-01 -7.07885701e-03 3.38594160e+01] [ 5.61126188e-02 -1.25515232e-03 9.98423657e-01 2.34882051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.09, Y:33.87, Z:23.49 [[ 9.86943160e-01 -1.51140016e-01 -5.56766938e-02 4.18085503e+02] [ 1.50980045e-01 9.88511365e-01 -7.09274040e-03 3.38667954e+01] [ 5.61090415e-02 -1.40593812e-03 9.98423657e-01 2.34913166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.14, Y:33.87, Z:23.49 [[ 9.86485687e-01 -1.54098311e-01 -5.56749420e-02 4.18143977e+02] [ 1.53942269e-01 9.88054288e-01 -7.10646480e-03 3.38746823e+01] [ 5.61049594e-02 -1.56030107e-03 9.98423657e-01 2.34948574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.20, Y:33.88, Z:23.50 [[ 9.86068638e-01 -1.56745453e-01 -5.56731985e-02 4.18201825e+02] [ 1.56592852e-01 9.87637577e-01 -7.12009723e-03 3.38826113e+01] [ 5.61009857e-02 -1.69712037e-03 9.98423657e-01 2.34989882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.26, Y:33.89, Z:23.50 [[ 9.85957507e-01 -1.57443103e-01 -5.56728307e-02 4.18259003e+02] [ 1.57291450e-01 9.87526538e-01 -7.12297175e-03 3.38901332e+01] [ 5.60998606e-02 -1.73391283e-03 9.98423657e-01 2.35027769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.32, Y:33.90, Z:23.51 [[ 9.86013336e-01 -1.57093771e-01 -5.56708982e-02 4.18317219e+02] [ 1.56940712e-01 9.87582230e-01 -7.13804393e-03 3.38979681e+01] [ 5.61009320e-02 -1.69882391e-03 9.98423657e-01 2.35058522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.37, Y:33.91, Z:23.51 [[ 9.86178670e-01 -1.56053102e-01 -5.56692022e-02 4.18374518e+02] [ 1.55897643e-01 9.87747328e-01 -7.15124679e-03 3.39063341e+01] [ 5.61030800e-02 -1.62629037e-03 9.98423657e-01 2.35087505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.43, Y:33.92, Z:23.51 [[ 9.86737027e-01 -1.52482936e-01 -5.56686062e-02 4.18432202e+02] [ 1.52321539e-01 9.88305085e-01 -7.15588338e-03 3.39152033e+01] [ 5.61087167e-02 -1.41855269e-03 9.98423657e-01 2.35106784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.49, Y:33.92, Z:23.51 [[ 9.87150078e-01 -1.49786317e-01 -5.56667050e-02 4.18488691e+02] [ 1.49619805e-01 9.88717602e-01 -7.17064265e-03 3.39232952e+01] [ 5.61127152e-02 -1.25034109e-03 9.98423657e-01 2.35134138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.55, Y:33.93, Z:23.52 [[ 9.87855793e-01 -1.45059440e-01 -5.56658865e-02 4.18545597e+02] [ 1.44885069e-01 9.89422462e-01 -7.17699108e-03 3.39317474e+01] [ 5.61181687e-02 -9.75323607e-04 9.98423658e-01 2.35158160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.60, Y:33.94, Z:23.52 [[ 9.88161484e-01 -1.42962423e-01 -5.56653145e-02 4.18602796e+02] [ 1.42784477e-01 9.89727751e-01 -7.18142460e-03 3.39395096e+01] [ 5.61201804e-02 -8.51735650e-04 9.98423658e-01 2.35183603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.66, Y:33.95, Z:23.52 [[ 9.88192914e-01 -1.42745721e-01 -5.56634880e-02 4.18658837e+02] [ 1.42566636e-01 9.89759051e-01 -7.19555461e-03 3.39469174e+01] [ 5.61205756e-02 -8.25160125e-04 9.98423658e-01 2.35207989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.72, Y:33.95, Z:23.52 [[ 9.87781495e-01 -1.45565729e-01 -5.56627012e-02 4.18716353e+02] [ 1.45390772e-01 9.89348098e-01 -7.20163584e-03 3.39541774e+01] [ 5.61180989e-02 -9.79200493e-04 9.98423658e-01 2.35240892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.77, Y:33.96, Z:23.53 [[ 9.86567473e-01 -1.53578920e-01 -5.56609128e-02 4.18773070e+02] [ 1.53415908e-01 9.88135364e-01 -7.21543129e-03 3.39598050e+01] [ 5.61086545e-02 -1.42075968e-03 9.98423658e-01 2.35281389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.83, Y:33.97, Z:23.54 [[ 9.85490194e-01 -1.60346749e-01 -5.56596515e-02 4.18831820e+02] [ 1.60193953e-01 9.87059114e-01 -7.22514802e-03 3.39660049e+01] [ 5.60978953e-02 -1.79602710e-03 9.98423658e-01 2.35351762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.89, Y:33.97, Z:23.54 [[ 9.83914844e-01 -1.69745730e-01 -5.56593909e-02 4.18890111e+02] [ 1.69607803e-01 9.85485140e-01 -7.22715494e-03 3.39714250e+01] [ 5.60782814e-02 -2.32936199e-03 9.98423658e-01 2.35354179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.95, Y:33.98, Z:23.54 [[ 9.82987143e-01 -1.75038144e-01 -5.56590055e-02 4.18947259e+02] [ 1.74908502e-01 9.84558145e-01 -7.23012224e-03 3.39779923e+01] [ 5.60650744e-02 -2.62811608e-03 9.98423658e-01 2.35371032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.00, Y:33.99, Z:23.54 [[ 9.81961335e-01 -1.80704741e-01 -5.56572913e-02 4.19004454e+02] [ 1.80583418e-01 9.83533001e-01 -7.24329424e-03 3.39859620e+01] [ 5.60496803e-02 -2.93814901e-03 9.98423658e-01 2.35407554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.06, Y:34.00, Z:23.55 [[ 9.81593707e-01 -1.82691322e-01 -5.56567627e-02 4.19064681e+02] [ 1.82572950e-01 9.83165598e-01 -7.24735372e-03 3.39971937e+01] [ 5.60438430e-02 -3.04746256e-03 9.98423658e-01 2.35481010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.12, Y:34.01, Z:23.55 [[ 9.81644651e-01 -1.82417310e-01 -5.56570310e-02 4.19124293e+02] [ 1.82298615e-01 9.83216518e-01 -7.24529268e-03 3.40079123e+01] [ 5.60445790e-02 -3.03389687e-03 9.98423658e-01 2.35513302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.18, Y:34.02, Z:23.56 [[ 9.81929361e-01 -1.80878438e-01 -5.56571630e-02 4.19182958e+02] [ 1.80757338e-01 9.83501045e-01 -7.24427808e-03 3.40203496e+01] [ 5.60492117e-02 -2.94707126e-03 9.98423658e-01 2.35551222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.24, Y:34.03, Z:23.56 [[ 9.82118418e-01 -1.79848958e-01 -5.56575667e-02 4.19244443e+02] [ 1.79726385e-01 9.83689988e-01 -7.24117522e-03 3.40300226e+01] [ 5.60521089e-02 -2.89144171e-03 9.98423658e-01 2.35594304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.31, Y:34.04, Z:23.56 [[ 9.82479543e-01 -1.77865466e-01 -5.56580988e-02 4.19305312e+02] [ 1.77739951e-01 9.84050880e-01 -7.23708288e-03 3.40416840e+01] [ 5.60576282e-02 -2.78238189e-03 9.98423658e-01 2.35634687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.37, Y:34.06, Z:23.57 [[ 9.83019040e-01 -1.74859036e-01 -5.56586356e-02 4.19366056e+02] [ 1.74728948e-01 9.84590006e-01 -7.23295219e-03 3.40553473e+01] [ 5.60656834e-02 -2.61504515e-03 9.98423658e-01 2.35666208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.43, Y:34.07, Z:23.57 [[ 9.83471185e-01 -1.72297664e-01 -5.56591658e-02 4.19426496e+02] [ 1.72163714e-01 9.85041826e-01 -7.22886992e-03 3.40685067e+01] [ 5.60721237e-02 -2.47310347e-03 9.98423658e-01 2.35706458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.49, Y:34.08, Z:23.57 [[ 9.83833458e-01 -1.70216704e-01 -5.56596933e-02 4.19487678e+02] [ 1.70079662e-01 9.85403831e-01 -7.22480595e-03 3.40802134e+01] [ 5.60770577e-02 -2.35857600e-03 9.98423658e-01 2.35746847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.55, Y:34.09, Z:23.58 [[ 9.84565519e-01 -1.65929742e-01 -5.56602149e-02 4.19548601e+02] [ 1.65786087e-01 9.86135302e-01 -7.22078545e-03 3.40937339e+01] [ 5.60866459e-02 -2.11835288e-03 9.98423658e-01 2.35794004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.61, Y:34.10, Z:23.58 [[ 9.85199062e-01 -1.62125538e-01 -5.56607427e-02 4.19608297e+02] [ 1.61976052e-01 9.86768300e-01 -7.21671444e-03 3.41045501e+01] [ 5.60942702e-02 -1.90580704e-03 9.98423658e-01 2.35833532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.67, Y:34.12, Z:23.59 [[ 9.85700687e-01 -1.59047145e-01 -5.56611325e-02 4.19669258e+02] [ 1.58892927e-01 9.87269467e-01 -7.21370709e-03 3.41157306e+01] [ 5.60998561e-02 -1.73360420e-03 9.98423658e-01 2.35882436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.73, Y:34.13, Z:23.59 [[ 9.86317538e-01 -1.55175691e-01 -5.56616528e-02 4.19730016e+02] [ 1.55015541e-01 9.87885723e-01 -7.20968989e-03 3.41280233e+01] [ 5.61061208e-02 -1.51737766e-03 9.98423658e-01 2.35913160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.79, Y:34.14, Z:23.59 [[ 9.86699410e-01 -1.52728509e-01 -5.56621672e-02 4.19791780e+02] [ 1.52564693e-01 9.88267217e-01 -7.20571639e-03 3.41374129e+01] [ 5.61096134e-02 -1.38220533e-03 9.98423658e-01 2.35947792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.85, Y:34.15, Z:23.60 [[ 9.87241207e-01 -1.49186001e-01 -5.56626933e-02 4.19852074e+02] [ 1.49016788e-01 9.88808441e-01 -7.20165047e-03 3.41453289e+01] [ 5.61141264e-02 -1.18490967e-03 9.98423658e-01 2.35984722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.91, Y:34.15, Z:23.60 [[ 9.87730469e-01 -1.45911421e-01 -5.56630817e-02 4.19913481e+02] [ 1.45737181e-01 9.89297151e-01 -7.19864680e-03 3.41529082e+01] [ 5.61176930e-02 -1.00185782e-03 9.98423658e-01 2.36005616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.97, Y:34.16, Z:23.60 [[ 9.87944191e-01 -1.44457045e-01 -5.56636024e-02 4.19974649e+02] [ 1.44280726e-01 9.89510641e-01 -7.19461837e-03 3.41599276e+01] [ 5.61190402e-02 -9.23303533e-04 9.98423658e-01 2.36023435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.04, Y:34.17, Z:23.61 [[ 9.88025467e-01 -1.43899954e-01 -5.56639869e-02 4.20036139e+02] [ 1.43722919e-01 9.89591836e-01 -7.19164199e-03 3.41654614e+01] [ 5.61195040e-02 -8.94665256e-04 9.98423658e-01 2.36054397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.10, Y:34.17, Z:23.61 [[ 9.87877897e-01 -1.44909354e-01 -5.56645224e-02 4.20096850e+02] [ 1.44734153e-01 9.89444473e-01 -7.18749506e-03 3.41715011e+01] [ 5.61184893e-02 -9.56189983e-04 9.98423658e-01 2.36089259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.16, Y:34.18, Z:23.61 [[ 9.87362253e-01 -1.48381931e-01 -5.56649178e-02 4.20158799e+02] [ 1.48212412e-01 9.88929454e-01 -7.18443115e-03 3.41760288e+01] [ 5.61147166e-02 -1.15659559e-03 9.98423658e-01 2.36125124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.22, Y:34.18, Z:23.62 [[ 9.86980621e-01 -1.50899345e-01 -5.56654490e-02 4.20219382e+02] [ 1.50734055e-01 9.88548273e-01 -7.18031340e-03 3.41812902e+01] [ 5.61114880e-02 -1.30384870e-03 9.98423658e-01 2.36167504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.28, Y:34.19, Z:23.62 [[ 9.86601138e-01 -1.53360558e-01 -5.56662750e-02 4.20280928e+02] [ 1.53199541e-01 9.88169234e-01 -7.17390393e-03 3.41874848e+01] [ 5.61078943e-02 -1.45026599e-03 9.98423658e-01 2.36203084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.34, Y:34.19, Z:23.62 [[ 9.86180278e-01 -1.56043797e-01 -5.56667948e-02 4.20342599e+02] [ 1.55887274e-01 9.87748830e-01 -7.16986798e-03 3.41929644e+01] [ 5.61036249e-02 -1.60696247e-03 9.98423658e-01 2.36228074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.40, Y:34.20, Z:23.63 [[ 9.85920131e-01 -1.57678931e-01 -5.56673241e-02 4.20404094e+02] [ 1.57525240e-01 9.87488962e-01 -7.16575636e-03 3.41988737e+01] [ 5.61007569e-02 -1.70414514e-03 9.98423658e-01 2.36259677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.47, Y:34.21, Z:23.63 [[ 9.85635052e-01 -1.59451039e-01 -5.56678531e-02 4.20466051e+02] [ 1.59300401e-01 9.87204180e-01 -7.16164423e-03 3.42056318e+01] [ 5.60974689e-02 -1.80914376e-03 9.98423658e-01 2.36294770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.53, Y:34.21, Z:23.63 [[ 9.85148143e-01 -1.62432042e-01 -5.56683784e-02 4.20526774e+02] [ 1.62286382e-01 9.86717741e-01 -7.15755907e-03 3.42117915e+01] [ 5.60915935e-02 -1.98296370e-03 9.98423658e-01 2.36330915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.59, Y:34.22, Z:23.64 [[ 9.84799676e-01 -1.64531277e-01 -5.56691765e-02 4.20588856e+02] [ 1.64389313e-01 9.86369612e-01 -7.15134597e-03 3.42188750e+01] [ 5.60870041e-02 -2.10877448e-03 9.98423658e-01 2.36367607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.65, Y:34.23, Z:23.64 [[ 9.84117086e-01 -1.68565851e-01 -5.56696949e-02 4.20650379e+02] [ 1.68430551e-01 9.85687611e-01 -7.14730810e-03 3.42263368e+01] [ 5.60777207e-02 -2.34268937e-03 9.98423658e-01 2.36399657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.71, Y:34.23, Z:23.64 [[ 9.83178279e-01 -1.73957753e-01 -5.56702049e-02 4.20711702e+02] [ 1.73831288e-01 9.84749540e-01 -7.14333403e-03 3.42345047e+01] [ 5.60638470e-02 -2.65405255e-03 9.98423658e-01 2.36405135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.77, Y:34.24, Z:23.64 [[ 9.82291513e-01 -1.78897045e-01 -5.56707278e-02 4.20773305e+02] [ 1.78778709e-01 9.83863407e-01 -7.13925661e-03 3.42428175e+01] [ 5.60495838e-02 -2.93990966e-03 9.98423658e-01 2.36438079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.83, Y:34.25, Z:23.65 [[ 9.80817780e-01 -1.86807861e-01 -5.56713997e-02 4.20834266e+02] [ 1.86702494e-01 9.82390597e-01 -7.13401285e-03 3.42519400e+01] [ 5.60237493e-02 -3.39682251e-03 9.98423658e-01 2.36490174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.90, Y:34.26, Z:23.65 [[ 9.80010204e-01 -1.90999042e-01 -5.56719545e-02 4.20895308e+02] [ 1.90900645e-01 9.81583472e-01 -7.12968073e-03 3.42611761e+01] [ 5.60084326e-02 -3.64065214e-03 9.98423658e-01 2.36520861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.96, Y:34.27, Z:23.66 [[ 9.79369444e-01 -1.94257732e-01 -5.56724886e-02 4.20955378e+02] [ 1.94164804e-01 9.80943044e-01 -7.12550767e-03 3.42723521e+01] [ 5.59957254e-02 -3.83113337e-03 9.98423658e-01 2.36565414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.02, Y:34.28, Z:23.66 [[ 9.79337946e-01 -1.94416205e-01 -5.56733927e-02 4.21017061e+02] [ 1.94323932e-01 9.80911585e-01 -7.11843709e-03 3.42826922e+01] [ 5.59946154e-02 -3.84731703e-03 9.98423658e-01 2.36610524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.08, Y:34.30, Z:23.66 [[ 9.79526018e-01 -1.93466266e-01 -5.56739165e-02 4.21078600e+02] [ 1.93372698e-01 9.81099580e-01 -7.11433783e-03 3.42956304e+01] [ 5.59980405e-02 -3.79713644e-03 9.98423658e-01 2.36644771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.14, Y:34.31, Z:23.67 [[ 9.79776628e-01 -1.92192834e-01 -5.56747054e-02 4.21141009e+02] [ 1.92097571e-01 9.81350089e-01 -7.10815903e-03 3.43072911e+01] [ 5.60025143e-02 -3.73056757e-03 9.98423658e-01 2.36680488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.20, Y:34.32, Z:23.67 [[ 9.79964861e-01 -1.91230519e-01 -5.56754818e-02 4.21203405e+02] [ 1.91134055e-01 9.81538249e-01 -7.10207270e-03 3.43188240e+01] [ 5.60057479e-02 -3.68169891e-03 9.98423658e-01 2.36716734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.27, Y:34.33, Z:23.67 [[ 9.80189624e-01 -1.90074870e-01 -5.56762579e-02 4.21265670e+02] [ 1.89976895e-01 9.81762918e-01 -7.09598299e-03 3.43302051e+01] [ 5.60096534e-02 -3.62179369e-03 9.98423658e-01 2.36741704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.33, Y:34.34, Z:23.68 [[ 9.80312155e-01 -1.89441667e-01 -5.56770541e-02 4.21325765e+02] [ 1.89343029e-01 9.81885407e-01 -7.08973067e-03 3.43442791e+01] [ 5.60115773e-02 -3.59191292e-03 9.98423658e-01 2.36750511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.39, Y:34.36, Z:23.68 [[ 9.80568092e-01 -1.88112306e-01 -5.56774441e-02 4.21387666e+02] [ 1.88011709e-01 9.82141220e-01 -7.08666607e-03 3.43567301e+01] [ 5.60162020e-02 -3.51905277e-03 9.98423658e-01 2.36780070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.45, Y:34.37, Z:23.68 [[ 9.81138387e-01 -1.85114562e-01 -5.56782211e-02 4.21447446e+02] [ 1.85009502e-01 9.82711224e-01 -7.08055657e-03 3.43717715e+01] [ 5.60263269e-02 -3.35399413e-03 9.98423658e-01 2.36828893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.51, Y:34.38, Z:23.69 [[ 9.81514270e-01 -1.83110979e-01 -5.56786026e-02 4.21508680e+02] [ 1.83002878e-01 9.83086901e-01 -7.07755492e-03 3.43843492e+01] [ 5.60328829e-02 -3.24262336e-03 9.98423658e-01 2.36884278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.57, Y:34.40, Z:23.69 [[ 9.81832284e-01 -1.81397912e-01 -5.56791089e-02 4.21570591e+02] [ 1.81287292e-01 9.83404740e-01 -7.07356936e-03 3.43983035e+01] [ 5.60382304e-02 -3.14885612e-03 9.98423658e-01 2.36915458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.63, Y:34.41, Z:23.69 [[ 9.81846238e-01 -1.81322126e-01 -5.56798958e-02 4.21631645e+02] [ 1.81211736e-01 9.83418710e-01 -7.06736982e-03 3.44103675e+01] [ 5.60381219e-02 -3.15078010e-03 9.98423658e-01 2.36934197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.69, Y:34.42, Z:23.69 [[ 9.81334728e-01 -1.84069982e-01 -5.56811796e-02 4.21692623e+02] [ 1.83964566e-01 9.82907541e-01 -7.05724131e-03 3.44229050e+01] [ 5.60284776e-02 -3.31784808e-03 9.98423658e-01 2.36936109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.75, Y:34.43, Z:23.69 [[ 9.81141736e-01 -1.85095764e-01 -5.56817004e-02 4.21753236e+02] [ 1.84992225e-01 9.82714674e-01 -7.05312994e-03 3.44331234e+01] [ 5.60247285e-02 -3.38056148e-03 9.98423658e-01 2.36945625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.82, Y:34.44, Z:23.70 [[ 9.81112164e-01 -1.85252145e-01 -5.56827094e-02 4.21815660e+02] [ 1.85149308e-01 9.82685148e-01 -7.04515439e-03 3.44424486e+01] [ 5.60237015e-02 -3.39752845e-03 9.98423658e-01 2.36975144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.88, Y:34.45, Z:23.70 [[ 9.81403516e-01 -1.83702181e-01 -5.56834502e-02 4.21876280e+02] [ 1.83597190e-01 9.82976358e-01 -7.03929453e-03 3.44546719e+01] [ 5.60286489e-02 -3.31493662e-03 9.98423658e-01 2.37017776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.94, Y:34.47, Z:23.71 [[ 9.81877380e-01 -1.81152165e-01 -5.56839568e-02 4.21938003e+02] [ 1.81043316e-01 9.83449959e-01 -7.03528505e-03 3.44652755e+01] [ 5.60368422e-02 -3.17342094e-03 9.98423658e-01 2.37061463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.00, Y:34.48, Z:23.71 [[ 9.82531144e-01 -1.77571847e-01 -5.56847316e-02 4.21999199e+02] [ 1.77457614e-01 9.84103341e-01 -7.02914691e-03 3.44771553e+01] [ 5.60477091e-02 -2.97532383e-03 9.98423658e-01 2.37103700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.06, Y:34.49, Z:23.71 [[ 9.82690436e-01 -1.76687993e-01 -5.56853664e-02 4.22060960e+02] [ 1.76572630e-01 9.84262550e-01 -7.02411500e-03 3.44879813e+01] [ 5.60500975e-02 -2.92998095e-03 9.98423658e-01 2.37143227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.12, Y:34.50, Z:23.72 [[ 9.82605757e-01 -1.77158063e-01 -5.56861532e-02 4.22122265e+02] [ 1.77043804e-01 9.84177952e-01 -7.01787132e-03 3.44965417e+01] [ 5.60483567e-02 -2.96308765e-03 9.98423658e-01 2.37171218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.18, Y:34.50, Z:23.72 [[ 9.82492980e-01 -1.77781836e-01 -5.56880778e-02 4.22184971e+02] [ 1.77669441e-01 9.84065310e-01 -7.00256628e-03 3.45049817e+01] [ 5.60456346e-02 -3.01409742e-03 9.98423659e-01 2.37199530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.25, Y:34.51, Z:23.72 [[ 9.82490576e-01 -1.77794884e-01 -5.56888521e-02 4.22246740e+02] [ 1.77682858e-01 9.84062931e-01 -6.99640330e-03 3.45146873e+01] [ 5.60452597e-02 -3.02105407e-03 9.98423659e-01 2.37230460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.31, Y:34.52, Z:23.73 [[ 9.82959393e-01 -1.75183825e-01 -5.56907426e-02 4.22309270e+02] [ 1.75068474e-01 9.84531508e-01 -6.98132200e-03 3.45249643e+01] [ 5.60523055e-02 -2.88733728e-03 9.98423659e-01 2.37262669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.37, Y:34.53, Z:23.73 [[ 9.83366871e-01 -1.72881619e-01 -5.56914893e-02 4.22371317e+02] [ 1.72762923e-01 9.84938738e-01 -6.97536072e-03 3.45344709e+01] [ 5.60586168e-02 -2.76208584e-03 9.98423659e-01 2.37293326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.43, Y:34.55, Z:23.73 [[ 9.83806738e-01 -1.70360430e-01 -5.56922429e-02 4.22433909e+02] [ 1.70238045e-01 9.85378321e-01 -6.96933880e-03 3.45451501e+01] [ 5.60652283e-02 -2.62445609e-03 9.98423659e-01 2.37318443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.50, Y:34.55, Z:23.74 [[ 9.83927501e-01 -1.69661323e-01 -5.56929855e-02 4.22496495e+02] [ 1.69538158e-01 9.85499023e-01 -6.96339913e-03 3.45541350e+01] [ 5.60668023e-02 -2.59060626e-03 9.98423659e-01 2.37354107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.56, Y:34.56, Z:23.74 [[ 9.83767730e-01 -1.70585050e-01 -5.56937543e-02 4.22558325e+02] [ 1.70463708e-01 9.85339394e-01 -6.95724500e-03 3.45637531e+01] [ 5.60640521e-02 -2.64945075e-03 9.98423659e-01 2.37379392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.62, Y:34.57, Z:23.74 [[ 9.83501894e-01 -1.72110847e-01 -5.56945281e-02 4.22620079e+02] [ 1.71992293e-01 9.85073771e-01 -6.95104457e-03 3.45720505e+01] [ 5.60595690e-02 -2.74266410e-03 9.98423659e-01 2.37397807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.68, Y:34.58, Z:23.74 [[ 9.83147110e-01 -1.74125441e-01 -5.56964168e-02 4.22682810e+02] [ 1.74010965e-01 9.84719289e-01 -6.93587820e-03 3.45806465e+01] [ 5.60530488e-02 -2.87279862e-03 9.98423659e-01 2.37429646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.74, Y:34.59, Z:23.75 [[ 9.82894225e-01 -1.75547047e-01 -5.56971865e-02 4.22744278e+02] [ 1.75435194e-01 9.84466593e-01 -6.92969158e-03 3.45894069e+01] [ 5.60485064e-02 -2.96009288e-03 9.98423659e-01 2.37457607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.81, Y:34.60, Z:23.75 [[ 9.82958726e-01 -1.75184922e-01 -5.56990659e-02 4.22806053e+02] [ 1.75073345e-01 9.84531113e-01 -6.91455278e-03 3.45987346e+01] [ 5.60487887e-02 -2.95470179e-03 9.98423659e-01 2.37493600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.87, Y:34.61, Z:23.75 [[ 9.83524167e-01 -1.71981817e-01 -5.56998038e-02 4.22867399e+02] [ 1.71865454e-01 9.85096207e-01 -6.90860364e-03 3.46093041e+01] [ 5.60578196e-02 -2.77809342e-03 9.98423659e-01 2.37529640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.93, Y:34.62, Z:23.76 [[ 9.84013861e-01 -1.69157318e-01 -5.57002978e-02 4.22929745e+02] [ 1.69036668e-01 9.85585578e-01 -6.90461824e-03 3.46187210e+01] [ 5.60653769e-02 -2.62115269e-03 9.98423659e-01 2.37562661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.99, Y:34.63, Z:23.76 [[ 9.84440913e-01 -1.66653783e-01 -5.57010297e-02 4.22991674e+02] [ 1.66529468e-01 9.86012345e-01 -6.89870909e-03 3.46284950e+01] [ 5.60715989e-02 -2.48449139e-03 9.98423659e-01 2.37607747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.05, Y:34.64, Z:23.76 [[ 9.84662564e-01 -1.65338468e-01 -5.57030225e-02 4.23054113e+02] [ 1.65212965e-01 9.86233900e-01 -6.88258098e-03 3.46377028e+01] [ 5.60741645e-02 -2.42584168e-03 9.98423659e-01 2.37634923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.12, Y:34.65, Z:23.77 [[ 9.84798386e-01 -1.64526867e-01 -5.57050261e-02 4.23116788e+02] [ 1.64400987e-01 9.86369692e-01 -6.86632588e-03 3.46459721e+01] [ 5.60754445e-02 -2.39601461e-03 9.98423659e-01 2.37667821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.18, Y:34.66, Z:23.77 [[ 9.85326195e-01 -1.61335537e-01 -5.57057730e-02 4.23179251e+02] [ 1.61204909e-01 9.86897114e-01 -6.86026081e-03 3.46554367e+01] [ 5.60826705e-02 -2.22044938e-03 9.98423659e-01 2.37710615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.045099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.24, Y:34.66, Z:23.77 [[ 9.85625926e-01 -1.59493501e-01 -5.57077762e-02 4.23241471e+02] [ 1.59360858e-01 9.87196676e-01 -6.84395539e-03 3.46637167e+01] [ 5.60860979e-02 -2.13205913e-03 9.98423660e-01 2.37737521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.30, Y:34.67, Z:23.77 [[ 9.85992064e-01 -1.57213900e-01 -5.57085193e-02 4.23301913e+02] [ 1.57077966e-01 9.87562533e-01 -6.83790167e-03 3.46710173e+01] [ 5.60906596e-02 -2.00846413e-03 9.98423660e-01 2.37748302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.36, Y:34.68, Z:23.78 [[ 9.85848267e-01 -1.58112559e-01 -5.57100903e-02 4.23364722e+02] [ 1.57978780e-01 9.87418920e-01 -6.82507816e-03 3.46783227e+01] [ 5.60883278e-02 -2.07252061e-03 9.98423660e-01 2.37787393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.43, Y:34.69, Z:23.78 [[ 9.85690171e-01 -1.59094909e-01 -5.57108287e-02 4.23427693e+02] [ 1.58963036e-01 9.87260986e-01 -6.81904594e-03 3.46852687e+01] [ 5.60860031e-02 -2.13449590e-03 9.98423660e-01 2.37827215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.49, Y:34.69, Z:23.79 [[ 9.85480513e-01 -1.60388211e-01 -5.57115766e-02 4.23490604e+02] [ 1.60258744e-01 9.87051528e-01 -6.81292945e-03 3.46922774e+01] [ 5.60829104e-02 -2.21425811e-03 9.98423660e-01 2.37868922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.55, Y:34.70, Z:23.79 [[ 9.85039131e-01 -1.63076811e-01 -5.57123320e-02 4.23553207e+02] [ 1.62951981e-01 9.86610521e-01 -6.80674721e-03 3.46984214e+01] [ 5.60763955e-02 -2.37352253e-03 9.98423660e-01 2.37904004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.62, Y:34.70, Z:23.79 [[ 9.84590957e-01 -1.65760973e-01 -5.57130745e-02 4.23615228e+02] [ 1.65640769e-01 9.86162708e-01 -6.80066451e-03 3.47037016e+01] [ 5.60694411e-02 -2.53248374e-03 9.98423660e-01 2.37927485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.68, Y:34.71, Z:23.80 [[ 9.84604909e-01 -1.65677913e-01 -5.57135714e-02 4.23676713e+02] [ 1.65557807e-01 9.86176667e-01 -6.79659138e-03 3.47097327e+01] [ 5.60694692e-02 -2.53185944e-03 9.98423660e-01 2.37959648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.74, Y:34.72, Z:23.80 [[ 9.84771932e-01 -1.64681618e-01 -5.57154007e-02 4.23738548e+02] [ 1.64560770e-01 9.86343633e-01 -6.78156188e-03 3.47171257e+01] [ 5.60713294e-02 -2.49027746e-03 9.98423660e-01 2.38004272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.80, Y:34.72, Z:23.81 [[ 9.84962400e-01 -1.63538406e-01 -5.57158877e-02 4.23800283e+02] [ 1.63415960e-01 9.86533978e-01 -6.77755898e-03 3.47238362e+01] [ 5.60740074e-02 -2.42922449e-03 9.98423660e-01 2.38056726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.86, Y:34.73, Z:23.81 [[ 9.85050116e-01 -1.63009064e-01 -5.57163790e-02 4.23861946e+02] [ 1.62886002e-01 9.86621645e-01 -6.77351773e-03 3.47284235e+01] [ 5.60751302e-02 -2.40316381e-03 9.98423660e-01 2.38094580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.92, Y:34.73, Z:23.81 [[ 9.84930790e-01 -1.63727894e-01 -5.57181860e-02 4.23924656e+02] [ 1.63606820e-01 9.86502473e-01 -6.75862081e-03 3.47335322e+01] [ 5.60727030e-02 -2.45910147e-03 9.98423660e-01 2.38126748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.99, Y:34.74, Z:23.82 [[ 9.84350083e-01 -1.67183482e-01 -5.57189081e-02 4.23987779e+02] [ 1.67068261e-01 9.85922207e-01 -6.75266222e-03 3.47380189e+01] [ 5.60634424e-02 -2.66187745e-03 9.98423660e-01 2.38154979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.05, Y:34.74, Z:23.82 [[ 9.83730024e-01 -1.70793913e-01 -5.57196549e-02 4.24050359e+02] [ 1.70684809e-01 9.85302583e-01 -6.74649392e-03 3.47417374e+01] [ 5.60529801e-02 -2.87377005e-03 9.98423660e-01 2.38156409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.11, Y:34.75, Z:23.82 [[ 9.83314713e-01 -1.73168823e-01 -5.57201452e-02 4.24112970e+02] [ 1.73063746e-01 9.84887547e-01 -6.74244246e-03 3.47468710e+01] [ 5.60456579e-02 -3.01319416e-03 9.98423660e-01 2.38189645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.18, Y:34.75, Z:23.82 [[ 9.82733875e-01 -1.76435013e-01 -5.57208796e-02 4.24176034e+02] [ 1.76335506e-01 9.84307071e-01 -6.73636734e-03 3.47512461e+01] [ 5.60349869e-02 -3.20551312e-03 9.98423660e-01 2.38234183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.24, Y:34.76, Z:23.83 [[ 9.82419829e-01 -1.78175138e-01 -5.57216301e-02 4.24239005e+02] [ 1.78078767e-01 9.83993220e-01 -6.73015436e-03 3.47572378e+01] [ 5.60288524e-02 -3.31100211e-03 9.98423660e-01 2.38273145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.30, Y:34.76, Z:23.83 [[ 9.82370555e-01 -1.78446374e-01 -5.57223827e-02 4.24301176e+02] [ 1.78350791e-01 9.83943995e-01 -6.72391747e-03 3.47619517e+01] [ 5.60275625e-02 -3.33275247e-03 9.98423660e-01 2.38324171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.36, Y:34.77, Z:23.84 [[ 9.82528904e-01 -1.77572274e-01 -5.57228839e-02 4.24362493e+02] [ 1.77475526e-01 9.84102272e-01 -6.71976076e-03 3.47674991e+01] [ 5.60302599e-02 -3.28708897e-03 9.98423660e-01 2.38365825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.43, Y:34.77, Z:23.84 [[ 9.82678659e-01 -1.76741080e-01 -5.57247198e-02 4.24425549e+02] [ 1.76643863e-01 9.84251998e-01 -6.70450216e-03 3.47720044e+01] [ 5.60321277e-02 -3.25505859e-03 9.98423660e-01 2.38408310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.49, Y:34.78, Z:23.84 [[ 9.82545852e-01 -1.77477666e-01 -5.57254531e-02 4.24488881e+02] [ 1.77381974e-01 9.84119285e-01 -6.69840117e-03 3.47760209e+01] [ 5.60293097e-02 -3.30320456e-03 9.98423660e-01 2.38442887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.55, Y:34.78, Z:23.85 [[ 9.82286702e-01 -1.78906197e-01 -5.57261818e-02 4.24552243e+02] [ 1.78813136e-01 9.83860293e-01 -6.69233389e-03 3.47798868e+01] [ 5.60240775e-02 -3.39078272e-03 9.98423660e-01 2.38479597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.61, Y:34.78, Z:23.85 [[ 9.82140382e-01 -1.79707487e-01 -5.57269084e-02 4.24614589e+02] [ 1.79616051e-01 9.83714068e-01 -6.68627817e-03 3.47836788e+01] [ 5.60209180e-02 -3.44258344e-03 9.98423660e-01 2.38512850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.68, Y:34.79, Z:23.85 [[ 9.82325618e-01 -1.78691984e-01 -5.57275043e-02 4.24677476e+02] [ 1.78599202e-01 9.83899225e-01 -6.68130782e-03 3.47869479e+01] [ 5.60241444e-02 -3.38966797e-03 9.98423660e-01 2.38535635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.74, Y:34.79, Z:23.86 [[ 9.82520457e-01 -1.77617330e-01 -5.57282226e-02 4.24739570e+02] [ 1.77523166e-01 9.84093982e-01 -6.67531053e-03 3.47921258e+01] [ 5.60274594e-02 -3.33442139e-03 9.98423660e-01 2.38564419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.545099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.80, Y:34.80, Z:23.86 [[ 9.82498556e-01 -1.77738255e-01 -5.57288125e-02 4.24801820e+02] [ 1.77644563e-01 9.84072109e-01 -6.67038234e-03 3.47954690e+01] [ 5.60267522e-02 -3.34627953e-03 9.98423660e-01 2.38587234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.86, Y:34.80, Z:23.86 [[ 9.82427355e-01 -1.78131238e-01 -5.57292970e-02 4.24864840e+02] [ 1.78038404e-01 9.84000959e-01 -6.66633238e-03 3.48001156e+01] [ 5.60251637e-02 -3.37276781e-03 9.98423660e-01 2.38609720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.93, Y:34.80, Z:23.86 [[ 9.82703848e-01 -1.76599296e-01 -5.57300194e-02 4.24926948e+02] [ 1.76504351e-01 9.84277326e-01 -6.66028722e-03 3.48041908e+01] [ 5.60299965e-02 -3.29150104e-03 9.98423660e-01 2.38625758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.99, Y:34.81, Z:23.86 [[ 9.83138547e-01 -1.74162842e-01 -5.57306127e-02 4.24989911e+02] [ 1.74064278e-01 9.84711802e-01 -6.65531924e-03 3.48096714e+01] [ 5.60377014e-02 -3.15760796e-03 9.98423660e-01 2.38643276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.05, Y:34.82, Z:23.87 [[ 9.83284080e-01 -1.73339080e-01 -5.57313397e-02 4.25051301e+02] [ 1.73239542e-01 9.84857273e-01 -6.64922609e-03 3.48164286e+01] [ 5.60399860e-02 -3.11679360e-03 9.98423660e-01 2.38677499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.11, Y:34.82, Z:23.87 [[ 9.83320628e-01 -1.73131245e-01 -5.57325260e-02 4.25113997e+02] [ 1.73031937e-01 9.84893836e-01 -6.63926786e-03 3.48235037e+01] [ 5.60400860e-02 -3.11497785e-03 9.98423660e-01 2.38707595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.18, Y:34.83, Z:23.87 [[ 9.83329679e-01 -1.73079591e-01 -5.57332705e-02 4.25176490e+02] [ 1.72980554e-01 9.84902904e-01 -6.63301195e-03 3.48306647e+01] [ 5.60398990e-02 -3.11833449e-03 9.98423660e-01 2.38743181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.24, Y:34.84, Z:23.88 [[ 9.83248056e-01 -1.73542449e-01 -5.57340049e-02 4.25239228e+02] [ 1.73444502e-01 9.84821349e-01 -6.62683528e-03 3.48369810e+01] [ 5.60380751e-02 -3.15093381e-03 9.98423660e-01 2.38772093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.30, Y:34.84, Z:23.88 [[ 9.83094331e-01 -1.74410942e-01 -5.57347325e-02 4.25301449e+02] [ 1.74314730e-01 9.84667731e-01 -6.62071030e-03 3.48439489e+01] [ 5.60349169e-02 -3.20660210e-03 9.98423660e-01 2.38805522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.36, Y:34.85, Z:23.88 [[ 9.83193728e-01 -1.73849510e-01 -5.57354566e-02 4.25363402e+02] [ 1.73752745e-01 9.84767095e-01 -6.61460894e-03 3.48517192e+01] [ 5.60363902e-02 -3.18074655e-03 9.98423660e-01 2.38828496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.43, Y:34.86, Z:23.89 [[ 9.83460980e-01 -1.72331095e-01 -5.57359408e-02 4.25425771e+02] [ 1.72232131e-01 9.85034210e-01 -6.61052674e-03 3.48594927e+01] [ 5.60410077e-02 -3.09832473e-03 9.98423661e-01 2.38860718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.49, Y:34.87, Z:23.89 [[ 9.83713205e-01 -1.70885210e-01 -5.57366618e-02 4.25488501e+02] [ 1.70784277e-01 9.85286310e-01 -6.60444147e-03 3.48678774e+01] [ 5.60451712e-02 -3.02206922e-03 9.98423661e-01 2.38904059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.55, Y:34.88, Z:23.89 [[ 9.84233337e-01 -1.67863286e-01 -5.57373717e-02 4.25548709e+02] [ 1.67757861e-01 9.85806148e-01 -6.59844512e-03 3.48763235e+01] [ 5.60538804e-02 -2.85597261e-03 9.98423661e-01 2.38925275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.61, Y:34.88, Z:23.90 [[ 9.84595833e-01 -1.65723721e-01 -5.57377203e-02 4.25610893e+02] [ 1.65615044e-01 9.86168422e-01 -6.59549962e-03 3.48841426e+01] [ 5.60598104e-02 -2.73710356e-03 9.98423661e-01 2.38960481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.67, Y:34.89, Z:23.90 [[ 9.84863703e-01 -1.64124089e-01 -5.57384147e-02 4.25673561e+02] [ 1.64013189e-01 9.86436136e-01 -6.58962610e-03 3.48923843e+01] [ 5.60639028e-02 -2.65195157e-03 9.98423661e-01 2.39002382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.73, Y:34.90, Z:23.90 [[ 9.84924471e-01 -1.63758771e-01 -5.57391357e-02 4.25734712e+02] [ 1.63647633e-01 9.86496888e-01 -6.58352103e-03 3.49008087e+01] [ 5.60645932e-02 -2.63730665e-03 9.98423661e-01 2.39038865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.80, Y:34.91, Z:23.91 [[ 9.84918219e-01 -1.63796206e-01 -5.57396136e-02 4.25797141e+02] [ 1.63685356e-01 9.86490656e-01 -6.57947249e-03 3.49093700e+01] [ 5.60643007e-02 -2.64351620e-03 9.98423661e-01 2.39072306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.86, Y:34.92, Z:23.91 [[ 9.84960031e-01 -1.63544341e-01 -5.57403397e-02 4.25858608e+02] [ 1.63433437e-01 9.86532464e-01 -6.57331584e-03 3.49177436e+01] [ 5.60646833e-02 -2.63538190e-03 9.98423661e-01 2.39098910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.92, Y:34.93, Z:23.91 [[ 9.85147914e-01 -1.62408585e-01 -5.57408136e-02 4.25920254e+02] [ 1.62296094e-01 9.86720235e-01 -6.56929462e-03 3.49271915e+01] [ 5.60674985e-02 -2.57478945e-03 9.98423661e-01 2.39141857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.98, Y:34.94, Z:23.92 [[ 9.85510252e-01 -1.60195045e-01 -5.57412878e-02 4.25982660e+02] [ 1.60079250e-01 9.87082332e-01 -6.56526827e-03 3.49369153e+01] [ 5.60729638e-02 -2.45288436e-03 9.98423661e-01 2.39188189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.04, Y:34.95, Z:23.92 [[ 9.86005908e-01 -1.57115177e-01 -5.57419968e-02 4.26043651e+02] [ 1.56994811e-01 9.87577645e-01 -6.55924350e-03 3.49470582e+01] [ 5.60801066e-02 -2.28375142e-03 9.98423661e-01 2.39249959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.10, Y:34.96, Z:23.93 [[ 9.86243247e-01 -1.55618230e-01 -5.57424848e-02 4.26104876e+02] [ 1.55495713e-01 9.87814818e-01 -6.55509304e-03 3.49564693e+01] [ 5.60833445e-02 -2.20280117e-03 9.98423661e-01 2.39286988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.17, Y:34.96, Z:23.93 [[ 9.86123652e-01 -1.56373860e-01 -5.57436820e-02 4.26165835e+02] [ 1.56253123e-01 9.87695361e-01 -6.54489656e-03 3.49649666e+01] [ 5.60812269e-02 -2.25604708e-03 9.98423661e-01 2.39316010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.23, Y:34.97, Z:23.93 [[ 9.85570437e-01 -1.59823109e-01 -5.57448387e-02 4.26227498e+02] [ 1.59708428e-01 9.87142599e-01 -6.53503026e-03 3.49730879e+01] [ 5.60725538e-02 -2.46218792e-03 9.98423661e-01 2.39339560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.29, Y:34.98, Z:23.94 [[ 9.84721271e-01 -1.64974178e-01 -5.57452972e-02 4.26288772e+02] [ 1.64867940e-01 9.86294027e-01 -6.53111640e-03 3.49812897e+01] [ 5.60587192e-02 -2.75928304e-03 9.98423661e-01 2.39375752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.35, Y:34.99, Z:23.94 [[ 9.84182808e-01 -1.68156500e-01 -5.57457740e-02 4.26349247e+02] [ 1.68055576e-01 9.85755914e-01 -6.52704441e-03 3.49893248e+01] [ 5.60492913e-02 -2.94458326e-03 9.98423661e-01 2.39392713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.41, Y:35.00, Z:23.94 [[ 9.83137216e-01 -1.74165393e-01 -5.57461265e-02 4.26410381e+02] [ 1.74074251e-01 9.84710918e-01 -6.52403247e-03 3.50022351e+01] [ 5.60300801e-02 -3.28994607e-03 9.98423661e-01 2.39439418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.47, Y:35.01, Z:23.95 [[ 9.83397686e-01 -1.72688410e-01 -5.57467838e-02 4.26471494e+02] [ 1.72595222e-01 9.84971269e-01 -6.51841063e-03 3.50074487e+01] [ 5.60346343e-02 -3.21143858e-03 9.98423661e-01 2.39461017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.53, Y:35.02, Z:23.95 [[ 9.83932740e-01 -1.69613136e-01 -5.57471793e-02 4.26532628e+02] [ 1.69515220e-01 9.85506035e-01 -6.51502675e-03 3.50177651e+01] [ 5.60442157e-02 -3.03964723e-03 9.98423661e-01 2.39532353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.59, Y:35.03, Z:23.96 [[ 9.84183141e-01 -1.68153933e-01 -5.57476462e-02 4.26593949e+02] [ 1.68053910e-01 9.85756304e-01 -6.51102916e-03 3.50262466e+01] [ 5.60484488e-02 -2.96056478e-03 9.98423661e-01 2.39579431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.66, Y:35.04, Z:23.96 [[ 9.84750557e-01 -1.64798321e-01 -5.57481275e-02 4.26655504e+02] [ 1.64693169e-01 9.86323385e-01 -6.50690529e-03 3.50356599e+01] [ 5.60580089e-02 -2.77365719e-03 9.98423661e-01 2.39618623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.72, Y:35.05, Z:23.96 [[ 9.85603260e-01 -1.59619010e-01 -5.57493109e-02 4.26716666e+02] [ 1.59506164e-01 9.87175555e-01 -6.49675029e-03 3.50457827e+01] [ 5.60713618e-02 -2.48914048e-03 9.98423661e-01 2.39645671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.78, Y:35.06, Z:23.97 [[ 9.86152030e-01 -1.56192629e-01 -5.57497746e-02 4.26778004e+02] [ 1.56074544e-01 9.87723940e-01 -6.49276888e-03 3.50552693e+01] [ 5.60795097e-02 -2.29826342e-03 9.98423661e-01 2.39676334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.84, Y:35.07, Z:23.97 [[ 9.86916702e-01 -1.51285601e-01 -5.57502425e-02 4.26838014e+02] [ 1.51159926e-01 9.88488024e-01 -6.48874912e-03 3.50662812e+01] [ 5.60901013e-02 -2.02334762e-03 9.98423661e-01 2.39688218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.90, Y:35.08, Z:23.97 [[ 9.87398854e-01 -1.48105957e-01 -5.57505874e-02 4.26899646e+02] [ 1.47975388e-01 9.88969777e-01 -6.48578423e-03 3.50756370e+01] [ 5.60962293e-02 -1.84565891e-03 9.98423661e-01 2.39728525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.96, Y:35.09, Z:23.98 [[ 9.88044097e-01 -1.43738246e-01 -5.57510509e-02 4.26960588e+02] [ 1.43600957e-01 9.89614446e-01 -6.48179730e-03 3.50862364e+01] [ 5.61037276e-02 -1.60160270e-03 9.98423661e-01 2.39772131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.02, Y:35.10, Z:23.98 [[ 9.88373485e-01 -1.41455376e-01 -5.57515098e-02 4.27021493e+02] [ 1.41314682e-01 9.89943533e-01 -6.47784803e-03 3.50953514e+01] [ 5.61071730e-02 -1.47597363e-03 9.98423661e-01 2.39818191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.08, Y:35.10, Z:23.99 [[ 9.88625454e-01 -1.39683365e-01 -5.57518558e-02 4.27083215e+02] [ 1.39540025e-01 9.90195262e-01 -6.47486852e-03 3.51042067e+01] [ 5.61096549e-02 -1.37839550e-03 9.98423661e-01 2.39856873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.14, Y:35.11, Z:23.99 [[ 9.88643126e-01 -1.39558044e-01 -5.57523193e-02 4.27144604e+02] [ 1.39414730e-01 9.90212937e-01 -6.47087563e-03 3.51123180e+01] [ 5.61097306e-02 -1.37530782e-03 9.98423661e-01 2.39899656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.21, Y:35.12, Z:23.99 [[ 9.88743266e-01 -1.38846611e-01 -5.57527886e-02 4.27206280e+02] [ 1.38702395e-01 9.90312994e-01 -6.46682957e-03 3.51186116e+01] [ 5.61106083e-02 -1.33901113e-03 9.98423661e-01 2.39862768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.27, Y:35.13, Z:24.00 [[ 9.87733563e-01 -1.45856024e-01 -5.57532892e-02 4.27266256e+02] [ 1.45723189e-01 9.89304295e-01 -6.46251086e-03 3.51267974e+01] [ 5.60995646e-02 -1.74130822e-03 9.98423661e-01 2.39961331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.33, Y:35.13, Z:24.00 [[ 9.86965615e-01 -1.50964678e-01 -5.57542907e-02 4.27327800e+02] [ 1.50840460e-01 9.88537052e-01 -6.45385866e-03 3.51331689e+01] [ 5.60894869e-02 -2.04026628e-03 9.98423661e-01 2.39988835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.39, Y:35.14, Z:24.00 [[ 9.85754002e-01 -1.58683504e-01 -5.57547552e-02 4.27390974e+02] [ 1.58571814e-01 9.87326379e-01 -6.44984365e-03 3.51395832e+01] [ 5.60716244e-02 -2.48317346e-03 9.98423661e-01 2.40013396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.45, Y:35.15, Z:24.00 [[ 9.85204389e-01 -1.62060607e-01 -5.57554659e-02 4.27452425e+02] [ 1.61954653e-01 9.86777163e-01 -6.44369397e-03 3.51464016e+01] [ 5.60624894e-02 -2.68150157e-03 9.98423661e-01 2.40041123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.52, Y:35.15, Z:24.01 [[ 9.84895297e-01 -1.63927993e-01 -5.57572064e-02 4.27515428e+02] [ 1.63825874e-01 9.86468325e-01 -6.42859832e-03 3.51538163e+01] [ 5.60565452e-02 -2.80297679e-03 9.98423661e-01 2.40077456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.58, Y:35.16, Z:24.01 [[ 9.84806257e-01 -1.64461823e-01 -5.57579108e-02 4.27577205e+02] [ 1.64360901e-01 9.86379362e-01 -6.42248267e-03 3.51623337e+01] [ 5.60547057e-02 -2.83951936e-03 9.98423661e-01 2.40102455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.64, Y:35.17, Z:24.01 [[ 9.84777652e-01 -1.64632438e-01 -5.57596310e-02 4.27639615e+02] [ 1.64532634e-01 9.86350828e-01 -6.40751361e-03 3.51705758e+01] [ 5.60534428e-02 -2.86430276e-03 9.98423661e-01 2.40144878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.70, Y:35.18, Z:24.02 [[ 9.84792179e-01 -1.64545278e-01 -5.57603390e-02 4.27701508e+02] [ 1.64445683e-01 9.86365368e-01 -6.40134610e-03 3.51791762e+01] [ 5.60533786e-02 -2.86555148e-03 9.98423661e-01 2.40189402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.76, Y:35.19, Z:24.02 [[ 9.84760990e-01 -1.64731594e-01 -5.57610464e-02 4.27763088e+02] [ 1.64632645e-01 9.86334220e-01 -6.39517851e-03 3.51870536e+01] [ 5.60525161e-02 -2.88236626e-03 9.98423661e-01 2.40218383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.83, Y:35.19, Z:24.03 [[ 9.84758161e-01 -1.64748351e-01 -5.57615100e-02 4.27825070e+02] [ 1.64649657e-01 9.86331407e-01 -6.39113354e-03 3.51947332e+01] [ 5.60522573e-02 -2.88739257e-03 9.98423661e-01 2.40257126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.89, Y:35.20, Z:24.03 [[ 9.84787197e-01 -1.64574462e-01 -5.57622068e-02 4.27886821e+02] [ 1.64475834e-01 9.86360447e-01 -6.38504805e-03 3.52027653e+01] [ 5.60524511e-02 -2.88362189e-03 9.98423661e-01 2.40289209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.95, Y:35.21, Z:24.03 [[ 9.84930684e-01 -1.63712965e-01 -5.57639107e-02 4.27949157e+02] [ 1.63613803e-01 9.86503900e-01 -6.37013182e-03 3.52114737e+01] [ 5.60541886e-02 -2.84960722e-03 9.98423661e-01 2.40326404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.01, Y:35.22, Z:24.03 [[ 9.85023035e-01 -1.63156157e-01 -5.57645911e-02 4.28011363e+02] [ 1.63056442e-01 9.86596216e-01 -6.36417014e-03 3.52193765e+01] [ 5.60554882e-02 -2.82392166e-03 9.98423661e-01 2.40332691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.07, Y:35.23, Z:24.04 [[ 9.85126467e-01 -1.62530257e-01 -5.57652115e-02 4.28072124e+02] [ 1.62429851e-01 9.86699605e-01 -6.35872992e-03 3.52260840e+01] [ 5.60569981e-02 -2.79378183e-03 9.98423661e-01 2.40388729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.13, Y:35.23, Z:24.04 [[ 9.85285991e-01 -1.61559830e-01 -5.57668188e-02 4.28134023e+02] [ 1.61458671e-01 9.86859080e-01 -6.34460168e-03 3.52330822e+01] [ 5.60590243e-02 -2.75278930e-03 9.98423662e-01 2.40417789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.19, Y:35.24, Z:24.05 [[ 9.85311492e-01 -1.61404076e-01 -5.57672674e-02 4.28194983e+02] [ 1.61302892e-01 9.86884580e-01 -6.34065621e-03 3.52389760e+01] [ 5.60592640e-02 -2.74790006e-03 9.98423662e-01 2.40452204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.26, Y:35.24, Z:24.05 [[ 9.85211481e-01 -1.62012931e-01 -5.57686964e-02 4.28257102e+02] [ 1.61913430e-01 9.86784676e-01 -6.32806261e-03 3.52448651e+01] [ 5.60569230e-02 -2.79522097e-03 9.98423662e-01 2.40495937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.32, Y:35.25, Z:24.05 [[ 9.85073838e-01 -1.62847586e-01 -5.57691522e-02 4.28319450e+02] [ 1.62749644e-01 9.86647130e-01 -6.32404318e-03 3.52499468e+01] [ 5.60543292e-02 -2.84676019e-03 9.98423662e-01 2.40530734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.38, Y:35.25, Z:24.06 [[ 9.84567303e-01 -1.65882345e-01 -5.57698306e-02 4.28381841e+02] [ 1.65789591e-01 9.86140910e-01 -6.31805472e-03 3.52545718e+01] [ 5.60449653e-02 -3.02550730e-03 9.98423662e-01 2.40571849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.44, Y:35.26, Z:24.06 [[ 9.84137485e-01 -1.68413439e-01 -5.57702753e-02 4.28444265e+02] [ 1.68324953e-01 9.85711338e-01 -6.31412698e-03 3.52580536e+01] [ 5.60367766e-02 -3.17355990e-03 9.98423662e-01 2.40604615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.51, Y:35.26, Z:24.06 [[ 9.83867833e-01 -1.69981296e-01 -5.57713676e-02 4.28507068e+02] [ 1.69895863e-01 9.85441855e-01 -6.30446470e-03 3.52627104e+01] [ 5.60310810e-02 -3.27256463e-03 9.98423662e-01 2.40645783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.57, Y:35.27, Z:24.07 [[ 9.83523099e-01 -1.71964505e-01 -5.57720530e-02 4.28569855e+02] [ 1.71882589e-01 9.85097308e-01 -6.29839498e-03 3.52659772e+01] [ 5.60239997e-02 -3.39162789e-03 9.98423662e-01 2.40680310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.63, Y:35.27, Z:24.07 [[ 9.83071360e-01 -1.74528227e-01 -5.57727362e-02 4.28633194e+02] [ 1.74450758e-01 9.84645794e-01 -6.29234009e-03 3.52703216e+01] [ 5.60145810e-02 -3.54377677e-03 9.98423662e-01 2.40715989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.70, Y:35.27, Z:24.07 [[ 9.82562119e-01 -1.77372513e-01 -5.57734134e-02 4.28696311e+02] [ 1.77299940e-01 9.84136786e-01 -6.28633165e-03 3.52722087e+01] [ 5.60036902e-02 -3.71191152e-03 9.98423662e-01 2.40742651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.76, Y:35.28, Z:24.08 [[ 9.82467341e-01 -1.77896530e-01 -5.57740869e-02 4.28758981e+02] [ 1.77825135e-01 9.84042061e-01 -6.28035021e-03 3.52761865e+01] [ 5.60013000e-02 -3.74779557e-03 9.98423662e-01 2.40779017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.82, Y:35.28, Z:24.08 [[ 9.82738624e-01 -1.76391531e-01 -5.57747610e-02 4.28820654e+02] [ 1.76318062e-01 9.84313250e-01 -6.27435804e-03 3.52790732e+01] [ 5.60065799e-02 -3.66804380e-03 9.98423662e-01 2.40822417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.88, Y:35.28, Z:24.09 [[ 9.83049722e-01 -1.74649245e-01 -5.57753127e-02 4.28883288e+02] [ 1.74573263e-01 9.84624228e-01 -6.26944976e-03 3.52830993e+01] [ 5.60126789e-02 -3.57369750e-03 9.98423662e-01 2.40853310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.95, Y:35.28, Z:24.09 [[ 9.83367945e-01 -1.72848275e-01 -5.57759592e-02 4.28946705e+02] [ 1.72769734e-01 9.84942326e-01 -6.26369332e-03 3.52849336e+01] [ 5.60187715e-02 -3.47688242e-03 9.98423662e-01 2.40883911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.01, Y:35.29, Z:24.09 [[ 9.83456064e-01 -1.72345976e-01 -5.57766414e-02 4.29008974e+02] [ 1.72266975e-01 9.85030422e-01 -6.25761212e-03 3.52884300e+01] [ 5.60201629e-02 -3.45438669e-03 9.98423662e-01 2.40914073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.07, Y:35.29, Z:24.09 [[ 9.83488828e-01 -1.72158766e-01 -5.57770949e-02 4.29070908e+02] [ 1.72079693e-01 9.85063182e-01 -6.25356774e-03 3.52935077e+01] [ 5.60205690e-02 -3.44779138e-03 9.98423662e-01 2.40943977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.13, Y:35.30, Z:24.10 [[ 9.83890483e-01 -1.69848118e-01 -5.57775457e-02 4.29133100e+02] [ 1.69765575e-01 9.85464658e-01 -6.24954431e-03 3.52950708e+01] [ 5.60282733e-02 -3.32023994e-03 9.98423662e-01 2.40974509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.20, Y:35.30, Z:24.10 [[ 9.84210558e-01 -1.67983314e-01 -5.57779956e-02 4.29195621e+02] [ 1.67898014e-01 9.85784586e-01 -6.24552637e-03 3.52983144e+01] [ 5.60342325e-02 -3.21810172e-03 9.98423662e-01 2.41016102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.26, Y:35.30, Z:24.11 [[ 9.84807739e-01 -1.64445906e-01 -5.57786755e-02 4.29256900e+02] [ 1.64355295e-01 9.86381471e-01 -6.23944752e-03 3.52998518e+01] [ 5.60451036e-02 -3.02286445e-03 9.98423662e-01 2.41060721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.32, Y:35.30, Z:24.11 [[ 9.85207172e-01 -1.62035582e-01 -5.57790098e-02 4.29319479e+02] [ 1.61941289e-01 9.86780688e-01 -6.23645811e-03 3.53035012e+01] [ 5.60521777e-02 -2.88872148e-03 9.98423662e-01 2.41098456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.38, Y:35.31, Z:24.11 [[ 9.85746515e-01 -1.58721247e-01 -5.57796967e-02 4.29383085e+02] [ 1.58622010e-01 9.87319726e-01 -6.23030839e-03 3.53055554e+01] [ 5.60612772e-02 -2.70638281e-03 9.98423662e-01 2.41125027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.45, Y:35.31, Z:24.12 [[ 9.86114455e-01 -1.56418768e-01 -5.57803749e-02 4.29445234e+02] [ 1.56316201e-01 9.87687453e-01 -6.22423006e-03 3.53088276e+01] [ 5.60671628e-02 -2.58157305e-03 9.98423662e-01 2.41154993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.51, Y:35.31, Z:24.12 [[ 9.86834047e-01 -1.51812591e-01 -5.57808301e-02 4.29506948e+02] [ 1.51702909e-01 9.88406565e-01 -6.22014807e-03 3.53123404e+01] [ 5.60784355e-02 -2.32386032e-03 9.98423662e-01 2.41195355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.57, Y:35.32, Z:24.12 [[ 9.87364248e-01 -1.48324950e-01 -5.57812841e-02 4.29568756e+02] [ 1.48209944e-01 9.88936385e-01 -6.21607394e-03 3.53175048e+01] [ 5.60861403e-02 -2.12981181e-03 9.98423662e-01 2.41236775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.63, Y:35.32, Z:24.13 [[ 9.88299535e-01 -1.41959246e-01 -5.57817335e-02 4.29629382e+02] [ 1.41834338e-01 9.89870916e-01 -6.21203910e-03 3.53212549e+01] [ 5.60985720e-02 -1.77240991e-03 9.98423662e-01 2.41264076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.69, Y:35.33, Z:24.13 [[ 9.88818664e-01 -1.38296824e-01 -5.57820653e-02 4.29691030e+02] [ 1.38166263e-01 9.90389586e-01 -6.20905765e-03 3.53263679e+01] [ 5.61046695e-02 -1.56756743e-03 9.98423662e-01 2.41303444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.75, Y:35.33, Z:24.13 [[ 9.89231061e-01 -1.35315258e-01 -5.57825160e-02 4.29752003e+02] [ 1.35180191e-01 9.90801602e-01 -6.20500600e-03 3.53300624e+01] [ 5.61090382e-02 -1.40250649e-03 9.98423662e-01 2.41344989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.81, Y:35.33, Z:24.14 [[ 9.89296350e-01 -1.34837007e-01 -5.57827369e-02 4.29813057e+02] [ 1.34701292e-01 9.90866835e-01 -6.20301972e-03 3.53343906e+01] [ 5.61096605e-02 -1.37738197e-03 9.98423662e-01 2.41382698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.87, Y:35.34, Z:24.14 [[ 9.89197235e-01 -1.35562129e-01 -5.57829611e-02 4.29873413e+02] [ 1.35427679e-01 9.90767829e-01 -6.20100245e-03 3.53382764e+01] [ 5.61085844e-02 -1.42054248e-03 9.98423662e-01 2.41416723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.93, Y:35.34, Z:24.15 [[ 9.88683818e-01 -1.39257162e-01 -5.57830715e-02 4.29934537e+02] [ 1.39128638e-01 9.90254908e-01 -6.20000956e-03 3.53400008e+01] [ 5.61028560e-02 -1.63117362e-03 9.98423662e-01 2.41450519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.00, Y:35.34, Z:24.15 [[ 9.88136208e-01 -1.43091083e-01 -5.57832972e-02 4.29997005e+02] [ 1.42968768e-01 9.89707793e-01 -6.19797827e-03 3.53433886e+01] [ 5.60960394e-02 -1.85082255e-03 9.98423662e-01 2.41481172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.06, Y:35.35, Z:24.15 [[ 9.87232291e-01 -1.49199787e-01 -5.57837601e-02 4.30057827e+02] [ 1.49087430e-01 9.88804619e-01 -6.19380879e-03 3.53459447e+01] [ 5.60833546e-02 -2.20192939e-03 9.98423662e-01 2.41500310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.12, Y:35.35, Z:24.15 [[ 9.86640233e-01 -1.53065948e-01 -5.57841020e-02 4.30118119e+02] [ 1.52959924e-01 9.88213002e-01 -6.19072839e-03 3.53498602e+01] [ 5.60741646e-02 -2.42471032e-03 9.98423662e-01 2.41526486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.18, Y:35.35, Z:24.16 [[ 9.85939082e-01 -1.57519045e-01 -5.57842086e-02 4.30179330e+02] [ 1.57420178e-01 9.87512316e-01 -6.18976759e-03 3.53525886e+01] [ 5.60625993e-02 -2.67882627e-03 9.98423662e-01 2.41554356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.24, Y:35.36, Z:24.16 [[ 9.85742830e-01 -1.58742465e-01 -5.57844248e-02 4.30240693e+02] [ 1.58645660e-01 9.87316193e-01 -6.18781831e-03 3.53579783e+01] [ 5.60591355e-02 -2.75035937e-03 9.98423662e-01 2.41594762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.30, Y:35.36, Z:24.16 [[ 9.85995981e-01 -1.57162333e-01 -5.57846490e-02 4.30301714e+02] [ 1.57063121e-01 9.87569193e-01 -6.18579647e-03 3.53636971e+01] [ 5.60633750e-02 -2.66254064e-03 9.98423662e-01 2.41633115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.36, Y:35.37, Z:24.17 [[ 9.86592574e-01 -1.53372556e-01 -5.57848754e-02 4.30362816e+02] [ 1.53267415e-01 9.88165401e-01 -6.18375378e-03 3.53705887e+01] [ 5.60731020e-02 -2.44915809e-03 9.98423662e-01 2.41670249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.42, Y:35.38, Z:24.17 [[ 9.87783987e-01 -1.45501950e-01 -5.57851022e-02 4.30423185e+02] [ 1.45384388e-01 9.89355935e-01 -6.18170734e-03 3.53790469e+01] [ 5.60907724e-02 -2.00409142e-03 9.98423662e-01 2.41720568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.48, Y:35.39, Z:24.18 [[ 9.88547843e-01 -1.40218253e-01 -5.57853274e-02 4.30484337e+02] [ 1.40092403e-01 9.90119150e-01 -6.17967403e-03 3.53870869e+01] [ 5.61006241e-02 -1.70619713e-03 9.98423662e-01 2.41754990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.54, Y:35.39, Z:24.18 [[ 9.89225369e-01 -1.35355607e-01 -5.57855545e-02 4.30544622e+02] [ 1.35222147e-01 9.90796048e-01 -6.17762360e-03 3.53947769e+01] [ 5.61082829e-02 -1.43238048e-03 9.98423662e-01 2.41767397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.60, Y:35.40, Z:24.18 [[ 9.89339762e-01 -1.34516893e-01 -5.57856660e-02 4.30604123e+02] [ 1.34382158e-01 9.90910331e-01 -6.17661647e-03 3.54018352e+01] [ 5.61094521e-02 -1.38582593e-03 9.98423662e-01 2.41792399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.66, Y:35.41, Z:24.18 [[ 9.89228782e-01 -1.35330704e-01 -5.57854507e-02 4.30663570e+02] [ 1.35197152e-01 9.90799453e-01 -6.17856028e-03 3.54094436e+01] [ 5.61083430e-02 -1.43002437e-03 9.98423662e-01 2.41821202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.72, Y:35.42, Z:24.19 [[ 9.89078291e-01 -1.36426322e-01 -5.57852388e-02 4.30723921e+02] [ 1.36294401e-01 9.90649099e-01 -6.18047281e-03 3.54163943e+01] [ 5.61067758e-02 -1.49024424e-03 9.98423662e-01 2.41868587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.78, Y:35.42, Z:24.19 [[ 9.88998116e-01 -1.37006327e-01 -5.57852388e-02 4.30783617e+02] [ 1.36875328e-01 9.90569001e-01 -6.18047281e-03 3.54244778e+01] [ 5.61058922e-02 -1.52314690e-03 9.98423662e-01 2.41926022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.84, Y:35.43, Z:24.20 [[ 9.88972743e-01 -1.37189361e-01 -5.57852388e-02 4.30843348e+02] [ 1.37058653e-01 9.90543652e-01 -6.18047281e-03 3.54318381e+01] [ 5.61056094e-02 -1.53353054e-03 9.98423662e-01 2.41967768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.90, Y:35.44, Z:24.20 [[ 9.88781699e-01 -1.38559585e-01 -5.57852388e-02 4.30902054e+02] [ 1.38431054e-01 9.90352788e-01 -6.18047281e-03 3.54389453e+01] [ 5.61034306e-02 -1.61127098e-03 9.98423662e-01 2.42000152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.96, Y:35.45, Z:24.20 [[ 9.88679218e-01 -1.39289037e-01 -5.57850228e-02 4.30961915e+02] [ 1.39161554e-01 9.90250392e-01 -6.18242198e-03 3.54452353e+01] [ 5.61022843e-02 -1.65069835e-03 9.98423662e-01 2.42031813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.02, Y:35.45, Z:24.21 [[ 9.88487861e-01 -1.40640609e-01 -5.57850228e-02 4.31021676e+02] [ 1.40515275e-01 9.90059208e-01 -6.18242198e-03 3.54513333e+01] [ 5.60999751e-02 -1.72739873e-03 9.98423662e-01 2.42055628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.08, Y:35.46, Z:24.21 [[ 9.88393694e-01 -1.41300960e-01 -5.57848113e-02 4.31081823e+02] [ 1.41176568e-01 9.89965116e-01 -6.18433027e-03 3.54590848e+01] [ 5.60988690e-02 -1.76295517e-03 9.98423662e-01 2.42087077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.14, Y:35.47, Z:24.21 [[ 9.88656114e-01 -1.39453017e-01 -5.57848113e-02 4.31142534e+02] [ 1.39325688e-01 9.90227301e-01 -6.18433027e-03 3.54664966e+01] [ 5.61020666e-02 -1.65808127e-03 9.98423662e-01 2.42128323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.20, Y:35.47, Z:24.22 [[ 9.88971452e-01 -1.37198750e-01 -5.57850329e-02 4.31203091e+02] [ 1.37067952e-01 9.90542354e-01 -6.18233033e-03 3.54739805e+01] [ 5.61056458e-02 -1.53219198e-03 9.98423662e-01 2.42160659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.26, Y:35.48, Z:24.22 [[ 9.89454784e-01 -1.33668379e-01 -5.57852570e-02 4.31263329e+02] [ 1.33532089e-01 9.91025219e-01 -6.18030740e-03 3.54821853e+01] [ 5.61107082e-02 -1.33398720e-03 9.98423662e-01 2.42193265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.32, Y:35.49, Z:24.22 [[ 9.89579926e-01 -1.32738655e-01 -5.57854784e-02 4.31322937e+02] [ 1.32601003e-01 9.91150242e-01 -6.17830849e-03 3.54888080e+01] [ 5.61118908e-02 -1.28328031e-03 9.98423662e-01 2.42228695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.38, Y:35.49, Z:24.23 [[ 9.89516545e-01 -1.33210315e-01 -5.57854784e-02 4.31382887e+02] [ 1.33073411e-01 9.91086926e-01 -6.17830849e-03 3.54947803e+01] [ 5.61112728e-02 -1.31002542e-03 9.98423662e-01 2.42267714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.44, Y:35.50, Z:24.23 [[ 9.89280245e-01 -1.34953981e-01 -5.57854784e-02 4.31443188e+02] [ 1.34819845e-01 9.90850866e-01 -6.17830849e-03 3.55007980e+01] [ 5.61088769e-02 -1.40891100e-03 9.98423662e-01 2.42308503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.50, Y:35.51, Z:24.23 [[ 9.89043709e-01 -1.36676707e-01 -5.57854784e-02 4.31502260e+02] [ 1.36545306e-01 9.90614561e-01 -6.17830849e-03 3.55069778e+01] [ 5.61063380e-02 -1.50662809e-03 9.98423662e-01 2.42335880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.56, Y:35.51, Z:24.24 [[ 9.88678790e-01 -1.39291883e-01 -5.57855024e-02 4.31561017e+02] [ 1.39164649e-01 9.90249984e-01 -6.17809198e-03 3.55120265e+01] [ 5.61021509e-02 -1.65522138e-03 9.98423662e-01 2.42358349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.62, Y:35.52, Z:24.24 [[ 9.88430153e-01 -1.41045542e-01 -5.57851871e-02 4.31620765e+02] [ 1.40920935e-01 9.90001559e-01 -6.18093753e-03 3.55177120e+01] [ 5.60992159e-02 -1.75187570e-03 9.98423662e-01 2.42395586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.68, Y:35.52, Z:24.24 [[ 9.88285215e-01 -1.42057544e-01 -5.57851871e-02 4.31679973e+02] [ 1.41934546e-01 9.89856748e-01 -6.18093753e-03 3.55247246e+01] [ 5.60973927e-02 -1.80931604e-03 9.98423662e-01 2.42433484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.74, Y:35.53, Z:24.25 [[ 9.88349954e-01 -1.41606475e-01 -5.57850799e-02 4.31739483e+02] [ 1.41482705e-01 9.89921425e-01 -6.18190477e-03 3.55319436e+01] [ 5.60982436e-02 -1.78273872e-03 9.98423662e-01 2.42476060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.80, Y:35.54, Z:24.25 [[ 9.88491543e-01 -1.40614704e-01 -5.57850799e-02 4.31799360e+02] [ 1.40489357e-01 9.90062889e-01 -6.18190477e-03 3.55392527e+01] [ 5.61000041e-02 -1.72644945e-03 9.98423662e-01 2.42512053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.86, Y:35.55, Z:24.25 [[ 9.88741740e-01 -1.38844507e-01 -5.57850799e-02 4.31860685e+02] [ 1.38716347e-01 9.90312859e-01 -6.18190477e-03 3.55462401e+01] [ 5.61030055e-02 -1.62599523e-03 9.98423662e-01 2.42547639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.92, Y:35.55, Z:24.26 [[ 9.88602860e-01 -1.39829847e-01 -5.57853016e-02 4.31921999e+02] [ 1.39703367e-01 9.90174115e-01 -6.17990398e-03 3.55531392e+01] [ 5.61012966e-02 -1.68392369e-03 9.98423662e-01 2.42585749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.98, Y:35.56, Z:24.26 [[ 9.88344860e-01 -1.41641848e-01 -5.57855282e-02 4.31982815e+02] [ 1.41518363e-01 9.89916354e-01 -6.17785731e-03 3.55592709e+01] [ 5.60980498e-02 -1.78882310e-03 9.98423662e-01 2.42608325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.04, Y:35.56, Z:24.26 [[ 9.87894662e-01 -1.44748354e-01 -5.57857543e-02 4.32043505e+02] [ 1.44629925e-01 9.89466545e-01 -6.17581546e-03 3.55649227e+01] [ 5.60920767e-02 -1.96723434e-03 9.98423662e-01 2.42639527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.10, Y:35.57, Z:24.27 [[ 9.87805555e-01 -1.45355116e-01 -5.57859827e-02 4.32103406e+02] [ 1.45237769e-01 9.89377519e-01 -6.17375145e-03 3.55707553e+01] [ 5.60907835e-02 -2.00376568e-03 9.98423662e-01 2.42676795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.16, Y:35.58, Z:24.27 [[ 9.87970557e-01 -1.44229198e-01 -5.57863543e-02 4.32162858e+02] [ 1.44110249e-01 9.89542400e-01 -6.17039193e-03 3.55776277e+01] [ 5.60929136e-02 -1.94321988e-03 9.98423662e-01 2.42710012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.22, Y:35.58, Z:24.28 [[ 9.88081066e-01 -1.43470035e-01 -5.57867098e-02 4.32223501e+02] [ 1.43350060e-01 9.89652831e-01 -6.16717576e-03 3.55845241e+01] [ 5.60942802e-02 -1.90335858e-03 9.98423662e-01 2.42751802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.28, Y:35.59, Z:24.28 [[ 9.88042070e-01 -1.43738255e-01 -5.57869333e-02 4.32284277e+02] [ 1.43618820e-01 9.89613877e-01 -6.16515384e-03 3.55906820e+01] [ 5.60936918e-02 -1.92062218e-03 9.98423662e-01 2.42794126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.35, Y:35.60, Z:24.28 [[ 9.87869304e-01 -1.44920776e-01 -5.57871570e-02 4.32345397e+02] [ 1.44803338e-01 9.89441261e-01 -6.16312890e-03 3.55973901e+01] [ 5.60912804e-02 -1.98980067e-03 9.98423662e-01 2.42829087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.41, Y:35.61, Z:24.29 [[ 9.87623905e-01 -1.46583735e-01 -5.57873790e-02 4.32406341e+02] [ 1.46469056e-01 9.89196066e-01 -6.16111808e-03 3.56050027e+01] [ 5.60877756e-02 -2.08625724e-03 9.98423662e-01 2.42857875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.47, Y:35.61, Z:24.29 [[ 9.87561553e-01 -1.47003139e-01 -5.57876014e-02 4.32466139e+02] [ 1.46889242e-01 9.89133771e-01 -6.15910428e-03 3.56122318e+01] [ 5.60868082e-02 -2.11210388e-03 9.98423662e-01 2.42883844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.53, Y:35.62, Z:24.29 [[ 9.87632483e-01 -1.46525802e-01 -5.57877108e-02 4.32526804e+02] [ 1.46411201e-01 9.89204649e-01 -6.15811307e-03 3.56209264e+01] [ 5.60877853e-02 -2.08599322e-03 9.98423662e-01 2.42928791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.59, Y:35.63, Z:24.30 [[ 9.87692743e-01 -1.46118964e-01 -5.57879365e-02 4.32588060e+02] [ 1.46003831e-01 9.89264871e-01 -6.15606741e-03 3.56290813e+01] [ 5.60885640e-02 -2.06494934e-03 9.98423662e-01 2.42957299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.65, Y:35.63, Z:24.29 [[ 9.88156602e-01 -1.42948240e-01 -5.57882696e-02 4.32650230e+02] [ 1.42828232e-01 9.89728365e-01 -6.15304749e-03 3.56344109e+01] [ 5.60948002e-02 -1.88796541e-03 9.98423662e-01 2.42930201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.71, Y:35.65, Z:24.30 [[ 9.87676082e-01 -1.46231233e-01 -5.57887429e-02 4.32709951e+02] [ 1.46116691e-01 9.89248253e-01 -6.14875285e-03 3.56452583e+01] [ 5.60880562e-02 -2.07869039e-03 9.98423662e-01 2.43009088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.77, Y:35.65, Z:24.31 [[ 9.87827465e-01 -1.45204949e-01 -5.57890921e-02 4.32770821e+02] [ 1.45088952e-01 9.89399529e-01 -6.14558316e-03 3.56544123e+01] [ 5.60900705e-02 -2.02360506e-03 9.98423662e-01 2.43050219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.83, Y:35.66, Z:24.31 [[ 9.88152453e-01 -1.42976512e-01 -5.57893095e-02 4.32832020e+02] [ 1.42857080e-01 9.89724260e-01 -6.14360922e-03 3.56641930e+01] [ 5.60944248e-02 -1.89907535e-03 9.98423662e-01 2.43094909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.89, Y:35.67, Z:24.31 [[ 9.88258786e-01 -1.42239493e-01 -5.57897649e-02 4.32893150e+02] [ 1.42119123e-01 9.89830522e-01 -6.13947107e-03 3.56719824e+01] [ 5.60956873e-02 -1.86140623e-03 9.98423662e-01 2.43130642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.95, Y:35.68, Z:24.32 [[ 9.88400824e-01 -1.41248941e-01 -5.57902193e-02 4.32954880e+02] [ 1.41127228e-01 9.89972456e-01 -6.13533872e-03 3.56807456e+01] [ 5.60973905e-02 -1.80934517e-03 9.98423662e-01 2.43165297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.02, Y:35.69, Z:24.32 [[ 9.88776551e-01 -1.38594131e-01 -5.57906720e-02 4.33016710e+02] [ 1.38468431e-01 9.90347869e-01 -6.13121930e-03 3.56900490e+01] [ 5.61019242e-02 -1.66284094e-03 9.98423662e-01 2.43198212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.08, Y:35.70, Z:24.32 [[ 9.89193897e-01 -1.35583129e-01 -5.57911198e-02 4.33076841e+02] [ 1.35452875e-01 9.90764844e-01 -6.12714225e-03 3.56984655e+01] [ 5.61066172e-02 -1.49613584e-03 9.98423662e-01 2.43228434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.14, Y:35.71, Z:24.33 [[ 9.89748532e-01 -1.31472879e-01 -5.57917988e-02 4.33137754e+02] [ 1.31336449e-01 9.91318955e-01 -6.12095329e-03 3.57076485e+01] [ 5.61122070e-02 -1.26929221e-03 9.98423662e-01 2.43265502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.20, Y:35.72, Z:24.33 [[ 9.90615080e-01 -1.24775853e-01 -5.57920196e-02 4.33196849e+02] [ 1.24628919e-01 9.92184555e-01 -6.11893933e-03 3.57172864e+01] [ 5.61194761e-02 -8.91785513e-04 9.98423662e-01 2.43299061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.26, Y:35.73, Z:24.33 [[ 9.91157274e-01 -1.20393088e-01 -5.57921282e-02 4.33257695e+02] [ 1.20239269e-01 9.92726090e-01 -6.11794897e-03 3.57254372e+01] [ 5.61228601e-02 -6.44555091e-04 9.98423662e-01 2.43331238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.32, Y:35.73, Z:24.34 [[ 9.91614318e-01 -1.16568688e-01 -5.57923421e-02 4.33317786e+02] [ 1.16408928e-01 9.93182539e-01 -6.11599781e-03 3.57329365e+01] [ 5.61249139e-02 -4.30015734e-04 9.98423662e-01 2.43366785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.38, Y:35.74, Z:24.34 [[ 9.91549643e-01 -1.17117549e-01 -5.57923421e-02 4.33377652e+02] [ 1.16958657e-01 9.93117952e-01 -6.11599781e-03 3.57383882e+01] [ 5.61246672e-02 -4.61081980e-04 9.98423662e-01 2.43396441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.44, Y:35.74, Z:24.34 [[ 9.91279436e-01 -1.19382974e-01 -5.57923421e-02 4.33438110e+02] [ 1.19227666e-01 9.92848104e-01 -6.11599781e-03 3.57444598e+01] [ 5.61234671e-02 -5.89327864e-04 9.98423662e-01 2.43431331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.50, Y:35.75, Z:24.35 [[ 9.90616147e-01 -1.24767243e-01 -5.57923421e-02 4.33498118e+02] [ 1.24620460e-01 9.92185636e-01 -6.11599781e-03 3.57497471e+01] [ 5.61194366e-02 -8.94261165e-04 9.98423662e-01 2.43455726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.56, Y:35.76, Z:24.35 [[ 9.90192513e-01 -1.28085915e-01 -5.57923421e-02 4.33558954e+02] [ 1.27944392e-01 9.91762485e-01 -6.11599781e-03 3.57555430e+01] [ 5.61161251e-02 -1.08230206e-03 9.98423662e-01 2.43493966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.62, Y:35.76, Z:24.35 [[ 9.89853558e-01 -1.30679470e-01 -5.57925643e-02 4.33619725e+02] [ 1.30542175e-01 9.91423905e-01 -6.11397008e-03 3.57614564e+01] [ 5.61130524e-02 -1.23134765e-03 9.98423662e-01 2.43539314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.68, Y:35.77, Z:24.36 [[ 9.89388753e-01 -1.34153122e-01 -5.57927859e-02 4.33681750e+02] [ 1.34021454e-01 9.90959582e-01 -6.11194774e-03 3.57675878e+01] [ 5.61083327e-02 -1.43033793e-03 9.98423662e-01 2.43587454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.74, Y:35.77, Z:24.36 [[ 9.89018713e-01 -1.36854301e-01 -5.57932368e-02 4.33742331e+02] [ 1.36727155e-01 9.90589915e-01 -6.10782859e-03 3.57736773e+01] [ 5.61041003e-02 -1.58769374e-03 9.98423662e-01 2.43620842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.80, Y:35.78, Z:24.37 [[ 9.88497019e-01 -1.40572835e-01 -5.57935700e-02 4.33804391e+02] [ 1.40451771e-01 9.90068701e-01 -6.10478318e-03 3.57793945e+01] [ 5.60976341e-02 -1.80174573e-03 9.98423662e-01 2.43660656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.87, Y:35.79, Z:24.37 [[ 9.88184612e-01 -1.42752233e-01 -5.57940215e-02 4.33866162e+02] [ 1.42634868e-01 9.89756574e-01 -6.10065413e-03 3.57854841e+01] [ 5.60933816e-02 -1.92960035e-03 9.98423662e-01 2.43695471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.93, Y:35.79, Z:24.37 [[ 9.87880977e-01 -1.44838363e-01 -5.57944718e-02 4.33928198e+02] [ 1.44724549e-01 9.89453201e-01 -6.09653311e-03 3.57914499e+01] [ 5.60890306e-02 -2.05218067e-03 9.98423662e-01 2.43738816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.99, Y:35.80, Z:24.38 [[ 9.87916661e-01 -1.44594598e-01 -5.57949208e-02 4.33990278e+02] [ 1.44480628e-01 9.89488873e-01 -6.09242141e-03 3.57985314e+01] [ 5.60893845e-02 -2.04248061e-03 9.98423662e-01 2.43774204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.05, Y:35.81, Z:24.38 [[ 9.88113573e-01 -1.43242605e-01 -5.57953707e-02 4.34052005e+02] [ 1.43126716e-01 9.89685645e-01 -6.08829808e-03 3.58060686e+01] [ 5.60919811e-02 -1.96987823e-03 9.98423662e-01 2.43800258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.11, Y:35.81, Z:24.38 [[ 9.88568803e-01 -1.40066229e-01 -5.57958131e-02 4.34112346e+02] [ 1.39945517e-01 9.90140512e-01 -6.08424111e-03 3.58135067e+01] [ 5.60978917e-02 -1.79368295e-03 9.98423662e-01 2.43829410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.17, Y:35.82, Z:24.39 [[ 9.88951436e-01 -1.37338441e-01 -5.57961399e-02 4.34174289e+02] [ 1.37213563e-01 9.90522820e-01 -6.08124261e-03 3.58216884e+01] [ 5.61025382e-02 -1.64193352e-03 9.98423662e-01 2.43871498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.24, Y:35.83, Z:24.39 [[ 9.89638837e-01 -1.32294051e-01 -5.57965683e-02 4.34235092e+02] [ 1.32161384e-01 9.91209582e-01 -6.07730936e-03 3.58313562e+01] [ 5.61100850e-02 -1.35981032e-03 9.98423662e-01 2.43928915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.30, Y:35.84, Z:24.40 [[ 9.89967599e-01 -1.29810689e-01 -5.57972986e-02 4.34295771e+02] [ 1.29674459e-01 9.91538039e-01 -6.07059740e-03 3.58398986e+01] [ 5.61131724e-02 -1.22578977e-03 9.98423662e-01 2.43961206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.36, Y:35.85, Z:24.40 [[ 9.89939924e-01 -1.30021462e-01 -5.57975406e-02 4.34355833e+02] [ 1.29885692e-01 9.91510404e-01 -6.06837219e-03 3.58455053e+01] [ 5.61128606e-02 -1.23997824e-03 9.98423662e-01 2.44020600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.42, Y:35.85, Z:24.41 [[ 9.89566693e-01 -1.32832028e-01 -5.57979618e-02 4.34416634e+02] [ 1.32700936e-01 9.91137570e-01 -6.06449691e-03 3.58511963e+01] [ 5.61090157e-02 -1.40321762e-03 9.98423662e-01 2.44055762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.48, Y:35.86, Z:24.41 [[ 9.88716777e-01 -1.39016905e-01 -5.57981664e-02 4.34478464e+02] [ 1.38895745e-01 9.90288451e-01 -6.06261338e-03 3.58564915e+01] [ 5.60990856e-02 -1.75592033e-03 9.98423662e-01 2.44086068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.54, Y:35.86, Z:24.41 [[ 9.88264911e-01 -1.42193467e-01 -5.57985999e-02 4.34540455e+02] [ 1.42077583e-01 9.89836983e-01 -6.05862094e-03 3.58622081e+01] [ 5.60930141e-02 -1.94020770e-03 9.98423662e-01 2.44116888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.60, Y:35.87, Z:24.42 [[ 9.87884489e-01 -1.44812652e-01 -5.57990365e-02 4.34602201e+02] [ 1.44701162e-01 9.89456879e-01 -6.05459722e-03 3.58685106e+01] [ 5.60875228e-02 -2.09294275e-03 9.98423662e-01 2.44160269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.66, Y:35.88, Z:24.42 [[ 9.87897742e-01 -1.44722047e-01 -5.57994659e-02 4.34664325e+02] [ 1.44610637e-01 9.89470138e-01 -6.05063715e-03 3.58756670e+01] [ 5.60875658e-02 -2.09178551e-03 9.98423662e-01 2.44204181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.73, Y:35.88, Z:24.42 [[ 9.88126865e-01 -1.43149115e-01 -5.57999009e-02 4.34726048e+02] [ 1.43035428e-01 9.89699098e-01 -6.04662314e-03 3.58829346e+01] [ 5.60906803e-02 -2.00653194e-03 9.98423662e-01 2.44239801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.79, Y:35.89, Z:24.43 [[ 9.88243883e-01 -1.42338851e-01 -5.58003491e-02 4.34786568e+02] [ 1.42224108e-01 9.89816039e-01 -6.04248420e-03 3.58898648e+01] [ 5.60921608e-02 -1.96470685e-03 9.98423662e-01 2.44266730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.85, Y:35.90, Z:24.43 [[ 9.88269136e-01 -1.42163284e-01 -5.58006800e-02 4.34848146e+02] [ 1.42048434e-01 9.89841284e-01 -6.03942697e-03 3.58963980e+01] [ 5.60924015e-02 -1.95781996e-03 9.98423662e-01 2.44299733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.91, Y:35.90, Z:24.43 [[ 9.88004366e-01 -1.43991700e-01 -5.58011056e-02 4.34909858e+02] [ 1.43879981e-01 9.89576740e-01 -6.03549177e-03 3.59033372e+01] [ 5.60885369e-02 -2.06556980e-03 9.98423662e-01 2.44349911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.97, Y:35.91, Z:24.44 [[ 9.87559842e-01 -1.47009336e-01 -5.58015539e-02 4.34971311e+02] [ 1.46902655e-01 9.89132566e-01 -6.03134461e-03 3.59095055e+01] [ 5.60817981e-02 -2.24108270e-03 9.98423662e-01 2.44377923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.03, Y:35.91, Z:24.44 [[ 9.87542893e-01 -1.47122981e-01 -5.58019959e-02 4.35033804e+02] [ 1.47016712e-01 9.89115645e-01 -6.02725186e-03 3.59139894e+01] [ 5.60813744e-02 -2.25165624e-03 9.98423662e-01 2.44367095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.09, Y:35.92, Z:24.44 [[ 9.86871226e-01 -1.51562756e-01 -5.58024603e-02 4.35094268e+02] [ 1.51463805e-01 9.88444455e-01 -6.02294985e-03 3.59245634e+01] [ 5.60704873e-02 -2.50817705e-03 9.98423662e-01 2.44439989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.16, Y:35.93, Z:24.45 [[ 9.86839836e-01 -1.51766875e-01 -5.58028029e-02 4.35156155e+02] [ 1.51668428e-01 9.88413097e-01 -6.01977339e-03 3.59328549e+01] [ 5.60698235e-02 -2.52297122e-03 9.98423662e-01 2.44485418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.22, Y:35.94, Z:24.45 [[ 9.87057265e-01 -1.50346112e-01 -5.58032467e-02 4.35217085e+02] [ 1.50245633e-01 9.88630397e-01 -6.01565706e-03 3.59422281e+01] [ 5.60732166e-02 -2.44639612e-03 9.98423662e-01 2.44532303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.28, Y:35.95, Z:24.46 [[ 9.87432957e-01 -1.47858387e-01 -5.58036933e-02 4.35278683e+02] [ 1.47754178e-01 9.89005847e-01 -6.01151154e-03 3.59512025e+01] [ 5.60790313e-02 -2.30926420e-03 9.98423662e-01 2.44568229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.34, Y:35.96, Z:24.46 [[ 9.87975975e-01 -1.44185199e-01 -5.58041341e-02 4.35340252e+02] [ 1.44075372e-01 9.89548482e-01 -6.00741642e-03 3.59610059e+01] [ 5.60870767e-02 -2.10481830e-03 9.98423662e-01 2.44605643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.40, Y:35.97, Z:24.46 [[ 9.88294044e-01 -1.41988491e-01 -5.58045761e-02 4.35401864e+02] [ 1.41875400e-01 9.89866320e-01 -6.00330800e-03 3.59686828e+01] [ 5.60914710e-02 -1.98426304e-03 9.98423662e-01 2.44637298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.46, Y:35.98, Z:24.47 [[ 9.88587216e-01 -1.39932545e-01 -5.58050143e-02 4.35463033e+02] [ 1.39816414e-01 9.90159270e-01 -5.99923168e-03 3.59770086e+01] [ 5.60953400e-02 -1.87169323e-03 9.98423662e-01 2.44677407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.52, Y:35.98, Z:24.47 [[ 9.88554782e-01 -1.40161314e-01 -5.58054576e-02 4.35524229e+02] [ 1.40045779e-01 9.90126880e-01 -5.99510536e-03 3.59847673e+01] [ 5.60947654e-02 -1.88882871e-03 9.98423662e-01 2.44705742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.59, Y:35.99, Z:24.47 [[ 9.88385877e-01 -1.41347302e-01 -5.58058956e-02 4.35585100e+02] [ 1.41233884e-01 9.89958129e-01 -5.99102503e-03 3.59914254e+01] [ 5.60923153e-02 -1.96023888e-03 9.98423662e-01 2.44728136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.65, Y:36.00, Z:24.48 [[ 9.88075425e-01 -1.43501146e-01 -5.58065924e-02 4.35646850e+02] [ 1.43391521e-01 9.89647946e-01 -5.98452794e-03 3.59984446e+01] [ 5.60876661e-02 -2.08902719e-03 9.98423662e-01 2.44776162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.71, Y:36.01, Z:24.48 [[ 9.87925534e-01 -1.44529285e-01 -5.58070290e-02 4.35707251e+02] [ 1.44421527e-01 9.89498184e-01 -5.98045321e-03 3.60051279e+01] [ 5.60853045e-02 -2.15149391e-03 9.98423662e-01 2.44815487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.77, Y:36.01, Z:24.49 [[ 9.87993592e-01 -1.44063187e-01 -5.58073516e-02 4.35769143e+02] [ 1.43954856e-01 9.89566203e-01 -5.97744176e-03 3.60118984e+01] [ 5.60861983e-02 -2.12806510e-03 9.98423662e-01 2.44862400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.83, Y:36.02, Z:24.49 [[ 9.88076858e-01 -1.43490812e-01 -5.58077889e-02 4.35831655e+02] [ 1.43381801e-01 9.89649422e-01 -5.97335605e-03 3.60185655e+01] [ 5.60872677e-02 -2.09968640e-03 9.98423662e-01 2.44897284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.89, Y:36.02, Z:24.49 [[ 9.87952392e-01 -1.44345035e-01 -5.58084465e-02 4.35893477e+02] [ 1.44237730e-01 9.89525073e-01 -5.96720579e-03 3.60249688e+01] [ 5.60851936e-02 -2.15436843e-03 9.98423662e-01 2.44939436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.96, Y:36.03, Z:24.50 [[ 9.87728275e-01 -1.45870569e-01 -5.58088862e-02 4.35955033e+02] [ 1.45765925e-01 9.89301135e-01 -5.96309083e-03 3.60302197e+01] [ 5.60816339e-02 -2.24512052e-03 9.98423662e-01 2.44976117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.02, Y:36.04, Z:24.50 [[ 9.87280854e-01 -1.48868513e-01 -5.58093241e-02 4.36016750e+02] [ 1.48768876e-01 9.88854040e-01 -5.95898958e-03 3.60351830e+01] [ 5.60743815e-02 -2.41949410e-03 9.98423662e-01 2.45005509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.08, Y:36.04, Z:24.50 [[ 9.87077543e-01 -1.50210503e-01 -5.58097598e-02 4.36077919e+02] [ 1.50113236e-01 9.88650876e-01 -5.95490548e-03 3.60412718e+01] [ 5.60708573e-02 -2.49983017e-03 9.98423662e-01 2.45030087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.14, Y:36.05, Z:24.51 [[ 9.86913466e-01 -1.51284503e-01 -5.58104787e-02 4.36139906e+02] [ 1.51189328e-01 9.88486928e-01 -5.94816077e-03 3.60465743e+01] [ 5.60677932e-02 -2.56762881e-03 9.98423663e-01 2.45056801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.20, Y:36.05, Z:24.51 [[ 9.86945035e-01 -1.51078256e-01 -5.58109159e-02 4.36201564e+02] [ 1.50982984e-01 9.88518491e-01 -5.94405542e-03 3.60523298e+01] [ 5.60681399e-02 -2.56004265e-03 9.98423663e-01 2.45090893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.26, Y:36.06, Z:24.51 [[ 9.87255558e-01 -1.49035422e-01 -5.58113502e-02 4.36262893e+02] [ 1.48937125e-01 9.88828827e-01 -5.93997470e-03 3.60591523e+01] [ 5.60731386e-02 -2.44810899e-03 9.98423663e-01 2.45138044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.32, Y:36.07, Z:24.52 [[ 9.87449796e-01 -1.47742834e-01 -5.58117800e-02 4.36324660e+02] [ 1.47642705e-01 9.89022950e-01 -5.93593383e-03 3.60682854e+01] [ 5.60761230e-02 -2.37876550e-03 9.98423663e-01 2.45211260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.39, Y:36.07, Z:24.52 [[ 9.88565526e-01 -1.40082771e-01 -5.58123451e-02 4.36385883e+02] [ 1.39970747e-01 9.90137878e-01 -5.93061565e-03 3.60729236e+01] [ 5.60926940e-02 -1.94929348e-03 9.98423663e-01 2.45217040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.45, Y:36.08, Z:24.53 [[ 9.89220727e-01 -1.35378350e-01 -5.58126792e-02 4.36447342e+02] [ 1.35259025e-01 9.90792542e-01 -5.92747013e-03 3.60799284e+01] [ 5.61012374e-02 -1.68559226e-03 9.98423663e-01 2.45252801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.51, Y:36.09, Z:24.53 [[ 9.89841379e-01 -1.30762919e-01 -5.58131070e-02 4.36509113e+02] [ 1.30636492e-01 9.91412639e-01 -5.92343859e-03 3.60892872e+01] [ 5.61083858e-02 -1.42796388e-03 9.98423663e-01 2.45278429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.57, Y:36.09, Z:24.53 [[ 9.90356877e-01 -1.26799381e-01 -5.58137408e-02 4.36569720e+02] [ 1.26667002e-01 9.91927646e-01 -5.91746051e-03 3.60928505e+01] [ 5.61135229e-02 -1.20936150e-03 9.98423663e-01 2.45329256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.63, Y:36.10, Z:24.54 [[ 9.90684181e-01 -1.24216208e-01 -5.58138673e-02 4.36631994e+02] [ 1.24079800e-01 9.92254605e-01 -5.91626730e-03 3.60982336e+01] [ 5.61164632e-02 -1.06422104e-03 9.98423663e-01 2.45359921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.69, Y:36.10, Z:24.54 [[ 9.90950087e-01 -1.22076569e-01 -5.58143109e-02 4.36692656e+02] [ 1.21937005e-01 9.92520234e-01 -5.91207947e-03 3.61039305e+01] [ 5.61185593e-02 -9.47254268e-04 9.98423663e-01 2.45380821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.245099893 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:436.75, Y:36.11, Z:24.54 [[ 9.91470766e-01 -1.17772670e-01 -5.58150284e-02 4.36753558e+02] [ 1.17626672e-01 9.93040328e-01 -5.90529839e-03 3.61099695e+01] [ 5.61220568e-02 -7.10405330e-04 9.98423663e-01 2.45393620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.81, Y:36.12, Z:24.54 [[ 9.91576841e-01 -1.16876101e-01 -5.58152823e-02 4.36812457e+02] [ 1.16728818e-01 9.93146283e-01 -5.90289702e-03 3.61151723e+01] [ 5.61226477e-02 -6.62075977e-04 9.98423663e-01 2.45446574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.87, Y:36.12, Z:24.55 [[ 9.91953628e-01 -1.13633923e-01 -5.58151553e-02 4.36872482e+02] [ 1.13481443e-01 9.93522573e-01 -5.90409835e-03 3.61196117e+01] [ 5.61245225e-02 -4.77392607e-04 9.98423663e-01 2.45473386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.93, Y:36.12, Z:24.55 [[ 9.91976719e-01 -1.13432124e-01 -5.58152603e-02 4.36933817e+02] [ 1.13279381e-01 9.93545638e-01 -5.90310530e-03 3.61245088e+01] [ 5.61246102e-02 -4.66975100e-04 9.98423663e-01 2.45519622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.00, Y:36.13, Z:24.56 [[ 9.91855017e-01 -1.14491300e-01 -5.58154786e-02 4.36995414e+02] [ 1.14340349e-01 9.93424110e-01 -5.90104041e-03 3.61276956e+01] [ 5.61240599e-02 -5.28984741e-04 9.98423663e-01 2.45551587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.06, Y:36.13, Z:24.56 [[ 9.91665861e-01 -1.16118162e-01 -5.58156938e-02 4.37056299e+02] [ 1.15969899e-01 9.93235211e-01 -5.89900403e-03 3.61317853e+01] [ 5.61230939e-02 -6.23099466e-04 9.98423663e-01 2.45588349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.12, Y:36.13, Z:24.56 [[ 9.91339254e-01 -1.18874171e-01 -5.58159121e-02 4.37116023e+02] [ 1.18730387e-01 9.92909020e-01 -5.89693801e-03 3.61349496e+01] [ 5.61211162e-02 -7.81178714e-04 9.98423663e-01 2.45627118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.18, Y:36.14, Z:24.57 [[ 9.91086991e-01 -1.20959285e-01 -5.58160195e-02 4.37176724e+02] [ 1.20818861e-01 9.92657061e-01 -5.89592106e-03 3.61395604e+01] [ 5.61193323e-02 -9.00257251e-04 9.98423663e-01 2.45664990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.24, Y:36.14, Z:24.57 [[ 9.90576950e-01 -1.25067401e-01 -5.58162328e-02 4.37236943e+02] [ 1.24933602e-01 9.92147598e-01 -5.89390087e-03 3.61424162e+01] [ 5.61150762e-02 -1.13496066e-03 9.98423663e-01 2.45689973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.30, Y:36.15, Z:24.57 [[ 9.90132024e-01 -1.28542254e-01 -5.58163378e-02 4.37298411e+02] [ 1.28414023e-01 9.91703137e-01 -5.89290645e-03 3.61454615e+01] [ 5.61107248e-02 -1.33284509e-03 9.98423663e-01 2.45724607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.36, Y:36.15, Z:24.58 [[ 9.89350471e-01 -1.34425283e-01 -5.58165564e-02 4.37358818e+02] [ 1.34306509e-01 9.90922328e-01 -5.89083546e-03 3.61489633e+01] [ 5.61017492e-02 -1.66842599e-03 9.98423663e-01 2.45778158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.42, Y:36.15, Z:24.58 [[ 9.88953361e-01 -1.37316126e-01 -5.58169426e-02 4.37420029e+02] [ 1.37202153e-01 9.90525573e-01 -5.88717415e-03 3.61531867e+01] [ 5.60965129e-02 -1.83606402e-03 9.98423663e-01 2.45810923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.48, Y:36.16, Z:24.58 [[ 9.88411744e-01 -1.41161856e-01 -5.58171574e-02 4.37482041e+02] [ 1.41054114e-01 9.89984395e-01 -5.88513685e-03 3.61568941e+01] [ 5.60888716e-02 -2.05630129e-03 9.98423663e-01 2.45848558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.54, Y:36.16, Z:24.59 [[ 9.87823320e-01 -1.45222188e-01 -5.58175969e-02 4.37543271e+02] [ 1.45121144e-01 9.89396416e-01 -5.88096484e-03 3.61610513e+01] [ 5.60797769e-02 -2.29095933e-03 9.98423663e-01 2.45869508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.60, Y:36.17, Z:24.59 [[ 9.87449157e-01 -1.47744637e-01 -5.58183165e-02 4.37604640e+02] [ 1.47647998e-01 9.89022529e-01 -5.87412696e-03 3.61666122e+01] [ 5.60734433e-02 -2.44106094e-03 9.98423663e-01 2.45904259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.67, Y:36.17, Z:24.60 [[ 9.87120503e-01 -1.49924663e-01 -5.58185208e-02 4.37665188e+02] [ 1.49831608e-01 9.88694092e-01 -5.87218525e-03 3.61720557e+01] [ 5.60678271e-02 -2.56682426e-03 9.98423663e-01 2.45955940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.73, Y:36.18, Z:24.60 [[ 9.86611165e-01 -1.53240591e-01 -5.58187318e-02 4.37725092e+02] [ 1.53152937e-01 9.88185063e-01 -5.87017881e-03 3.61775240e+01] [ 5.60587867e-02 -2.75721874e-03 9.98423663e-01 2.45994412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.79, Y:36.18, Z:24.60 [[ 9.86305264e-01 -1.55197239e-01 -5.58188358e-02 4.37786474e+02] [ 1.55112762e-01 9.87879337e-01 -5.86919014e-03 3.61837997e+01] [ 5.60531565e-02 -2.86940067e-03 9.98423663e-01 2.46032768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.85, Y:36.19, Z:24.61 [[ 9.85907397e-01 -1.57704915e-01 -5.58190418e-02 4.37848225e+02] [ 1.57624552e-01 9.87481684e-01 -5.86723020e-03 3.61909170e+01] [ 5.60455724e-02 -3.01390579e-03 9.98423663e-01 2.46074779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.91, Y:36.20, Z:24.61 [[ 9.85834011e-01 -1.58162864e-01 -5.58194505e-02 4.37910305e+02] [ 1.58083452e-01 9.87408347e-01 -5.86333920e-03 3.61981643e+01] [ 5.60439538e-02 -3.04385224e-03 9.98423663e-01 2.46119920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.97, Y:36.21, Z:24.62 [[ 9.85852710e-01 -1.58046126e-01 -5.58198654e-02 4.37971403e+02] [ 1.57966750e-01 9.87427047e-01 -5.85938673e-03 3.62063559e+01] [ 5.60440982e-02 -3.04119046e-03 9.98423663e-01 2.46164238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.03, Y:36.22, Z:24.62 [[ 9.86144306e-01 -1.56216212e-01 -5.58202805e-02 4.38032653e+02] [ 1.56134139e-01 9.87718505e-01 -5.85542889e-03 3.62155734e+01] [ 5.60494370e-02 -2.94115356e-03 9.98423663e-01 2.46210974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.09, Y:36.22, Z:24.62 [[ 9.86445473e-01 -1.54302879e-01 -5.58207009e-02 4.38094198e+02] [ 1.54217978e-01 9.88019522e-01 -5.85141846e-03 3.62240201e+01] [ 5.60548330e-02 -2.83645037e-03 9.98423663e-01 2.46244554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.16, Y:36.23, Z:24.63 [[ 9.87067425e-01 -1.50272755e-01 -5.58211296e-02 4.38155146e+02] [ 1.50181657e-01 9.88641127e-01 -5.84732606e-03 3.62339778e+01] [ 5.60657583e-02 -2.61160467e-03 9.98423663e-01 2.46265415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.22, Y:36.24, Z:24.63 [[ 9.87594469e-01 -1.46768928e-01 -5.58215509e-02 4.38216739e+02] [ 1.46672473e-01 9.89167853e-01 -5.84330115e-03 3.62424534e+01] [ 5.60744987e-02 -2.41667304e-03 9.98423663e-01 2.46303786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.28, Y:36.25, Z:24.63 [[ 9.88555674e-01 -1.40148447e-01 -5.58219757e-02 4.38277461e+02] [ 1.40041681e-01 9.90128391e-01 -5.83924056e-03 3.62519880e+01] [ 5.60892835e-02 -2.04498894e-03 9.98423663e-01 2.46334098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.34, Y:36.26, Z:24.64 [[ 9.89179832e-01 -1.35672885e-01 -5.58222895e-02 4.38339291e+02] [ 1.35559171e-01 9.90752063e-01 -5.83623940e-03 3.62613131e+01] [ 5.60978679e-02 -1.79413299e-03 9.98423663e-01 2.46382174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.40, Y:36.27, Z:24.64 [[ 9.89723421e-01 -1.31648674e-01 -5.58227215e-02 4.38399784e+02] [ 1.31528800e-01 9.91295194e-01 -5.83210418e-03 3.62705190e+01] [ 5.61045843e-02 -1.57012548e-03 9.98423663e-01 2.46403521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.46, Y:36.28, Z:24.64 [[ 9.89677479e-01 -1.31993466e-01 -5.58230404e-02 4.38461218e+02] [ 1.31874312e-01 9.91249307e-01 -5.82905032e-03 3.62777936e+01] [ 5.61039466e-02 -1.59274521e-03 9.98423663e-01 2.46444878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.985099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.52, Y:36.29, Z:24.65 [[ 9.89472057e-01 -1.33524486e-01 -5.58234684e-02 4.38522500e+02] [ 1.33407995e-01 9.91044084e-01 -5.82494804e-03 3.62852262e+01] [ 5.61012913e-02 -1.68367369e-03 9.98423663e-01 2.46483462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.58, Y:36.29, Z:24.65 [[ 9.88933574e-01 -1.37455738e-01 -5.58238946e-02 4.38584053e+02] [ 1.37345726e-01 9.90506067e-01 -5.82086070e-03 3.62924647e+01] [ 5.60940170e-02 -1.91072876e-03 9.98423663e-01 2.46519309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.65, Y:36.30, Z:24.65 [[ 9.88476640e-01 -1.40703865e-01 -5.58243219e-02 4.38645956e+02] [ 1.40599251e-01 9.90049502e-01 -5.81676058e-03 3.62988236e+01] [ 5.60872827e-02 -2.09912588e-03 9.98423663e-01 2.46547155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.71, Y:36.31, Z:24.66 [[ 9.88260787e-01 -1.42211866e-01 -5.58247435e-02 4.38707391e+02] [ 1.42109880e-01 9.89833822e-01 -5.81271102e-03 3.63050925e+01] [ 5.60838557e-02 -2.18877325e-03 9.98423663e-01 2.46581871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.77, Y:36.31, Z:24.66 [[ 9.87405281e-01 -1.48035001e-01 -5.58251648e-02 4.38768549e+02] [ 1.47942518e-01 9.88978903e-01 -5.80866187e-03 3.63117400e+01] [ 5.60697956e-02 -2.52341202e-03 9.98423663e-01 2.46621468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.83, Y:36.32, Z:24.67 [[ 9.86510793e-01 -1.53882982e-01 -5.58254762e-02 4.38830669e+02] [ 1.53799994e-01 9.88084944e-01 -5.80566747e-03 3.63183950e+01] [ 5.60537060e-02 -2.85860428e-03 9.98423663e-01 2.46672647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.89, Y:36.33, Z:24.67 [[ 9.85944891e-01 -1.57467900e-01 -5.58259127e-02 4.38892579e+02] [ 1.57390872e-01 9.87519345e-01 -5.80146722e-03 3.63254897e+01] [ 5.60427136e-02 -3.06656210e-03 9.98423663e-01 2.46702219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.95, Y:36.33, Z:24.67 [[ 9.85308973e-01 -1.61398824e-01 -5.58269346e-02 4.38952994e+02] [ 1.61328631e-01 9.86883747e-01 -5.79161677e-03 3.63340489e+01] [ 5.60294546e-02 -3.29995098e-03 9.98423663e-01 2.46737867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.01, Y:36.34, Z:24.68 [[ 9.85149594e-01 -1.62368704e-01 -5.58272457e-02 4.39014081e+02] [ 1.62300231e-01 9.86724443e-01 -5.78861693e-03 3.63435556e+01] [ 5.60259982e-02 -3.35812125e-03 9.98423663e-01 2.46779117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.08, Y:36.35, Z:24.68 [[ 9.85315746e-01 -1.61357220e-01 -5.58276728e-02 4.39075732e+02] [ 1.61287363e-01 9.86890534e-01 -5.78449524e-03 3.63523733e+01] [ 5.60291719e-02 -3.30474389e-03 9.98423663e-01 2.46814469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.14, Y:36.36, Z:24.69 [[ 9.85947017e-01 -1.57453774e-01 -5.58282001e-02 4.39136496e+02] [ 1.57377968e-01 9.87521531e-01 -5.77940079e-03 3.63636520e+01] [ 5.60415381e-02 -3.08794571e-03 9.98423663e-01 2.46863254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.20, Y:36.37, Z:24.69 [[ 9.86600101e-01 -1.53308211e-01 -5.58286046e-02 4.39198483e+02] [ 1.53226008e-01 9.88174293e-01 -5.77549155e-03 3.63734721e+01] [ 5.60538221e-02 -2.85629366e-03 9.98423663e-01 2.46916442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.26, Y:36.39, Z:24.70 [[ 9.87857328e-01 -1.44986191e-01 -5.58292333e-02 4.39259915e+02] [ 1.44891065e-01 9.89430793e-01 -5.76940719e-03 3.63858752e+01] [ 5.60756469e-02 -2.38980591e-03 9.98423663e-01 2.46975016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.32, Y:36.40, Z:24.70 [[ 9.88771392e-01 -1.38615237e-01 -5.58296566e-02 4.39321573e+02] [ 1.38510201e-01 9.90344226e-01 -5.76530799e-03 3.63967094e+01] [ 5.60897376e-02 -2.03240536e-03 9.98423663e-01 2.47017079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.38, Y:36.41, Z:24.70 [[ 9.90112477e-01 -1.28686683e-01 -5.58302822e-02 4.39384104e+02] [ 1.28566212e-01 9.91684204e-01 -5.75924359e-03 3.64084751e+01] [ 5.61071469e-02 -1.47558896e-03 9.98423663e-01 2.47047636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.45, Y:36.42, Z:24.71 [[ 9.90963044e-01 -1.21963751e-01 -5.58308975e-02 4.39445184e+02] [ 1.21832951e-01 9.92533945e-01 -5.75327234e-03 3.64181089e+01] [ 5.61157517e-02 -1.10076274e-03 9.98423663e-01 2.47090379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.51, Y:36.43, Z:24.71 [[ 9.92174018e-01 -1.11685186e-01 -5.58313272e-02 4.39505178e+02] [ 1.11538345e-01 9.93743501e-01 -5.74909931e-03 3.64285961e+01] [ 5.61241078e-02 -5.23226863e-04 9.98423663e-01 2.47125827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.57, Y:36.44, Z:24.72 [[ 9.92810169e-01 -1.05881049e-01 -5.58316441e-02 4.39566626e+02] [ 1.05725206e-01 9.94378783e-01 -5.74602060e-03 3.64367271e+01] [ 5.61261970e-02 -1.98104380e-04 9.98423663e-01 2.47154829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.63, Y:36.44, Z:24.72 [[ 9.93292433e-01 -1.01256721e-01 -5.58320538e-02 4.39628924e+02] [ 1.01093798e-01 9.94860328e-01 -5.74203664e-03 3.64434891e+01] [ 5.61265152e-02 5.92471813e-05 9.98423663e-01 2.47178238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.69, Y:36.45, Z:24.72 [[ 9.93292321e-01 -1.01257594e-01 -5.58324653e-02 4.39689793e+02] [ 1.01094898e-01 9.94860240e-01 -5.73803254e-03 3.64484653e+01] [ 5.61265192e-02 5.51662826e-05 9.98423663e-01 2.47206677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.75, Y:36.45, Z:24.72 [[ 9.92994292e-01 -1.04139569e-01 -5.58326681e-02 4.39751641e+02] [ 1.03981535e-01 9.94562687e-01 -5.73605891e-03 3.64526678e+01] [ 5.61264391e-02 -1.09692770e-04 9.98423663e-01 2.47240638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.81, Y:36.45, Z:24.73 [[ 9.92149942e-01 -1.11897989e-01 -5.58330828e-02 4.39813255e+02] [ 1.11752445e-01 9.93719545e-01 -5.73201992e-03 3.64543196e+01] [ 5.61238271e-02 -5.52460304e-04 9.98423663e-01 2.47271314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.88, Y:36.46, Z:24.73 [[ 9.91509853e-01 -1.17434246e-01 -5.58337623e-02 4.39875109e+02] [ 1.17297839e-01 9.93080277e-01 -5.72539287e-03 3.64567110e+01] [ 5.61197653e-02 -8.72396250e-04 9.98423663e-01 2.47287727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.94, Y:36.46, Z:24.73 [[ 9.90434293e-01 -1.26184139e-01 -5.58343473e-02 4.39937727e+02] [ 1.26061925e-01 9.92005885e-01 -5.71968233e-03 3.64567394e+01] [ 5.61097343e-02 -1.37361580e-03 9.98423663e-01 2.47329887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.00, Y:36.46, Z:24.74 [[ 9.90029505e-01 -1.29321527e-01 -5.58347743e-02 4.39999304e+02] [ 1.29204528e-01 9.91601494e-01 -5.71551134e-03 3.64590470e+01] [ 5.61049842e-02 -1.55558079e-03 9.98423663e-01 2.47365862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.485099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.06, Y:36.46, Z:24.74 [[ 9.89872936e-01 -1.30514426e-01 -5.58350771e-02 4.40062013e+02] [ 1.30399489e-01 9.91445077e-01 -5.71255151e-03 3.64605512e+01] [ 5.61029827e-02 -1.62616536e-03 9.98423663e-01 2.47402181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.12, Y:36.46, Z:24.74 [[ 9.90004615e-01 -1.29511628e-01 -5.58354734e-02 4.40123949e+02] [ 1.29395316e-01 9.91576655e-01 -5.70867485e-03 3.64637856e+01] [ 5.61044918e-02 -1.57323428e-03 9.98423663e-01 2.47426701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.19, Y:36.47, Z:24.75 [[ 9.90507768e-01 -1.25605404e-01 -5.58358718e-02 4.40186148e+02] [ 1.25483112e-01 9.92079354e-01 -5.70477552e-03 3.64664540e+01] [ 5.61101663e-02 -1.35583448e-03 9.98423663e-01 2.47459674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.25, Y:36.47, Z:24.75 [[ 9.90984367e-01 -1.21787901e-01 -5.58362912e-02 4.40246718e+02] [ 1.21659785e-01 9.92555489e-01 -5.70066830e-03 3.64706972e+01] [ 5.61148897e-02 -1.14375804e-03 9.98423663e-01 2.47494318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.31, Y:36.47, Z:24.75 [[ 9.91814931e-01 -1.14827606e-01 -5.58369428e-02 4.40309324e+02] [ 1.14688824e-01 9.93385146e-01 -5.69427842e-03 3.64739270e+01] [ 5.61214500e-02 -7.56202931e-04 9.98423663e-01 2.47525879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.37, Y:36.48, Z:24.76 [[ 9.92369573e-01 -1.09930974e-01 -5.58373631e-02 4.40370894e+02] [ 1.09784675e-01 9.93939106e-01 -5.69015377e-03 3.64779591e+01] [ 5.61244630e-02 -4.83351308e-04 9.98423663e-01 2.47552507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.43, Y:36.48, Z:24.76 [[ 9.93021567e-01 -1.03876525e-01 -5.58375734e-02 4.40430320e+02] [ 1.03720772e-01 9.94590190e-01 -5.68808986e-03 3.64803716e+01] [ 5.61263618e-02 -1.43120337e-04 9.98423663e-01 2.47568881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.49, Y:36.48, Z:24.76 [[ 9.93286012e-01 -1.01316633e-01 -5.58375974e-02 4.40489792e+02] [ 1.01156851e-01 9.94854230e-01 -5.68785407e-03 3.64832508e+01] [ 5.61265442e-02 1.31038250e-06 9.98423663e-01 2.47601977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.55, Y:36.48, Z:24.76 [[ 9.93401649e-01 -1.00176591e-01 -5.58373908e-02 4.40548807e+02] [ 1.00014895e-01 9.94969671e-01 -5.68988156e-03 3.64844678e+01] [ 5.61265033e-02 6.77669328e-05 9.98423663e-01 2.47637444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.61, Y:36.48, Z:24.77 [[ 9.93061363e-01 -1.03496267e-01 -5.58359341e-02 4.40607539e+02] [ 1.03339011e-01 9.94629836e-01 -5.70414041e-03 3.64845146e+01] [ 5.61264433e-02 -1.05468766e-04 9.98423663e-01 2.47671735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.67, Y:36.49, Z:24.77 [[ 9.92825138e-01 -1.05739087e-01 -5.58344900e-02 4.40665266e+02] [ 1.05584581e-01 9.94393885e-01 -5.71824192e-03 3.64879025e+01] [ 5.61261171e-02 -2.18046883e-04 9.98423663e-01 2.47700350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.72, Y:36.49, Z:24.77 [[ 9.92141533e-01 -1.11972203e-01 -5.58337244e-02 4.40723794e+02] [ 1.11827132e-01 9.93711180e-01 -5.72570762e-03 3.64885812e+01] [ 5.61237162e-02 -5.63012953e-04 9.98423663e-01 2.47727927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.78, Y:36.49, Z:24.77 [[ 9.90794373e-01 -1.23325869e-01 -5.58322606e-02 4.40783664e+02] [ 1.23197980e-01 9.92365513e-01 -5.73994572e-03 3.64870232e+01] [ 5.61138937e-02 -1.19131581e-03 9.98423663e-01 2.47749679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.84, Y:36.49, Z:24.78 [[ 9.89777961e-01 -1.31234029e-01 -5.58320475e-02 4.40843474e+02] [ 1.31118574e-01 9.91350064e-01 -5.74201805e-03 3.64885107e+01] [ 5.61026520e-02 -1.63729553e-03 9.98423663e-01 2.47783668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.90, Y:36.49, Z:24.78 [[ 9.88364068e-01 -1.41489489e-01 -5.58318369e-02 4.40904082e+02] [ 1.41390225e-01 9.89937276e-01 -5.74406498e-03 3.64879149e+01] [ 5.60827413e-02 -2.21684855e-03 9.98423663e-01 2.47803197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.96, Y:36.49, Z:24.78 [[ 9.87134376e-01 -1.49828334e-01 -5.58318369e-02 4.40962120e+02] [ 1.49742355e-01 9.88708366e-01 -5.74406498e-03 3.64893468e+01] [ 5.60620279e-02 -2.69022673e-03 9.98423663e-01 2.47814374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.02, Y:36.49, Z:24.79 [[ 9.86240469e-01 -1.55604363e-01 -5.58302776e-02 4.41021063e+02] [ 1.55526746e-01 9.87814893e-01 -5.75918123e-03 3.64934019e+01] [ 5.60461334e-02 -3.00316380e-03 9.98423664e-01 2.47862985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.08, Y:36.50, Z:24.79 [[ 9.85628046e-01 -1.59438124e-01 -5.58286665e-02 4.41081980e+02] [ 1.59365750e-01 9.87202720e-01 -5.77475659e-03 3.64978553e+01] [ 5.60349278e-02 -3.20541527e-03 9.98423664e-01 2.47892284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.14, Y:36.50, Z:24.79 [[ 9.85514262e-01 -1.60139862e-01 -5.58288782e-02 4.41142239e+02] [ 1.60068725e-01 9.87088993e-01 -5.77270942e-03 3.65035886e+01] [ 5.60325120e-02 -3.24736985e-03 9.98423664e-01 2.47919252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.20, Y:36.51, Z:24.80 [[ 9.85648102e-01 -1.59313977e-01 -5.58289824e-02 4.41203237e+02] [ 1.59241578e-01 9.87222775e-01 -5.77170150e-03 3.65107259e+01] [ 5.60351556e-02 -3.20142859e-03 9.98423664e-01 2.47952509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.26, Y:36.52, Z:24.80 [[ 9.85901731e-01 -1.57736739e-01 -5.58291954e-02 4.41261670e+02] [ 1.57661936e-01 9.87476291e-01 -5.76963991e-03 3.65173528e+01] [ 5.60400910e-02 -3.11384104e-03 9.98423664e-01 2.47964871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.32, Y:36.52, Z:24.80 [[ 9.86069219e-01 -1.56686846e-01 -5.58276594e-02 4.41319307e+02] [ 1.56609530e-01 9.87643658e-01 -5.78446472e-03 3.65248667e+01] [ 5.60441833e-02 -3.03926090e-03 9.98423664e-01 2.48011616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.38, Y:36.53, Z:24.80 [[ 9.86439500e-01 -1.54339151e-01 -5.58259669e-02 4.41379000e+02] [ 1.54257167e-01 9.88013703e-01 -5.80075324e-03 3.65338690e+01] [ 5.60521036e-02 -2.88946338e-03 9.98423664e-01 2.48044889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.44, Y:36.54, Z:24.81 [[ 9.86556853e-01 -1.53587103e-01 -5.58263186e-02 4.41438631e+02] [ 1.53504111e-01 9.88131003e-01 -5.79736690e-03 3.65414873e+01] [ 5.60541169e-02 -2.85013737e-03 9.98423664e-01 2.48079590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.50, Y:36.55, Z:24.81 [[ 9.86643733e-01 -1.53027954e-01 -5.58264215e-02 4.41499249e+02] [ 1.52944126e-01 9.88217839e-01 -5.79637551e-03 3.65502029e+01] [ 5.60556731e-02 -2.81936566e-03 9.98423664e-01 2.48116211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.56, Y:36.56, Z:24.81 [[ 9.86844438e-01 -1.51728184e-01 -5.58266333e-02 4.41559981e+02] [ 1.51642398e-01 9.88418438e-01 -5.79433523e-03 3.65592778e+01] [ 5.60592376e-02 -2.74757703e-03 9.98423664e-01 2.48148834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.62, Y:36.57, Z:24.82 [[ 9.87095527e-01 -1.50085925e-01 -5.58268430e-02 4.41619921e+02] [ 1.49997633e-01 9.88669388e-01 -5.79231359e-03 3.65678183e+01] [ 5.60636355e-02 -2.65632749e-03 9.98423664e-01 2.48182117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.68, Y:36.58, Z:24.82 [[ 9.87687679e-01 -1.46138297e-01 -5.58269461e-02 4.41679507e+02] [ 1.46043770e-01 9.89261178e-01 -5.79131950e-03 3.65772489e+01] [ 5.60737641e-02 -2.43316274e-03 9.98423664e-01 2.48211719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.74, Y:36.59, Z:24.83 [[ 9.88173819e-01 -1.42814019e-01 -5.58270474e-02 4.41740513e+02] [ 1.42714253e-01 9.89746995e-01 -5.79034306e-03 3.65859433e+01] [ 5.60815946e-02 -2.24544997e-03 9.98423664e-01 2.48254680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.80, Y:36.60, Z:24.83 [[ 9.88792777e-01 -1.38463572e-01 -5.58272602e-02 4.41800251e+02] [ 1.38356999e-01 9.90365507e-01 -5.78829110e-03 3.65958646e+01] [ 5.60908602e-02 -2.00067173e-03 9.98423664e-01 2.48291281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.86, Y:36.60, Z:24.83 [[ 9.89052617e-01 -1.36595120e-01 -5.58273647e-02 4.41860798e+02] [ 1.36485633e-01 9.90625146e-01 -5.78728235e-03 3.66043616e+01] [ 5.60945059e-02 -1.89570645e-03 9.98423664e-01 2.48325813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.92, Y:36.61, Z:24.84 [[ 9.89105093e-01 -1.36214530e-01 -5.58275720e-02 4.41920738e+02] [ 1.36104550e-01 9.90677587e-01 -5.78528173e-03 3.66132133e+01] [ 5.60951638e-02 -1.87613494e-03 9.98423664e-01 2.48360619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.98, Y:36.62, Z:24.84 [[ 9.88935732e-01 -1.37438676e-01 -5.58276741e-02 4.41981291e+02] [ 1.37330698e-01 9.90508365e-01 -5.78429699e-03 3.66213843e+01] [ 5.60927643e-02 -1.94655545e-03 9.98423664e-01 2.48395440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.04, Y:36.63, Z:24.84 [[ 9.88695809e-01 -1.39154038e-01 -5.58278743e-02 4.42042480e+02] [ 1.39048898e-01 9.90268634e-01 -5.78236344e-03 3.66296386e+01] [ 5.60892321e-02 -2.04580590e-03 9.98423664e-01 2.48428128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.10, Y:36.64, Z:24.85 [[ 9.88589153e-01 -1.39909655e-01 -5.58280777e-02 4.42103441e+02] [ 1.39805827e-01 9.90162066e-01 -5.78039955e-03 3.66369709e+01] [ 5.60875785e-02 -2.09065028e-03 9.98423664e-01 2.48468419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.16, Y:36.64, Z:24.85 [[ 9.88615968e-01 -1.39719973e-01 -5.58282843e-02 4.42164218e+02] [ 1.39615956e-01 9.90188868e-01 -5.77840352e-03 3.66443731e+01] [ 5.60879040e-02 -2.08189731e-03 9.98423664e-01 2.48506018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.22, Y:36.65, Z:24.85 [[ 9.88803908e-01 -1.38383564e-01 -5.58284897e-02 4.42224708e+02] [ 1.38277533e-01 9.90376674e-01 -5.77641851e-03 3.66517995e+01] [ 5.60905953e-02 -2.00808063e-03 9.98423664e-01 2.48533481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.29, Y:36.66, Z:24.86 [[ 9.89347360e-01 -1.34443141e-01 -5.58286921e-02 4.42286038e+02] [ 1.34330955e-01 9.90919699e-01 -5.77446086e-03 3.66599495e+01] [ 5.60980875e-02 -1.78657394e-03 9.98423664e-01 2.48567631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.35, Y:36.67, Z:24.86 [[ 9.90016477e-01 -1.29423661e-01 -5.58291224e-02 4.42346690e+02] [ 1.29303737e-01 9.91588245e-01 -5.77029804e-03 3.66668418e+01] [ 5.61063146e-02 -1.50622404e-03 9.98423664e-01 2.48596035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.41, Y:36.67, Z:24.86 [[ 9.90513416e-01 -1.25563716e-01 -5.58294397e-02 4.42407638e+02] [ 1.25437840e-01 9.92084718e-01 -5.76722674e-03 3.66736655e+01] [ 5.61116883e-02 -1.29060885e-03 9.98423664e-01 2.48626740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.47, Y:36.68, Z:24.87 [[ 9.91357817e-01 -1.18712798e-01 -5.58296482e-02 4.42468561e+02] [ 1.18576175e-01 9.92928222e-01 -5.76520779e-03 3.66803914e+01] [ 5.61192372e-02 -9.04682318e-04 9.98423664e-01 2.48660350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.53, Y:36.69, Z:24.87 [[ 9.92181829e-01 -1.11616510e-01 -5.58298540e-02 4.42529038e+02] [ 1.11468766e-01 9.93751226e-01 -5.76321358e-03 3.66860314e+01] [ 5.61242557e-02 -5.05129153e-04 9.98423664e-01 2.48694961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.59, Y:36.69, Z:24.87 [[ 9.92417593e-01 -1.09500453e-01 -5.58298540e-02 4.42588795e+02] [ 1.09349362e-01 9.93986671e-01 -5.76321358e-03 3.66917075e+01] [ 5.61252052e-02 -3.85444393e-04 9.98423664e-01 2.48728709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.65, Y:36.70, Z:24.88 [[ 9.92819225e-01 -1.05797038e-01 -5.58298540e-02 4.42648836e+02] [ 1.05640095e-01 9.94387729e-01 -5.76321358e-03 3.66969489e+01] [ 5.61262527e-02 -1.76041826e-04 9.98423664e-01 2.48766403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.71, Y:36.70, Z:24.88 [[ 9.93024467e-01 -1.03852952e-01 -5.58298540e-02 4.42707101e+02] [ 1.03692938e-01 9.94592660e-01 -5.76321358e-03 3.67002296e+01] [ 5.61264898e-02 -6.61494864e-05 9.98423664e-01 2.48800974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.76, Y:36.70, Z:24.88 [[ 9.92889466e-01 -1.05136573e-01 -5.58283963e-02 4.42764986e+02] [ 1.04977794e-01 9.94457785e-01 -5.77730059e-03 3.67028891e+01] [ 5.61263888e-02 -1.24520985e-04 9.98423664e-01 2.48825400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.82, Y:36.70, Z:24.89 [[ 9.92286268e-01 -1.10685757e-01 -5.58267418e-02 4.42823943e+02] [ 1.10534851e-01 9.93855364e-01 -5.79324357e-03 3.67039423e+01] [ 5.61249364e-02 -4.22244567e-04 9.98423664e-01 2.48864748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.88, Y:36.70, Z:24.89 [[ 9.91278533e-01 -1.19375087e-01 -5.58252591e-02 4.42883253e+02] [ 1.19237132e-01 9.92848820e-01 -5.80749641e-03 3.67042351e+01] [ 5.61193130e-02 -8.99597280e-04 9.98423664e-01 2.48901816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.94, Y:36.71, Z:24.89 [[ 9.90430768e-01 -1.26216482e-01 -5.58237759e-02 4.42942470e+02] [ 1.26088571e-01 9.92001905e-01 -5.82171913e-03 3.67068252e+01] [ 5.61120889e-02 -1.27273038e-03 9.98423664e-01 2.48930494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.00, Y:36.71, Z:24.90 [[ 9.88857058e-01 -1.38005246e-01 -5.58235654e-02 4.43001227e+02] [ 1.37895945e-01 9.90429600e-01 -5.82373666e-03 3.67072435e+01] [ 5.60930177e-02 -1.93900022e-03 9.98423664e-01 2.48957010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.06, Y:36.71, Z:24.90 [[ 9.87073358e-01 -1.50232987e-01 -5.58232541e-02 4.43061610e+02] [ 1.50142989e-01 9.88647122e-01 -5.82671926e-03 3.67090572e+01] [ 5.60648649e-02 -2.63007087e-03 9.98423664e-01 2.48990257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.12, Y:36.71, Z:24.90 [[ 9.86505167e-01 -1.53919846e-01 -5.58232541e-02 4.43122670e+02] [ 1.53835728e-01 9.88079257e-01 -5.82671926e-03 3.67142851e+01] [ 5.60546471e-02 -2.83952230e-03 9.98423664e-01 2.49024976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.18, Y:36.72, Z:24.90 [[ 9.85117195e-01 -1.62566452e-01 -5.58234716e-02 4.43183901e+02] [ 1.62496262e-01 9.86691967e-01 -5.82463439e-03 3.67180723e+01] [ 5.60274612e-02 -3.33315795e-03 9.98423664e-01 2.49049827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.24, Y:36.72, Z:24.91 [[ 9.84515556e-01 -1.66171103e-01 -5.58236882e-02 4.43244961e+02] [ 1.66106793e-01 9.86090580e-01 -5.82255747e-03 3.67235539e+01] [ 5.60147539e-02 -3.54029544e-03 9.98423664e-01 2.49071676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.31, Y:36.73, Z:24.91 [[ 9.84572469e-01 -1.65833485e-01 -5.58239021e-02 4.43305507e+02] [ 1.65768752e-01 9.86147475e-01 -5.82050674e-03 3.67307983e+01] [ 5.60158350e-02 -3.52314786e-03 9.98423664e-01 2.49102717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.37, Y:36.74, Z:24.91 [[ 9.84997201e-01 -1.63291710e-01 -5.58241177e-02 4.43365844e+02] [ 1.63223029e-01 9.86572039e-01 -5.81843750e-03 3.67390482e+01] [ 5.60246163e-02 -3.38063693e-03 9.98423664e-01 2.49136500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.43, Y:36.75, Z:24.92 [[ 9.86167579e-01 -1.56067739e-01 -5.58244372e-02 4.43426244e+02] [ 1.55987690e-01 9.87741880e-01 -5.81537077e-03 3.67495997e+01] [ 5.60477263e-02 -2.97299487e-03 9.98423664e-01 2.49176465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.49, Y:36.76, Z:24.92 [[ 9.87684496e-01 -1.46160685e-01 -5.58246464e-02 4.43486761e+02] [ 1.46064951e-01 9.89257921e-01 -5.81336222e-03 3.67619111e+01] [ 5.60746586e-02 -2.41225648e-03 9.98423664e-01 2.49215287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.55, Y:36.77, Z:24.92 [[ 9.88718658e-01 -1.38992806e-01 -5.58248573e-02 4.43547077e+02] [ 1.38885775e-01 9.90291356e-01 -5.81133591e-03 3.67726483e+01] [ 5.60906075e-02 -2.00750234e-03 9.98423664e-01 2.49247414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.61, Y:36.78, Z:24.93 [[ 9.90043130e-01 -1.29221370e-01 -5.58250690e-02 4.43606896e+02] [ 1.29098927e-01 9.91614703e-01 -5.80930115e-03 3.67847316e+01] [ 5.61076451e-02 -1.45549779e-03 9.98423664e-01 2.49274959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.67, Y:36.80, Z:24.93 [[ 9.90832868e-01 -1.23019422e-01 -5.58251731e-02 4.43666126e+02] [ 1.22887197e-01 9.92403648e-01 -5.80830072e-03 3.67955251e+01] [ 5.61156393e-02 -1.10514378e-03 9.98423664e-01 2.49308206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.73, Y:36.81, Z:24.94 [[ 9.92017944e-01 -1.13066127e-01 -5.58251731e-02 4.43725176e+02] [ 1.12918139e-01 9.93587318e-01 -5.80830072e-03 3.68077444e+01] [ 5.61239061e-02 -5.41736120e-04 9.98423664e-01 2.49351926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.79, Y:36.82, Z:24.94 [[ 9.92685142e-01 -1.07050259e-01 -5.58251731e-02 4.43785256e+02] [ 1.06892760e-01 9.94253590e-01 -5.80830072e-03 3.68173202e+01] [ 5.61261589e-02 -2.01493026e-04 9.98423664e-01 2.49394204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.84, Y:36.83, Z:24.94 [[ 9.93197685e-01 -1.02185659e-01 -5.58251731e-02 4.43843780e+02] [ 1.02020478e-01 9.94765342e-01 -5.80830072e-03 3.68262736e+01] [ 5.61264725e-02 7.34799522e-05 9.98423664e-01 2.49430894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.90, Y:36.83, Z:24.95 [[ 9.92888834e-01 -1.05144301e-01 -5.58250683e-02 4.43902239e+02] [ 1.04983735e-01 9.94456971e-01 -5.80930779e-03 3.68324160e+01] [ 5.61264440e-02 -9.27273558e-05 9.98423664e-01 2.49470039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.96, Y:36.84, Z:24.95 [[ 9.92303181e-01 -1.10535626e-01 -5.58235829e-02 4.43960883e+02] [ 1.10382778e-01 9.93872089e-01 -5.82354695e-03 3.68371456e+01] [ 5.61252103e-02 -3.83237996e-04 9.98423665e-01 2.49497916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.02, Y:36.84, Z:24.95 [[ 9.90989717e-01 -1.21750330e-01 -5.58232699e-02 4.44020566e+02] [ 1.21615066e-01 9.92560239e-01 -5.82654615e-03 3.68400534e+01] [ 5.61173420e-02 -1.01490331e-03 9.98423665e-01 2.49524352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.08, Y:36.84, Z:24.96 [[ 9.89980919e-01 -1.29697982e-01 -5.58230573e-02 4.44080643e+02] [ 1.29575209e-01 9.91552466e-01 -5.82858157e-03 3.68437138e+01] [ 5.61074454e-02 -1.46309980e-03 9.98423665e-01 2.49550453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.14, Y:36.85, Z:24.96 [[ 9.88663949e-01 -1.39382105e-01 -5.58231622e-02 4.44141992e+02] [ 1.39274777e-01 9.90236626e-01 -5.82757748e-03 3.68461724e+01] [ 5.60903998e-02 -2.01324271e-03 9.98423665e-01 2.49590549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.20, Y:36.85, Z:24.96 [[ 9.88140511e-01 -1.43045729e-01 -5.58233738e-02 4.44203830e+02] [ 1.42944346e-01 9.89713583e-01 -5.82554929e-03 3.68504177e+01] [ 5.60824713e-02 -2.22317439e-03 9.98423665e-01 2.49627599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.27, Y:36.85, Z:24.97 [[ 9.87982248e-01 -1.44134592e-01 -5.58237990e-02 4.44266240e+02] [ 1.44035173e-01 9.89555445e-01 -5.82147205e-03 3.68548798e+01] [ 5.60798198e-02 -2.28907949e-03 9.98423665e-01 2.49668100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.33, Y:36.86, Z:24.97 [[ 9.88252842e-01 -1.42267267e-01 -5.58242263e-02 4.44327444e+02] [ 1.42165106e-01 9.89825864e-01 -5.81737148e-03 3.68597728e+01] [ 5.60838846e-02 -2.18722315e-03 9.98423665e-01 2.49698933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.39, Y:36.86, Z:24.97 [[ 9.88399333e-01 -1.41245850e-01 -5.58244391e-02 4.44389378e+02] [ 1.41142178e-01 9.89972256e-01 -5.81532843e-03 3.68647020e+01] [ 5.60860370e-02 -2.13131620e-03 9.98423665e-01 2.49732074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.45, Y:36.87, Z:24.98 [[ 9.88297188e-01 -1.41958631e-01 -5.58248707e-02 4.44449762e+02] [ 1.41856328e-01 9.89870200e-01 -5.81118314e-03 3.68695206e+01] [ 5.60843235e-02 -2.17593521e-03 9.98423665e-01 2.49765314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.51, Y:36.88, Z:24.98 [[ 9.88190955e-01 -1.42696114e-01 -5.58252291e-02 4.44511189e+02] [ 1.42595179e-01 9.89764055e-01 -5.80773763e-03 3.68754113e+01] [ 5.60825467e-02 -2.22125476e-03 9.98423665e-01 2.49797215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.57, Y:36.88, Z:24.98 [[ 9.87825443e-01 -1.45204734e-01 -5.58254413e-02 4.44572048e+02] [ 1.45107909e-01 9.89398802e-01 -5.80569718e-03 3.68809293e+01] [ 5.60766394e-02 -2.36569766e-03 9.98423665e-01 2.49822909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.63, Y:36.89, Z:24.99 [[ 9.87212466e-01 -1.49315249e-01 -5.58256540e-02 4.44632736e+02] [ 1.49225089e-01 9.88786221e-01 -5.80365102e-03 3.68864412e+01] [ 5.60662111e-02 -2.60115154e-03 9.98423665e-01 2.49850386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.69, Y:36.89, Z:24.99 [[ 9.86990730e-01 -1.50773907e-01 -5.58258680e-02 4.44692219e+02] [ 1.50686188e-01 9.88564623e-01 -5.80159245e-03 3.68933052e+01] [ 5.60622069e-02 -2.68606929e-03 9.98423665e-01 2.49884551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.75, Y:36.90, Z:24.99 [[ 9.86798129e-01 -1.52029315e-01 -5.58259735e-02 4.44753552e+02] [ 1.51943657e-01 9.88372136e-01 -5.80057717e-03 3.69013116e+01] [ 5.60586944e-02 -2.75840386e-03 9.98423665e-01 2.49937446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.82, Y:36.91, Z:25.00 [[ 9.86693076e-01 -1.52709485e-01 -5.58263988e-02 4.44815122e+02] [ 1.52625143e-01 9.88267153e-01 -5.79648041e-03 3.69094570e+01] [ 5.60565738e-02 -2.80116501e-03 9.98423665e-01 2.49981997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.88, Y:36.92, Z:25.00 [[ 9.86511560e-01 -1.53877575e-01 -5.58268235e-02 4.44876231e+02] [ 1.53795327e-01 9.88085748e-01 -5.79238714e-03 3.69182439e+01] [ 5.60530072e-02 -2.87164771e-03 9.98423665e-01 2.50019963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.94, Y:36.93, Z:25.01 [[ 9.86191515e-01 -1.55915407e-01 -5.58272455e-02 4.44937458e+02] [ 1.55836642e-01 9.87765881e-01 -5.78831705e-03 3.69258707e+01] [ 5.60467362e-02 -2.99154131e-03 9.98423665e-01 2.50052193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.00, Y:36.93, Z:25.01 [[ 9.85677851e-01 -1.59130279e-01 -5.58276637e-02 4.44998750e+02] [ 1.59056876e-01 9.87252477e-01 -5.78428061e-03 3.69340138e+01] [ 5.60364535e-02 -3.17833649e-03 9.98423665e-01 2.50078715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.06, Y:36.94, Z:25.01 [[ 9.85512254e-01 -1.60152497e-01 -5.58280913e-02 4.45060630e+02] [ 1.60080960e-01 9.87086965e-01 -5.78015083e-03 3.69425199e+01] [ 5.60328868e-02 -3.24060499e-03 9.98423665e-01 2.50114335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.12, Y:36.95, Z:25.01 [[ 9.85895334e-01 -1.57776954e-01 -5.58285191e-02 4.45121522e+02] [ 1.57701855e-01 9.87469879e-01 -5.77601564e-03 3.69535808e+01] [ 5.60403032e-02 -3.10971417e-03 9.98423665e-01 2.50147314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.18, Y:36.96, Z:25.02 [[ 9.86469582e-01 -1.54145685e-01 -5.58289413e-02 4.45182646e+02] [ 1.54065020e-01 9.88043853e-01 -5.77193234e-03 3.69632380e+01] [ 5.60511607e-02 -2.90745125e-03 9.98423665e-01 2.50183763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.24, Y:36.97, Z:25.02 [[ 9.87417525e-01 -1.47951726e-01 -5.58293620e-02 4.45243828e+02] [ 1.47861412e-01 9.88991271e-01 -5.76786036e-03 3.69739949e+01] [ 5.60681166e-02 -2.55972187e-03 9.98423665e-01 2.50215828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.30, Y:36.98, Z:25.02 [[ 9.87944184e-01 -1.44392947e-01 -5.58297969e-02 4.45304667e+02] [ 1.44297201e-01 9.89517609e-01 -5.76364725e-03 3.69834608e+01] [ 5.60767972e-02 -2.36192163e-03 9.98423665e-01 2.50245729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.37, Y:36.99, Z:25.03 [[ 9.88478239e-01 -1.40690330e-01 -5.58301176e-02 4.45366225e+02] [ 1.40588865e-01 9.90051305e-01 -5.76053946e-03 3.69929593e+01] [ 5.60851330e-02 -2.15492496e-03 9.98423665e-01 2.50280361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.43, Y:37.00, Z:25.03 [[ 9.88655264e-01 -1.39440739e-01 -5.58305363e-02 4.45427430e+02] [ 1.39337514e-01 9.90228216e-01 -5.75647869e-03 3.70005829e+01] [ 5.60876600e-02 -2.08811518e-03 9.98423665e-01 2.50312152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.49, Y:37.01, Z:25.03 [[ 9.88826600e-01 -1.38220328e-01 -5.58309622e-02 4.45489146e+02] [ 1.38115395e-01 9.90399439e-01 -5.75234512e-03 3.70083664e+01] [ 5.60900446e-02 -2.02304354e-03 9.98423665e-01 2.50338594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.55, Y:37.02, Z:25.04 [[ 9.88902958e-01 -1.37672784e-01 -5.58313825e-02 4.45550898e+02] [ 1.37567210e-01 9.90475754e-01 -5.74826293e-03 3.70160087e+01] [ 5.60910100e-02 -1.99609333e-03 9.98423665e-01 2.50371362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.61, Y:37.02, Z:25.04 [[ 9.88927944e-01 -1.37493023e-01 -5.58318072e-02 4.45611299e+02] [ 1.37387396e-01 9.90500736e-01 -5.74413466e-03 3.70235229e+01] [ 5.60912246e-02 -1.99005134e-03 9.98423665e-01 2.50400683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.67, Y:37.03, Z:25.04 [[ 9.88848101e-01 -1.38065952e-01 -5.58321206e-02 4.45672755e+02] [ 1.37961408e-01 9.90420966e-01 -5.74108714e-03 3.70301874e+01] [ 5.60899514e-02 -2.02561487e-03 9.98423665e-01 2.50436749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.73, Y:37.04, Z:25.05 [[ 9.88792036e-01 -1.38466744e-01 -5.58325286e-02 4.45734227e+02] [ 1.38363061e-01 9.90364957e-01 -5.73711604e-03 3.70383550e+01] [ 5.60889796e-02 -2.05234492e-03 9.98423665e-01 2.50479601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.80, Y:37.05, Z:25.05 [[ 9.88797736e-01 -1.38425869e-01 -5.58329315e-02 4.45795741e+02] [ 1.38322343e-01 9.90370668e-01 -5.73319281e-03 3.70459040e+01] [ 5.60889198e-02 -2.05397382e-03 9.98423665e-01 2.50521981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.86, Y:37.05, Z:25.06 [[ 9.88736088e-01 -1.38865349e-01 -5.58333576e-02 4.45857219e+02] [ 1.38762756e-01 9.90309081e-01 -5.72903967e-03 3.70523398e+01] [ 5.60878462e-02 -2.08308231e-03 9.98423665e-01 2.50559039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.92, Y:37.06, Z:25.06 [[ 9.88477731e-01 -1.40692446e-01 -5.58337809e-02 4.45919023e+02] [ 1.40592994e-01 9.90050926e-01 -5.72491172e-03 3.70587564e+01] [ 5.60837383e-02 -2.19089066e-03 9.98423665e-01 2.50593252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.98, Y:37.07, Z:25.06 [[ 9.88126059e-01 -1.43141308e-01 -5.58342028e-02 4.45979873e+02] [ 1.43045986e-01 9.89699509e-01 -5.72079357e-03 3.70650149e+01] [ 5.60779650e-02 -2.33399339e-03 9.98423665e-01 2.50624724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.04, Y:37.07, Z:25.07 [[ 9.87498422e-01 -1.47408868e-01 -5.58345141e-02 4.46042148e+02] [ 1.47320516e-01 9.89072279e-01 -5.71775435e-03 3.70696586e+01] [ 5.60672178e-02 -2.57929603e-03 9.98423665e-01 2.50652496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.10, Y:37.07, Z:25.07 [[ 9.86839619e-01 -1.51756475e-01 -5.58349295e-02 4.46103605e+02] [ 1.51675285e-01 9.88413862e-01 -5.71369499e-03 3.70746013e+01] [ 5.60551085e-02 -2.83027823e-03 9.98423665e-01 2.50673902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.17, Y:37.08, Z:25.07 [[ 9.86505798e-01 -1.53911316e-01 -5.58356341e-02 4.46165831e+02] [ 1.53833953e-01 9.88080233e-01 -5.70680042e-03 3.70808237e+01] [ 5.60484276e-02 -2.95962460e-03 9.98423665e-01 2.50711894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.23, Y:37.09, Z:25.08 [[ 9.86415409e-01 -1.54489410e-01 -5.58360433e-02 4.46227965e+02] [ 1.54413195e-01 9.87989900e-01 -5.70279481e-03 3.70870893e+01] [ 5.60464682e-02 -2.99649717e-03 9.98423665e-01 2.50759612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.29, Y:37.09, Z:25.08 [[ 9.86567577e-01 -1.53514434e-01 -5.58366766e-02 4.46290114e+02] [ 1.53437014e-01 9.88142010e-01 -5.69658734e-03 3.70932343e+01] [ 5.60490742e-02 -2.94734456e-03 9.98423665e-01 2.50801650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.35, Y:37.10, Z:25.08 [[ 9.87245415e-01 -1.49092950e-01 -5.58371048e-02 4.46351639e+02] [ 1.49008714e-01 9.88819498e-01 -5.69238625e-03 3.70999878e+01] [ 5.60615126e-02 -2.70043293e-03 9.98423665e-01 2.50843941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.41, Y:37.11, Z:25.09 [[ 9.87547457e-01 -1.47078623e-01 -5.58381559e-02 4.46413781e+02] [ 1.46991758e-01 9.89121397e-01 -5.68205720e-03 3.71066918e+01] [ 5.60664239e-02 -2.59644758e-03 9.98423665e-01 2.50882590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.48, Y:37.11, Z:25.09 [[ 9.88641252e-01 -1.39536834e-01 -5.58385793e-02 4.46475867e+02] [ 1.39438194e-01 9.90214498e-01 -5.67789367e-03 3.71137261e+01] [ 5.60844461e-02 -2.17263075e-03 9.98423665e-01 2.50914988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.54, Y:37.12, Z:25.09 [[ 9.89389476e-01 -1.34128558e-01 -5.58389996e-02 4.46536673e+02] [ 1.34021550e-01 9.90962175e-01 -5.67375725e-03 3.71204919e+01] [ 5.60953494e-02 -1.87007355e-03 9.98423665e-01 2.50947999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.60, Y:37.13, Z:25.10 [[ 9.90188771e-01 -1.28094377e-01 -5.58393092e-02 4.46598806e+02] [ 1.27977954e-01 9.91760801e-01 -5.67070804e-03 3.71267549e+01] [ 5.61056239e-02 -1.53112913e-03 9.98423665e-01 2.50975808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.66, Y:37.13, Z:25.10 [[ 9.90569017e-01 -1.25119735e-01 -5.58397207e-02 4.46658753e+02] [ 1.24998820e-01 9.92140708e-01 -5.66665396e-03 3.71322744e+01] [ 5.61098702e-02 -1.36668733e-03 9.98423665e-01 2.50965350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.72, Y:37.14, Z:25.10 [[ 9.90732755e-01 -1.23816435e-01 -5.58399387e-02 4.46718442e+02] [ 1.23693574e-01 9.92304295e-01 -5.66450417e-03 3.71371900e+01] [ 5.61115697e-02 -1.29503176e-03 9.98423665e-01 2.51020741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.78, Y:37.14, Z:25.10 [[ 9.90804500e-01 -1.23241003e-01 -5.58399387e-02 4.46779391e+02] [ 1.23117229e-01 9.92375968e-01 -5.66450417e-03 3.71418559e+01] [ 5.61123124e-02 -1.26244229e-03 9.98423665e-01 2.51049219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.84, Y:37.15, Z:25.11 [[ 9.90729363e-01 -1.23843484e-01 -5.58401381e-02 4.46839697e+02] [ 1.23720776e-01 9.92300915e-01 -5.66253822e-03 3.71466090e+01] [ 5.61114886e-02 -1.29854233e-03 9.98423665e-01 2.51082120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.90, Y:37.15, Z:25.11 [[ 9.90482992e-01 -1.25798691e-01 -5.58402363e-02 4.46900547e+02] [ 1.25679139e-01 9.92054787e-01 -5.66157010e-03 3.71506739e+01] [ 5.61087918e-02 -1.41026395e-03 9.98423665e-01 2.51122802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.96, Y:37.16, Z:25.12 [[ 9.89565844e-01 -1.32820503e-01 -5.58404355e-02 4.46962571e+02] [ 1.32712213e-01 9.91138455e-01 -5.65960415e-03 3.71554257e+01] [ 5.60973145e-02 -1.81015683e-03 9.98423665e-01 2.51227182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.02, Y:37.15, Z:25.12 [[ 9.88880588e-01 -1.37829491e-01 -5.58409734e-02 4.47024506e+02] [ 1.37729465e-01 9.90453746e-01 -5.65429157e-03 3.71548634e+01] [ 5.60872295e-02 -2.09952822e-03 9.98423665e-01 2.51199628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.09, Y:37.16, Z:25.12 [[ 9.88287780e-01 -1.42017651e-01 -5.58412912e-02 4.47085751e+02] [ 1.41924468e-01 9.89861359e-01 -5.65115205e-03 3.71578503e+01] [ 5.60776997e-02 -2.34028102e-03 9.98423665e-01 2.51222054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.15, Y:37.16, Z:25.13 [[ 9.87829257e-01 -1.45172570e-01 -5.58416000e-02 4.47147392e+02] [ 1.45084584e-01 9.89403134e-01 -5.64809848e-03 3.71610874e+01] [ 5.60698031e-02 -2.52239838e-03 9.98423665e-01 2.51253147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.21, Y:37.17, Z:25.13 [[ 9.87819568e-01 -1.45238324e-01 -5.58420117e-02 4.47208377e+02] [ 1.45150673e-01 9.89393464e-01 -5.64402513e-03 3.71660786e+01] [ 5.60694502e-02 -2.53022712e-03 9.98423665e-01 2.51283158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.27, Y:37.17, Z:25.13 [[ 9.88208874e-01 -1.42565273e-01 -5.58423160e-02 4.47270484e+02] [ 1.42473534e-01 9.89782537e-01 -5.64101340e-03 3.71710299e+01] [ 5.60759618e-02 -2.38155261e-03 9.98423665e-01 2.51319641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.33, Y:37.18, Z:25.13 [[ 9.88886231e-01 -1.37788285e-01 -5.58427253e-02 4.47332456e+02] [ 1.37689171e-01 9.90459447e-01 -5.63695864e-03 3.71769935e+01] [ 5.60866617e-02 -2.11462773e-03 9.98423665e-01 2.51349672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.39, Y:37.18, Z:25.14 [[ 9.89333886e-01 -1.34536267e-01 -5.58431296e-02 4.47393270e+02] [ 1.34432207e-01 9.90906782e-01 -5.63295041e-03 3.71836963e+01] [ 5.60931720e-02 -1.93424644e-03 9.98423665e-01 2.51380383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.45, Y:37.19, Z:25.14 [[ 9.89815560e-01 -1.30945331e-01 -5.58433372e-02 4.47454675e+02] [ 1.30835680e-01 9.91388076e-01 -5.63089120e-03 3.71904095e+01] [ 5.60997576e-02 -1.73275727e-03 9.98423665e-01 2.51406634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.52, Y:37.20, Z:25.14 [[ 9.90051796e-01 -1.29146877e-01 -5.58437572e-02 4.47516511e+02] [ 1.29034605e-01 9.91624128e-01 -5.62672317e-03 3.71967810e+01] [ 5.61026907e-02 -1.63502975e-03 9.98423665e-01 2.51437914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.58, Y:37.20, Z:25.15 [[ 9.90259708e-01 -1.27542697e-01 -5.58441765e-02 4.47576737e+02] [ 1.27428112e-01 9.91831872e-01 -5.62255876e-03 3.72036442e+01] [ 5.61051504e-02 -1.54832455e-03 9.98423665e-01 2.51479730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.64, Y:37.21, Z:25.15 [[ 9.90427022e-01 -1.26236801e-01 -5.58442792e-02 4.47636707e+02] [ 1.26120200e-01 9.91999039e-01 -5.62153802e-03 3.72098104e+01] [ 5.61071163e-02 -1.47536850e-03 9.98423665e-01 2.51518827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.70, Y:37.22, Z:25.16 [[ 9.90461149e-01 -1.25968715e-01 -5.58443803e-02 4.47697504e+02] [ 1.25851745e-01 9.92033138e-01 -5.62053407e-03 3.72164340e+01] [ 5.61074873e-02 -1.46119208e-03 9.98423665e-01 2.51560201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.76, Y:37.22, Z:25.16 [[ 9.90446873e-01 -1.26080819e-01 -5.58445873e-02 4.47758828e+02] [ 1.25964144e-01 9.92018885e-01 -5.61847571e-03 3.72227571e+01] [ 5.61072673e-02 -1.46961392e-03 9.98423665e-01 2.51596562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.82, Y:37.23, Z:25.16 [[ 9.90452304e-01 -1.26038062e-01 -5.58447920e-02 4.47820110e+02] [ 1.25921434e-01 9.92024318e-01 -5.61644110e-03 3.72292444e+01] [ 5.61072770e-02 -1.46923923e-03 9.98423665e-01 2.51624904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.88, Y:37.24, Z:25.16 [[ 9.90392885e-01 -1.26504030e-01 -5.58449946e-02 4.47880815e+02] [ 1.26388254e-01 9.91964963e-01 -5.61442608e-03 3.72352413e+01] [ 5.61065255e-02 -1.49766373e-03 9.98423665e-01 2.51641435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.94, Y:37.24, Z:25.17 [[ 9.90312825e-01 -1.27129157e-01 -5.58451990e-02 4.47942034e+02] [ 1.27014488e-01 9.91884984e-01 -5.61239146e-03 3.72412890e+01] [ 5.61055129e-02 -1.53512614e-03 9.98423665e-01 2.51674686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.00, Y:37.25, Z:25.17 [[ 9.90247239e-01 -1.27638934e-01 -5.58454035e-02 4.48002577e+02] [ 1.27525190e-01 9.91819464e-01 -5.61035596e-03 3.72470614e+01] [ 5.61046581e-02 -1.56605618e-03 9.98423665e-01 2.51702805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.06, Y:37.25, Z:25.17 [[ 9.90260670e-01 -1.27534598e-01 -5.58456055e-02 4.48062519e+02] [ 1.27420801e-01 9.91832892e-01 -5.60834475e-03 3.72531315e+01] [ 5.61047664e-02 -1.56216857e-03 9.98423665e-01 2.51733582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.12, Y:37.26, Z:25.18 [[ 9.90286504e-01 -1.27333804e-01 -5.58457048e-02 4.48122814e+02] [ 1.27219744e-01 9.91858707e-01 -5.60735570e-03 3.72600869e+01] [ 5.61050545e-02 -1.55178760e-03 9.98423665e-01 2.51777135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.18, Y:37.27, Z:25.18 [[ 9.90249227e-01 -1.27623328e-01 -5.58458059e-02 4.48182765e+02] [ 1.27509785e-01 9.91821468e-01 -5.60634897e-03 3.72670445e+01] [ 5.61045701e-02 -1.56920395e-03 9.98423665e-01 2.51814221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.24, Y:37.27, Z:25.19 [[ 9.90102095e-01 -1.28759762e-01 -5.58459054e-02 4.48243327e+02] [ 1.28648079e-01 9.91674469e-01 -5.60535713e-03 3.72735703e+01] [ 5.61027030e-02 -1.63459260e-03 9.98423665e-01 2.51852315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.30, Y:37.28, Z:25.19 [[ 9.89721992e-01 -1.31649496e-01 -5.58461085e-02 4.48304961e+02] [ 1.31542517e-01 9.91294693e-01 -5.60333286e-03 3.72797150e+01] [ 5.60976270e-02 -1.80039595e-03 9.98423665e-01 2.51889190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.37, Y:37.29, Z:25.19 [[ 9.89572254e-01 -1.32770180e-01 -5.58465248e-02 4.48365635e+02] [ 1.32665217e-01 9.91145090e-01 -5.59918055e-03 3.72860523e+01] [ 5.60954131e-02 -1.86809761e-03 9.98423665e-01 2.51919141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.43, Y:37.29, Z:25.20 [[ 9.89281979e-01 -1.34915889e-01 -5.58468321e-02 4.48426098e+02] [ 1.34814509e-01 9.90855051e-01 -5.59611390e-03 3.72927564e+01] [ 5.60911204e-02 -1.99282863e-03 9.98423665e-01 2.51951600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.49, Y:37.30, Z:25.20 [[ 9.89116617e-01 -1.36122652e-01 -5.58474774e-02 4.48487270e+02] [ 1.36023555e-01 9.90689834e-01 -5.58966647e-03 3.73000884e+01] [ 5.60884084e-02 -2.06774045e-03 9.98423665e-01 2.51987176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.55, Y:37.31, Z:25.20 [[ 9.89478988e-01 -1.33462989e-01 -5.58476754e-02 4.48549260e+02] [ 1.33359775e-01 9.91051940e-01 -5.58768780e-03 3.73080785e+01] [ 5.60936966e-02 -1.91893375e-03 9.98423665e-01 2.52035318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.61, Y:37.32, Z:25.21 [[ 9.89892548e-01 -1.30360027e-01 -5.58480748e-02 4.48610352e+02] [ 1.30252106e-01 9.91465184e-01 -5.58369350e-03 3.73153269e+01] [ 5.60993122e-02 -1.74707279e-03 9.98423665e-01 2.52083864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.67, Y:37.32, Z:25.21 [[ 9.90546822e-01 -1.25291467e-01 -5.58483866e-02 4.48670846e+02] [ 1.25175674e-01 9.92118898e-01 -5.58057279e-03 3.73234733e+01] [ 5.61074379e-02 -1.46304079e-03 9.98423665e-01 2.52114166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.73, Y:37.33, Z:25.21 [[ 9.91047802e-01 -1.21264909e-01 -5.58486929e-02 4.48732161e+02] [ 1.21142901e-01 9.92619408e-01 -5.57750604e-03 3.73307826e+01] [ 5.61128522e-02 -1.23809758e-03 9.98423665e-01 2.52139354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.79, Y:37.34, Z:25.22 [[ 9.91262814e-01 -1.19494500e-01 -5.58488868e-02 4.48793079e+02] [ 1.19369794e-01 9.92834208e-01 -5.57556327e-03 3.73374949e+01] [ 5.61149345e-02 -1.13982159e-03 9.98423665e-01 2.52172932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.85, Y:37.34, Z:25.22 [[ 9.91173172e-01 -1.20235694e-01 -5.58490836e-02 4.48853710e+02] [ 1.20112275e-01 9.92744668e-01 -5.57359172e-03 3.73448752e+01] [ 5.61140246e-02 -1.18376588e-03 9.98423665e-01 2.52219831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.91, Y:37.35, Z:25.23 [[ 9.90846970e-01 -1.22894827e-01 -5.58492842e-02 4.48914025e+02] [ 1.22775738e-01 9.92418801e-01 -5.57158038e-03 3.73523565e+01] [ 5.61105981e-02 -1.33635356e-03 9.98423665e-01 2.52261445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.98, Y:37.36, Z:25.23 [[ 9.90551295e-01 -1.25255612e-01 -5.58494820e-02 4.48975600e+02] [ 1.25140381e-01 9.92123412e-01 -5.56959731e-03 3.73587983e+01] [ 5.61072020e-02 -1.47205360e-03 9.98423665e-01 2.52304645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.04, Y:37.37, Z:25.23 [[ 9.90074505e-01 -1.28970015e-01 -5.58498872e-02 4.49037555e+02] [ 1.28860910e-01 9.91647060e-01 -5.56553122e-03 3.73656530e+01] [ 5.61011631e-02 -1.68657673e-03 9.98423665e-01 2.52346583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.10, Y:37.37, Z:25.24 [[ 9.89580954e-01 -1.32703734e-01 -5.58502855e-02 4.49099683e+02] [ 1.32600788e-01 9.91153924e-01 -5.56153131e-03 3.73724274e+01] [ 5.60942656e-02 -1.90220638e-03 9.98423665e-01 2.52386757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.16, Y:37.38, Z:25.24 [[ 9.88666852e-01 -1.39350488e-01 -5.58506787e-02 4.49161092e+02] [ 1.39258336e-01 9.90240491e-01 -5.55758036e-03 3.73786670e+01] [ 5.60800550e-02 -2.28307711e-03 9.98423665e-01 2.52433635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.22, Y:37.38, Z:25.25 [[ 9.88029128e-01 -1.43802292e-01 -5.58510848e-02 4.49222136e+02] [ 1.43717460e-01 9.89603178e-01 -5.55349543e-03 3.73846808e+01] [ 5.60690164e-02 -2.53976078e-03 9.98423665e-01 2.52459222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.28, Y:37.39, Z:25.25 [[ 9.87304520e-01 -1.48695689e-01 -5.58513857e-02 4.49284173e+02] [ 1.48618827e-01 9.88878980e-01 -5.55046787e-03 3.73919610e+01] [ 5.60555920e-02 -2.82056543e-03 9.98423665e-01 2.52497768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.35, Y:37.40, Z:25.25 [[ 9.87088211e-01 -1.50124760e-01 -5.58517762e-02 4.49346291e+02] [ 1.50050399e-01 9.88662791e-01 -5.54653601e-03 3.73991134e+01] [ 5.60512453e-02 -2.90566100e-03 9.98423665e-01 2.52530536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.41, Y:37.41, Z:25.26 [[ 9.86997162e-01 -1.50722053e-01 -5.58521708e-02 4.49406983e+02] [ 1.50648869e-01 9.88571797e-01 -5.54255978e-03 3.74068683e+01] [ 5.60492668e-02 -2.94357560e-03 9.98423665e-01 2.52558742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.47, Y:37.41, Z:25.26 [[ 9.87028445e-01 -1.50516947e-01 -5.58524627e-02 4.49468916e+02] [ 1.50443603e-01 9.88603073e-01 -5.53961612e-03 3.74142351e+01] [ 5.60497224e-02 -2.93488705e-03 9.98423665e-01 2.52595411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.53, Y:37.42, Z:25.27 [[ 9.87412284e-01 -1.47977840e-01 -5.58528512e-02 4.49531327e+02] [ 1.47900667e-01 9.88986728e-01 -5.53569632e-03 3.74224834e+01] [ 5.60568890e-02 -2.79465942e-03 9.98423665e-01 2.52660915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.59, Y:37.43, Z:25.27 [[ 9.87974481e-01 -1.44176331e-01 -5.58534781e-02 4.49592814e+02] [ 1.44093456e-01 9.89548635e-01 -5.52936366e-03 3.74296579e+01] [ 5.60669365e-02 -2.58525052e-03 9.98423665e-01 2.52706106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.65, Y:37.44, Z:25.28 [[ 9.89109514e-01 -1.36171626e-01 -5.58538907e-02 4.49653448e+02] [ 1.36076242e-01 9.90682961e-01 -5.52519306e-03 3.74373527e+01] [ 5.60858723e-02 -2.13536654e-03 9.98423665e-01 2.52759396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.72, Y:37.44, Z:25.28 [[ 9.89937839e-01 -1.30013015e-01 -5.58541955e-02 4.49715020e+02] [ 1.29908015e-01 9.91510673e-01 -5.52211011e-03 3.74437837e+01] [ 5.60979771e-02 -1.78936190e-03 9.98423665e-01 2.52807300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.78, Y:37.45, Z:25.28 [[ 9.91012469e-01 -1.21550606e-01 -5.58545999e-02 4.49776531e+02] [ 1.21432402e-01 9.92584366e-01 -5.51801701e-03 3.74494380e+01] [ 5.61111209e-02 -1.31413454e-03 9.98423665e-01 2.52838280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.84, Y:37.46, Z:25.29 [[ 9.91656272e-01 -1.16181134e-01 -5.58550053e-02 4.49838204e+02] [ 1.16054649e-01 9.93227524e-01 -5.51391019e-03 3.74550169e+01] [ 5.61173410e-02 -1.01432938e-03 9.98423665e-01 2.52858501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.90, Y:37.46, Z:25.29 [[ 9.92500429e-01 -1.08733948e-01 -5.58554083e-02 4.49900194e+02] [ 1.08595902e-01 9.94070708e-01 -5.50982450e-03 3.74591543e+01] [ 5.61233303e-02 -5.97165268e-04 9.98423665e-01 2.52890667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.96, Y:37.46, Z:25.29 [[ 9.93065849e-01 -1.03442480e-01 -5.58558187e-02 4.49960456e+02] [ 1.03296301e-01 9.94635391e-01 -5.50566150e-03 3.74627911e+01] [ 5.61256934e-02 -3.02215035e-04 9.98423665e-01 2.52915358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.02, Y:37.46, Z:25.30 [[ 9.93726475e-01 -9.68907109e-02 -5.58559190e-02 4.50020741e+02] [ 9.67342402e-02 9.95295024e-01 -5.50464328e-03 3.74647129e+01] [ 5.61264671e-02 6.69298722e-05 9.98423665e-01 2.52960317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.08, Y:37.47, Z:25.30 [[ 9.93973208e-01 -9.43259159e-02 -5.58559190e-02 4.50080139e+02] [ 9.41653979e-02 9.95541349e-01 -5.50464328e-03 3.74674940e+01] [ 5.61261075e-02 2.11773102e-04 9.98423665e-01 2.52992960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.14, Y:37.47, Z:25.30 [[ 9.93825023e-01 -9.58747261e-02 -5.58557190e-02 4.50138678e+02] [ 9.57165380e-02 9.95393400e-01 -5.50667231e-03 3.74660633e+01] [ 5.61263647e-02 1.26352682e-04 9.98423665e-01 2.53001620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.20, Y:37.47, Z:25.30 [[ 9.93295652e-01 -1.01212356e-01 -5.58552261e-02 4.50196911e+02] [ 1.01062314e-01 9.94864830e-01 -5.51166717e-03 3.74656021e+01] [ 5.61262488e-02 -1.70143384e-04 9.98423665e-01 2.53027600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.26, Y:37.46, Z:25.31 [[ 9.91982912e-01 -1.13359020e-01 -5.58536830e-02 4.50255466e+02] [ 1.13227314e-01 9.93553735e-01 -5.52726082e-03 3.74614854e+01] [ 5.61202002e-02 -8.41214194e-04 9.98423665e-01 2.53067769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.32, Y:37.46, Z:25.31 [[ 9.91439242e-01 -1.18020240e-01 -5.58520561e-02 4.50315163e+02] [ 1.17894995e-01 9.93010593e-01 -5.54365138e-03 3.74641680e+01] [ 5.61159464e-02 -1.08848433e-03 9.98423665e-01 2.53099922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.37, Y:37.46, Z:25.31 [[ 9.89873001e-01 -1.30506754e-01 -5.58518525e-02 4.50374601e+02] [ 1.30401208e-01 9.91445798e-01 -5.54570212e-03 3.74602227e+01] [ 5.60978360e-02 -1.79360822e-03 9.98423665e-01 2.53112077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.43, Y:37.46, Z:25.31 [[ 9.89064646e-01 -1.36498094e-01 -5.58515519e-02 4.50433345e+02] [ 1.36401902e-01 9.90638043e-01 -5.54872764e-03 3.74598851e+01] [ 5.60860628e-02 -2.13020760e-03 9.98423665e-01 2.53131572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.49, Y:37.46, Z:25.32 [[ 9.88274697e-01 -1.42104780e-01 -5.58511815e-02 4.50493875e+02] [ 1.42017303e-01 9.89848603e-01 -5.55245316e-03 3.74582447e+01] [ 5.60732441e-02 -2.44448519e-03 9.98423665e-01 2.53173051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.55, Y:37.46, Z:25.32 [[ 9.87889651e-01 -1.44757327e-01 -5.58511815e-02 4.50552630e+02] [ 1.44674075e-01 9.89463785e-01 -5.55245316e-03 3.74599551e+01] [ 5.60664798e-02 -2.59500700e-03 9.98423665e-01 2.53207603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.61, Y:37.46, Z:25.32 [[ 9.87236096e-01 -1.49149521e-01 -5.58508013e-02 4.50611979e+02] [ 1.49073055e-01 9.88810574e-01 -5.55627567e-03 3.74609727e+01] [ 5.60545787e-02 -2.84049368e-03 9.98423665e-01 2.53243688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.67, Y:37.46, Z:25.33 [[ 9.86828533e-01 -1.51822784e-01 -5.58506003e-02 4.50671782e+02] [ 1.51750469e-01 9.88403207e-01 -5.55829525e-03 3.74643398e+01] [ 5.60467883e-02 -2.99027045e-03 9.98423665e-01 2.53267398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.73, Y:37.47, Z:25.33 [[ 9.86187318e-01 -1.55933665e-01 -5.58503966e-02 4.50730668e+02] [ 1.55867797e-01 9.87762275e-01 -5.56034109e-03 3.74677385e+01] [ 5.60339592e-02 -3.22174040e-03 9.98423665e-01 2.53288604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.79, Y:37.47, Z:25.33 [[ 9.85856190e-01 -1.58013730e-01 -5.58500959e-02 4.50790510e+02] [ 1.57951014e-01 9.87431277e-01 -5.56335949e-03 3.74725423e+01] [ 5.60272187e-02 -3.33690692e-03 9.98423666e-01 2.53317811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.85, Y:37.48, Z:25.34 [[ 9.85688251e-01 -1.59058042e-01 -5.58498985e-02 4.50850431e+02] [ 1.58996883e-01 9.87263399e-01 -5.56534079e-03 3.74791147e+01] [ 5.60237728e-02 -3.39426872e-03 9.98423666e-01 2.53353708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.91, Y:37.49, Z:25.34 [[ 9.85605718e-01 -1.59568661e-01 -5.58498985e-02 4.50910209e+02] [ 1.59508317e-01 9.87180897e-01 -5.56534079e-03 3.74859341e+01] [ 5.60220069e-02 -3.42329163e-03 9.98423666e-01 2.53386114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.97, Y:37.49, Z:25.34 [[ 9.85660202e-01 -1.59231765e-01 -5.58498985e-02 4.50970155e+02] [ 1.59170883e-01 9.87235360e-01 -5.56534079e-03 3.74948030e+01] [ 5.60231737e-02 -3.40414275e-03 9.98423666e-01 2.53428450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.03, Y:37.50, Z:25.35 [[ 9.85907373e-01 -1.57694135e-01 -5.58498985e-02 4.51029468e+02] [ 1.57630797e-01 9.87482435e-01 -5.56534079e-03 3.75031915e+01] [ 5.60284153e-02 -3.31675349e-03 9.98423666e-01 2.53470045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.09, Y:37.51, Z:25.35 [[ 9.86427466e-01 -1.54407428e-01 -5.58497968e-02 4.51088554e+02] [ 1.54338783e-01 9.88002305e-01 -5.56636138e-03 3.75143747e+01] [ 5.60392155e-02 -3.12897794e-03 9.98423666e-01 2.53517651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.15, Y:37.53, Z:25.35 [[ 9.86980219e-01 -1.50833804e-01 -5.58498967e-02 4.51149491e+02] [ 1.50759512e-01 9.88554802e-01 -5.56535871e-03 3.75255309e+01] [ 5.60501278e-02 -2.92700422e-03 9.98423666e-01 2.53549218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.21, Y:37.53, Z:25.36 [[ 9.87484393e-01 -1.47496919e-01 -5.58500959e-02 4.51209796e+02] [ 1.47417419e-01 9.89058721e-01 -5.56335833e-03 3.75341392e+01] [ 5.60596027e-02 -2.73954746e-03 9.98423666e-01 2.53574792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.27, Y:37.54, Z:25.36 [[ 9.88143954e-01 -1.43011432e-01 -5.58502969e-02 4.51270454e+02] [ 1.42924897e-01 9.89717912e-01 -5.56134034e-03 3.75437586e+01] [ 5.60713745e-02 -2.48699312e-03 9.98423666e-01 2.53602026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.33, Y:37.56, Z:25.36 [[ 9.89548328e-01 -1.32946709e-01 -5.58505000e-02 4.51330956e+02] [ 1.32844274e-01 9.91121331e-01 -5.55929986e-03 3.75556198e+01] [ 5.60937125e-02 -1.91822324e-03 9.98423666e-01 2.53626903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.39, Y:37.57, Z:25.36 [[ 9.91229003e-01 -1.19773796e-01 -5.58507017e-02 4.51389771e+02] [ 1.19650563e-01 9.92800513e-01 -5.55727262e-03 3.75670953e+01] [ 5.61142210e-02 -1.17403811e-03 9.98423666e-01 2.53648516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.45, Y:37.58, Z:25.37 [[ 9.92341609e-01 -1.10176346e-01 -5.58507251e-02 4.51448733e+02] [ 1.10037925e-01 9.93911854e-01 -5.55703755e-03 3.75768608e+01] [ 5.61229518e-02 -6.31218315e-04 9.98423666e-01 2.53690857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.51, Y:37.59, Z:25.37 [[ 9.93250959e-01 -1.01652600e-01 -5.58505216e-02 4.51507745e+02] [ 1.01500588e-01 9.94819947e-01 -5.55908251e-03 3.75863799e+01] [ 5.61263081e-02 -1.47296736e-04 9.98423666e-01 2.53739370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.56, Y:37.59, Z:25.38 [[ 9.93970096e-01 -9.43620167e-02 -5.58503191e-02 4.51564847e+02] [ 9.41983824e-02 9.95537914e-01 -5.56111589e-03 3.75942198e+01] [ 5.61258683e-02 2.66573187e-04 9.98423666e-01 2.53780690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.62, Y:37.60, Z:25.38 [[ 9.93963537e-01 -9.44313739e-02 -5.58498214e-02 4.51622002e+02] [ 9.42675684e-02 9.95531338e-01 -5.56610977e-03 3.75993687e+01] [ 5.61258628e-02 2.67683295e-04 9.98423666e-01 2.53811415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.68, Y:37.60, Z:25.38 [[ 9.93337092e-01 -1.00808693e-01 -5.58482602e-02 4.51679746e+02] [ 1.00654075e-01 9.94905825e-01 -5.58173032e-03 3.76027255e+01] [ 5.61264464e-02 -7.68151971e-05 9.98423666e-01 2.53835878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.74, Y:37.61, Z:25.39 [[ 9.92691267e-01 -1.06982249e-01 -5.58466440e-02 4.51736859e+02] [ 1.06836480e-01 9.94260846e-01 -5.59785461e-03 3.76057981e+01] [ 5.61250026e-02 -4.09517456e-04 9.98423666e-01 2.53861111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.79, Y:37.61, Z:25.39 [[ 9.91631841e-01 -1.16394018e-01 -5.58455391e-02 4.51794474e+02] [ 1.16262524e-01 9.93202681e-01 -5.60885580e-03 3.76071405e+01] [ 5.61187764e-02 -9.30823338e-04 9.98423666e-01 2.53888852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.85, Y:37.61, Z:25.39 [[ 9.91085690e-01 -1.20957069e-01 -5.58439052e-02 4.51852842e+02] [ 1.20831894e-01 9.92657047e-01 -5.62507679e-03 3.76098968e+01] [ 5.61142388e-02 -1.17279168e-03 9.98423666e-01 2.53922502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.91, Y:37.61, Z:25.40 [[ 9.90401681e-01 -1.26435765e-01 -5.58436036e-02 4.51911722e+02] [ 1.26319112e-01 9.91973693e-01 -5.62806890e-03 3.76120528e+01] [ 5.61069749e-02 -1.48006552e-03 9.98423666e-01 2.53955056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.97, Y:37.61, Z:25.40 [[ 9.89852896e-01 -1.30662806e-01 -5.58433069e-02 4.51971024e+02] [ 1.30552699e-01 9.91425380e-01 -5.63101136e-03 3.76140212e+01] [ 5.61002355e-02 -1.71662155e-03 9.98423666e-01 2.53974372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.03, Y:37.62, Z:25.40 [[ 9.89407904e-01 -1.33990843e-01 -5.58431095e-02 4.52031399e+02] [ 1.33885915e-01 9.90980742e-01 -5.63296859e-03 3.76174755e+01] [ 5.60942123e-02 -1.90330218e-03 9.98423666e-01 2.53997490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.09, Y:37.62, Z:25.40 [[ 9.88701372e-01 -1.39108392e-01 -5.58431095e-02 4.52091609e+02] [ 1.39011604e-01 9.90274731e-01 -5.63296859e-03 3.76197955e+01] [ 5.60836134e-02 -2.19351645e-03 9.98423666e-01 2.54024679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.15, Y:37.62, Z:25.41 [[ 9.88406551e-01 -1.41187951e-01 -5.58431095e-02 4.52151104e+02] [ 1.41094472e-01 9.89980111e-01 -5.63296859e-03 3.76242251e+01] [ 5.60788750e-02 -2.31149100e-03 9.98423666e-01 2.54052392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.21, Y:37.63, Z:25.41 [[ 9.88452073e-01 -1.40868941e-01 -5.58430074e-02 4.52209387e+02] [ 1.40774898e-01 9.90025599e-01 -5.63398059e-03 3.76292526e+01] [ 5.60796597e-02 -2.29237385e-03 9.98423666e-01 2.54077150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.27, Y:37.63, Z:25.41 [[ 9.88869115e-01 -1.37911080e-01 -5.58427066e-02 4.52268246e+02] [ 1.37812161e-01 9.90442342e-01 -5.63696018e-03 3.76349297e+01] [ 5.60863804e-02 -2.12158828e-03 9.98423666e-01 2.54113247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.33, Y:37.64, Z:25.42 [[ 9.90085820e-01 -1.28886322e-01 -5.58425053e-02 4.52327483e+02] [ 1.28772946e-01 9.91658071e-01 -5.63895387e-03 3.76422216e+01] [ 5.61034551e-02 -1.60795567e-03 9.98423666e-01 2.54167630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.39, Y:37.65, Z:25.42 [[ 9.91007285e-01 -1.21598517e-01 -5.58423012e-02 4.52385302e+02] [ 1.21473463e-01 9.92578650e-01 -5.64097401e-03 3.76498911e+01] [ 5.61138100e-02 -1.19311137e-03 9.98423666e-01 2.54213576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.44, Y:37.66, Z:25.43 [[ 9.92111709e-01 -1.12232583e-01 -5.58408873e-02 4.52443022e+02] [ 1.12091907e-01 9.93681753e-01 -5.65493628e-03 3.76560351e+01] [ 5.61227389e-02 -6.48983022e-04 9.98423666e-01 2.54250701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.50, Y:37.66, Z:25.43 [[ 9.92511099e-01 -1.08644817e-01 -5.58392536e-02 4.52500166e+02] [ 1.08497560e-01 9.94080539e-01 -5.67102227e-03 3.76614429e+01] [ 5.61248425e-02 -4.29870218e-04 9.98423666e-01 2.54283363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.56, Y:37.67, Z:25.43 [[ 9.92730329e-01 -1.06623891e-01 -5.58376116e-02 4.52557491e+02] [ 1.06472533e-01 9.94299380e-01 -5.68714395e-03 3.76659916e+01] [ 5.61256880e-02 -2.99371629e-04 9.98423666e-01 2.54315373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.61, Y:37.67, Z:25.43 [[ 9.92635187e-01 -1.07506898e-01 -5.58359419e-02 4.52613774e+02] [ 1.07356016e-01 9.94204283e-01 -5.70349016e-03 3.76705190e+01] [ 5.61254971e-02 -3.32839245e-04 9.98423666e-01 2.54344559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.67, Y:37.67, Z:25.44 [[ 9.92181904e-01 -1.11613163e-01 -5.58352241e-02 4.52671941e+02] [ 1.11468379e-01 9.93751574e-01 -5.71050875e-03 3.76726042e+01] [ 5.61237097e-02 -5.57998483e-04 9.98423667e-01 2.54378361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.73, Y:37.68, Z:25.44 [[ 9.91686569e-01 -1.15932575e-01 -5.58335583e-02 4.52729850e+02] [ 1.15793713e-01 9.93256775e-01 -5.72674923e-03 3.76759509e+01] [ 5.61209768e-02 -7.86034752e-04 9.98423667e-01 2.54412567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.79, Y:37.68, Z:25.44 [[ 9.90927620e-01 -1.22250769e-01 -5.58319017e-02 4.52788131e+02] [ 1.22121011e-01 9.92498604e-01 -5.74285522e-03 3.76773525e+01] [ 5.61151529e-02 -1.12749443e-03 9.98423667e-01 2.54437804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.85, Y:37.68, Z:25.45 [[ 9.90508085e-01 -1.25605410e-01 -5.58302256e-02 4.52845500e+02] [ 1.25480057e-01 9.92079426e-01 -5.75910299e-03 3.76807457e+01] [ 5.61113927e-02 -1.30114182e-03 9.98423667e-01 2.54476496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.90, Y:37.68, Z:25.45 [[ 9.90438505e-01 -1.26153639e-01 -5.58285565e-02 4.52902479e+02] [ 1.26028247e-01 9.92009843e-01 -5.77523834e-03 3.76837002e+01] [ 5.61110449e-02 -1.31595666e-03 9.98423667e-01 2.54510876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.96, Y:37.69, Z:25.45 [[ 9.90666663e-01 -1.24349573e-01 -5.58278382e-02 4.52960060e+02] [ 1.24220928e-01 9.92237737e-01 -5.78217414e-03 3.76879617e+01] [ 5.61134987e-02 -1.20677873e-03 9.98423667e-01 2.54545225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.02, Y:37.69, Z:25.46 [[ 9.91370498e-01 -1.18608467e-01 -5.58262248e-02 4.53017378e+02] [ 1.18469849e-01 9.92940724e-01 -5.79770946e-03 3.76915011e+01] [ 5.61197895e-02 -8.66046311e-04 9.98423667e-01 2.54590871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.07, Y:37.70, Z:25.46 [[ 9.91905144e-01 -1.14051781e-01 -5.58245131e-02 4.53074544e+02] [ 1.13905024e-01 9.93474630e-01 -5.81414406e-03 3.76969401e+01] [ 5.61233510e-02 -5.91613076e-04 9.98423667e-01 2.54629084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.13, Y:37.70, Z:25.46 [[ 9.92533610e-01 -1.08447459e-01 -5.58227721e-02 4.53132383e+02] [ 1.08290902e-01 9.94102149e-01 -5.83081210e-03 3.77012454e+01] [ 5.61258745e-02 -2.57821342e-04 9.98423667e-01 2.54649395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.19, Y:37.70, Z:25.47 [[ 9.92668135e-01 -1.07209382e-01 -5.58222386e-02 4.53190060e+02] [ 1.07050581e-01 9.94236448e-01 -5.83591488e-03 3.77047989e+01] [ 5.61261691e-02 -1.82676369e-04 9.98423667e-01 2.54687890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.25, Y:37.71, Z:25.47 [[ 9.92451846e-01 -1.09194342e-01 -5.58205133e-02 4.53246587e+02] [ 1.09037753e-01 9.94020381e-01 -5.85237140e-03 3.77084105e+01] [ 5.61257738e-02 -2.78346520e-04 9.98423668e-01 2.54717037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.30, Y:37.71, Z:25.48 [[ 9.91700457e-01 -1.15820366e-01 -5.58197720e-02 4.53304072e+02] [ 1.15673859e-01 9.93269966e-01 -5.85943344e-03 3.77105369e+01] [ 5.61227448e-02 -6.46085618e-04 9.98423668e-01 2.54756488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.36, Y:37.71, Z:25.48 [[ 9.90897144e-01 -1.22503839e-01 -5.58180947e-02 4.53363033e+02] [ 1.22367020e-01 9.92467527e-01 -5.87536816e-03 3.77131999e+01] [ 5.61174016e-02 -1.00840838e-03 9.98423668e-01 2.54798990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.42, Y:37.71, Z:25.48 [[ 9.89359987e-01 -1.34355209e-01 -5.58166066e-02 4.53421873e+02] [ 1.34236400e-01 9.90931836e-01 -5.88947159e-03 3.77131763e+01] [ 5.61017336e-02 -1.66581282e-03 9.98423668e-01 2.54835520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.48, Y:37.72, Z:25.49 [[ 9.88156094e-01 -1.42941265e-01 -5.58151342e-02 4.53479898e+02] [ 1.42835325e-01 9.89728862e-01 -5.90339263e-03 3.77159028e+01] [ 5.60856877e-02 -2.13889941e-03 9.98423668e-01 2.54872425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.925099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.54, Y:37.72, Z:25.49 [[ 9.86534944e-01 -1.53732456e-01 -5.58134028e-02 4.53537468e+02] [ 1.53642790e-01 9.88108724e-01 -5.91971780e-03 3.77174031e+01] [ 5.60597629e-02 -2.73531846e-03 9.98423668e-01 2.54904842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.60, Y:37.72, Z:25.49 [[ 9.85152242e-01 -1.62357995e-01 -5.58116621e-02 4.53595601e+02] [ 1.62281178e-01 9.86726701e-01 -5.93608392e-03 3.77196833e+01] [ 5.60346279e-02 -3.20923589e-03 9.98423668e-01 2.54938613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.65, Y:37.72, Z:25.50 [[ 9.84437442e-01 -1.66637855e-01 -5.58099226e-02 4.53653608e+02] [ 1.66566960e-01 9.86012179e-01 -5.95239367e-03 3.77247802e+01] [ 5.60211575e-02 -3.43632992e-03 9.98423668e-01 2.54969734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.71, Y:37.73, Z:25.50 [[ 9.83779466e-01 -1.70479939e-01 -5.58081788e-02 4.53711069e+02] [ 1.70414271e-01 9.85354429e-01 -5.96869874e-03 3.77308801e+01] [ 5.60083795e-02 -3.63862684e-03 9.98423669e-01 2.54993750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.77, Y:37.74, Z:25.50 [[ 9.83643125e-01 -1.71265425e-01 -5.58064286e-02 4.53768349e+02] [ 1.71200093e-01 9.85218102e-01 -5.98501770e-03 3.77381985e+01] [ 5.60065303e-02 -3.66694427e-03 9.98423669e-01 2.55025304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.83, Y:37.75, Z:25.51 [[ 9.83891277e-01 -1.69834605e-01 -5.58046782e-02 4.53825511e+02] [ 1.69766063e-01 9.85466117e-01 -6.00129492e-03 3.77472120e+01] [ 5.60128471e-02 -3.56911881e-03 9.98423669e-01 2.55063145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.88, Y:37.76, Z:25.51 [[ 9.84356922e-01 -1.67115188e-01 -5.58028951e-02 4.53882307e+02] [ 1.67041361e-01 9.85931524e-01 -6.01782874e-03 3.77554136e+01] [ 5.60235040e-02 -3.39770017e-03 9.98423669e-01 2.55099101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.94, Y:37.77, Z:25.51 [[ 9.85214120e-01 -1.61985371e-01 -5.58021283e-02 4.53939682e+02] [ 1.61902942e-01 9.86788294e-01 -6.02493073e-03 3.77659808e+01] [ 5.60408377e-02 -3.09868190e-03 9.98423669e-01 2.55142478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.00, Y:37.77, Z:25.52 [[ 9.85502719e-01 -1.60220748e-01 -5.58005706e-02 4.53996636e+02] [ 1.60134687e-01 9.87076698e-01 -6.03932405e-03 3.77738872e+01] [ 5.60470680e-02 -2.98383663e-03 9.98423669e-01 2.55174968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.05, Y:37.78, Z:25.52 [[ 9.86035550e-01 -1.56908848e-01 -5.57988092e-02 4.54053563e+02] [ 1.56816584e-01 9.87609178e-01 -6.05555442e-03 3.77828953e+01] [ 5.60575861e-02 -2.77918668e-03 9.98423669e-01 2.55203778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.11, Y:37.79, Z:25.52 [[ 9.86680429e-01 -1.52801904e-01 -5.57970410e-02 4.54110152e+02] [ 1.52702171e-01 9.88253601e-01 -6.07180268e-03 3.77938298e+01] [ 5.60694098e-02 -2.52940041e-03 9.98423669e-01 2.55231079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.17, Y:37.80, Z:25.53 [[ 9.87081648e-01 -1.50188910e-01 -5.57952677e-02 4.54167633e+02] [ 1.50084095e-01 9.88654490e-01 -6.08805456e-03 3.78033318e+01] [ 5.60766002e-02 -2.36457533e-03 9.98423669e-01 2.55257503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.23, Y:37.81, Z:25.53 [[ 9.87741752e-01 -1.45785181e-01 -5.57934802e-02 4.54225492e+02] [ 1.45672431e-01 9.89314045e-01 -6.10439251e-03 3.78136680e+01] [ 5.60872035e-02 -2.09800854e-03 9.98423670e-01 2.55288494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.28, Y:37.82, Z:25.53 [[ 9.88196377e-01 -1.42671592e-01 -5.57919177e-02 4.54282316e+02] [ 1.42553084e-01 9.89768246e-01 -6.11864011e-03 3.78235800e+01] [ 5.60940246e-02 -1.90689194e-03 9.98423670e-01 2.55324628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.34, Y:37.83, Z:25.54 [[ 9.88854941e-01 -1.38033537e-01 -5.57911143e-02 4.54339270e+02] [ 1.37907243e-01 9.90426204e-01 -6.12595720e-03 3.78346259e+01] [ 5.61025690e-02 -1.63631569e-03 9.98423670e-01 2.55356394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.40, Y:37.84, Z:25.54 [[ 9.89241583e-01 -1.35234990e-01 -5.57905784e-02 4.54397208e+02] [ 1.35103975e-01 9.90812459e-01 -6.13083320e-03 3.78443653e+01] [ 5.61071034e-02 -1.47265379e-03 9.98423670e-01 2.55387247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.45, Y:37.85, Z:25.54 [[ 9.89402484e-01 -1.34053387e-01 -5.57890157e-02 4.54454332e+02] [ 1.33919696e-01 9.90973135e-01 -6.14502084e-03 3.78527947e+01] [ 5.61091766e-02 -1.39134916e-03 9.98423670e-01 2.55427782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.51, Y:37.86, Z:25.55 [[ 9.89599664e-01 -1.32590268e-01 -5.57882154e-02 4.54513199e+02] [ 1.32453846e-01 9.91170080e-01 -6.15227800e-03 3.78615706e+01] [ 5.61113421e-02 -1.30107148e-03 9.98423670e-01 2.55467197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.57, Y:37.87, Z:25.55 [[ 9.89661821e-01 -1.32125624e-01 -5.57879892e-02 4.54571102e+02] [ 1.31988349e-01 9.91232162e-01 -6.15432838e-03 3.78687197e+01] [ 5.61119937e-02 -1.27266078e-03 9.98423670e-01 2.55494382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.63, Y:37.88, Z:25.55 [[ 9.89563311e-01 -1.32862069e-01 -5.57864110e-02 4.54629534e+02] [ 1.32725159e-01 9.91133684e-01 -6.16860101e-03 3.78754759e+01] [ 5.61113642e-02 -1.30003905e-03 9.98423670e-01 2.55511704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.69, Y:37.88, Z:25.55 [[ 9.89356786e-01 -1.34391970e-01 -5.57848445e-02 4.54687809e+02] [ 1.34256692e-01 9.90927300e-01 -6.18273533e-03 3.78822617e+01] [ 5.61096353e-02 -1.37255755e-03 9.98423670e-01 2.55536308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.75, Y:37.89, Z:25.56 [[ 9.89058476e-01 -1.36570699e-01 -5.57832909e-02 4.54745019e+02] [ 1.36438092e-01 9.90629218e-01 -6.19672131e-03 3.78887502e+01] [ 5.61068484e-02 -1.48204604e-03 9.98423670e-01 2.55563967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.80, Y:37.89, Z:25.56 [[ 9.88953298e-01 -1.37330473e-01 -5.57827450e-02 4.54801436e+02] [ 1.37198796e-01 9.90524119e-01 -6.20163137e-03 3.78948798e+01] [ 5.61058273e-02 -1.52020167e-03 9.98423670e-01 2.55594772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.86, Y:37.90, Z:25.56 [[ 9.88884041e-01 -1.37828600e-01 -5.57819977e-02 4.54860956e+02] [ 1.37697335e-01 9.90454896e-01 -6.20834611e-03 3.79015219e+01] [ 5.61052403e-02 -1.54169805e-03 9.98423670e-01 2.55637375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.92, Y:37.91, Z:25.57 [[ 9.88946135e-01 -1.37382447e-01 -5.57817688e-02 4.54919783e+02] [ 1.37250358e-01 9.90516921e-01 -6.21040202e-03 3.79075686e+01] [ 5.61059861e-02 -1.51431465e-03 9.98423670e-01 2.55666632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.425099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.98, Y:37.91, Z:25.57 [[ 9.89145206e-01 -1.35942387e-01 -5.57801854e-02 4.54978544e+02] [ 1.35807211e-01 9.90715729e-01 -6.22459068e-03 3.79128419e+01] [ 5.61084928e-02 -1.41832740e-03 9.98423670e-01 2.55690083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.04, Y:37.92, Z:25.57 [[ 9.89703038e-01 -1.31820510e-01 -5.57785840e-02 4.55036816e+02] [ 1.31677987e-01 9.91272911e-01 -6.23890796e-03 3.79187667e+01] [ 5.61142154e-02 -1.17014548e-03 9.98423670e-01 2.55727309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.10, Y:37.93, Z:25.58 [[ 9.90280565e-01 -1.27410101e-01 -5.57769488e-02 4.55095539e+02] [ 1.27259764e-01 9.91849710e-01 -6.25349338e-03 3.79252388e+01] [ 5.61191087e-02 -9.05448366e-04 9.98423671e-01 2.55752275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.15, Y:37.93, Z:25.58 [[ 9.91388387e-01 -1.18482821e-01 -5.57753236e-02 4.55153360e+02] [ 1.18317539e-01 9.92956028e-01 -6.26795475e-03 3.79309310e+01] [ 5.61250888e-02 -3.85221467e-04 9.98423671e-01 2.55787478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.21, Y:37.94, Z:25.58 [[ 9.92075017e-01 -1.12589872e-01 -5.57734825e-02 4.55211353e+02] [ 1.12414359e-01 9.93641545e-01 -6.28429521e-03 3.79366445e+01] [ 5.61263973e-02 -3.52480185e-05 9.98423671e-01 2.55827502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.27, Y:37.94, Z:25.59 [[ 9.92720379e-01 -1.06750995e-01 -5.57716328e-02 4.55267697e+02] [ 1.06565349e-01 9.94285738e-01 -6.30066829e-03 3.79410685e+01] [ 5.61255416e-02 3.11478290e-04 9.98423671e-01 2.55852732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.33, Y:37.95, Z:25.59 [[ 9.92756117e-01 -1.06418542e-01 -5.57708391e-02 4.55325410e+02] [ 1.06231978e-01 9.94321367e-01 -6.30768544e-03 3.79455098e+01] [ 5.61253917e-02 3.37346760e-04 9.98423671e-01 2.55883238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.38, Y:37.95, Z:25.59 [[ 9.92249698e-01 -1.11042147e-01 -5.57689807e-02 4.55382408e+02] [ 1.10861955e-01 9.93815694e-01 -6.32407455e-03 3.79466632e+01] [ 5.61263270e-02 9.24028311e-05 9.98423671e-01 2.55907483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.44, Y:37.95, Z:25.59 [[ 9.91067959e-01 -1.21137387e-01 -5.57676807e-02 4.55440876e+02] [ 1.20972502e-01 9.92635641e-01 -6.33551693e-03 3.79473552e+01] [ 5.61244555e-02 -4.67428040e-04 9.98423671e-01 2.55947366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.50, Y:37.95, Z:25.60 [[ 9.89504500e-01 -1.33307965e-01 -5.57658551e-02 4.55498944e+02] [ 1.33161455e-01 9.91074006e-01 -6.35154581e-03 3.79475288e+01] [ 5.61148011e-02 -1.14097926e-03 9.98423671e-01 2.55986466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.56, Y:37.95, Z:25.60 [[ 9.88277678e-01 -1.42118286e-01 -5.57639999e-02 4.55556490e+02] [ 1.41984850e-01 9.89848349e-01 -6.36779272e-03 3.79502786e+01] [ 5.61028830e-02 -1.62449574e-03 9.98423671e-01 2.56017085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.61, Y:37.95, Z:25.60 [[ 9.86401225e-01 -1.54606614e-01 -5.57621643e-02 4.55614237e+02] [ 1.54492149e-01 9.87973392e-01 -6.38382641e-03 3.79527352e+01] [ 5.60785164e-02 -2.31780243e-03 9.98423671e-01 2.56045228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.67, Y:37.96, Z:25.61 [[ 9.85145894e-01 -1.62414149e-01 -5.57602975e-02 4.55672309e+02] [ 1.62311221e-01 9.86718859e-01 -6.40009068e-03 3.79579437e+01] [ 5.60592024e-02 -2.74549892e-03 9.98423672e-01 2.56077100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.73, Y:37.96, Z:25.61 [[ 9.83724086e-01 -1.70815456e-01 -5.57584281e-02 4.55728692e+02] [ 1.70725038e-01 9.85297819e-01 -6.41633596e-03 3.79639459e+01] [ 5.60346670e-02 -3.20745551e-03 9.98423672e-01 2.56108623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.79, Y:37.97, Z:25.61 [[ 9.83305412e-01 -1.73209565e-01 -5.57576239e-02 4.55786146e+02] [ 1.73122583e-01 9.84879339e-01 -6.42331683e-03 3.79714939e+01] [ 5.60271117e-02 -3.33682165e-03 9.98423672e-01 2.56144548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.84, Y:37.98, Z:25.62 [[ 9.83125823e-01 -1.74226607e-01 -5.57557735e-02 4.55842004e+02] [ 1.74140348e-01 9.84699789e-01 -6.43933879e-03 3.79804336e+01] [ 5.60246025e-02 -3.37864954e-03 9.98423672e-01 2.56171770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.90, Y:37.99, Z:25.62 [[ 9.83219199e-01 -1.73699134e-01 -5.57549770e-02 4.55898863e+02] [ 1.73611641e-01 9.84793097e-01 -6.44622823e-03 3.79897614e+01] [ 5.60268207e-02 -3.34165768e-03 9.98423672e-01 2.56198515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.96, Y:38.00, Z:25.62 [[ 9.83604679e-01 -1.71503424e-01 -5.57531315e-02 4.55956226e+02] [ 1.71411518e-01 9.85178325e-01 -6.46215019e-03 3.80014184e+01] [ 5.60350576e-02 -3.20052774e-03 9.98423672e-01 2.56219465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.01, Y:38.01, Z:25.63 [[ 9.84299112e-01 -1.67472549e-01 -5.57512571e-02 4.56014289e+02] [ 1.67373285e-01 9.85872312e-01 -6.47828135e-03 3.80149599e+01] [ 5.60485550e-02 -2.95470448e-03 9.98423672e-01 2.56256710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.07, Y:38.03, Z:25.63 [[ 9.84884866e-01 -1.63992759e-01 -5.57510180e-02 4.56072479e+02] [ 1.63887820e-01 9.86457697e-01 -6.48033792e-03 3.80269250e+01] [ 5.60587493e-02 -2.75452606e-03 9.98423672e-01 2.56296306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.13, Y:38.04, Z:25.63 [[ 9.85902556e-01 -1.57759314e-01 -5.57507791e-02 4.56130962e+02] [ 1.57644312e-01 9.87474683e-01 -6.48239247e-03 3.80414069e+01] [ 5.60751407e-02 -2.39778591e-03 9.98423672e-01 2.56328056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.19, Y:38.05, Z:25.64 [[ 9.86725097e-01 -1.52530148e-01 -5.57506617e-02 4.56190223e+02] [ 1.52406755e-01 9.88296588e-01 -6.48340194e-03 3.80532075e+01] [ 5.60871031e-02 -2.09944205e-03 9.98423672e-01 2.56358576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.25, Y:38.07, Z:25.64 [[ 9.87929010e-01 -1.44527282e-01 -5.57506617e-02 4.56248760e+02] [ 1.44391156e-01 9.89499449e-01 -6.48340194e-03 3.80676933e+01] [ 5.61022775e-02 -1.64476162e-03 9.98423672e-01 2.56387740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.31, Y:38.08, Z:25.64 [[ 9.88649624e-01 -1.39512763e-01 -5.57504284e-02 4.56307228e+02] [ 1.39368557e-01 9.90219342e-01 -6.48540769e-03 3.80791133e+01] [ 5.61099497e-02 -1.35806090e-03 9.98423672e-01 2.56419382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.37, Y:38.09, Z:25.65 [[ 9.89359170e-01 -1.34388798e-01 -5.57501985e-02 4.56367027e+02] [ 1.34236351e-01 9.90928108e-01 -6.48738360e-03 3.80915097e+01] [ 5.61162704e-02 -1.06535075e-03 9.98423672e-01 2.56459911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.42, Y:38.10, Z:25.65 [[ 9.89559025e-01 -1.32909184e-01 -5.57501985e-02 4.56424443e+02] [ 1.32754391e-01 9.91127734e-01 -6.48738360e-03 3.81007237e+01] [ 5.61178008e-02 -9.81434646e-04 9.98423672e-01 2.56492833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.48, Y:38.11, Z:25.65 [[ 9.89545871e-01 -1.33007270e-01 -5.57497523e-02 4.56484443e+02] [ 1.32852417e-01 9.91114574e-01 -6.49121565e-03 3.81102946e+01] [ 5.61177709e-02 -9.83133685e-04 9.98423672e-01 2.56529629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.54, Y:38.12, Z:25.66 [[ 9.89452493e-01 -1.33700149e-01 -5.57497523e-02 4.56543836e+02] [ 1.33546394e-01 9.91021304e-01 -6.49121565e-03 3.81171794e+01] [ 5.61170687e-02 -1.02242887e-03 9.98423672e-01 2.56557676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.60, Y:38.12, Z:25.66 [[ 9.89293971e-01 -1.34868150e-01 -5.57496357e-02 4.56604254e+02] [ 1.34716191e-01 9.90862957e-01 -6.49221681e-03 3.81236935e+01] [ 5.61158422e-02 -1.08766764e-03 9.98423672e-01 2.56593794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.66, Y:38.13, Z:25.66 [[ 9.89077540e-01 -1.36446318e-01 -5.57496357e-02 4.56663939e+02] [ 1.36296862e-01 9.90646767e-01 -6.49221681e-03 3.81299746e+01] [ 5.61140355e-02 -1.17719458e-03 9.98423672e-01 2.56622219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.72, Y:38.14, Z:25.66 [[ 9.89015074e-01 -1.36898366e-01 -5.57496357e-02 4.56724274e+02] [ 1.36749627e-01 9.90584368e-01 -6.49221681e-03 3.81354063e+01] [ 5.61134916e-02 -1.20284160e-03 9.98423672e-01 2.56648022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.78, Y:38.14, Z:25.67 [[ 9.89058048e-01 -1.36587543e-01 -5.57496357e-02 4.56782969e+02] [ 1.36438311e-01 9.90627295e-01 -6.49221681e-03 3.81399764e+01] [ 5.61138668e-02 -1.18520684e-03 9.98423672e-01 2.56679207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.84, Y:38.15, Z:25.67 [[ 9.89224716e-01 -1.35375321e-01 -5.57492852e-02 4.56842369e+02] [ 1.35223997e-01 9.90793764e-01 -6.49522563e-03 3.81457826e+01] [ 5.61153373e-02 -1.11340344e-03 9.98423672e-01 2.56709949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.90, Y:38.15, Z:25.67 [[ 9.89684187e-01 -1.31974437e-01 -5.57490531e-02 4.56900634e+02] [ 1.31817609e-01 9.91252694e-01 -6.49721662e-03 3.81508163e+01] [ 5.61188656e-02 -9.18514327e-04 9.98423672e-01 2.56734598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.96, Y:38.16, Z:25.68 [[ 9.90352310e-01 -1.26863641e-01 -5.57487100e-02 4.56960146e+02] [ 1.26698551e-01 9.91919969e-01 -6.50015925e-03 3.81556897e+01] [ 5.61228926e-02 -6.25833061e-04 9.98423672e-01 2.56777534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.02, Y:38.16, Z:25.68 [[ 9.90764136e-01 -1.23606373e-01 -5.57484711e-02 4.57018830e+02] [ 1.23436014e-01 9.92331231e-01 -6.50220796e-03 3.81605258e+01] [ 5.61246633e-02 -4.39214623e-04 9.98423672e-01 2.56812496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.08, Y:38.16, Z:25.68 [[ 9.91355554e-01 -1.18770616e-01 -5.57468031e-02 4.57078066e+02] [ 1.18591811e-01 9.92921708e-01 -6.51647718e-03 3.81631686e+01] [ 5.61261769e-02 -1.50968494e-04 9.98423672e-01 2.56847045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.14, Y:38.17, Z:25.69 [[ 9.91700597e-01 -1.15855119e-01 -5.57451145e-02 4.57136028e+02] [ 1.15670899e-01 9.93266123e-01 -6.53089000e-03 3.81650023e+01] [ 5.61263708e-02 2.85999952e-05 9.98423672e-01 2.56873519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.19, Y:38.17, Z:25.69 [[ 9.91788185e-01 -1.15103831e-01 -5.57431920e-02 4.57194189e+02] [ 1.14917505e-01 9.93353462e-01 -6.54725892e-03 3.81678982e+01] [ 5.61263073e-02 8.76254790e-05 9.98423673e-01 2.56907797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.25, Y:38.17, Z:25.69 [[ 9.91799751e-01 -1.15005063e-01 -5.57412775e-02 4.57251328e+02] [ 1.14817668e-01 9.93364899e-01 -6.56351765e-03 3.81688721e+01] [ 5.61262663e-02 1.09611683e-04 9.98423673e-01 2.56929511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.31, Y:38.17, Z:25.70 [[ 9.91629521e-01 -1.16464136e-01 -5.57404549e-02 4.57308993e+02] [ 1.16278651e-01 9.93194897e-01 -6.57049637e-03 3.81722179e+01] [ 5.61263625e-02 3.40732599e-05 9.98423673e-01 2.56968715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.37, Y:38.17, Z:25.70 [[ 9.91071420e-01 -1.21122491e-01 -5.57385261e-02 4.57367541e+02] [ 1.20943445e-01 9.92637546e-01 -6.58681822e-03 3.81727296e+01] [ 5.61259655e-02 -2.13202102e-04 9.98423673e-01 2.57012728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.43, Y:38.17, Z:25.71 [[ 9.90053582e-01 -1.29179468e-01 -5.57366050e-02 4.57426159e+02] [ 1.29012255e-01 9.91621015e-01 -6.60303462e-03 3.81729088e+01] [ 5.61225653e-02 -6.53346983e-04 9.98423673e-01 2.57051822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.48, Y:38.17, Z:25.71 [[ 9.89201696e-01 -1.35549427e-01 -5.57346986e-02 4.57482904e+02] [ 1.35391401e-01 9.90770082e-01 -6.61908645e-03 3.81748772e+01] [ 5.61174853e-02 -9.98387410e-04 9.98423673e-01 2.57080279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.54, Y:38.18, Z:25.71 [[ 9.88146978e-01 -1.43035957e-01 -5.57338773e-02 4.57540787e+02] [ 1.42889423e-01 9.89716479e-01 -6.62599476e-03 3.81761393e+01] [ 5.61084923e-02 -1.41632489e-03 9.98423673e-01 2.57111699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.60, Y:38.18, Z:25.71 [[ 9.87774354e-01 -1.45587690e-01 -5.57319409e-02 4.57598793e+02] [ 1.45444294e-01 9.89344145e-01 -6.64224248e-03 3.81801834e+01] [ 5.61050982e-02 -1.54485604e-03 9.98423673e-01 2.57142832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.66, Y:38.18, Z:25.72 [[ 9.87775775e-01 -1.45578796e-01 -5.57300037e-02 4.57656572e+02] [ 1.45434472e-01 9.89345480e-01 -6.65845696e-03 3.81834333e+01] [ 5.61055574e-02 -1.52800116e-03 9.98423673e-01 2.57179825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.71, Y:38.19, Z:25.72 [[ 9.87805432e-01 -1.45378159e-01 -5.57280931e-02 4.57714119e+02] [ 1.45232616e-01 9.89375025e-01 -6.67440941e-03 3.81895269e+01] [ 5.61062968e-02 -1.50051889e-03 9.98423674e-01 2.57221760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.77, Y:38.19, Z:25.73 [[ 9.88108150e-01 -1.43306947e-01 -5.57261405e-02 4.57771408e+02] [ 1.43157198e-01 9.89677347e-01 -6.69067202e-03 3.81945381e+01] [ 5.61097187e-02 -1.36649060e-03 9.98423674e-01 2.57251804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.83, Y:38.20, Z:25.73 [[ 9.88290891e-01 -1.42041470e-01 -5.57255415e-02 4.57829932e+02] [ 1.41889430e-01 9.89859868e-01 -6.69565738e-03 3.82003640e+01] [ 5.61115382e-02 -1.28960813e-03 9.98423674e-01 2.57273819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.89, Y:38.20, Z:25.73 [[ 9.88257957e-01 -1.42271085e-01 -5.57238631e-02 4.57887497e+02] [ 1.42118624e-01 9.89826893e-01 -6.70959668e-03 3.82047431e+01] [ 5.61115599e-02 -1.28858646e-03 9.98423674e-01 2.57312458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.95, Y:38.21, Z:25.74 [[ 9.88139811e-01 -1.43090106e-01 -5.57219515e-02 4.57945365e+02] [ 1.42938053e-01 9.89708786e-01 -6.72543534e-03 3.82108086e+01] [ 5.61108482e-02 -1.31911684e-03 9.98423674e-01 2.57354104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.00, Y:38.22, Z:25.74 [[ 9.87884804e-01 -1.44840944e-01 -5.57199634e-02 4.58002888e+02] [ 1.44690745e-01 9.89453958e-01 -6.74186646e-03 3.82159885e+01] [ 5.61088366e-02 -1.40197559e-03 9.98423674e-01 2.57396018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.06, Y:38.22, Z:25.74 [[ 9.87603425e-01 -1.46748015e-01 -5.57179899e-02 4.58060943e+02] [ 1.46599929e-01 9.89172780e-01 -6.75813687e-03 3.82214544e+01] [ 5.61064622e-02 -1.49389423e-03 9.98423674e-01 2.57423068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.12, Y:38.23, Z:25.75 [[ 9.87057688e-01 -1.50375689e-01 -5.57160067e-02 4.58118307e+02] [ 1.50232451e-01 9.88627492e-01 -6.77444796e-03 3.82258127e+01] [ 5.61010882e-02 -1.68358129e-03 9.98423674e-01 2.57466890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.18, Y:38.23, Z:25.75 [[ 9.86758256e-01 -1.52328391e-01 -5.57153909e-02 4.58175577e+02] [ 1.52187973e-01 9.88328315e-01 -6.77950839e-03 3.82318005e+01] [ 5.60978101e-02 -1.78947655e-03 9.98423674e-01 2.57500747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.23, Y:38.24, Z:25.75 [[ 9.87111691e-01 -1.50021744e-01 -5.57134252e-02 4.58232929e+02] [ 1.49876748e-01 9.88681334e-01 -6.79562454e-03 3.82377319e+01] [ 5.61023150e-02 -1.64210658e-03 9.98423674e-01 2.57529525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.29, Y:38.24, Z:25.76 [[ 9.87789611e-01 -1.45492000e-01 -5.57114254e-02 4.58289981e+02] [ 1.45338883e-01 9.89358482e-01 -6.81197994e-03 3.82445407e+01] [ 5.61096598e-02 -1.36823332e-03 9.98423675e-01 2.57573993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.35, Y:38.25, Z:25.76 [[ 9.89044335e-01 -1.36703205e-01 -5.57093930e-02 4.58347014e+02] [ 1.36535211e-01 9.90611683e-01 -6.82856061e-03 3.82525952e+01] [ 5.61198617e-02 -8.52544544e-04 9.98423675e-01 2.57636042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.40, Y:38.26, Z:25.77 [[ 9.89613029e-01 -1.32523905e-01 -5.57087700e-02 4.58404935e+02] [ 1.32349005e-01 9.91179622e-01 -6.83363938e-03 3.82597307e+01] [ 5.61230181e-02 -6.10341736e-04 9.98423675e-01 2.57657934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.46, Y:38.27, Z:25.77 [[ 9.89967593e-01 -1.29849597e-01 -5.57067854e-02 4.58462901e+02] [ 1.29669558e-01 9.91533603e-01 -6.84977994e-03 3.82654735e+01] [ 5.61245908e-02 -4.42414055e-04 9.98423675e-01 2.57672892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.52, Y:38.27, Z:25.77 [[ 9.89581314e-01 -1.32762178e-01 -5.57048220e-02 4.58520313e+02] [ 1.32585850e-01 9.91147746e-01 -6.86570979e-03 3.82697708e+01] [ 5.61232153e-02 -5.91493065e-04 9.98423675e-01 2.57708978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.58, Y:38.27, Z:25.77 [[ 9.88896174e-01 -1.37773534e-01 -5.57028787e-02 4.58577889e+02] [ 1.37604258e-01 9.90463383e-01 -6.88144035e-03 3.82742869e+01] [ 5.61197420e-02 -8.59923257e-04 9.98423675e-01 2.57742389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.64, Y:38.28, Z:25.78 [[ 9.87322915e-01 -1.48629463e-01 -5.57022811e-02 4.58635663e+02] [ 1.48477143e-01 9.88891863e-01 -6.88627394e-03 3.82777663e+01] [ 5.61070357e-02 -1.47153949e-03 9.98423675e-01 2.57791538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.69, Y:38.28, Z:25.78 [[ 9.86154958e-01 -1.56191788e-01 -5.57003014e-02 4.58693139e+02] [ 1.56050595e-01 9.87724947e-01 -6.90225006e-03 3.82826285e+01] [ 5.60946520e-02 -1.88537704e-03 9.98423675e-01 2.57831983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.75, Y:38.29, Z:25.79 [[ 9.84653591e-01 -1.65393015e-01 -5.56996921e-02 4.58751302e+02] [ 1.65266210e-01 9.86224808e-01 -6.90716348e-03 3.82861725e+01] [ 5.60748147e-02 -2.40411368e-03 9.98423675e-01 2.57864425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.81, Y:38.29, Z:25.79 [[ 9.83701892e-01 -1.70963018e-01 -5.56977014e-02 4.58808508e+02] [ 1.70844203e-01 9.85273733e-01 -6.92317864e-03 3.82928937e+01] [ 5.60610897e-02 -2.70528546e-03 9.98423675e-01 2.57889216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.87, Y:38.30, Z:25.79 [[ 9.82742601e-01 -1.76394351e-01 -5.56957252e-02 4.58866083e+02] [ 1.76283324e-01 9.84315010e-01 -6.93904101e-03 3.83007660e+01] [ 5.60461459e-02 -2.99893634e-03 9.98423676e-01 2.57925545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.92, Y:38.31, Z:25.80 [[ 9.81440981e-01 -1.83498813e-01 -5.56936840e-02 4.58923143e+02] [ 1.83398239e-01 9.83014094e-01 -6.95538510e-03 3.83089341e+01] [ 5.60239812e-02 -3.38782362e-03 9.98423676e-01 2.57959092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.98, Y:38.32, Z:25.80 [[ 9.80681526e-01 -1.87515408e-01 -5.56930568e-02 4.58980718e+02] [ 1.87420992e-01 9.82255020e-01 -6.96040392e-03 3.83184154e+01] [ 5.60099676e-02 -3.61210842e-03 9.98423676e-01 2.57994783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.04, Y:38.33, Z:25.80 [[ 9.80106386e-01 -1.90499310e-01 -5.56909861e-02 4.59037635e+02] [ 1.90408749e-01 9.81680106e-01 -6.97693221e-03 3.83314381e+01] [ 5.59998339e-02 -3.76591519e-03 9.98423676e-01 2.58024088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.09, Y:38.35, Z:25.81 [[ 9.80090727e-01 -1.90580464e-01 -5.56888979e-02 4.59093948e+02] [ 1.90489093e-01 9.81664401e-01 -6.99356027e-03 3.83451535e+01] [ 5.60006446e-02 -3.75380408e-03 9.98423676e-01 2.58050929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.15, Y:38.36, Z:25.81 [[ 9.80431169e-01 -1.88821881e-01 -5.56868107e-02 4.59149625e+02] [ 1.88726749e-01 9.82004619e-01 -7.01014051e-03 3.83573683e+01] [ 5.60083733e-02 -3.63663051e-03 9.98423676e-01 2.58075030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.21, Y:38.38, Z:25.81 [[ 9.81338957e-01 -1.84046001e-01 -5.56859127e-02 4.59205664e+02] [ 1.83942806e-01 9.82911899e-01 -7.01726724e-03 3.83752906e+01] [ 5.60258462e-02 -3.35670533e-03 9.98423676e-01 2.58118222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.26, Y:38.39, Z:25.82 [[ 9.82683932e-01 -1.76724646e-01 -5.56838414e-02 4.59261577e+02] [ 1.76608801e-01 9.84255993e-01 -7.03366465e-03 3.83918404e+01] [ 5.60501765e-02 -2.92238722e-03 9.98423676e-01 2.58161026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.32, Y:38.41, Z:25.82 [[ 9.84359372e-01 -1.67140680e-01 -5.56832069e-02 4.59318677e+02] [ 1.67009238e-01 9.85930206e-01 -7.03868472e-03 3.84112614e+01] [ 5.60762062e-02 -2.37101470e-03 9.98423676e-01 2.58185259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.38, Y:38.42, Z:25.82 [[ 9.84962482e-01 -1.63549643e-01 -5.56814403e-02 4.59376975e+02] [ 1.63411686e-01 9.86532757e-01 -7.05263242e-03 3.84244793e+01] [ 5.60850203e-02 -2.15241971e-03 9.98423676e-01 2.58214380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.44, Y:38.43, Z:25.82 [[ 9.85212182e-01 -1.62038768e-01 -5.56811809e-02 4.59435946e+02] [ 1.61898287e-01 9.86782233e-01 -7.05467954e-03 3.84342301e+01] [ 5.60883316e-02 -2.06433158e-03 9.98423676e-01 2.58248589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.49, Y:38.45, Z:25.83 [[ 9.85848433e-01 -1.58121798e-01 -5.56809226e-02 4.59494719e+02] [ 1.57974963e-01 9.87417902e-01 -7.05671741e-03 3.84473935e+01] [ 5.60961607e-02 -1.83933786e-03 9.98423676e-01 2.58281335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.55, Y:38.46, Z:25.83 [[ 9.86065532e-01 -1.56762247e-01 -5.56809226e-02 4.59552311e+02] [ 1.56613247e-01 9.87634798e-01 -7.05671741e-03 3.84567484e+01] [ 5.60986436e-02 -1.76198430e-03 9.98423676e-01 2.58312318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.61, Y:38.47, Z:25.83 [[ 9.86568096e-01 -1.53567797e-01 -5.56805432e-02 4.59611300e+02] [ 1.53413548e-01 9.88136855e-01 -7.05971020e-03 3.84689728e+01] [ 5.61041410e-02 -1.57726481e-03 9.98423676e-01 2.58339393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.67, Y:38.48, Z:25.84 [[ 9.87441158e-01 -1.47850045e-01 -5.56805432e-02 4.59669697e+02] [ 1.47686711e-01 9.89008997e-01 -7.05971020e-03 3.84815668e+01] [ 5.61123366e-02 -1.25222784e-03 9.98423676e-01 2.58365607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.73, Y:38.49, Z:25.84 [[ 9.88237277e-01 -1.42431656e-01 -5.56804163e-02 4.59728676e+02] [ 1.42259667e-01 9.89804189e-01 -7.06071053e-03 3.84921464e+01] [ 5.61183780e-02 -9.43420150e-04 9.98423676e-01 2.58392971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.79, Y:38.50, Z:25.84 [[ 9.88625369e-01 -1.39712560e-01 -5.56801652e-02 4.59787365e+02] [ 1.39536151e-01 9.90191790e-01 -7.06269015e-03 3.85017098e+01] [ 5.61207890e-02 -7.87041271e-04 9.98423676e-01 2.58423568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.85, Y:38.51, Z:25.85 [[ 9.88778001e-01 -1.38628325e-01 -5.56799053e-02 4.59845288e+02] [ 1.38450083e-01 9.90344215e-01 -7.06473832e-03 3.85107876e+01] [ 5.61216450e-02 -7.23429665e-04 9.98423676e-01 2.58455583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.90, Y:38.52, Z:25.85 [[ 9.88649472e-01 -1.39542195e-01 -5.56794236e-02 4.59904896e+02] [ 1.39365187e-01 9.90215825e-01 -7.06853291e-03 3.85176532e+01] [ 5.61210050e-02 -7.71471938e-04 9.98423676e-01 2.58479381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.96, Y:38.52, Z:25.85 [[ 9.88135534e-01 -1.43136188e-01 -5.56794236e-02 4.59963915e+02] [ 1.42964876e-01 9.89702521e-01 -7.06853291e-03 3.85238324e+01] [ 5.61178288e-02 -9.75533350e-04 9.98423676e-01 2.58499143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.02, Y:38.53, Z:25.85 [[ 9.87616761e-01 -1.46672931e-01 -5.56792944e-02 4.60023217e+02] [ 1.46507173e-01 9.89184346e-01 -7.06955092e-03 3.85301047e+01] [ 5.61139981e-02 -1.17540902e-03 9.98423676e-01 2.58522777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.08, Y:38.53, Z:25.85 [[ 9.86492263e-01 -1.54054729e-01 -5.56790383e-02 4.60082665e+02] [ 1.53900585e-01 9.88061032e-01 -7.07156708e-03 3.85348560e+01] [ 5.61036964e-02 -1.59299036e-03 9.98423676e-01 2.58544102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.14, Y:38.54, Z:25.86 [[ 9.85637660e-01 -1.59431104e-01 -5.56787846e-02 4.60141841e+02] [ 1.59285404e-01 9.87207235e-01 -7.07356372e-03 3.85404244e+01] [ 5.60942451e-02 -1.89684689e-03 9.98423676e-01 2.58568551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.20, Y:38.55, Z:25.86 [[ 9.84451526e-01 -1.66598600e-01 -5.56785313e-02 4.60200579e+02] [ 1.66464211e-01 9.86022111e-01 -7.07555699e-03 3.85462988e+01] [ 5.60790409e-02 -2.30293992e-03 9.98423676e-01 2.58598542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.26, Y:38.55, Z:25.86 [[ 9.83195533e-01 -1.73857697e-01 -5.56780410e-02 4.60260653e+02] [ 1.73734682e-01 9.84767050e-01 -7.07941326e-03 3.85536951e+01] [ 5.60607107e-02 -2.71275924e-03 9.98423676e-01 2.58627513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.32, Y:38.56, Z:25.87 [[ 9.82461317e-01 -1.77959873e-01 -5.56780410e-02 4.60320739e+02] [ 1.77843418e-01 9.84033333e-01 -7.07941326e-03 3.85614728e+01] [ 5.60488998e-02 -2.94672347e-03 9.98423676e-01 2.58658266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.38, Y:38.57, Z:25.87 [[ 9.81953006e-01 -1.80743604e-01 -5.56780410e-02 4.60379961e+02] [ 1.80631605e-01 9.83525345e-01 -7.07941326e-03 3.85707064e+01] [ 5.60403232e-02 -3.10556278e-03 9.98423676e-01 2.58691997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.44, Y:38.58, Z:25.87 [[ 9.81959859e-01 -1.80706328e-01 -5.56781674e-02 4.60440025e+02] [ 1.80594325e-01 9.83532199e-01 -7.07841912e-03 3.85800411e+01] [ 5.60403855e-02 -3.10443764e-03 9.98423676e-01 2.58731331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.50, Y:38.59, Z:25.88 [[ 9.82465071e-01 -1.77939026e-01 -5.56784219e-02 4.60500280e+02] [ 1.77822707e-01 9.84037097e-01 -7.07641668e-03 3.85913557e+01] [ 5.60488034e-02 -2.94855549e-03 9.98423676e-01 2.58760568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.56, Y:38.60, Z:25.88 [[ 9.82894318e-01 -1.75552398e-01 -5.56786783e-02 4.60561948e+02] [ 1.75432376e-01 9.84466066e-01 -7.07439848e-03 3.86021407e+01] [ 5.60556970e-02 -2.81445674e-03 9.98423676e-01 2.58791526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.62, Y:38.62, Z:25.88 [[ 9.83440789e-01 -1.72464610e-01 -5.56792013e-02 4.60623112e+02] [ 1.72339885e-01 9.85012170e-01 -7.07027971e-03 3.86155895e+01] [ 5.60640640e-02 -2.64254569e-03 9.98423676e-01 2.58826888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.68, Y:38.63, Z:25.89 [[ 9.83915804e-01 -1.69733493e-01 -5.56797228e-02 4.60684549e+02] [ 1.69604638e-01 9.85486852e-01 -7.06617072e-03 3.86269985e+01] [ 5.60710006e-02 -2.49102217e-03 9.98423676e-01 2.58859530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.74, Y:38.64, Z:25.89 [[ 9.84878360e-01 -1.64055866e-01 -5.56802452e-02 4.60744472e+02] [ 1.63918184e-01 9.86448659e-01 -7.06205187e-03 3.86396184e+01] [ 5.60842742e-02 -2.17174261e-03 9.98423676e-01 2.58895333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.81, Y:38.65, Z:25.89 [[ 9.86251559e-01 -1.55587690e-01 -5.56806304e-02 4.60805105e+02] [ 1.55436692e-01 9.87820634e-01 -7.05901392e-03 3.86530365e+01] [ 5.61007713e-02 -1.69284951e-03 9.98423676e-01 2.58942979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.87, Y:38.66, Z:25.90 [[ 9.87128960e-01 -1.49920065e-01 -5.56811438e-02 4.60866030e+02] [ 1.49760286e-01 9.88697165e-01 -7.05496184e-03 3.86646350e+01] [ 5.61094693e-02 -1.37466685e-03 9.98423676e-01 2.58974485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.93, Y:38.68, Z:25.90 [[ 9.88124794e-01 -1.43209447e-01 -5.56816550e-02 4.60927233e+02] [ 1.43039243e-01 9.89691901e-01 -7.05092482e-03 3.86766735e+01] [ 5.61174420e-02 -9.97468146e-04 9.98423676e-01 2.58995573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.99, Y:38.69, Z:25.90 [[ 9.88485239e-01 -1.40699785e-01 -5.56821597e-02 4.60987447e+02] [ 1.40525827e-01 9.90051934e-01 -7.04693695e-03 3.86859581e+01] [ 5.61197324e-02 -8.58988367e-04 9.98423676e-01 2.59024025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.05, Y:38.70, Z:25.91 [[ 9.88636127e-01 -1.39635515e-01 -5.56824098e-02 4.61046430e+02] [ 1.39459982e-01 9.90202647e-01 -7.04495981e-03 3.86956249e+01] [ 5.61205962e-02 -8.00566078e-04 9.98423676e-01 2.59063288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.11, Y:38.70, Z:25.91 [[ 9.88550417e-01 -1.40240852e-01 -5.56828186e-02 4.61107526e+02] [ 1.40066460e-01 9.90117064e-01 -7.04172750e-03 3.87040394e+01] [ 5.61200467e-02 -8.38192614e-04 9.98423677e-01 2.59102575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.17, Y:38.71, Z:25.91 [[ 9.88157910e-01 -1.42980102e-01 -5.56833397e-02 4.61168381e+02] [ 1.42810285e-01 9.89725060e-01 -7.03760440e-03 3.87113375e+01] [ 5.61174341e-02 -9.97889174e-04 9.98423677e-01 2.59130447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.23, Y:38.72, Z:25.92 [[ 9.87714157e-01 -1.46013927e-01 -5.56837247e-02 4.61229616e+02] [ 1.45849095e-01 9.89281839e-01 -7.03455652e-03 3.87183304e+01] [ 5.61140408e-02 -1.17328978e-03 9.98423677e-01 2.59170625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.29, Y:38.72, Z:25.92 [[ 9.86651902e-01 -1.53027088e-01 -5.56842401e-02 4.61290446e+02] [ 1.52873627e-01 9.88220738e-01 -7.03047415e-03 3.87245633e+01] [ 5.61041739e-02 -1.57602108e-03 9.98423677e-01 2.59203512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.35, Y:38.73, Z:25.92 [[ 9.85682150e-01 -1.59153768e-01 -5.56846209e-02 4.61352552e+02] [ 1.59010227e-01 9.87251925e-01 -7.02745691e-03 3.87301959e+01] [ 5.60931954e-02 -1.92758539e-03 9.98423677e-01 2.59228667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.41, Y:38.74, Z:25.93 [[ 9.84666332e-01 -1.65322052e-01 -5.56851289e-02 4.61413103e+02] [ 1.65188570e-01 9.86236994e-01 -7.02342906e-03 3.87355034e+01] [ 5.60798619e-02 -2.28281267e-03 9.98423677e-01 2.59255931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.48, Y:38.74, Z:25.93 [[ 9.83649317e-01 -1.71269218e-01 -5.56855048e-02 4.61475214e+02] [ 1.71145397e-01 9.85220770e-01 -7.02044748e-03 3.87412187e+01] [ 5.60649025e-02 -2.62465948e-03 9.98423677e-01 2.59279335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.54, Y:38.75, Z:25.93 [[ 9.82464156e-01 -1.77941705e-01 -5.56860028e-02 4.61536901e+02] [ 1.77828777e-01 9.84036430e-01 -7.01649588e-03 3.87472055e+01] [ 5.60455826e-02 -3.00911807e-03 9.98423677e-01 2.59302210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.60, Y:38.75, Z:25.93 [[ 9.82129864e-01 -1.79777481e-01 -5.56865171e-02 4.61596814e+02] [ 1.79667722e-01 9.83702361e-01 -7.01241114e-03 3.87545697e+01] [ 5.60396320e-02 -3.11797130e-03 9.98423677e-01 2.59326956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.66, Y:38.76, Z:25.94 [[ 9.81710815e-01 -1.82051836e-01 -5.56866587e-02 4.61655461e+02] [ 1.81945784e-01 9.83283567e-01 -7.01128699e-03 3.87631573e+01] [ 5.60321941e-02 -3.24889648e-03 9.98423677e-01 2.59375326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.72, Y:38.77, Z:25.94 [[ 9.81545235e-01 -1.82942515e-01 -5.56865170e-02 4.61717291e+02] [ 1.82837827e-01 9.83118078e-01 -7.01241235e-03 3.87726397e+01] [ 5.60292899e-02 -3.29860180e-03 9.98423677e-01 2.59399712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.78, Y:38.78, Z:25.94 [[ 9.81441529e-01 -1.83497910e-01 -5.56870116e-02 4.61778604e+02] [ 1.83394333e-01 9.83014445e-01 -7.00848196e-03 3.87809538e+01] [ 5.60271786e-02 -3.33426711e-03 9.98423677e-01 2.59414135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.84, Y:38.79, Z:25.94 [[ 9.81242141e-01 -1.84560999e-01 -5.56875041e-02 4.61838030e+02] [ 1.84459348e-01 9.82815184e-01 -7.00456691e-03 3.87906106e+01] [ 5.60232944e-02 -3.39890443e-03 9.98423677e-01 2.59418574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.90, Y:38.80, Z:25.95 [[ 9.81705603e-01 -1.82079643e-01 -5.56876409e-02 4.61896844e+02] [ 1.81974077e-01 9.83278387e-01 -7.00347846e-03 3.88003171e+01] [ 5.60316446e-02 -3.25835302e-03 9.98423677e-01 2.59461990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.96, Y:38.81, Z:25.95 [[ 9.82360127e-01 -1.78514658e-01 -5.56875039e-02 4.61957624e+02] [ 1.78403322e-01 9.83932513e-01 -7.00456805e-03 3.88122203e+01] [ 5.60431637e-02 -3.05382731e-03 9.98423677e-01 2.59507610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.02, Y:38.83, Z:25.96 [[ 9.83923262e-01 -1.69687543e-01 -5.56879932e-02 4.62017489e+02] [ 1.69562313e-01 9.85494603e-01 -7.00067545e-03 3.88269915e+01] [ 5.60681442e-02 -2.55445751e-03 9.98423677e-01 2.59557495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.08, Y:38.84, Z:25.96 [[ 9.85028410e-01 -1.63149743e-01 -5.56883554e-02 4.62079668e+02] [ 1.63014244e-01 9.86598899e-01 -6.99779333e-03 3.88388392e+01] [ 5.60837583e-02 -2.18496992e-03 9.98423677e-01 2.59609330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.14, Y:38.85, Z:25.96 [[ 9.86618728e-01 -1.53239054e-01 -5.56891283e-02 4.62140924e+02] [ 1.53088120e-01 9.88187808e-01 -6.99163707e-03 3.88526705e+01] [ 5.61027095e-02 -1.62726391e-03 9.98423677e-01 2.59642964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.20, Y:38.86, Z:25.97 [[ 9.87480306e-01 -1.47584829e-01 -5.56898938e-02 4.62202157e+02] [ 1.47425254e-01 9.89048531e-01 -6.98553479e-03 3.88645568e+01] [ 5.61109666e-02 -1.31201872e-03 9.98423677e-01 2.59673088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.26, Y:38.88, Z:25.97 [[ 9.88547891e-01 -1.40255647e-01 -5.56903965e-02 4.62262764e+02] [ 1.40084669e-01 9.90114914e-01 -6.98152442e-03 3.88773132e+01] [ 5.61190904e-02 -8.99799510e-04 9.98423677e-01 2.59701111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.32, Y:38.89, Z:25.97 [[ 9.89072333e-01 -1.36508031e-01 -5.56909090e-02 4.62322814e+02] [ 1.36331345e-01 9.90638723e-01 -6.97743409e-03 3.88874063e+01] [ 5.61220468e-02 -6.91229522e-04 9.98423677e-01 2.59729828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.38, Y:38.90, Z:25.98 [[ 9.89627646e-01 -1.32422061e-01 -5.56912867e-02 4.62383579e+02] [ 1.32239078e-01 9.91193313e-01 -6.97441809e-03 3.88984217e+01] [ 5.61243978e-02 -4.62487441e-04 9.98423677e-01 2.59770777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.45, Y:38.91, Z:25.98 [[ 9.89836998e-01 -1.30847781e-01 -5.56917902e-02 4.62445016e+02] [ 1.30662534e-01 9.91402399e-01 -6.97039488e-03 3.89078413e+01] [ 5.61250351e-02 -3.77275684e-04 9.98423677e-01 2.59805870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.51, Y:38.92, Z:25.98 [[ 9.89697380e-01 -1.31899454e-01 -5.56922867e-02 4.62506702e+02] [ 1.31716094e-01 9.91263002e-01 -6.96642629e-03 3.89164075e+01] [ 5.61245711e-02 -4.40916603e-04 9.98423677e-01 2.59836970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.57, Y:38.92, Z:25.99 [[ 9.89237954e-01 -1.35301820e-01 -5.56927966e-02 4.62567939e+02] [ 1.35124073e-01 9.90804224e-01 -6.96234725e-03 3.89241220e+01] [ 5.61226764e-02 -6.38019374e-04 9.98423677e-01 2.59871772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.63, Y:38.93, Z:25.99 [[ 9.87951872e-01 -1.44393057e-01 -5.56933075e-02 4.62628242e+02] [ 1.44229952e-01 9.89519734e-01 -6.95825806e-03 3.89308429e+01] [ 5.61143510e-02 -1.15821899e-03 9.98423677e-01 2.59916736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.69, Y:38.94, Z:26.00 [[ 9.86039828e-01 -1.56919312e-01 -5.56936848e-02 4.62688885e+02] [ 1.56776288e-01 9.87609650e-01 -6.95523649e-03 3.89364039e+01] [ 5.60950315e-02 -1.87330895e-03 9.98423677e-01 2.59953595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.75, Y:38.94, Z:26.00 [[ 9.84650264e-01 -1.65414720e-01 -5.56940559e-02 4.62749592e+02] [ 1.65285403e-01 9.86221274e-01 -6.95226379e-03 3.89421304e+01] [ 5.60766696e-02 -2.35986612e-03 9.98423677e-01 2.59975457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.81, Y:38.95, Z:26.00 [[ 9.82786492e-01 -1.76150056e-01 -5.56944180e-02 4.62812217e+02] [ 1.76038055e-01 9.84358832e-01 -6.94936194e-03 3.89480339e+01] [ 5.60474227e-02 -2.97459795e-03 9.98423677e-01 2.60008383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.87, Y:38.96, Z:26.00 [[ 9.81906555e-01 -1.80990502e-01 -5.56951984e-02 4.62874008e+02] [ 1.80886604e-01 9.83479451e-01 -6.94310213e-03 3.89557751e+01] [ 5.60317186e-02 -3.25703779e-03 9.98423677e-01 2.60038681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.94, Y:38.97, Z:26.01 [[ 9.81208578e-01 -1.84736839e-01 -5.56958401e-02 4.62936436e+02] [ 1.84639236e-01 9.82781877e-01 -6.93795023e-03 3.89654991e+01] [ 5.60185573e-02 -3.47606111e-03 9.98423677e-01 2.60079186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.00, Y:38.98, Z:26.01 [[ 9.80974290e-01 -1.85976702e-01 -5.56965839e-02 4.62998851e+02] [ 1.85881425e-01 9.82547731e-01 -6.93197462e-03 3.89750401e+01] [ 5.60137379e-02 -3.55287151e-03 9.98423677e-01 2.60117949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.06, Y:38.99, Z:26.01 [[ 9.80860977e-01 -1.86573175e-01 -5.56973368e-02 4.63060930e+02] [ 1.86479198e-01 9.82434497e-01 -6.92591956e-03 3.89855209e+01] [ 5.60111759e-02 -3.59303045e-03 9.98423677e-01 2.60145808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.12, Y:39.00, Z:26.01 [[ 9.80924652e-01 -1.86237884e-01 -5.56980934e-02 4.63122330e+02] [ 1.86143714e-01 9.82498160e-01 -6.91983005e-03 3.89966154e+01] [ 5.60120087e-02 -3.58001806e-03 9.98423677e-01 2.60147712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.18, Y:39.01, Z:26.02 [[ 9.81156440e-01 -1.85012665e-01 -5.56987843e-02 4.63183331e+02] [ 1.84916844e-01 9.82729848e-01 -6.91426443e-03 3.90070098e+01] [ 5.60160843e-02 -3.51566833e-03 9.98423677e-01 2.60200603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.24, Y:39.02, Z:26.02 [[ 9.81180706e-01 -1.84883764e-01 -5.56993389e-02 4.63244611e+02] [ 1.84787989e-01 9.82754117e-01 -6.90979342e-03 3.90167543e+01] [ 5.60162632e-02 -3.51281283e-03 9.98423677e-01 2.60217293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.31, Y:39.03, Z:26.03 [[ 9.81021068e-01 -1.85728812e-01 -5.56998366e-02 4.63306354e+02] [ 1.85634619e-01 9.82594575e-01 -6.90577898e-03 3.90282234e+01] [ 5.60129594e-02 -3.56510328e-03 9.98423677e-01 2.60251674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.37, Y:39.04, Z:26.03 [[ 9.81048164e-01 -1.85585409e-01 -5.57005962e-02 4.63367427e+02] [ 1.85491333e-01 9.82621677e-01 -6.89964730e-03 3.90369060e+01] [ 5.60130871e-02 -3.56309151e-03 9.98423677e-01 2.60287196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.43, Y:39.05, Z:26.03 [[ 9.81070768e-01 -1.85465730e-01 -5.57010949e-02 4.63428246e+02] [ 1.85371690e-01 9.82644283e-01 -6.89561830e-03 3.90473998e+01] [ 5.60132634e-02 -3.56031654e-03 9.98423677e-01 2.60334784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.49, Y:39.06, Z:26.04 [[ 9.81316287e-01 -1.84162096e-01 -5.57015858e-02 4.63488913e+02] [ 1.84066190e-01 9.82889690e-01 -6.89165114e-03 3.90592001e+01] [ 5.60176953e-02 -3.48988914e-03 9.98423677e-01 2.60395222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.55, Y:39.07, Z:26.05 [[ 9.81338926e-01 -1.84041272e-01 -5.57020819e-02 4.63549548e+02] [ 1.83945399e-01 9.82912331e-01 -6.88763867e-03 3.90703063e+01] [ 5.60178730e-02 -3.48703373e-03 9.98423677e-01 2.60460827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.61, Y:39.08, Z:26.05 [[ 9.81206404e-01 -1.84746355e-01 -5.57025790e-02 4.63611889e+02] [ 1.84651840e-01 9.82779891e-01 -6.88361637e-03 3.90794228e+01] [ 5.60150975e-02 -3.53133523e-03 9.98423677e-01 2.60501575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.67, Y:39.09, Z:26.05 [[ 9.80692671e-01 -1.87454060e-01 -5.57033260e-02 4.63673382e+02] [ 1.87364231e-01 9.82266432e-01 -6.87756577e-03 3.90881504e+01] [ 5.60047350e-02 -3.69203249e-03 9.98423677e-01 2.60520001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.73, Y:39.10, Z:26.05 [[ 9.80266794e-01 -1.89668386e-01 -5.57038172e-02 4.63734882e+02] [ 1.89582336e-01 9.81840767e-01 -6.87358555e-03 3.90968080e+01] [ 5.59959805e-02 -3.82251210e-03 9.98423677e-01 2.60544368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.80, Y:39.10, Z:26.06 [[ 9.80212062e-01 -1.89950896e-01 -5.57043072e-02 4.63796205e+02] [ 1.89865524e-01 9.81786072e-01 -6.86961236e-03 3.91049978e+01] [ 5.59946020e-02 -3.84265055e-03 9.98423677e-01 2.60570875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.86, Y:39.11, Z:26.06 [[ 9.80464425e-01 -1.88643811e-01 -5.57047995e-02 4.63857309e+02] [ 1.88556567e-01 9.82038332e-01 -6.86561741e-03 3.91129207e+01] [ 5.59994046e-02 -3.77201211e-03 9.98423677e-01 2.60616258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.92, Y:39.12, Z:26.07 [[ 9.81108631e-01 -1.85264067e-01 -5.57052941e-02 4.63918503e+02] [ 1.85171627e-01 9.82682241e-01 -6.86160258e-03 3.91212095e+01] [ 5.60118116e-02 -3.58306241e-03 9.98423677e-01 2.60670973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.98, Y:39.13, Z:26.07 [[ 9.81564315e-01 -1.82833841e-01 -5.57071136e-02 4.63981186e+02] [ 1.82738341e-01 9.83137742e-01 -6.84679870e-03 3.91272211e+01] [ 5.60195924e-02 -3.45925226e-03 9.98423677e-01 2.60709685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.04, Y:39.13, Z:26.07 [[ 9.81776450e-01 -1.81691051e-01 -5.57078532e-02 4.64044417e+02] [ 1.81594060e-01 9.83349786e-01 -6.84077580e-03 3.91330169e+01] [ 5.60232132e-02 -3.40010267e-03 9.98423677e-01 2.60733390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.11, Y:39.14, Z:26.08 [[ 9.81854856e-01 -1.81266246e-01 -5.57098693e-02 4.64105133e+02] [ 1.81169505e-01 9.83428207e-01 -6.82431741e-03 3.91379146e+01] [ 5.60236753e-02 -3.39244024e-03 9.98423677e-01 2.60751701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.17, Y:39.14, Z:26.08 [[ 9.82064257e-01 -1.80127808e-01 -5.57114736e-02 4.64166926e+02] [ 1.80029984e-01 9.83637541e-01 -6.81119503e-03 3.91445284e+01] [ 5.60267826e-02 -3.34070451e-03 9.98423677e-01 2.60796256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.23, Y:39.15, Z:26.08 [[ 9.82542859e-01 -1.77498468e-01 -5.57119831e-02 4.64228204e+02] [ 1.77396669e-01 9.84115891e-01 -6.80702497e-03 3.91498512e+01] [ 5.60352844e-02 -3.19492644e-03 9.98423677e-01 2.60836664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.29, Y:39.16, Z:26.09 [[ 9.83241189e-01 -1.73588018e-01 -5.57132316e-02 4.64291055e+02] [ 1.73480539e-01 9.84813843e-01 -6.79679124e-03 3.91556410e+01] [ 5.60470033e-02 -2.98227637e-03 9.98423677e-01 2.60879552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.35, Y:39.16, Z:26.09 [[ 9.84344769e-01 -1.67216417e-01 -5.57139648e-02 4.64352788e+02] [ 1.67099095e-01 9.85916719e-01 -6.79077593e-03 3.91608593e+01] [ 5.60648586e-02 -2.62528834e-03 9.98423677e-01 2.60928070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.42, Y:39.17, Z:26.10 [[ 9.85080272e-01 -1.62827382e-01 -5.57144587e-02 4.64415307e+02] [ 1.62703284e-01 9.86651702e-01 -6.78672144e-03 3.91666203e+01] [ 5.60758296e-02 -2.37946001e-03 9.98423677e-01 2.60963351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.48, Y:39.17, Z:26.10 [[ 9.85957576e-01 -1.57427677e-01 -5.57152122e-02 4.64475866e+02] [ 1.57295321e-01 9.87528332e-01 -6.78053014e-03 3.91719374e+01] [ 5.60877937e-02 -2.07842710e-03 9.98423677e-01 2.60985909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.54, Y:39.18, Z:26.10 [[ 9.86430688e-01 -1.54435334e-01 -5.57155816e-02 4.64537683e+02] [ 1.54298383e-01 9.88001050e-01 -6.77749320e-03 3.91778370e+01] [ 5.60937375e-02 -1.91129689e-03 9.98423677e-01 2.61010991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.60, Y:39.18, Z:26.10 [[ 9.86885111e-01 -1.51504119e-01 -5.57160695e-02 4.64599546e+02] [ 1.51362730e-01 9.88455079e-01 -6.77347973e-03 3.91834920e+01] [ 5.60990420e-02 -1.74869011e-03 9.98423677e-01 2.61041480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.66, Y:39.19, Z:26.11 [[ 9.87319760e-01 -1.48645069e-01 -5.57165642e-02 4.64660945e+02] [ 1.48499362e-01 9.88889334e-01 -6.76940812e-03 3.91886452e+01] [ 5.61037552e-02 -1.59030385e-03 9.98423677e-01 2.61083993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.72, Y:39.19, Z:26.11 [[ 9.87460859e-01 -1.47704466e-01 -5.57175197e-02 4.64722659e+02] [ 1.47557708e-01 9.89030335e-01 -6.76153484e-03 3.91949981e+01] [ 5.61050261e-02 -1.54479852e-03 9.98423677e-01 2.61126457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.78, Y:39.20, Z:26.12 [[ 9.87186458e-01 -1.49527260e-01 -5.57180083e-02 4.64784063e+02] [ 1.49383628e-01 9.88756223e-01 -6.75750588e-03 3.92009117e+01] [ 5.61019588e-02 -1.65243992e-03 9.98423677e-01 2.61180737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.84, Y:39.21, Z:26.12 [[ 9.86598593e-01 -1.53357961e-01 -5.57185112e-02 4.64844535e+02] [ 1.53220656e-01 9.88168924e-01 -6.75335674e-03 3.92059605e+01] [ 5.60949823e-02 -1.87437460e-03 9.98423677e-01 2.61228976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.91, Y:39.21, Z:26.13 [[ 9.85189890e-01 -1.62161301e-01 -5.57188834e-02 4.64907095e+02] [ 1.62038197e-01 9.86761398e-01 -6.75028425e-03 3.92099140e+01] [ 5.60758782e-02 -2.37827561e-03 9.98423677e-01 2.61252844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.97, Y:39.21, Z:26.12 [[ 9.84184562e-01 -1.68154988e-01 -5.57193703e-02 4.64969315e+02] [ 1.68041680e-01 9.85756807e-01 -6.74626287e-03 3.92147051e+01] [ 5.60601663e-02 -2.72360880e-03 9.98423677e-01 2.61242343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.03, Y:39.22, Z:26.13 [[ 9.83910009e-01 -1.69753908e-01 -5.57198721e-02 4.65030047e+02] [ 1.69643389e-01 9.85482453e-01 -6.74211590e-03 3.92218514e+01] [ 5.60554568e-02 -2.81887259e-03 9.98423677e-01 2.61269236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.09, Y:39.23, Z:26.13 [[ 9.83851434e-01 -1.70092944e-01 -5.57202425e-02 4.65091761e+02] [ 1.69983139e-01 9.85423928e-01 -6.73905324e-03 3.92292702e+01] [ 5.60543256e-02 -2.84127454e-03 9.98423677e-01 2.61317569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.15, Y:39.24, Z:26.14 [[ 9.84424097e-01 -1.66746508e-01 -5.57207304e-02 4.65153438e+02] [ 1.66631585e-01 9.85996224e-01 -6.73501681e-03 3.92371729e+01] [ 5.60634703e-02 -2.65472077e-03 9.98423677e-01 2.61364786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.21, Y:39.25, Z:26.14 [[ 9.84742269e-01 -1.64856936e-01 -5.57212269e-02 4.65214501e+02] [ 1.64739228e-01 9.86314190e-01 -6.73090653e-03 3.92451848e+01] [ 5.60682734e-02 -2.55126375e-03 9.98423677e-01 2.61428680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.28, Y:39.25, Z:26.15 [[ 9.85092835e-01 -1.62748873e-01 -5.57217217e-02 4.65275812e+02] [ 1.62628032e-01 9.86664519e-01 -6.72680775e-03 3.92520600e+01] [ 5.60734261e-02 -2.43538381e-03 9.98423678e-01 2.61480096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.34, Y:39.26, Z:26.15 [[ 9.85169751e-01 -1.62282460e-01 -5.57222155e-02 4.65337823e+02] [ 1.62161106e-01 9.86741395e-01 -6.72271467e-03 3.92586385e+01] [ 5.60743954e-02 -2.41296098e-03 9.98423678e-01 2.61516899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.40, Y:39.26, Z:26.16 [[ 9.85302538e-01 -1.61474112e-01 -5.57227047e-02 4.65399477e+02] [ 1.61351698e-01 9.86874100e-01 -6.71865784e-03 3.92638936e+01] [ 5.60761833e-02 -2.37104238e-03 9.98423678e-01 2.61562520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.46, Y:39.27, Z:26.16 [[ 9.85071683e-01 -1.62876349e-01 -5.57231970e-02 4.65461136e+02] [ 1.62756402e-01 9.86643435e-01 -6.71457217e-03 3.92702642e+01] [ 5.60725715e-02 -2.45497214e-03 9.98423678e-01 2.61601261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.52, Y:39.28, Z:26.16 [[ 9.84745169e-01 -1.64838540e-01 -5.57243852e-02 4.65523956e+02] [ 1.64722283e-01 9.86317199e-01 -6.70469667e-03 3.92761134e+01] [ 5.60671119e-02 -2.57663029e-03 9.98423678e-01 2.61636745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.59, Y:39.28, Z:26.17 [[ 9.84338098e-01 -1.67251967e-01 -5.57251156e-02 4.65586688e+02] [ 1.67139907e-01 9.85910432e-01 -6.69862109e-03 3.92823833e+01] [ 5.60603303e-02 -2.72018268e-03 9.98423678e-01 2.61664498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.65, Y:39.29, Z:26.17 [[ 9.84444868e-01 -1.66622119e-01 -5.57258510e-02 4.65646718e+02] [ 1.66509399e-01 9.86017155e-01 -6.69249709e-03 3.92905232e+01] [ 5.60617632e-02 -2.69048352e-03 9.98423678e-01 2.61699278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.71, Y:39.30, Z:26.17 [[ 9.84168849e-01 -1.68244702e-01 -5.57260929e-02 4.65708345e+02] [ 1.68134687e-01 9.85741327e-01 -6.69048267e-03 3.92999221e+01] [ 5.60571510e-02 -2.78492457e-03 9.98423678e-01 2.61726805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.77, Y:39.31, Z:26.17 [[ 9.83932045e-01 -1.69623935e-01 -5.57265752e-02 4.65770539e+02] [ 1.69516351e-01 9.85504692e-01 -6.68646247e-03 3.93072281e+01] [ 5.60529855e-02 -2.86754098e-03 9.98423678e-01 2.61743851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.83, Y:39.32, Z:26.18 [[ 9.83549736e-01 -1.71826600e-01 -5.57273414e-02 4.65831231e+02] [ 1.71722899e-01 9.85122644e-01 -6.68007120e-03 3.93159143e+01] [ 5.60460798e-02 -2.99947832e-03 9.98423678e-01 2.61779635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.89, Y:39.32, Z:26.18 [[ 9.83359825e-01 -1.72910026e-01 -5.57277164e-02 4.65893154e+02] [ 1.72808235e-01 9.84932857e-01 -6.67694117e-03 3.93237632e+01] [ 5.60425690e-02 -3.06437259e-03 9.98423678e-01 2.61803661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.95, Y:39.33, Z:26.18 [[ 9.83180534e-01 -1.73926437e-01 -5.57281928e-02 4.65954442e+02] [ 1.73826496e-01 9.84753685e-01 -6.67296297e-03 3.93312709e+01] [ 5.60391479e-02 -3.12630920e-03 9.98423678e-01 2.61834609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.02, Y:39.34, Z:26.19 [[ 9.83199498e-01 -1.73819049e-01 -5.57286763e-02 4.66017439e+02] [ 1.73719165e-01 9.84772653e-01 -6.66892254e-03 3.93387176e+01] [ 5.60392621e-02 -3.12425779e-03 9.98423678e-01 2.61870256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.08, Y:39.35, Z:26.19 [[ 9.82976718e-01 -1.75074285e-01 -5.57294036e-02 4.66080113e+02] [ 1.74976753e-01 9.84550020e-01 -6.66283877e-03 3.93466983e+01] [ 5.60348772e-02 -3.20193473e-03 9.98423678e-01 2.61901304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.14, Y:39.35, Z:26.19 [[ 9.83041245e-01 -1.74711371e-01 -5.57301261e-02 4.66140557e+02] [ 1.74613600e-01 9.84614533e-01 -6.65679035e-03 3.93549824e+01] [ 5.60357090e-02 -3.18733849e-03 9.98423678e-01 2.61937505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.20, Y:39.37, Z:26.20 [[ 9.83657281e-01 -1.71208842e-01 -5.57304809e-02 4.66201801e+02] [ 1.71105636e-01 9.85230221e-01 -6.65381849e-03 3.93661558e+01] [ 5.60465466e-02 -2.99072239e-03 9.98423678e-01 2.62005892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.26, Y:39.38, Z:26.20 [[ 9.84148929e-01 -1.68359570e-01 -5.57309678e-02 4.66261819e+02] [ 1.68252040e-01 9.85721579e-01 -6.64973796e-03 3.93754666e+01] [ 5.60547646e-02 -2.83251655e-03 9.98423678e-01 2.62048799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.32, Y:39.38, Z:26.21 [[ 9.84566872e-01 -1.65897841e-01 -5.57313271e-02 4.66323944e+02] [ 1.65786548e-01 9.86139261e-01 -6.64672521e-03 3.93846366e+01] [ 5.60615271e-02 -2.69535889e-03 9.98423678e-01 2.62082911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.39, Y:39.39, Z:26.21 [[ 9.84333185e-01 -1.67278574e-01 -5.57320342e-02 4.66385472e+02] [ 1.67169822e-01 9.85905751e-01 -6.64079120e-03 3.93933197e+01] [ 5.60573951e-02 -2.77996308e-03 9.98423678e-01 2.62116083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.45, Y:39.40, Z:26.21 [[ 9.83838757e-01 -1.70162239e-01 -5.57325156e-02 4.66447153e+02] [ 1.70058324e-01 9.85411650e-01 -6.63674834e-03 3.94005128e+01] [ 5.60487941e-02 -2.94828794e-03 9.98423678e-01 2.62137917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.51, Y:39.41, Z:26.21 [[ 9.83003624e-01 -1.74922006e-01 -5.57329893e-02 4.66508051e+02] [ 1.74825930e-01 9.84577016e-01 -6.63276769e-03 3.94072295e+01] [ 5.60336374e-02 -3.22353701e-03 9.98423678e-01 2.62146079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.57, Y:39.42, Z:26.22 [[ 9.82686177e-01 -1.76696557e-01 -5.57333396e-02 4.66569941e+02] [ 1.76603488e-01 9.84259749e-01 -6.62982363e-03 3.94155057e+01] [ 5.60275498e-02 -3.32766615e-03 9.98423678e-01 2.62170755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.63, Y:39.42, Z:26.22 [[ 9.82958437e-01 -1.75175500e-01 -5.57337974e-02 4.66631567e+02] [ 1.75080214e-01 9.84531876e-01 -6.62597286e-03 3.94249842e+01] [ 5.60324082e-02 -3.24482924e-03 9.98423678e-01 2.62233127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.69, Y:39.44, Z:26.23 [[ 9.84042472e-01 -1.68979512e-01 -5.57345248e-02 4.66692884e+02] [ 1.68874661e-01 9.85615304e-01 -6.61984790e-03 3.94360404e+01] [ 5.60514193e-02 -2.89793747e-03 9.98423678e-01 2.62298843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.75, Y:39.44, Z:26.23 [[ 9.85231717e-01 -1.61901426e-01 -5.57350092e-02 4.66754994e+02] [ 1.61785502e-01 9.86803771e-01 -6.61576752e-03 3.94447013e+01] [ 5.60706195e-02 -2.49905246e-03 9.98423678e-01 2.62291953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.82, Y:39.46, Z:26.24 [[ 9.86252248e-01 -1.55563610e-01 -5.57356758e-02 4.66815287e+02] [ 1.55437898e-01 9.87823550e-01 -6.61014681e-03 3.94560228e+01] [ 5.60853114e-02 -2.14416415e-03 9.98423678e-01 2.62403602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.365099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.88, Y:39.46, Z:26.24 [[ 9.86774569e-01 -1.52215061e-01 -5.57362093e-02 4.66876798e+02] [ 1.52084270e-01 9.88345456e-01 -6.60564528e-03 3.94641824e+01] [ 5.60921079e-02 -1.95831795e-03 9.98423678e-01 2.62436524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.94, Y:39.47, Z:26.25 [[ 9.87103493e-01 -1.50067035e-01 -5.57366873e-02 4.66938796e+02] [ 1.49933054e-01 9.88674111e-01 -6.60160940e-03 3.94713432e+01] [ 5.60961038e-02 -1.84030003e-03 9.98423678e-01 2.62459825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.00, Y:39.48, Z:26.25 [[ 9.87112088e-01 -1.50010314e-01 -5.57371659e-02 4.66999817e+02] [ 1.49876470e-01 9.88682717e-01 -6.59756620e-03 3.94785275e+01] [ 5.60960756e-02 -1.84115234e-03 9.98423678e-01 2.62479613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.06, Y:39.49, Z:26.25 [[ 9.87113723e-01 -1.49999421e-01 -5.57375196e-02 4.67061641e+02] [ 1.49865728e-01 9.88684366e-01 -6.59457651e-03 3.94861347e+01] [ 5.60959969e-02 -1.84354698e-03 9.98423678e-01 2.62479747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.12, Y:39.49, Z:26.25 [[ 9.87163411e-01 -1.49671800e-01 -5.57382470e-02 4.67122687e+02] [ 1.49537934e-01 9.88734039e-01 -6.58842327e-03 3.94932516e+01] [ 5.60964032e-02 -1.83113188e-03 9.98423678e-01 2.62543941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66509989299993 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:467.18, Y:39.50, Z:26.25 [[ 9.87618279e-01 -1.46640175e-01 -5.57386249e-02 4.67184433e+02] [ 1.46501667e-01 9.89188504e-01 -6.58522410e-03 3.94998439e+01] [ 5.61016654e-02 -1.66211377e-03 9.98423678e-01 2.62543955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.25, Y:39.51, Z:26.26 [[ 9.87346231e-01 -1.48460664e-01 -5.57391471e-02 4.67245891e+02] [ 1.48325300e-01 9.88916730e-01 -6.58080144e-03 3.95072220e+01] [ 5.60983652e-02 -1.76999621e-03 9.98423678e-01 2.62628577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.31, Y:39.51, Z:26.27 [[ 9.87340210e-01 -1.48500489e-01 -5.57396962e-02 4.67307744e+02] [ 1.48365451e-01 9.88910738e-01 -6.57614689e-03 3.95142468e+01] [ 5.60981452e-02 -1.77695092e-03 9.98423678e-01 2.62665396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.37, Y:39.52, Z:26.27 [[ 9.87217435e-01 -1.49314334e-01 -5.57401669e-02 4.67369328e+02] [ 1.49180816e-01 9.88788092e-01 -6.57215529e-03 3.95207774e+01] [ 5.60965302e-02 -1.82721731e-03 9.98423678e-01 2.62709870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.43, Y:39.53, Z:26.27 [[ 9.87279744e-01 -1.48901605e-01 -5.57406390e-02 4.67431493e+02] [ 1.48767656e-01 9.88850365e-01 -6.56814893e-03 3.95273773e+01] [ 5.60971591e-02 -1.80780380e-03 9.98423678e-01 2.62747736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.49, Y:39.53, Z:26.28 [[ 9.87543815e-01 -1.47139780e-01 -5.57413514e-02 4.67493670e+02] [ 1.47003370e-01 9.89114224e-01 -6.56209745e-03 3.95331996e+01] [ 5.61001091e-02 -1.71380774e-03 9.98423678e-01 2.62784116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.55, Y:39.54, Z:26.28 [[ 9.87811892e-01 -1.45328988e-01 -5.57418289e-02 4.67554691e+02] [ 1.45189928e-01 9.89382068e-01 -6.55803878e-03 3.95398157e+01] [ 5.61030391e-02 -1.61504342e-03 9.98423678e-01 2.62806906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.62, Y:39.55, Z:26.28 [[ 9.88162438e-01 -1.42925870e-01 -5.57421816e-02 4.67616363e+02] [ 1.42783161e-01 9.89732287e-01 -6.55503908e-03 3.95457889e+01] [ 5.61067216e-02 -1.48160148e-03 9.98423678e-01 2.62815333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.68, Y:39.55, Z:26.28 [[ 9.88428390e-01 -1.41074712e-01 -5.57426516e-02 4.67677212e+02] [ 1.40929288e-01 9.89997990e-01 -6.55103974e-03 3.95523054e+01] [ 5.61092991e-02 -1.38053854e-03 9.98423678e-01 2.62830643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.74, Y:39.56, Z:26.29 [[ 9.88532394e-01 -1.40343748e-01 -5.57435037e-02 4.67738624e+02] [ 1.40197573e-01 9.90101924e-01 -6.54378143e-03 3.95593086e+01] [ 5.61101291e-02 -1.34636398e-03 9.98423678e-01 2.62879759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.80, Y:39.57, Z:26.29 [[ 9.88660580e-01 -1.39437678e-01 -5.57439801e-02 4.67799206e+02] [ 1.39290292e-01 9.90229997e-01 -6.53972088e-03 3.95662743e+01] [ 5.61112447e-02 -1.29903102e-03 9.98423678e-01 2.62918344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.86, Y:39.57, Z:26.30 [[ 9.88697660e-01 -1.39174375e-01 -5.57443317e-02 4.67861879e+02] [ 1.39026740e-01 9.90267053e-01 -6.53672265e-03 3.95734333e+01] [ 5.61115193e-02 -1.28711033e-03 9.98423678e-01 2.62964666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.92, Y:39.58, Z:26.30 [[ 9.88411554e-01 -1.41191674e-01 -5.57450483e-02 4.67923992e+02] [ 1.41047587e-01 9.89981277e-01 -6.53060509e-03 3.95799632e+01] [ 5.61086212e-02 -1.40777905e-03 9.98423678e-01 2.62999707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.99, Y:39.59, Z:26.30 [[ 9.87983729e-01 -1.44154737e-01 -5.57455230e-02 4.67985957e+02] [ 1.44015586e-01 9.89553897e-01 -6.52655051e-03 3.95860365e+01] [ 5.61040327e-02 -1.58009846e-03 9.98423678e-01 2.63041944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.05, Y:39.59, Z:26.31 [[ 9.87221304e-01 -1.49286570e-01 -5.57460053e-02 4.68046906e+02] [ 1.49155812e-01 9.88792193e-01 -6.52242858e-03 3.95915686e+01] [ 5.60949259e-02 -1.87576023e-03 9.98423678e-01 2.63080973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.11, Y:39.60, Z:26.31 [[ 9.86647808e-01 -1.53030868e-01 -5.57463615e-02 4.68109852e+02] [ 1.52906243e-01 9.88219196e-01 -6.51938281e-03 3.95980361e+01] [ 5.60872913e-02 -2.09163191e-03 9.98423678e-01 2.63121559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.17, Y:39.60, Z:26.32 [[ 9.86436291e-01 -1.54388174e-01 -5.57470597e-02 4.68172344e+02] [ 1.54266049e-01 9.88007875e-01 -6.51340676e-03 3.96049941e+01] [ 5.60841270e-02 -2.17481782e-03 9.98423678e-01 2.63154929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.23, Y:39.61, Z:26.32 [[ 9.86298705e-01 -1.55264453e-01 -5.57477637e-02 4.68234828e+02] [ 1.55144064e-01 9.87870423e-01 -6.50737631e-03 3.96114506e+01] [ 5.60819311e-02 -2.23071779e-03 9.98423678e-01 2.63189349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.30, Y:39.62, Z:26.32 [[ 9.86393638e-01 -1.54659944e-01 -5.57484714e-02 4.68297523e+02] [ 1.54538934e-01 9.87965309e-01 -6.50130731e-03 3.96188314e+01] [ 5.60830476e-02 -2.20246117e-03 9.98423678e-01 2.63223218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.36, Y:39.63, Z:26.32 [[ 9.86633874e-01 -1.53119651e-01 -5.57491882e-02 4.68358375e+02] [ 1.52996534e-01 9.88205380e-01 -6.49515496e-03 3.96268745e+01] [ 5.60861836e-02 -2.12109267e-03 9.98423678e-01 2.63249538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.865099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.42, Y:39.64, Z:26.33 [[ 9.87313819e-01 -1.48672160e-01 -5.57495403e-02 4.68420354e+02] [ 1.48542134e-01 9.88884769e-01 -6.49213164e-03 3.96361235e+01] [ 5.60950705e-02 -1.87138438e-03 9.98423678e-01 2.63284552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.48, Y:39.64, Z:26.33 [[ 9.87987187e-01 -1.44129210e-01 -5.57502321e-02 4.68481551e+02] [ 1.43992294e-01 9.89557552e-01 -6.48618519e-03 3.96446543e+01] [ 5.61029120e-02 -1.61933596e-03 9.98423678e-01 2.63327277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.54, Y:39.65, Z:26.34 [[ 9.89010045e-01 -1.36934260e-01 -5.57506888e-02 4.68543137e+02] [ 1.36786139e-01 9.90579392e-01 -6.48225721e-03 3.96543562e+01] [ 5.61131266e-02 -1.21490399e-03 9.98423678e-01 2.63377185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.60, Y:39.66, Z:26.34 [[ 9.89944891e-01 -1.30003544e-01 -5.57511579e-02 4.68604807e+02] [ 1.29844662e-01 9.91513185e-01 -6.47822073e-03 3.96643878e+01] [ 5.61201998e-02 -8.25908740e-04 9.98423678e-01 2.63414564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.67, Y:39.67, Z:26.35 [[ 9.90530384e-01 -1.25464397e-01 -5.57516188e-02 4.68666060e+02] [ 1.25298551e-01 9.92097957e-01 -6.47425166e-03 3.96721130e+01] [ 5.61233552e-02 -5.72654075e-04 9.98423678e-01 2.63454110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.73, Y:39.68, Z:26.35 [[ 9.91172955e-01 -1.20282492e-01 -5.57520811e-02 4.68726324e+02] [ 1.20108675e-01 9.92739665e-01 -6.47026842e-03 3.96792651e+01] [ 5.61255623e-02 -2.83153506e-04 9.98423678e-01 2.63488767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.79, Y:39.69, Z:26.35 [[ 9.92062910e-01 -1.12706919e-01 -5.57524226e-02 4.68788373e+02] [ 1.12521303e-01 9.93628266e-01 -6.46732455e-03 3.96860131e+01] [ 5.61260951e-02 1.42657573e-04 9.98423678e-01 2.63535363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.85, Y:39.69, Z:26.36 [[ 9.92609872e-01 -1.07783380e-01 -5.57528875e-02 4.68849857e+02] [ 1.07590226e-01 9.94174315e-01 -6.46331350e-03 3.96921637e+01] [ 5.61247266e-02 4.17083039e-04 9.98423678e-01 2.63575214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.91, Y:39.70, Z:26.36 [[ 9.93047673e-01 -1.03671989e-01 -5.57533647e-02 4.68912355e+02] [ 1.03472588e-01 9.94611332e-01 -6.45919506e-03 3.96953275e+01] [ 5.61225659e-02 6.45343664e-04 9.98423678e-01 2.63603076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.97, Y:39.70, Z:26.36 [[ 9.92954656e-01 -1.04558887e-01 -5.57538355e-02 4.68973983e+02] [ 1.04361111e-01 9.94518522e-01 -6.45512814e-03 3.96988152e+01] [ 5.61231631e-02 5.91117310e-04 9.98423678e-01 2.63633291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.04, Y:39.70, Z:26.37 [[ 9.92258421e-01 -1.10971667e-01 -5.57540667e-02 4.69035853e+02] [ 1.10784111e-01 9.93823545e-01 -6.45313120e-03 3.96990549e+01] [ 5.61258189e-02 2.26509062e-04 9.98423678e-01 2.63668418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.10, Y:39.70, Z:26.37 [[ 9.90995085e-01 -1.21738243e-01 -5.57542995e-02 4.69098099e+02] [ 1.21567804e-01 9.92562165e-01 -6.45111945e-03 3.96968785e+01] [ 5.61249561e-02 -3.84900090e-04 9.98423678e-01 2.63686183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.16, Y:39.70, Z:26.37 [[ 9.89984525e-01 -1.29699931e-01 -5.57545332e-02 4.69160803e+02] [ 1.29542208e-01 9.91552936e-01 -6.44909850e-03 3.96979595e+01] [ 5.61200188e-02 -8.38057624e-04 9.98423678e-01 2.63714604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.22, Y:39.70, Z:26.37 [[ 9.89434850e-01 -1.33828457e-01 -5.57550080e-02 4.69222247e+02] [ 1.33677509e-01 9.91003928e-01 -6.44499151e-03 3.97021998e+01] [ 5.61159552e-02 -1.07629137e-03 9.98423678e-01 2.63744672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.29, Y:39.70, Z:26.38 [[ 9.87973012e-01 -1.44224362e-01 -5.57553590e-02 4.69285104e+02] [ 1.44090092e-01 9.89543605e-01 -6.44195369e-03 3.97013724e+01] [ 5.61014456e-02 -1.66931839e-03 9.98423678e-01 2.63776129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.35, Y:39.70, Z:26.38 [[ 9.87149560e-01 -1.49756580e-01 -5.57558345e-02 4.69346292e+02] [ 1.49631342e-01 9.88720899e-01 -6.43783506e-03 3.97041030e+01] [ 5.60910670e-02 -1.98771429e-03 9.98423678e-01 2.63803123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.41, Y:39.71, Z:26.38 [[ 9.86171169e-01 -1.56069451e-01 -5.57561870e-02 4.69408519e+02] [ 1.55954442e-01 9.87743289e-01 -6.43478061e-03 3.97064263e+01] [ 5.60770722e-02 -2.34962993e-03 9.98423678e-01 2.63832618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.47, Y:39.71, Z:26.39 [[ 9.85610096e-01 -1.59574237e-01 -5.57566261e-02 4.69470532e+02] [ 1.59465032e-01 9.87182631e-01 -6.43097341e-03 3.97114215e+01] [ 5.60681905e-02 -2.55279984e-03 9.98423678e-01 2.63872028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.53, Y:39.72, Z:26.39 [[ 9.84828389e-01 -1.64329520e-01 -5.57570947e-02 4.69532734e+02] [ 1.64228136e-01 9.86401447e-01 -6.42690843e-03 3.97163088e+01] [ 5.60550097e-02 -2.82748187e-03 9.98423678e-01 2.63913059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.59, Y:39.72, Z:26.39 [[ 9.84241734e-01 -1.67807339e-01 -5.57575621e-02 4.69593434e+02] [ 1.67711742e-01 9.85815154e-01 -6.42285080e-03 3.97227659e+01] [ 5.60444512e-02 -3.02956004e-03 9.98423678e-01 2.63934878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.66, Y:39.73, Z:26.40 [[ 9.83992709e-01 -1.69261351e-01 -5.57579074e-02 4.69655344e+02] [ 1.69168248e-01 9.85566279e-01 -6.41985184e-03 3.97309005e+01] [ 5.60397461e-02 -3.11538008e-03 9.98423678e-01 2.63959244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.72, Y:39.74, Z:26.40 [[ 9.83627936e-01 -1.71368279e-01 -5.57583700e-02 4.69715795e+02] [ 1.71278773e-01 9.85201715e-01 -6.41583149e-03 3.97397311e+01] [ 5.60327117e-02 -3.23943410e-03 9.98423678e-01 2.63974680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.78, Y:39.75, Z:26.40 [[ 9.83357026e-01 -1.72915948e-01 -5.57587115e-02 4.69777395e+02] [ 1.72829086e-01 9.84930953e-01 -6.41286215e-03 3.97485636e+01] [ 5.60273670e-02 -3.33059410e-03 9.98423678e-01 2.64005951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.84, Y:39.76, Z:26.41 [[ 9.83109852e-01 -1.74315619e-01 -5.57591553e-02 4.69839651e+02] [ 1.74231216e-01 9.84683913e-01 -6.40900102e-03 3.97598350e+01] [ 5.60223322e-02 -3.41423340e-03 9.98423678e-01 2.64054159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.90, Y:39.77, Z:26.41 [[ 9.83244756e-01 -1.73552842e-01 -5.57598515e-02 4.69901606e+02] [ 1.73467560e-01 9.84818769e-01 -6.40293845e-03 3.97698585e+01] [ 5.60245965e-02 -3.37686974e-03 9.98423678e-01 2.64096307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.365099893 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:469.96, Y:39.78, Z:26.41 [[ 9.83967668e-01 -1.69405983e-01 -5.57605729e-02 4.69961164e+02] [ 1.69314422e-01 9.85541328e-01 -6.39664982e-03 3.97821697e+01] [ 5.60379798e-02 -3.14697255e-03 9.98423678e-01 2.64140674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.02, Y:39.79, Z:26.42 [[ 9.84690837e-01 -1.65150463e-01 -5.57609266e-02 4.70023167e+02] [ 1.65052273e-01 9.86264097e-01 -6.39356503e-03 3.97931742e+01] [ 5.60509002e-02 -2.90778278e-03 9.98423678e-01 2.64185098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.09, Y:39.81, Z:26.42 [[ 9.85985039e-01 -1.57239129e-01 -5.57616252e-02 4.70085544e+02] [ 1.57128655e-01 9.87557485e-01 -6.38746599e-03 3.98052837e+01] [ 5.60721700e-02 -2.46380328e-03 9.98423678e-01 2.64229978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.15, Y:39.82, Z:26.43 [[ 9.87121808e-01 -1.49936982e-01 -5.57623361e-02 4.70146800e+02] [ 1.49815223e-01 9.88693420e-01 -6.38125458e-03 3.98158064e+01] [ 5.60886408e-02 -2.05497128e-03 9.98423678e-01 2.64263628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.21, Y:39.82, Z:26.43 [[ 9.87890240e-01 -1.44787329e-01 -5.57629171e-02 4.70208114e+02] [ 1.44657663e-01 9.89461220e-01 -6.37617317e-03 3.98246149e+01] [ 5.60984330e-02 -1.76757402e-03 9.98423678e-01 2.64287278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.27, Y:39.83, Z:26.43 [[ 9.88693588e-01 -1.39195667e-01 -5.57633904e-02 4.70268708e+02] [ 1.39057348e-01 9.90263829e-01 -6.37203064e-03 3.98327065e+01] [ 5.61074276e-02 -1.45432333e-03 9.98423678e-01 2.64306444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.33, Y:39.84, Z:26.43 [[ 9.90185715e-01 -1.28150907e-01 -5.57637398e-02 4.70330126e+02] [ 1.27995241e-01 9.91754332e-01 -6.36897152e-03 3.98413485e+01] [ 5.61201200e-02 -8.31028705e-04 9.98423678e-01 2.64340857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.39, Y:39.85, Z:26.44 [[ 9.91797260e-01 -1.15015429e-01 -5.57642003e-02 4.70391376e+02] [ 1.14839213e-01 9.93363701e-01 -6.36493751e-03 3.98506762e+01] [ 5.61261984e-02 -9.11892988e-05 9.98423678e-01 2.64396236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.45, Y:39.86, Z:26.44 [[ 9.92688180e-01 -1.07053622e-01 -5.57646739e-02 4.70451874e+02] [ 1.06865076e-01 9.94253185e-01 -6.36078493e-03 3.98580925e+01] [ 5.61251498e-02 3.54979921e-04 9.98423678e-01 2.64437404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.51, Y:39.86, Z:26.45 [[ 9.93407432e-01 -1.00159553e-01 -5.57650232e-02 4.70513268e+02] [ 9.99603184e-02 9.94971112e-01 -6.35772112e-03 3.98633576e+01] [ 5.61213737e-02 7.41517933e-04 9.98423678e-01 2.64482636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.57, Y:39.87, Z:26.45 [[ 9.93362229e-01 -1.00606751e-01 -5.57652507e-02 4.70573898e+02] [ 1.00408333e-01 9.94926013e-01 -6.35572546e-03 3.98677045e+01] [ 5.61217274e-02 7.14241762e-04 9.98423678e-01 2.64521863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.63, Y:39.87, Z:26.46 [[ 9.92472226e-01 -1.09037231e-01 -5.57652507e-02 4.70634199e+02] [ 1.08852097e-01 9.94037638e-01 -6.35572546e-03 3.98676145e+01] [ 5.61257688e-02 2.37716535e-04 9.98423678e-01 2.64559190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.70, Y:39.87, Z:26.46 [[ 9.91435712e-01 -1.18091028e-01 -5.57650209e-02 4.70695318e+02] [ 1.17920076e-01 9.93002737e-01 -6.35774088e-03 3.98688201e+01] [ 5.61256105e-02 -2.72524158e-04 9.98423678e-01 2.64588073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.76, Y:39.87, Z:26.46 [[ 9.89542951e-01 -1.33022496e-01 -5.57652514e-02 4.70757652e+02] [ 1.32875298e-01 9.91112385e-01 -6.35571868e-03 3.98661685e+01] [ 5.61150849e-02 -1.12056778e-03 9.98423678e-01 2.64609733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.82, Y:39.87, Z:26.46 [[ 9.88241586e-01 -1.42368464e-01 -5.57654829e-02 4.70820577e+02] [ 1.42236220e-01 9.89812350e-01 -6.35368696e-03 3.98663175e+01] [ 5.61019283e-02 -1.65289379e-03 9.98423678e-01 2.64637051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.88, Y:39.87, Z:26.47 [[ 9.86501262e-01 -1.53965643e-01 -5.57659486e-02 4.70883436e+02] [ 1.53852088e-01 9.88073488e-01 -6.34959685e-03 3.98650255e+01] [ 5.60784751e-02 -2.31582230e-03 9.98423678e-01 2.64665507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.94, Y:39.87, Z:26.47 [[ 9.85385120e-01 -1.60954255e-01 -5.57664140e-02 4.70944716e+02] [ 1.60852078e-01 9.86958127e-01 -6.34550626e-03 3.98663130e+01] [ 5.60604518e-02 -2.71737613e-03 9.98423678e-01 2.64686718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.01, Y:39.87, Z:26.47 [[ 9.84931740e-01 -1.63705503e-01 -5.57671583e-02 4.71006862e+02] [ 1.63608089e-01 9.86505049e-01 -6.33895876e-03 3.98706337e+01] [ 5.60523056e-02 -2.88051652e-03 9.98423678e-01 2.64724414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.07, Y:39.87, Z:26.48 [[ 9.84505328e-01 -1.66250510e-01 -5.57676234e-02 4.71069487e+02] [ 1.66157393e-01 9.86078897e-01 -6.33486411e-03 3.98738129e+01] [ 5.60444510e-02 -3.02949547e-03 9.98423678e-01 2.64753769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.13, Y:39.88, Z:26.48 [[ 9.84323020e-01 -1.67326367e-01 -5.57680884e-02 4.71131541e+02] [ 1.67235201e-01 9.85896703e-01 -6.33076811e-03 3.98793971e+01] [ 5.60408789e-02 -3.09486671e-03 9.98423678e-01 2.64788161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.19, Y:39.89, Z:26.48 [[ 9.84228163e-01 -1.67883265e-01 -5.57685533e-02 4.71192374e+02] [ 1.67793222e-01 9.85801911e-01 -6.32666987e-03 3.98854376e+01] [ 5.60388884e-02 -3.13069856e-03 9.98423678e-01 2.64818153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.25, Y:39.89, Z:26.49 [[ 9.84225201e-01 -1.67900520e-01 -5.57688969e-02 4.71253592e+02] [ 1.67810675e-01 9.85798960e-01 -6.32363971e-03 3.98922563e+01] [ 5.60386630e-02 -3.13473070e-03 9.98423678e-01 2.64859675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.31, Y:39.90, Z:26.49 [[ 9.84210125e-01 -1.67988714e-01 -5.57693611e-02 4.71313778e+02] [ 1.67899242e-01 9.85783905e-01 -6.31954316e-03 3.98994162e+01] [ 5.60381505e-02 -3.14387509e-03 9.98423678e-01 2.64895038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.38, Y:39.91, Z:26.49 [[ 9.84070043e-01 -1.68807258e-01 -5.57697041e-02 4.71375090e+02] [ 1.68719266e-01 9.85643907e-01 -6.31651458e-03 3.99073198e+01] [ 5.60353426e-02 -3.19353078e-03 9.98423678e-01 2.64942821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.44, Y:39.92, Z:26.50 [[ 9.83793024e-01 -1.70414129e-01 -5.57701513e-02 4.71436605e+02] [ 1.70328930e-01 9.85367042e-01 -6.31256357e-03 3.99159678e+01] [ 5.60298191e-02 -3.28901421e-03 9.98423678e-01 2.64988194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.50, Y:39.92, Z:26.50 [[ 9.83515720e-01 -1.72007176e-01 -5.57705984e-02 4.71498662e+02] [ 1.71924750e-01 9.85089885e-01 -6.30861131e-03 3.99237995e+01] [ 5.60241788e-02 -3.38372777e-03 9.98423679e-01 2.65027163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.56, Y:39.93, Z:26.51 [[ 9.82832976e-01 -1.75866228e-01 -5.57710678e-02 4.71559707e+02] [ 1.75790216e-01 9.84407463e-01 -6.30445873e-03 3.99317604e+01] [ 5.60101968e-02 -3.60777814e-03 9.98423679e-01 2.65052549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.62, Y:39.94, Z:26.51 [[ 9.82208917e-01 -1.79318692e-01 -5.57714145e-02 4.71620898e+02] [ 1.79248386e-01 9.83783670e-01 -6.30139062e-03 3.99411457e+01] [ 5.59969639e-02 -3.80765398e-03 9.98423679e-01 2.65088803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.68, Y:39.95, Z:26.51 [[ 9.82080900e-01 -1.80018345e-01 -5.57718715e-02 4.71682498e+02] [ 1.79949390e-01 9.83655712e-01 -6.29734318e-03 3.99499990e+01] [ 5.59939573e-02 -3.85161379e-03 9.98423679e-01 2.65128749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.74, Y:39.96, Z:26.52 [[ 9.82567897e-01 -1.77340843e-01 -5.57723278e-02 4.71743235e+02] [ 1.77267824e-01 9.84142527e-01 -6.29329914e-03 3.99610415e+01] [ 5.60039786e-02 -3.70304548e-03 9.98423679e-01 2.65173172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.80, Y:39.97, Z:26.52 [[ 9.83306982e-01 -1.73195773e-01 -5.57727772e-02 4.71804409e+02] [ 1.73116340e-01 9.84881301e-01 -6.28931442e-03 3.99711641e+01] [ 5.60188480e-02 -3.47085227e-03 9.98423679e-01 2.65223634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.86, Y:39.98, Z:26.53 [[ 9.84593387e-01 -1.65726307e-01 -5.57732256e-02 4.71864968e+02] [ 1.65635150e-01 9.86167071e-01 -6.28533509e-03 3.99834740e+01] [ 5.60433639e-02 -3.04950719e-03 9.98423679e-01 2.65273352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.93, Y:39.99, Z:26.53 [[ 9.85624657e-01 -1.59478311e-01 -5.57736779e-02 4.71926692e+02] [ 1.59377402e-01 9.87197746e-01 -6.28131873e-03 3.99935551e+01] [ 5.60613832e-02 -2.69804126e-03 9.98423679e-01 2.65309151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.99, Y:40.00, Z:26.53 [[ 9.86293558e-01 -1.55287683e-01 -5.57741240e-02 4.71988283e+02] [ 1.55180312e-01 9.87866218e-01 -6.27735551e-03 4.00018247e+01] [ 5.60721690e-02 -2.46373069e-03 9.98423679e-01 2.65338486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.05, Y:40.01, Z:26.54 [[ 9.87074645e-01 -1.50242611e-01 -5.57745682e-02 4.72049835e+02] [ 1.50127423e-01 9.88646753e-01 -6.27340625e-03 4.00102843e+01] [ 5.60838787e-02 -2.18097194e-03 9.98423679e-01 2.65364574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.11, Y:40.02, Z:26.54 [[ 9.88549442e-01 -1.40211091e-01 -5.57750051e-02 4.72111660e+02] [ 1.40080163e-01 9.90120316e-01 -6.26951993e-03 4.00201468e+01] [ 5.61030219e-02 -1.61524137e-03 9.98423679e-01 2.65404005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.17, Y:40.03, Z:26.54 [[ 9.89936953e-01 -1.30053555e-01 -5.57754633e-02 4.72172777e+02] [ 1.29906735e-01 9.91506422e-01 -6.26544053e-03 4.00292197e+01] [ 5.61165729e-02 -1.04321723e-03 9.98423679e-01 2.65444205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.23, Y:40.04, Z:26.55 [[ 9.90559120e-01 -1.25226501e-01 -5.57759188e-02 4.72234874e+02] [ 1.25072260e-01 9.92127877e-01 -6.26138329e-03 4.00367447e+01] [ 5.61209350e-02 -7.73749918e-04 9.98423679e-01 2.65482688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.30, Y:40.04, Z:26.55 [[ 9.91057394e-01 -1.21219789e-01 -5.57763725e-02 4.72296923e+02] [ 1.21059433e-01 9.92625538e-01 -6.25733896e-03 4.00432452e+01] [ 5.61235651e-02 -5.50873982e-04 9.98423679e-01 2.65518256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.36, Y:40.05, Z:26.56 [[ 9.91016952e-01 -1.21549768e-01 -5.57768249e-02 4.72358061e+02] [ 1.21390162e-01 9.92585173e-01 -6.25330404e-03 4.00488285e+01] [ 5.61233370e-02 -5.73627479e-04 9.98423679e-01 2.65551374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.42, Y:40.05, Z:26.56 [[ 9.90577079e-01 -1.25083857e-01 -5.57770482e-02 4.72418874e+02] [ 1.24929958e-01 9.92145870e-01 -6.25131088e-03 4.00520701e+01] [ 5.61209061e-02 -7.75819021e-04 9.98423679e-01 2.65587160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.48, Y:40.06, Z:26.56 [[ 9.89954891e-01 -1.29916167e-01 -5.57772734e-02 4.72480708e+02] [ 1.29770038e-01 9.91524424e-01 -6.24930128e-03 4.00564941e+01] [ 5.61164142e-02 -1.05169251e-03 9.98423679e-01 2.65622956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.54, Y:40.06, Z:26.56 [[ 9.88580169e-01 -1.39993190e-01 -5.57777360e-02 4.72543438e+02] [ 1.39863288e-01 9.90151129e-01 -6.24516986e-03 4.00590122e+01] [ 5.61026695e-02 -1.62740650e-03 9.98423679e-01 2.65646707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.60, Y:40.06, Z:26.57 [[ 9.86990255e-01 -1.50794658e-01 -5.57781942e-02 4.72604374e+02] [ 1.50682173e-01 9.88562558e-01 -6.24107443e-03 4.00610713e+01] [ 5.60813551e-02 -2.24489989e-03 9.98423679e-01 2.65659595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.67, Y:40.07, Z:26.57 [[ 9.85906843e-01 -1.57722707e-01 -5.57785331e-02 4.72665894e+02] [ 1.57621439e-01 9.87479908e-01 -6.23804408e-03 4.00656383e+01] [ 5.60640620e-02 -2.64176229e-03 9.98423679e-01 2.65680742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.73, Y:40.07, Z:26.57 [[ 9.84496041e-01 -1.66301762e-01 -5.57787478e-02 4.72728165e+02] [ 1.66214304e-01 9.86069935e-01 -6.23612413e-03 4.00697931e+01] [ 5.60388246e-02 -3.13178620e-03 9.98423679e-01 2.65716619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.79, Y:40.08, Z:26.58 [[ 9.83751480e-01 -1.70650834e-01 -5.57791879e-02 4.72789606e+02] [ 1.70570555e-01 9.85325756e-01 -6.23218518e-03 4.00752593e+01] [ 5.60241981e-02 -3.38336565e-03 9.98423679e-01 2.65750299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.85, Y:40.08, Z:26.58 [[ 9.82954632e-01 -1.75182261e-01 -5.57796298e-02 4.72850828e+02] [ 1.75109461e-01 9.84529271e-01 -6.22822693e-03 4.00812025e+01] [ 5.60077532e-02 -3.64547638e-03 9.98423679e-01 2.65775809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.91, Y:40.09, Z:26.58 [[ 9.82667560e-01 -1.76785231e-01 -5.57803607e-02 4.72912679e+02] [ 1.76715369e-01 9.84242332e-01 -6.22167406e-03 4.00883966e+01] [ 5.60012925e-02 -3.74340978e-03 9.98423679e-01 2.65817664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.97, Y:40.10, Z:26.58 [[ 9.82588302e-01 -1.77225084e-01 -5.57808052e-02 4.72973069e+02] [ 1.77156152e-01 9.84163116e-01 -6.21768667e-03 4.00959840e+01] [ 5.59993411e-02 -3.77248664e-03 9.98423679e-01 2.65849370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.03, Y:40.11, Z:26.59 [[ 9.83149993e-01 -1.74082042e-01 -5.57811333e-02 4.73034256e+02] [ 1.74008241e-01 9.84724585e-01 -6.21474161e-03 4.01050875e+01] [ 5.60109283e-02 -3.59635373e-03 9.98423679e-01 2.65886683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.10, Y:40.11, Z:26.59 [[ 9.83849866e-01 -1.70081916e-01 -5.57815641e-02 4.73096208e+02] [ 1.70001930e-01 9.85424157e-01 -6.21087224e-03 4.01141247e+01] [ 5.60248579e-02 -3.37240776e-03 9.98423679e-01 2.65924003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.16, Y:40.12, Z:26.60 [[ 9.84282744e-01 -1.67558493e-01 -5.57819891e-02 4.73158203e+02] [ 1.67474687e-01 9.85856836e-01 -6.20705297e-03 4.01222097e+01] [ 5.60330998e-02 -3.23257603e-03 9.98423679e-01 2.65956226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.22, Y:40.13, Z:26.60 [[ 9.85734546e-01 -1.58794611e-01 -5.57824091e-02 4.73218884e+02] [ 1.58697016e-01 9.87307843e-01 -6.20327653e-03 4.01345433e+01] [ 5.60594569e-02 -2.73771792e-03 9.98423679e-01 2.65998546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.28, Y:40.15, Z:26.60 [[ 9.86710794e-01 -1.52610895e-01 -5.57828222e-02 4.73279898e+02] [ 1.52503647e-01 9.88283463e-01 -6.19955912e-03 4.01452851e+01] [ 5.60753610e-02 -2.38991194e-03 9.98423679e-01 2.66049515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.34, Y:40.16, Z:26.61 [[ 9.88017705e-01 -1.43907074e-01 -5.57832299e-02 4.73340263e+02] [ 1.43786174e-01 9.89589383e-01 -6.19588870e-03 4.01570870e+01] [ 5.60941243e-02 -1.89920946e-03 9.98423679e-01 2.66102384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.40, Y:40.17, Z:26.61 [[ 9.88785285e-01 -1.38534681e-01 -5.57835310e-02 4.73402064e+02] [ 1.38405393e-01 9.90356295e-01 -6.19317652e-03 4.01660356e+01] [ 5.61035409e-02 -1.59701971e-03 9.98423679e-01 2.66147133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.46, Y:40.17, Z:26.61 [[ 9.89630321e-01 -1.32363048e-01 -5.57839787e-02 4.73464003e+02] [ 1.32224189e-01 9.91200514e-01 -6.18914109e-03 4.01738409e+01] [ 5.61123220e-02 -1.25102965e-03 9.98423679e-01 2.66141600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.53, Y:40.18, Z:26.62 [[ 9.90314884e-01 -1.27139801e-01 -5.57844282e-02 4.73525632e+02] [ 1.26992888e-01 9.91884344e-01 -6.18508712e-03 4.01827258e+01] [ 5.61180717e-02 -9.59041804e-04 9.98423679e-01 2.66185667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.59, Y:40.19, Z:26.63 [[ 9.90518459e-01 -1.25543727e-01 -5.57848938e-02 4.73586178e+02] [ 1.25394521e-01 9.92087703e-01 -6.18088530e-03 4.01904246e+01] [ 5.61194785e-02 -8.72839065e-04 9.98423679e-01 2.66263267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96509989299994 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:473.65, Y:40.20, Z:26.63 [[ 9.90833812e-01 -1.23029934e-01 -5.57852369e-02 4.73645983e+02] [ 1.22876921e-01 9.92402689e-01 -6.17778744e-03 4.01971552e+01] [ 5.61214718e-02 -7.33557481e-04 9.98423679e-01 2.66284571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.71, Y:40.20, Z:26.64 [[ 9.91165569e-01 -1.20327975e-01 -5.57852369e-02 4.73706458e+02] [ 1.20170685e-01 9.92734023e-01 -6.17778744e-03 4.02025307e+01] [ 5.61232633e-02 -5.80539937e-04 9.98423679e-01 2.66350407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.77, Y:40.21, Z:26.64 [[ 9.91409098e-01 -1.18304728e-01 -5.57852369e-02 4.73768337e+02] [ 1.18144237e-01 9.92977227e-01 -6.17778744e-03 4.02075607e+01] [ 5.61243313e-02 -4.65989588e-04 9.98423679e-01 2.66392643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.83, Y:40.21, Z:26.64 [[ 9.91466021e-01 -1.17826506e-01 -5.57856933e-02 4.73829184e+02] [ 1.17665491e-01 9.93034097e-01 -6.17366258e-03 4.02120340e+01] [ 5.61245167e-02 -4.43074324e-04 9.98423679e-01 2.66430069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.89, Y:40.21, Z:26.65 [[ 9.91280215e-01 -1.19379503e-01 -5.57859185e-02 4.73890573e+02] [ 1.19221059e-01 9.92848553e-01 -6.17162750e-03 4.02142321e+01] [ 5.61237343e-02 -5.33044037e-04 9.98423679e-01 2.66471965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.95, Y:40.22, Z:26.65 [[ 9.90979865e-01 -1.21847500e-01 -5.57861443e-02 4.73951846e+02] [ 1.21693076e-01 9.92548604e-01 -6.16958564e-03 4.02177868e+01] [ 5.61222082e-02 -6.74852375e-04 9.98423679e-01 2.66504000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.01, Y:40.22, Z:26.65 [[ 9.90842872e-01 -1.22956433e-01 -5.57863666e-02 4.74013819e+02] [ 1.22803878e-01 9.92411794e-01 -6.16757486e-03 4.02171949e+01] [ 5.61213912e-02 -7.39684601e-04 9.98423679e-01 2.66526195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.07, Y:40.22, Z:26.66 [[ 9.90404596e-01 -1.26438095e-01 -5.57865991e-02 4.74073606e+02] [ 1.26291174e-01 9.91974055e-01 -6.16547132e-03 4.02229160e+01] [ 5.61184094e-02 -9.39043991e-04 9.98423679e-01 2.66576507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.13, Y:40.23, Z:26.66 [[ 9.90322696e-01 -1.27077927e-01 -5.57867132e-02 4.74133777e+02] [ 1.26932078e-01 9.91892256e-01 -6.16443856e-03 4.02258523e+01] [ 5.61177729e-02 -9.76340040e-04 9.98423679e-01 2.66603137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.19, Y:40.23, Z:26.66 [[ 9.90185890e-01 -1.28139387e-01 -5.57870945e-02 4.74193258e+02] [ 1.27995416e-01 9.91755623e-01 -6.16098597e-03 4.02263385e+01] [ 5.61166296e-02 -1.03997096e-03 9.98423679e-01 2.66634122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.25, Y:40.23, Z:26.67 [[ 9.90068886e-01 -1.29040402e-01 -5.57868803e-02 4.74253865e+02] [ 1.28897750e-01 9.91638739e-01 -6.16292488e-03 4.02276104e+01] [ 5.61156979e-02 -1.08908317e-03 9.98423679e-01 2.66679406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.31, Y:40.23, Z:26.67 [[ 9.90076837e-01 -1.28979378e-01 -5.57868803e-02 4.74314763e+02] [ 1.28836629e-01 9.91646682e-01 -6.16292488e-03 4.02307042e+01] [ 5.61157650e-02 -1.08562442e-03 9.98423679e-01 2.66701036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.37, Y:40.23, Z:26.67 [[ 9.90179388e-01 -1.28189716e-01 -5.57868803e-02 4.74374233e+02] [ 1.28045715e-01 9.91749118e-01 -6.16292488e-03 4.02339128e+01] [ 5.61166129e-02 -1.04086978e-03 9.98423679e-01 2.66721216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.43, Y:40.24, Z:26.68 [[ 9.90641551e-01 -1.24567867e-01 -5.57867703e-02 4.74434290e+02] [ 1.24418070e-01 9.92210739e-01 -6.16392072e-03 4.02363380e+01] [ 5.61200590e-02 -8.34646325e-04 9.98423679e-01 2.66770318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.49, Y:40.24, Z:26.68 [[ 9.91088402e-01 -1.20961219e-01 -5.57867703e-02 4.74493582e+02] [ 1.20805711e-01 9.92657034e-01 -6.16392072e-03 4.02409622e+01] [ 5.61227253e-02 -6.30370124e-04 9.98423679e-01 2.66812458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.55, Y:40.24, Z:26.68 [[ 9.91676304e-01 -1.16042967e-01 -5.57865455e-02 4.74551192e+02] [ 1.15879565e-01 9.93244133e-01 -6.16595394e-03 4.02440593e+01] [ 5.61251746e-02 -3.49890232e-04 9.98423679e-01 2.66832474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.61, Y:40.25, Z:26.69 [[ 9.91881177e-01 -1.14278843e-01 -5.57859925e-02 4.74608653e+02] [ 1.14112372e-01 9.93448683e-01 -6.17095365e-03 4.02478506e+01] [ 5.61257302e-02 -2.45019145e-04 9.98423679e-01 2.66885035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.67, Y:40.25, Z:26.69 [[ 9.91865117e-01 -1.14419004e-01 -5.57842387e-02 4.74667640e+02] [ 1.14251865e-01 9.93432552e-01 -6.18676715e-03 4.02511667e+01] [ 5.61257623e-02 -2.37014787e-04 9.98423679e-01 2.66928716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.72, Y:40.25, Z:26.69 [[ 9.91495429e-01 -1.17580218e-01 -5.57826812e-02 4.74724744e+02] [ 1.17417288e-01 9.93063307e-01 -6.20077845e-03 4.02512639e+01] [ 5.61248227e-02 -4.01807662e-04 9.98423679e-01 2.66949731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.78, Y:40.25, Z:26.70 [[ 9.91040242e-01 -1.21357394e-01 -5.57819149e-02 4.74783046e+02] [ 1.21200052e-01 9.92608690e-01 -6.20766481e-03 4.02530709e+01] [ 5.61229595e-02 -6.08725330e-04 9.98423679e-01 2.66974121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.84, Y:40.25, Z:26.70 [[ 9.90287557e-01 -1.27354325e-01 -5.57802030e-02 4.74840880e+02] [ 1.27205616e-01 9.91856847e-01 -6.22300954e-03 4.02533443e+01] [ 5.61185034e-02 -9.32986171e-04 9.98423679e-01 2.67015251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.90, Y:40.26, Z:26.70 [[ 9.89859594e-01 -1.30639788e-01 -5.57784007e-02 4.74898359e+02] [ 1.30495379e-01 9.91429286e-01 -6.23912226e-03 4.02561011e+01] [ 5.61154176e-02 -1.10296853e-03 9.98423679e-01 2.67048903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.96, Y:40.26, Z:26.71 [[ 9.89595794e-01 -1.32624034e-01 -5.57766046e-02 4.74956347e+02] [ 1.32481871e-01 9.91165691e-01 -6.25513814e-03 4.02584380e+01] [ 5.61134385e-02 -1.19933051e-03 9.98423679e-01 2.67086703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.01, Y:40.26, Z:26.71 [[ 9.89713225e-01 -1.31745615e-01 -5.57747809e-02 4.75014476e+02] [ 1.31601144e-01 9.91282911e-01 -6.27135740e-03 4.02629779e+01] [ 5.61148110e-02 -1.13317962e-03 9.98423680e-01 2.67123893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.07, Y:40.27, Z:26.71 [[ 9.89810429e-01 -1.31014104e-01 -5.57729193e-02 4.75070699e+02] [ 1.30867543e-01 9.91379922e-01 -6.28786952e-03 4.02683729e+01] [ 5.61159519e-02 -1.07506609e-03 9.98423680e-01 2.67149873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.13, Y:40.27, Z:26.72 [[ 9.90064156e-01 -1.29083272e-01 -5.57716484e-02 4.75129033e+02] [ 1.28933017e-01 9.91633298e-01 -6.29912153e-03 4.02716085e+01] [ 5.61181349e-02 -9.54272438e-04 9.98423680e-01 2.67198170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.19, Y:40.28, Z:26.72 [[ 9.90077063e-01 -1.28984923e-01 -5.57700609e-02 4.75187360e+02] [ 1.28833722e-01 9.91646114e-01 -6.31314568e-03 4.02755973e+01] [ 5.61184648e-02 -9.34563805e-04 9.98423680e-01 2.67240926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.24, Y:40.28, Z:26.73 [[ 9.89979753e-01 -1.29730365e-01 -5.57684544e-02 4.75244505e+02] [ 1.29579548e-01 9.91548842e-01 -6.32730522e-03 4.02774498e+01] [ 5.61179900e-02 -9.62547074e-04 9.98423680e-01 2.67268859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.30, Y:40.28, Z:26.73 [[ 9.89735106e-01 -1.31584150e-01 -5.57676646e-02 4.75302359e+02] [ 1.31435880e-01 9.91304437e-01 -6.33425888e-03 4.02809730e+01] [ 5.61162214e-02 -1.06063369e-03 9.98423680e-01 2.67290096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.36, Y:40.28, Z:26.73 [[ 9.89228807e-01 -1.35338590e-01 -5.57658714e-02 4.75360799e+02] [ 1.35195389e-01 9.90798609e-01 -6.35000723e-03 4.02825772e+01] [ 5.61121488e-02 -1.25767859e-03 9.98423680e-01 2.67313563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.42, Y:40.29, Z:26.73 [[ 9.88803425e-01 -1.38412987e-01 -5.57640730e-02 4.75418127e+02] [ 1.38273778e-01 9.90373586e-01 -6.36576073e-03 4.02860785e+01] [ 5.61083689e-02 -1.41622303e-03 9.98423680e-01 2.67347549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.48, Y:40.29, Z:26.74 [[ 9.88438812e-01 -1.40993707e-01 -5.57628042e-02 4.75475650e+02] [ 1.40857972e-01 9.90009276e-01 -6.37685575e-03 4.02891517e+01] [ 5.61047900e-02 -1.55150380e-03 9.98423680e-01 2.67386192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.53, Y:40.29, Z:26.74 [[ 9.88344416e-01 -1.41654113e-01 -5.57622413e-02 4.75533716e+02] [ 1.41519151e-01 9.89914947e-01 -6.38177470e-03 4.02940862e+01] [ 5.61038808e-02 -1.58403364e-03 9.98423680e-01 2.67425214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.59, Y:40.30, Z:26.75 [[ 9.88279275e-01 -1.42108592e-01 -5.57604063e-02 4.75591778e+02] [ 1.41973450e-01 9.89849791e-01 -6.39776805e-03 4.02994438e+01] [ 5.61036043e-02 -1.59371566e-03 9.98423680e-01 2.67458550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.65, Y:40.30, Z:26.75 [[ 9.88014468e-01 -1.43938867e-01 -5.57585359e-02 4.75648973e+02] [ 1.43805717e-01 9.89585154e-01 -6.41402767e-03 4.03035094e+01] [ 5.61010472e-02 -1.68124408e-03 9.98423681e-01 2.67483072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.71, Y:40.31, Z:26.75 [[ 9.87557322e-01 -1.47042892e-01 -5.57577313e-02 4.75707021e+02] [ 1.46914284e-01 9.89128386e-01 -6.42101443e-03 4.03084225e+01] [ 5.60957193e-02 -1.85048737e-03 9.98423681e-01 2.67512415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.76, Y:40.31, Z:26.75 [[ 9.86677158e-01 -1.52838048e-01 -5.57558683e-02 4.75764488e+02] [ 1.52717756e-01 9.88248881e-01 -6.43715101e-03 4.03125515e+01] [ 5.60845160e-02 -2.16352123e-03 9.98423681e-01 2.67541939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.82, Y:40.32, Z:26.76 [[ 9.86225336e-01 -1.55727571e-01 -5.57540144e-02 4.75822097e+02] [ 1.55610978e-01 9.87797338e-01 -6.45316844e-03 4.03182313e+01] [ 5.60786032e-02 -2.31165852e-03 9.98423681e-01 2.67574264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.88, Y:40.32, Z:26.76 [[ 9.85912933e-01 -1.57693976e-01 -5.57521088e-02 4.75879904e+02] [ 1.57579592e-01 9.87485097e-01 -6.46959018e-03 4.03246681e+01] [ 5.60745920e-02 -2.40694191e-03 9.98423681e-01 2.67604338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.94, Y:40.33, Z:26.76 [[ 9.85841210e-01 -1.58142408e-01 -5.57502213e-02 4.75935873e+02] [ 1.58027824e-01 9.87413359e-01 -6.48581466e-03 4.03321661e+01] [ 5.60741956e-02 -2.41610276e-03 9.98423681e-01 2.67624983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.99, Y:40.34, Z:26.77 [[ 9.85824730e-01 -1.58245398e-01 -5.57494088e-02 4.75993378e+02] [ 1.58130584e-01 9.87396862e-01 -6.49279086e-03 4.03404909e+01] [ 5.60742456e-02 -2.41493278e-03 9.98423681e-01 2.67667855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.05, Y:40.35, Z:26.77 [[ 9.85782714e-01 -1.58507607e-01 -5.57474675e-02 4.76049775e+02] [ 1.58392273e-01 9.87354807e-01 -6.50941707e-03 4.03480673e+01] [ 5.60743221e-02 -2.41309725e-03 9.98423681e-01 2.67697640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.11, Y:40.36, Z:26.77 [[ 9.85529061e-01 -1.60077598e-01 -5.57461435e-02 4.76106786e+02] [ 1.59964129e-01 9.87101290e-01 -6.52073606e-03 4.03557020e+01] [ 5.60709139e-02 -2.49100840e-03 9.98423681e-01 2.67730341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.16, Y:40.36, Z:26.78 [[ 9.85285102e-01 -1.61573042e-01 -5.57442394e-02 4.76162839e+02] [ 1.61461042e-01 9.86857436e-01 -6.53697308e-03 4.03630231e+01] [ 5.60678158e-02 -2.55974080e-03 9.98423681e-01 2.67761474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.22, Y:40.37, Z:26.78 [[ 9.84886201e-01 -1.63987324e-01 -5.57434205e-02 4.76219783e+02] [ 1.63878784e-01 9.86458778e-01 -6.54394852e-03 4.03702749e+01] [ 5.60617111e-02 -2.69011940e-03 9.98423682e-01 2.67788573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.28, Y:40.38, Z:26.78 [[ 9.84332089e-01 -1.67281853e-01 -5.57415488e-02 4.76277048e+02] [ 1.67177677e-01 9.85904961e-01 -6.55985346e-03 4.03777770e+01] [ 5.60532139e-02 -2.86166839e-03 9.98423682e-01 2.67821743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.33, Y:40.39, Z:26.79 [[ 9.84010488e-01 -1.69163975e-01 -5.57396461e-02 4.76334063e+02] [ 1.69061897e-01 9.85583498e-01 -6.57598126e-03 4.03858764e+01] [ 5.60484945e-02 -2.95261576e-03 9.98423682e-01 2.67858775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.39, Y:40.40, Z:26.79 [[ 9.84012498e-01 -1.69152923e-01 -5.57377135e-02 4.76390716e+02] [ 1.69049904e-01 9.85585446e-01 -6.59232151e-03 4.03955605e+01] [ 5.60493896e-02 -2.93552834e-03 9.98423682e-01 2.67899878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.45, Y:40.40, Z:26.79 [[ 9.84308022e-01 -1.67425323e-01 -5.57357997e-02 4.76447864e+02] [ 1.67318631e-01 9.85880725e-01 -6.60846230e-03 4.04049674e+01] [ 5.60552745e-02 -2.82087525e-03 9.98423682e-01 2.67930999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.51, Y:40.42, Z:26.80 [[ 9.85323693e-01 -1.61341116e-01 -5.57338798e-02 4.76505296e+02] [ 1.61223798e-01 9.86895639e-01 -6.62461480e-03 4.04157509e+01] [ 5.60723456e-02 -2.45823785e-03 9.98423682e-01 2.67968193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.56, Y:40.43, Z:26.80 [[ 9.85845297e-01 -1.58123357e-01 -5.57319882e-02 4.76561965e+02] [ 1.58000012e-01 9.87416781e-01 -6.64049008e-03 4.04271044e+01] [ 5.60807170e-02 -2.25915889e-03 9.98423682e-01 2.67991845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.62, Y:40.44, Z:26.80 [[ 9.86793313e-01 -1.52095273e-01 -5.57313724e-02 4.76618814e+02] [ 1.51962035e-01 9.88363989e-01 -6.64565436e-03 4.04387257e+01] [ 5.60936542e-02 -1.91116547e-03 9.98423682e-01 2.68028796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.68, Y:40.45, Z:26.81 [[ 9.87353500e-01 -1.48415948e-01 -5.57294512e-02 4.76675812e+02] [ 1.48275950e-01 9.88923589e-01 -6.66172674e-03 4.04482372e+01] [ 5.61008754e-02 -1.68585808e-03 9.98423682e-01 2.68072877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.73, Y:40.46, Z:26.81 [[ 9.87968666e-01 -1.44264907e-01 -5.57274786e-02 4.76732401e+02] [ 1.44117382e-01 9.89538065e-01 -6.67818746e-03 4.04590425e+01] [ 5.61078894e-02 -1.43345839e-03 9.98423683e-01 2.68100585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.79, Y:40.47, Z:26.81 [[ 9.88109879e-01 -1.43294738e-01 -5.57268730e-02 4.76790038e+02] [ 1.43145388e-01 9.89679106e-01 -6.68323710e-03 4.04680416e+01] [ 5.61093946e-02 -1.37327227e-03 9.98423683e-01 2.68136227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.85, Y:40.48, Z:26.82 [[ 9.88138490e-01 -1.43098063e-01 -5.57249388e-02 4.76846720e+02] [ 1.42947494e-01 9.89707600e-01 -6.69932625e-03 4.04759459e+01] [ 5.61100560e-02 -1.34587820e-03 9.98423683e-01 2.68162193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.90, Y:40.49, Z:26.82 [[ 9.88163576e-01 -1.42925056e-01 -5.57241072e-02 4.76904472e+02] [ 1.42773823e-01 9.89732621e-01 -6.70623622e-03 4.04862012e+01] [ 5.61104559e-02 -1.32908543e-03 9.98423683e-01 2.68210384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.96, Y:40.50, Z:26.83 [[ 9.88124698e-01 -1.43194248e-01 -5.57224280e-02 4.76962407e+02] [ 1.43042658e-01 9.89693709e-01 -6.72015933e-03 4.04953847e+01] [ 5.61104246e-02 -1.33032878e-03 9.98423683e-01 2.68251774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.02, Y:40.50, Z:26.83 [[ 9.88181671e-01 -1.42801213e-01 -5.57207273e-02 4.77020817e+02] [ 1.42648205e-01 9.89750544e-01 -6.73423211e-03 4.05045331e+01] [ 5.61112766e-02 -1.29381700e-03 9.98423683e-01 2.68291001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.08, Y:40.51, Z:26.83 [[ 9.88414316e-01 -1.41182621e-01 -5.57189995e-02 4.77077582e+02] [ 1.41026240e-01 9.89982857e-01 -6.74849751e-03 4.05130986e+01] [ 5.61136249e-02 -1.18752945e-03 9.98423683e-01 2.68321803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.14, Y:40.52, Z:26.83 [[ 9.88679432e-01 -1.39314185e-01 -5.57183928e-02 4.77135215e+02] [ 1.39154558e-01 9.90247645e-01 -6.75350273e-03 4.05225131e+01] [ 5.61158660e-02 -1.07641909e-03 9.98423683e-01 2.68341909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.19, Y:40.53, Z:26.84 [[ 9.88884107e-01 -1.37854543e-01 -5.57166749e-02 4.77193003e+02] [ 1.37691805e-01 9.90452001e-01 -6.76764588e-03 4.05301726e+01] [ 5.61176429e-02 -9.79312056e-04 9.98423683e-01 2.68357240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.25, Y:40.54, Z:26.84 [[ 9.89288169e-01 -1.34925120e-01 -5.57147229e-02 4.77251551e+02] [ 1.34756836e-01 9.90855477e-01 -6.78367802e-03 4.05384394e+01] [ 5.61205269e-02 -7.96927363e-04 9.98423683e-01 2.68376696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.31, Y:40.55, Z:26.84 [[ 9.89628481e-01 -1.32406689e-01 -5.57129997e-02 4.77309734e+02] [ 1.32233621e-01 9.91195268e-01 -6.79780071e-03 4.05465723e+01] [ 5.61225360e-02 -6.39834521e-04 9.98423683e-01 2.68413186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.37, Y:40.55, Z:26.84 [[ 9.90138179e-01 -1.28540428e-01 -5.57112626e-02 4.77366396e+02] [ 1.28360443e-01 9.91704186e-01 -6.81200795e-03 4.05536476e+01] [ 5.61247107e-02 -4.06293183e-04 9.98423684e-01 2.68439180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.42, Y:40.56, Z:26.85 [[ 9.90383785e-01 -1.26634550e-01 -5.57104093e-02 4.77423731e+02] [ 1.26451159e-01 9.91949397e-01 -6.81897926e-03 4.05609175e+01] [ 5.61254252e-02 -2.91239332e-04 9.98423684e-01 2.68471434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.48, Y:40.57, Z:26.85 [[ 9.90545599e-01 -1.25363410e-01 -5.57084559e-02 4.77480676e+02] [ 1.25177114e-01 9.92110868e-01 -6.83490038e-03 4.05682493e+01] [ 5.61258110e-02 -2.03143244e-04 9.98423684e-01 2.68504146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.54, Y:40.57, Z:26.85 [[ 9.90539155e-01 -1.25415173e-01 -5.57065249e-02 4.77537413e+02] [ 1.25228076e-01 9.92104328e-01 -6.85060308e-03 4.05749928e+01] [ 5.61258540e-02 -1.90230334e-04 9.98423684e-01 2.68539011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.59, Y:40.58, Z:26.86 [[ 9.90286534e-01 -1.27395094e-01 -5.57052060e-02 4.77594622e+02] [ 1.27210525e-01 9.91852008e-01 -6.86131046e-03 4.05813155e+01] [ 5.61254177e-02 -2.91625120e-04 9.98423684e-01 2.68577021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.65, Y:40.59, Z:26.86 [[ 9.89422754e-01 -1.33939408e-01 -5.57032166e-02 4.77652216e+02] [ 1.33764285e-01 9.90989312e-01 -6.87742365e-03 4.05873158e+01] [ 5.61224504e-02 -6.46421475e-04 9.98423684e-01 2.68611810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.71, Y:40.59, Z:26.86 [[ 9.88038258e-01 -1.43797692e-01 -5.57012048e-02 4.77709116e+02] [ 1.43637281e-01 9.89606391e-01 -6.89367897e-03 4.05921251e+01] [ 5.61135634e-02 -1.18955102e-03 9.98423684e-01 2.68642115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.77, Y:40.60, Z:26.87 [[ 9.86885247e-01 -1.51509012e-01 -5.57003393e-02 4.77767742e+02] [ 1.51360458e-01 9.88454548e-01 -6.90066514e-03 4.05973750e+01] [ 5.61027666e-02 -1.62066422e-03 9.98423684e-01 2.68675000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.83, Y:40.60, Z:26.87 [[ 9.84970731e-01 -1.63494120e-01 -5.56985788e-02 4.77826427e+02] [ 1.63363852e-01 9.86541655e-01 -6.91484618e-03 4.06039107e+01] [ 5.60795048e-02 -2.28821327e-03 9.98423684e-01 2.68710160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.88, Y:40.61, Z:26.87 [[ 9.83717184e-01 -1.70875299e-01 -5.56968134e-02 4.77884927e+02] [ 1.70756012e-01 9.85288979e-01 -6.92903655e-03 4.06109392e+01] [ 5.60614576e-02 -2.69435342e-03 9.98423684e-01 2.68745006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.94, Y:40.62, Z:26.88 [[ 9.82566193e-01 -1.77374132e-01 -5.56964410e-02 4.77943764e+02] [ 1.77265069e-01 9.84138731e-01 -6.93202893e-03 4.06188919e+01] [ 5.60425874e-02 -3.06185617e-03 9.98423684e-01 2.68789322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.00, Y:40.63, Z:26.88 [[ 9.81638014e-01 -1.82441066e-01 -5.56961971e-02 4.78004212e+02] [ 1.82340006e-01 9.83211087e-01 -6.93398786e-03 4.06290665e+01] [ 5.60261626e-02 -3.34897886e-03 9.98423684e-01 2.68849680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.06, Y:40.64, Z:26.89 [[ 9.81584354e-01 -1.82729476e-01 -5.56964496e-02 4.78064609e+02] [ 1.82628994e-01 9.83157464e-01 -6.93195866e-03 4.06399610e+01] [ 5.60250533e-02 -3.36748438e-03 9.98423684e-01 2.68889687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.13, Y:40.65, Z:26.89 [[ 9.82632706e-01 -1.77005206e-01 -5.56967016e-02 4.78126096e+02] [ 1.76895670e-01 9.84205211e-01 -6.92993334e-03 4.06527503e+01] [ 5.60436183e-02 -3.04292623e-03 9.98423684e-01 2.68895201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.19, Y:40.67, Z:26.90 [[ 9.83179652e-01 -1.73941346e-01 -5.56972272e-02 4.78186188e+02] [ 1.73827148e-01 9.84751825e-01 -6.92570638e-03 4.06657700e+01] [ 5.60526129e-02 -2.87247659e-03 9.98423684e-01 2.68969298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.25, Y:40.68, Z:26.90 [[ 9.84026653e-01 -1.69083775e-01 -5.56976141e-02 4.78245918e+02] [ 1.68961990e-01 9.85598257e-01 -6.92259410e-03 4.06781745e+01] [ 5.60659697e-02 -2.59876261e-03 9.98423684e-01 2.69005157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.31, Y:40.69, Z:26.91 [[ 9.85085969e-01 -1.62798548e-01 -5.56979854e-02 4.78306329e+02] [ 1.62666902e-01 9.86656778e-01 -6.91960529e-03 4.06934254e+01] [ 5.60812965e-02 -2.24381264e-03 9.98423684e-01 2.69057180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.37, Y:40.70, Z:26.91 [[ 9.85596375e-01 -1.59679257e-01 -5.56984737e-02 4.78365714e+02] [ 1.59542861e-01 9.87166779e-01 -6.91567204e-03 4.07044928e+01] [ 5.60879723e-02 -2.07023254e-03 9.98423684e-01 2.69091146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.43, Y:40.72, Z:26.91 [[ 9.85909915e-01 -1.57731755e-01 -5.56985933e-02 4.78426899e+02] [ 1.57592311e-01 9.87480051e-01 -6.91470891e-03 4.07168820e+01] [ 5.60919189e-02 -1.96038996e-03 9.98423684e-01 2.69127028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.49, Y:40.73, Z:26.92 [[ 9.86066516e-01 -1.56749599e-01 -5.56991038e-02 4.78487455e+02] [ 1.56608823e-01 9.87636532e-01 -6.91059448e-03 4.07273394e+01] [ 5.60937026e-02 -1.90866527e-03 9.98423684e-01 2.69153516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.55, Y:40.74, Z:26.92 [[ 9.86244341e-01 -1.55626696e-01 -5.56994803e-02 4.78549164e+02] [ 1.55484304e-01 9.87814212e-01 -6.90755841e-03 4.07378093e+01] [ 5.60957387e-02 -1.84785452e-03 9.98423684e-01 2.69188839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.61, Y:40.75, Z:26.92 [[ 9.86693223e-01 -1.52754687e-01 -5.56999893e-02 4.78610777e+02] [ 1.52607956e-01 9.88262695e-01 -6.90345193e-03 4.07482817e+01] [ 5.61007561e-02 -1.68867230e-03 9.98423684e-01 2.69221401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.67, Y:40.76, Z:26.93 [[ 9.87260024e-01 -1.49047308e-01 -5.57004939e-02 4.78671883e+02] [ 1.48894913e-01 9.88828956e-01 -6.89937802e-03 4.07571933e+01] [ 5.61065949e-02 -1.48204006e-03 9.98423684e-01 2.69260458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.73, Y:40.77, Z:26.93 [[ 9.87910315e-01 -1.44674146e-01 -5.57010027e-02 4.78733331e+02] [ 1.44515036e-01 9.89478580e-01 -6.89526746e-03 4.07663910e+01] [ 5.61125160e-02 -1.23772659e-03 9.98423684e-01 2.69294668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.80, Y:40.77, Z:26.93 [[ 9.88553294e-01 -1.40213149e-01 -5.57015065e-02 4.78795023e+02] [ 1.40047191e-01 9.90120849e-01 -6.89119522e-03 4.07744997e+01] [ 5.61174591e-02 -9.88525802e-04 9.98423684e-01 2.69321220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.86, Y:40.78, Z:26.94 [[ 9.88932722e-01 -1.37511297e-01 -5.57020087e-02 4.78855871e+02] [ 1.37341285e-01 9.90499843e-01 -6.88713381e-03 4.07815210e+01] [ 5.61198896e-02 -8.39273461e-04 9.98423684e-01 2.69354018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.92, Y:40.79, Z:26.94 [[ 9.88966930e-01 -1.37264960e-01 -5.57022568e-02 4.78916797e+02] [ 1.37094670e-01 9.90534021e-01 -6.88512691e-03 4.07870381e+01] [ 5.61200670e-02 -8.27319690e-04 9.98423684e-01 2.69384436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.98, Y:40.79, Z:26.94 [[ 9.88543684e-01 -1.40280493e-01 -5.57025031e-02 4.78977821e+02] [ 1.40115096e-01 9.90111298e-01 -6.88313350e-03 4.07930069e+01] [ 5.61172470e-02 -1.00048345e-03 9.98423684e-01 2.69415772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.04, Y:40.80, Z:26.94 [[ 9.87506218e-01 -1.47406488e-01 -5.57027510e-02 4.79038163e+02] [ 1.47252515e-01 9.89074996e-01 -6.88112658e-03 4.07971072e+01] [ 5.61085209e-02 -1.40721487e-03 9.98423684e-01 2.69431206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.10, Y:40.80, Z:26.95 [[ 9.86790000e-01 -1.52127201e-01 -5.57028730e-02 4.79099453e+02] [ 1.51980788e-01 9.88359501e-01 -6.88013873e-03 4.08018050e+01] [ 5.61011201e-02 -1.67651442e-03 9.98423684e-01 2.69453136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.16, Y:40.81, Z:26.95 [[ 9.86124372e-01 -1.56383775e-01 -5.57031196e-02 4.79158865e+02] [ 1.56244247e-01 9.87694501e-01 -6.87814172e-03 4.08074858e+01] [ 5.60932947e-02 -1.92058881e-03 9.98423684e-01 2.69467846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.22, Y:40.81, Z:26.95 [[ 9.85205652e-01 -1.62071019e-01 -5.57028504e-02 4.79218248e+02] [ 1.61940431e-01 9.86776549e-01 -6.88032129e-03 4.08128102e+01] [ 5.60813672e-02 -2.24201216e-03 9.98423684e-01 2.69510556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.28, Y:40.82, Z:26.95 [[ 9.84119676e-01 -1.68539866e-01 -5.57025804e-02 4.79279142e+02] [ 1.68419477e-01 9.85691387e-01 -6.88250636e-03 4.08184737e+01] [ 5.60655305e-02 -2.60818955e-03 9.98423684e-01 2.69540299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.34, Y:40.82, Z:26.96 [[ 9.83340411e-01 -1.73028413e-01 -5.57028264e-02 4.79340714e+02] [ 1.72915309e-01 9.84912663e-01 -6.88051502e-03 4.08247956e+01] [ 5.60529437e-02 -2.86598296e-03 9.98423684e-01 2.69571659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.40, Y:40.83, Z:26.96 [[ 9.82659770e-01 -1.76852813e-01 -5.57033188e-02 4.79402762e+02] [ 1.76746052e-01 9.84232466e-01 -6.87652606e-03 4.08321599e+01] [ 5.60411478e-02 -3.08805616e-03 9.98423684e-01 2.69600831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.46, Y:40.84, Z:26.96 [[ 9.82182568e-01 -1.79483954e-01 -5.57038083e-02 4.79463997e+02] [ 1.79381630e-01 9.83755559e-01 -6.87255831e-03 4.08403945e+01] [ 5.60324450e-02 -3.24213295e-03 9.98423684e-01 2.69621128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.53, Y:40.85, Z:26.96 [[ 9.82342369e-01 -1.78607114e-01 -5.57043080e-02 4.79525045e+02] [ 1.78503615e-01 9.83915283e-01 -6.86850628e-03 4.08488074e+01] [ 5.60350840e-02 -3.19619560e-03 9.98423684e-01 2.69645863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.59, Y:40.86, Z:26.97 [[ 9.83252345e-01 -1.73527561e-01 -5.57046776e-02 4.79586154e+02] [ 1.73416103e-01 9.84824715e-01 -6.86550734e-03 4.08612028e+01] [ 5.60506980e-02 -2.90956192e-03 9.98423684e-01 2.69678937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.65, Y:40.87, Z:26.97 [[ 9.84388495e-01 -1.66961750e-01 -5.57051579e-02 4.79646740e+02] [ 1.66840021e-01 9.85960104e-01 -6.86160834e-03 4.08732596e+01] [ 5.60686893e-02 -2.53936140e-03 9.98423684e-01 2.69719487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.71, Y:40.89, Z:26.98 [[ 9.85757754e-01 -1.58677446e-01 -5.57056384e-02 4.79707313e+02] [ 1.58542725e-01 9.87328302e-01 -6.85770451e-03 4.08854306e+01] [ 5.60879165e-02 -2.07168831e-03 9.98423684e-01 2.69763233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.77, Y:40.90, Z:26.98 [[ 9.87676256e-01 -1.46261544e-01 -5.57061447e-02 4.79768405e+02] [ 1.46107304e-01 9.89245007e-01 -6.85359002e-03 4.08996821e+01] [ 5.61094421e-02 -1.36994647e-03 9.98423684e-01 2.69809918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.83, Y:40.91, Z:26.98 [[ 9.88606106e-01 -1.39838252e-01 -5.57066503e-02 4.79829399e+02] [ 1.39674049e-01 9.90173846e-01 -6.84947726e-03 4.09110857e+01] [ 5.61170871e-02 -1.00933839e-03 9.98423685e-01 2.69847319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.89, Y:40.92, Z:26.99 [[ 9.89309034e-01 -1.34775178e-01 -5.57071532e-02 4.79890594e+02] [ 1.34603182e-01 9.90875938e-01 -6.84538529e-03 4.09220960e+01] [ 5.61214657e-02 -7.26158593e-04 9.98423685e-01 2.69874808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.95, Y:40.93, Z:26.99 [[ 9.89438815e-01 -1.33818869e-01 -5.57076527e-02 4.79952507e+02] [ 1.33645588e-01 9.91005577e-01 -6.84131782e-03 4.09310027e+01] [ 5.61220919e-02 -6.76016589e-04 9.98423685e-01 2.69901238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.01, Y:40.94, Z:26.99 [[ 9.89528147e-01 -1.33156481e-01 -5.57081485e-02 4.80013034e+02] [ 1.32982378e-01 9.91094818e-01 -6.83727843e-03 4.09396853e+01] [ 5.61224852e-02 -6.42522593e-04 9.98423685e-01 2.69934097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.07, Y:40.95, Z:27.00 [[ 9.89677014e-01 -1.32045332e-01 -5.57085147e-02 4.80074246e+02] [ 1.31869639e-01 9.91243507e-01 -6.83429313e-03 4.09483637e+01] [ 5.61231400e-02 -5.82518882e-04 9.98423685e-01 2.69953517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.13, Y:40.96, Z:27.00 [[ 9.89829958e-01 -1.30893695e-01 -5.57090238e-02 4.80134521e+02] [ 1.30716412e-01 9.91396272e-01 -6.83014107e-03 4.09560996e+01] [ 5.61237409e-02 -5.21405446e-04 9.98423685e-01 2.69979086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.20, Y:40.96, Z:27.00 [[ 9.89999459e-01 -1.29605117e-01 -5.57098231e-02 4.80195353e+02] [ 1.29426163e-01 9.91565584e-01 -6.82361522e-03 4.09635180e+01] [ 5.61243187e-02 -4.54933240e-04 9.98423685e-01 2.70001042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.26, Y:40.97, Z:27.00 [[ 9.90014322e-01 -1.29491377e-01 -5.57101896e-02 4.80255044e+02] [ 1.29312411e-01 9.91580445e-01 -6.82062133e-03 4.09702133e+01] [ 5.61243463e-02 -4.51506122e-04 9.98423685e-01 2.70033101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.32, Y:40.98, Z:27.01 [[ 9.89763246e-01 -1.31396647e-01 -5.57103082e-02 4.80316229e+02] [ 1.31220750e-01 9.91329717e-01 -6.81965290e-03 4.09759498e+01] [ 5.61233635e-02 -5.60506652e-04 9.98423685e-01 2.70068144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.38, Y:40.98, Z:27.01 [[ 9.89337875e-01 -1.34561893e-01 -5.57105518e-02 4.80377452e+02] [ 1.34391120e-01 9.90904913e-01 -6.81766212e-03 4.09813241e+01] [ 5.61212570e-02 -7.42032102e-04 9.98423685e-01 2.70101953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.44, Y:40.99, Z:27.01 [[ 9.88679488e-01 -1.39316826e-01 -5.57107935e-02 4.80439309e+02] [ 1.39153701e-01 9.90247340e-01 -6.81568665e-03 4.09859156e+01] [ 5.61170049e-02 -1.01383349e-03 9.98423685e-01 2.70126158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.50, Y:40.99, Z:27.01 [[ 9.87471727e-01 -1.47634147e-01 -5.57112815e-02 4.80501313e+02] [ 1.47484449e-01 9.89040918e-01 -6.81169502e-03 4.09896879e+01] [ 5.61063758e-02 -1.49019143e-03 9.98423685e-01 2.70145936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.56, Y:40.99, Z:27.02 [[ 9.86753868e-01 -1.52358138e-01 -5.57117818e-02 4.80562477e+02] [ 1.52216183e-01 9.88323778e-01 -6.80760094e-03 4.09949520e+01] [ 5.60984721e-02 -1.76280819e-03 9.98423685e-01 2.70174327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.62, Y:41.00, Z:27.02 [[ 9.85875397e-01 -1.57942579e-01 -5.57121517e-02 4.80624591e+02] [ 1.57809685e-01 9.87446100e-01 -6.80457258e-03 4.09994682e+01] [ 5.60874786e-02 -2.08345643e-03 9.98423685e-01 2.70200109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.69, Y:41.01, Z:27.02 [[ 9.85663264e-01 -1.59260887e-01 -5.57126495e-02 4.80685825e+02] [ 1.59130325e-01 9.87234163e-01 -6.80049384e-03 4.10060839e+01] [ 5.60844836e-02 -2.16257505e-03 9.98423685e-01 2.70229430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.75, Y:41.01, Z:27.03 [[ 9.85380914e-01 -1.60998488e-01 -5.57130177e-02 4.80747340e+02] [ 1.60870866e-01 9.86952055e-01 -6.79747666e-03 4.10126518e+01] [ 5.60804607e-02 -2.26449761e-03 9.98423685e-01 2.70257811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.81, Y:41.02, Z:27.03 [[ 9.85217812e-01 -1.61993412e-01 -5.57135235e-02 4.80807539e+02] [ 1.61867611e-01 9.86789100e-01 -6.79332836e-03 4.10197794e+01] [ 5.60779721e-02 -2.32530683e-03 9.98423685e-01 2.70291235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.87, Y:41.03, Z:27.03 [[ 9.85350800e-01 -1.61182387e-01 -5.57138971e-02 4.80868628e+02] [ 1.61055465e-01 9.86921998e-01 -6.79026307e-03 4.10270145e+01] [ 5.60797414e-02 -2.28223644e-03 9.98423685e-01 2.70318009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.93, Y:41.04, Z:27.03 [[ 9.85794607e-01 -1.58445300e-01 -5.57142640e-02 4.80928055e+02] [ 1.58314185e-01 9.87365460e-01 -6.78725125e-03 4.10359606e+01] [ 5.60857479e-02 -2.12952262e-03 9.98423685e-01 2.70326736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.99, Y:41.05, Z:27.04 [[ 9.86037479e-01 -1.56926768e-01 -5.57142640e-02 4.80987197e+02] [ 1.56793233e-01 9.87608128e-01 -6.78725125e-03 4.10451231e+01] [ 5.60889614e-02 -2.04313548e-03 9.98423685e-01 2.70375824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.05, Y:41.05, Z:27.04 [[ 9.86363079e-01 -1.54867126e-01 -5.57139927e-02 4.81048559e+02] [ 1.54730186e-01 9.87933435e-01 -6.78947751e-03 4.10540398e+01] [ 5.60931830e-02 -1.92374649e-03 9.98423685e-01 2.70409652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.11, Y:41.06, Z:27.04 [[ 9.86812729e-01 -1.51975441e-01 -5.57144710e-02 4.81110495e+02] [ 1.51834121e-01 9.88382697e-01 -6.78555005e-03 4.10635811e+01] [ 5.60984561e-02 -1.76329055e-03 9.98423685e-01 2.70435614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.17, Y:41.07, Z:27.05 [[ 9.87155429e-01 -1.49733107e-01 -5.57149446e-02 4.81172353e+02] [ 1.49588440e-01 9.88725092e-01 -6.78165957e-03 4.10733785e+01] [ 5.61022026e-02 -1.63975956e-03 9.98423685e-01 2.70471485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.23, Y:41.08, Z:27.05 [[ 9.87753631e-01 -1.45734533e-01 -5.57154488e-02 4.81233983e+02] [ 1.45583745e-01 9.89322717e-01 -6.77751473e-03 4.10846630e+01] [ 5.61082771e-02 -1.41674888e-03 9.98423685e-01 2.70508167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.30, Y:41.09, Z:27.05 [[ 9.88210923e-01 -1.42600506e-01 -5.57159449e-02 4.81295304e+02] [ 1.42444970e-01 9.89779547e-01 -6.77343355e-03 4.10938310e+01] [ 5.61123977e-02 -1.24287509e-03 9.98423685e-01 2.70546225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.36, Y:41.10, Z:27.06 [[ 9.88426314e-01 -1.41099608e-01 -5.57164393e-02 4.81356263e+02] [ 1.40941919e-01 9.89994723e-01 -6.76936414e-03 4.11032928e+01] [ 5.61141355e-02 -1.16176425e-03 9.98423685e-01 2.70586206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.42, Y:41.11, Z:27.06 [[ 9.88219399e-01 -1.42541370e-01 -5.57169362e-02 4.81417431e+02] [ 1.42386201e-01 9.89788059e-01 -6.76527191e-03 4.11136873e+01] [ 5.61122893e-02 -1.24774993e-03 9.98423685e-01 2.70629631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.48, Y:41.12, Z:27.07 [[ 9.87703166e-01 -1.46075405e-01 -5.57174253e-02 4.81479284e+02] [ 1.45926075e-01 9.89272392e-01 -6.76124173e-03 4.11229532e+01] [ 5.61073617e-02 -1.45252533e-03 9.98423685e-01 2.70652603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.54, Y:41.13, Z:27.07 [[ 9.87165396e-01 -1.49666280e-01 -5.57179132e-02 4.81540315e+02] [ 1.49522885e-01 9.88735175e-01 -6.75721832e-03 4.11314458e+01] [ 5.61015884e-02 -1.66061103e-03 9.98423685e-01 2.70698105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.60, Y:41.14, Z:27.07 [[ 9.86812138e-01 -1.51977841e-01 -5.57184040e-02 4.81601432e+02] [ 1.51838351e-01 9.88382269e-01 -6.75316916e-03 4.11419696e+01] [ 5.60974146e-02 -1.79608130e-03 9.98423685e-01 2.70730844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.66, Y:41.15, Z:27.08 [[ 9.86408089e-01 -1.54578354e-01 -5.57190705e-02 4.81662155e+02] [ 1.54443314e-01 9.87978609e-01 -6.74766539e-03 4.11515929e+01] [ 5.60922928e-02 -1.94948615e-03 9.98423685e-01 2.70789529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.72, Y:41.16, Z:27.08 [[ 9.86034069e-01 -1.56946298e-01 -5.57196039e-02 4.81723426e+02] [ 1.56815278e-01 9.87604930e-01 -6.74325762e-03 4.11606137e+01] [ 5.60872848e-02 -2.08860342e-03 9.98423685e-01 2.70825194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.79, Y:41.17, Z:27.09 [[ 9.85454549e-01 -1.60544708e-01 -5.57200966e-02 4.81785296e+02] [ 1.60419652e-01 9.87025896e-01 -6.73918402e-03 4.11698684e+01] [ 5.60791186e-02 -2.29743896e-03 9.98423685e-01 2.70857631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.85, Y:41.18, Z:27.09 [[ 9.85187597e-01 -1.62174641e-01 -5.57205868e-02 4.81846711e+02] [ 1.62052414e-01 9.86759167e-01 -6.73512908e-03 4.11793690e+01] [ 5.60750669e-02 -2.39428997e-03 9.98423685e-01 2.70897744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.91, Y:41.19, Z:27.09 [[ 9.85303823e-01 -1.61466832e-01 -5.57210830e-02 4.81908226e+02] [ 1.61343708e-01 9.86875322e-01 -6.73102104e-03 4.11895258e+01] [ 5.60765984e-02 -2.35814540e-03 9.98423685e-01 2.70856545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.97, Y:41.20, Z:27.09 [[ 9.85542802e-01 -1.60001466e-01 -5.57217736e-02 4.81967947e+02] [ 1.59876328e-01 9.87114142e-01 -6.72529879e-03 4.12008336e+01] [ 5.60798085e-02 -2.28052277e-03 9.98423685e-01 2.70947595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.03, Y:41.21, Z:27.10 [[ 9.85799089e-01 -1.58414624e-01 -5.57221892e-02 4.82030502e+02] [ 1.58287151e-01 9.87370242e-01 -6.72185425e-03 4.12104387e+01] [ 5.60832714e-02 -2.19370879e-03 9.98423685e-01 2.70998615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.09, Y:41.22, Z:27.10 [[ 9.86183935e-01 -1.56000643e-01 -5.57229282e-02 4.82091745e+02] [ 1.55869670e-01 9.87754800e-01 -6.71572201e-03 4.12199526e+01] [ 5.60882468e-02 -2.06257727e-03 9.98423685e-01 2.71038136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.15, Y:41.23, Z:27.11 [[ 9.87224939e-01 -1.49270965e-01 -5.57234146e-02 4.82153486e+02] [ 1.49129509e-01 9.88794894e-01 -6.71168367e-03 4.12314839e+01] [ 5.61008874e-02 -1.68406394e-03 9.98423685e-01 2.71076174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.22, Y:41.24, Z:27.11 [[ 9.88194556e-01 -1.42710684e-01 -5.57241501e-02 4.82215071e+02] [ 1.42559148e-01 9.89763570e-01 -6.70557173e-03 4.12417488e+01] [ 5.61106905e-02 -1.31757790e-03 9.98423685e-01 2.71113397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.66509989299993 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:482.28, Y:41.25, Z:27.12 [[ 9.89711894e-01 -1.31776777e-01 -5.57247537e-02 4.82277337e+02] [ 1.31608186e-01 9.91279168e-01 -6.70055174e-03 4.12523607e+01] [ 5.61217646e-02 -7.02217996e-04 9.98423685e-01 2.71164548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.34, Y:41.26, Z:27.12 [[ 9.90465728e-01 -1.25985373e-01 -5.57254726e-02 4.82338403e+02] [ 1.25807954e-01 9.92032026e-01 -6.69456804e-03 4.12605733e+01] [ 5.61248711e-02 -3.79967490e-04 9.98423685e-01 2.71212489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.40, Y:41.27, Z:27.12 [[ 9.90839263e-01 -1.23012896e-01 -5.57259537e-02 4.82399983e+02] [ 1.22831004e-01 9.92405049e-01 -6.69056062e-03 4.12681856e+01] [ 5.61257431e-02 -2.15604700e-04 9.98423685e-01 2.71242120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.46, Y:41.27, Z:27.13 [[ 9.90783623e-01 -1.23460021e-01 -5.57264276e-02 4.82461809e+02] [ 1.23279058e-01 9.92349517e-01 -6.68661149e-03 4.12734982e+01] [ 5.61256227e-02 -2.44916317e-04 9.98423685e-01 2.71270145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.52, Y:41.28, Z:27.13 [[ 9.90066014e-01 -1.29088339e-01 -5.57269130e-02 4.82524230e+02] [ 1.28916504e-01 9.91632935e-01 -6.68256387e-03 4.12773695e+01] [ 5.61232833e-02 -5.67939430e-04 9.98423685e-01 2.71296243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.59, Y:41.28, Z:27.13 [[ 9.89334103e-01 -1.34582655e-01 -5.57273914e-02 4.82586312e+02] [ 1.34419746e-01 9.90901977e-01 -6.67857152e-03 4.12826196e+01] [ 5.61192022e-02 -8.83523256e-04 9.98423685e-01 2.71334563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.65, Y:41.29, Z:27.14 [[ 9.88923578e-01 -1.37566571e-01 -5.57278703e-02 4.82647729e+02] [ 1.37408618e-01 9.90491959e-01 -6.67457323e-03 4.12887164e+01] [ 5.61162056e-02 -1.05684681e-03 9.98423685e-01 2.71372105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.71, Y:41.29, Z:27.14 [[ 9.88006107e-01 -1.44007928e-01 -5.57283559e-02 4.82709831e+02] [ 1.43860428e-01 9.89575506e-01 -6.67051600e-03 4.12933672e+01] [ 5.61080232e-02 -1.42659458e-03 9.98423685e-01 2.71409805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.77, Y:41.30, Z:27.14 [[ 9.86437548e-01 -1.54386725e-01 -5.57288380e-02 4.82773300e+02] [ 1.54255959e-01 9.88008430e-01 -6.66648626e-03 4.12965718e+01] [ 5.60897787e-02 -2.02043302e-03 9.98423685e-01 2.71439236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.84, Y:41.30, Z:27.15 [[ 9.84867362e-01 -1.64105137e-01 -5.57295569e-02 4.82835346e+02] [ 1.63990205e-01 9.86439482e-01 -6.66047110e-03 4.13004408e+01] [ 5.60668527e-02 -2.57942088e-03 9.98423685e-01 2.71486906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.90, Y:41.31, Z:27.15 [[ 9.84112707e-01 -1.68571475e-01 -5.57300493e-02 4.82897026e+02] [ 1.68463910e-01 9.85685347e-01 -6.65634857e-03 4.13059950e+01] [ 5.60543635e-02 -2.83790478e-03 9.98423685e-01 2.71531117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.96, Y:41.31, Z:27.16 [[ 9.83540137e-01 -1.71880500e-01 -5.57305407e-02 4.82958727e+02] [ 1.71778457e-01 9.85113145e-01 -6.65223181e-03 4.13125330e+01] [ 5.60442771e-02 -3.03056932e-03 9.98423685e-01 2.71573410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.02, Y:41.32, Z:27.16 [[ 9.83205844e-01 -1.73782395e-01 -5.57310304e-02 4.83021194e+02] [ 1.73683627e-01 9.84779062e-01 -6.64812658e-03 4.13191715e+01] [ 5.60380792e-02 -3.14309060e-03 9.98423685e-01 2.71610577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.08, Y:41.33, Z:27.16 [[ 9.83277620e-01 -1.73375583e-01 -5.57317619e-02 4.83082362e+02] [ 1.73276511e-01 9.84850819e-01 -6.64198812e-03 4.13266671e+01] [ 5.60390299e-02 -3.12608698e-03 9.98423685e-01 2.71640996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.14, Y:41.34, Z:27.17 [[ 9.83987882e-01 -1.69297625e-01 -5.57329567e-02 4.83144608e+02] [ 1.69192599e-01 9.85560694e-01 -6.63194771e-03 4.13353030e+01] [ 5.60509845e-02 -2.90384762e-03 9.98423685e-01 2.71670388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.21, Y:41.34, Z:27.17 [[ 9.84583765e-01 -1.65796761e-01 -5.57336842e-02 4.83205760e+02] [ 1.65686487e-01 9.86156218e-01 -6.62582879e-03 4.13447085e+01] [ 5.60606601e-02 -2.71063485e-03 9.98423685e-01 2.71695808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.27, Y:41.35, Z:27.17 [[ 9.85206253e-01 -1.62056358e-01 -5.57348695e-02 4.83267619e+02] [ 1.61940677e-01 9.86778318e-01 -6.61584292e-03 4.13538670e+01] [ 5.60701002e-02 -2.50777266e-03 9.98423685e-01 2.71722424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.33, Y:41.36, Z:27.17 [[ 9.86334420e-01 -1.55041784e-01 -5.57355925e-02 4.83329867e+02] [ 1.54915263e-01 9.87905650e-01 -6.60974672e-03 4.13640392e+01] [ 5.60862936e-02 -2.11487327e-03 9.98423685e-01 2.71746743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.39, Y:41.37, Z:27.18 [[ 9.87202096e-01 -1.49417158e-01 -5.57363039e-02 4.83391654e+02] [ 1.49282022e-01 9.88772607e-01 -6.60374228e-03 4.13731027e+01] [ 5.60972429e-02 -1.80119991e-03 9.98423685e-01 2.71790714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.805099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.45, Y:41.38, Z:27.18 [[ 9.88633814e-01 -1.39630203e-01 -5.57367714e-02 4.83453776e+02] [ 1.39479738e-01 9.90202931e-01 -6.59979363e-03 4.13840317e+01] [ 5.61122450e-02 -1.24937112e-03 9.98423685e-01 2.71835659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.51, Y:41.39, Z:27.19 [[ 9.89504954e-01 -1.33316463e-01 -5.57374738e-02 4.83514869e+02] [ 1.33156319e-01 9.91073113e-01 -6.59385660e-03 4.13941285e+01] [ 5.61189813e-02 -8.97143080e-04 9.98423685e-01 2.71866197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.58, Y:41.40, Z:27.19 [[ 9.90389169e-01 -1.26580316e-01 -5.57379334e-02 4.83576695e+02] [ 1.26409723e-01 9.91956226e-01 -6.58996969e-03 4.14020941e+01] [ 5.61237505e-02 -5.19182122e-04 9.98423685e-01 2.71852043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.64, Y:41.41, Z:27.19 [[ 9.91187464e-01 -1.20169226e-01 -5.57383864e-02 4.83637831e+02] [ 1.19988713e-01 9.92753409e-01 -6.58613531e-03 4.14113697e+01] [ 5.61259239e-02 -1.59882485e-04 9.98423685e-01 2.71873708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.70, Y:41.42, Z:27.19 [[ 9.91898902e-01 -1.14147905e-01 -5.57388872e-02 4.83698712e+02] [ 1.13958125e-01 9.93463751e-01 -6.58189480e-03 4.14200646e+01] [ 5.61258734e-02 1.76675168e-04 9.98423685e-01 2.71912961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.76, Y:41.43, Z:27.20 [[ 9.91981707e-01 -1.13425871e-01 -5.57392561e-02 4.83758958e+02] [ 1.13235127e-01 9.93546439e-01 -6.57876859e-03 4.14305684e+01] [ 5.61257420e-02 2.14376370e-04 9.98423685e-01 2.71975838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.82, Y:41.44, Z:27.20 [[ 9.92154123e-01 -1.11907512e-01 -5.57396151e-02 4.83821128e+02] [ 1.11714544e-01 9.93718582e-01 -6.57572612e-03 4.14376223e+01] [ 5.61253644e-02 2.97208111e-04 9.98423685e-01 2.72003000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.88, Y:41.44, Z:27.20 [[ 9.92047319e-01 -1.12850156e-01 -5.57400957e-02 4.83882662e+02] [ 1.12658904e-01 9.93611989e-01 -6.57164931e-03 4.14439017e+01] [ 5.61256390e-02 2.39768971e-04 9.98423685e-01 2.72028232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.28509989299994 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:483.94, Y:41.45, Z:27.20 [[ 9.91685929e-01 -1.15982788e-01 -5.57405717e-02 4.83943338e+02] [ 1.15796706e-01 9.93251222e-01 -6.56760973e-03 4.14490396e+01] [ 5.61261206e-02 5.84315855e-05 9.98423685e-01 2.72038180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.00, Y:41.45, Z:27.21 [[ 9.90472822e-01 -1.25922906e-01 -5.57405717e-02 4.84003721e+02] [ 1.25752531e-01 9.92039902e-01 -6.56760973e-03 4.14525532e+01] [ 5.61238838e-02 -5.04479047e-04 9.98423685e-01 2.72070859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.07, Y:41.46, Z:27.21 [[ 9.89542650e-01 -1.33035080e-01 -5.57405717e-02 4.84065000e+02] [ 1.32875968e-01 9.91110914e-01 -6.56760973e-03 4.14567673e+01] [ 5.61188114e-02 -9.07652476e-04 9.98423685e-01 2.72072921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.13, Y:41.46, Z:27.21 [[ 9.88440371e-01 -1.40991461e-01 -5.57408296e-02 4.84125846e+02] [ 1.40845094e-01 9.90009876e-01 -6.56541973e-03 4.14610354e+01] [ 5.61096400e-02 -1.36129645e-03 9.98423685e-01 2.72115831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.19, Y:41.47, Z:27.22 [[ 9.87085148e-01 -1.50186022e-01 -5.57410985e-02 4.84187737e+02] [ 1.50054399e-01 9.88655958e-01 -6.56313627e-03 4.14666323e+01] [ 5.60944604e-02 -1.88582272e-03 9.98423685e-01 2.72178615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.25, Y:41.47, Z:27.22 [[ 9.86536537e-01 -1.53748290e-01 -5.57415803e-02 4.84248985e+02] [ 1.53622570e-01 9.88107831e-01 -6.55904177e-03 4.14712696e+01] [ 5.60871334e-02 -2.09243044e-03 9.98423685e-01 2.72180617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.31, Y:41.48, Z:27.22 [[ 9.85746301e-01 -1.58735842e-01 -5.57419362e-02 4.84311204e+02] [ 1.58618241e-01 9.87318222e-01 -6.55601597e-03 4.14785367e+01] [ 5.60757040e-02 -2.37911936e-03 9.98423685e-01 2.72219246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.37, Y:41.49, Z:27.22 [[ 9.85192791e-01 -1.62135502e-01 -5.57426490e-02 4.84373966e+02] [ 1.62023667e-01 9.86765134e-01 -6.54994946e-03 4.14857802e+01] [ 5.60668818e-02 -2.57866544e-03 9.98423685e-01 2.72249214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.44, Y:41.49, Z:27.23 [[ 9.84362062e-01 -1.67104784e-01 -5.57433572e-02 4.84435384e+02] [ 1.67001225e-01 9.85934972e-01 -6.54391695e-03 4.14935820e+01] [ 5.60528451e-02 -2.86762535e-03 9.98423685e-01 2.72283540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.50, Y:41.50, Z:27.23 [[ 9.83990594e-01 -1.69278281e-01 -5.57438342e-02 4.84495911e+02] [ 1.69178426e-01 9.85563743e-01 -6.53985121e-03 4.15021927e+01] [ 5.60461566e-02 -2.99550205e-03 9.98423685e-01 2.72316474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.56, Y:41.51, Z:27.24 [[ 9.83882488e-01 -1.69905370e-01 -5.57441864e-02 4.84557388e+02] [ 1.69806687e-01 9.85455711e-01 -6.53684729e-03 4.15102069e+01] [ 5.60440723e-02 -3.03424604e-03 9.98423685e-01 2.72352876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.62, Y:41.52, Z:27.24 [[ 9.83792517e-01 -1.70425398e-01 -5.57446513e-02 4.84619315e+02] [ 1.70327771e-01 9.85365806e-01 -6.53288079e-03 4.15197571e+01] [ 5.60422420e-02 -3.06786298e-03 9.98423685e-01 2.72387368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.68, Y:41.53, Z:27.24 [[ 9.83918405e-01 -1.69696873e-01 -5.57453493e-02 4.84681143e+02] [ 1.69598418e-01 9.85491642e-01 -6.52691869e-03 4.15285720e+01] [ 5.60441735e-02 -3.03236763e-03 9.98423685e-01 2.72416597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.74, Y:41.54, Z:27.24 [[ 9.84254173e-01 -1.67738268e-01 -5.57458121e-02 4.84742026e+02] [ 1.67636905e-01 9.85827226e-01 -6.52296407e-03 4.15387368e+01] [ 5.60498900e-02 -2.92480079e-03 9.98423685e-01 2.72438437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.80, Y:41.55, Z:27.25 [[ 9.84613323e-01 -1.65616900e-01 -5.57462671e-02 4.84804166e+02] [ 1.65512367e-01 9.86186168e-01 -6.51907299e-03 4.15489075e+01] [ 5.60558662e-02 -2.80793050e-03 9.98423685e-01 2.72483562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.86, Y:41.56, Z:27.25 [[ 9.85523209e-01 -1.60113340e-01 -5.57469609e-02 4.84864897e+02] [ 1.60000356e-01 9.87095469e-01 -6.51313494e-03 4.15607110e+01] [ 5.60704123e-02 -2.50068796e-03 9.98423685e-01 2.72516776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.93, Y:41.57, Z:27.26 [[ 9.86119027e-01 -1.56401640e-01 -5.57475703e-02 4.84926012e+02] [ 1.56283032e-01 9.87690873e-01 -6.50791460e-03 4.15713395e+01] [ 5.60792149e-02 -2.29482091e-03 9.98423685e-01 2.72577412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.305099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.99, Y:41.58, Z:27.26 [[ 9.86700104e-01 -1.52692689e-01 -5.57480644e-02 4.84987521e+02] [ 1.52568411e-01 9.88271512e-01 -6.50367905e-03 4.15820102e+01] [ 5.60872882e-02 -2.08821280e-03 9.98423685e-01 2.72621958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.05, Y:41.59, Z:27.26 [[ 9.87481300e-01 -1.47556042e-01 -5.57485123e-02 4.85048665e+02] [ 1.47423805e-01 9.89052058e-01 -6.49983738e-03 4.15924170e+01] [ 5.60972711e-02 -1.80018993e-03 9.98423685e-01 2.72644184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.11, Y:41.60, Z:27.27 [[ 9.87901697e-01 -1.44714470e-01 -5.57490653e-02 4.85109856e+02] [ 1.44577982e-01 9.89472092e-01 -6.49509113e-03 4.16039941e+01] [ 5.61020779e-02 -1.64357582e-03 9.98423685e-01 2.72659460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.17, Y:41.61, Z:27.27 [[ 9.89572292e-01 -1.32810517e-01 -5.57498513e-02 4.85170898e+02] [ 1.32655513e-01 9.91140967e-01 -6.48833728e-03 4.16120552e+01] [ 5.61176810e-02 -9.74846354e-04 9.98423685e-01 2.72672375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.23, Y:41.62, Z:27.27 [[ 9.90008187e-01 -1.29520818e-01 -5.57507695e-02 4.85231950e+02] [ 1.29361046e-01 9.91576383e-01 -6.48043845e-03 4.16227308e+01] [ 5.61204981e-02 -7.96290728e-04 9.98423685e-01 2.72740444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.29, Y:41.63, Z:27.28 [[ 9.90762728e-01 -1.23616382e-01 -5.57512968e-02 4.85293830e+02] [ 1.23447520e-01 9.92329972e-01 -6.47589860e-03 4.16316637e+01] [ 5.61242100e-02 -4.66280343e-04 9.98423685e-01 2.72779581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.35, Y:41.64, Z:27.28 [[ 9.91701400e-01 -1.15844919e-01 -5.57520155e-02 4.85354426e+02] [ 1.15664122e-01 9.93267312e-01 -6.46970589e-03 4.16410631e+01] [ 5.61261371e-02 -3.24915371e-05 9.98423685e-01 2.72795233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.42, Y:41.65, Z:27.28 [[ 9.91998028e-01 -1.13276575e-01 -5.57524082e-02 4.85416203e+02] [ 1.13091914e-01 9.93563488e-01 -6.46631966e-03 4.16493130e+01] [ 5.61260397e-02 1.09429771e-04 9.98423685e-01 2.72848284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.48, Y:41.66, Z:27.29 [[ 9.92076444e-01 -1.12587479e-01 -5.57529295e-02 4.85477313e+02] [ 1.12401984e-01 9.93641806e-01 -6.46182158e-03 4.16581476e+01] [ 5.61259618e-02 1.43881099e-04 9.98423685e-01 2.72884659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.54, Y:41.66, Z:27.29 [[ 9.91826445e-01 -1.14768738e-01 -5.57533816e-02 4.85538951e+02] [ 1.14586905e-01 9.93392237e-01 -6.45791921e-03 4.16647273e+01] [ 5.61261437e-02 1.65276148e-05 9.98423685e-01 2.72922585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.90509989299994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:485.60, Y:41.67, Z:27.30 [[ 9.90674330e-01 -1.24321686e-01 -5.57538326e-02 4.85600358e+02] [ 1.24155171e-01 9.92241825e-01 -6.45402242e-03 4.16726830e+01] [ 5.61236596e-02 -5.28292269e-04 9.98423685e-01 2.72965336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.66, Y:41.68, Z:27.30 [[ 9.90077181e-01 -1.28990786e-01 -5.57543952e-02 4.85661527e+02] [ 1.28831936e-01 9.91645471e-01 -6.44915931e-03 4.16750713e+01] [ 5.61204756e-02 -7.97781182e-04 9.98423686e-01 2.73007121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.72, Y:41.68, Z:27.30 [[ 9.88835132e-01 -1.38189839e-01 -5.57552665e-02 4.85724024e+02] [ 1.38046001e-01 9.90404870e-01 -6.44161716e-03 4.16789892e+01] [ 5.61104536e-02 -1.32709421e-03 9.98423686e-01 2.73040443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.79, Y:41.69, Z:27.30 [[ 9.88040354e-01 -1.43762155e-01 -5.57557253e-02 4.85785799e+02] [ 1.43627392e-01 9.89610898e-01 -6.43764405e-03 4.16852967e+01] [ 5.61019629e-02 -1.64739731e-03 9.98423686e-01 2.73043927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.85, Y:41.69, Z:27.31 [[ 9.87583716e-01 -1.46866071e-01 -5.57562742e-02 4.85846377e+02] [ 1.46736512e-01 9.89154697e-01 -6.43288670e-03 4.16898781e+01] [ 5.60963532e-02 -1.82846704e-03 9.98423686e-01 2.73108437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.91, Y:41.70, Z:27.31 [[ 9.86800803e-01 -1.52037385e-01 -5.57566863e-02 4.85909167e+02] [ 1.51916260e-01 9.88372457e-01 -6.42931256e-03 4.16964130e+01] [ 5.60858689e-02 -2.12589644e-03 9.98423686e-01 2.73138527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.97, Y:41.70, Z:27.32 [[ 9.86294044e-01 -1.55290610e-01 -5.57573815e-02 4.85971844e+02] [ 1.55175008e-01 9.87866114e-01 -6.42327783e-03 4.17024147e+01] [ 5.60783025e-02 -2.31691143e-03 9.98423686e-01 2.73170642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.03, Y:41.71, Z:27.32 [[ 9.85582365e-01 -1.59744912e-01 -5.57580970e-02 4.86033897e+02] [ 1.59636764e-01 9.87154965e-01 -6.41706078e-03 4.17084112e+01] [ 5.60669751e-02 -2.57650025e-03 9.98423686e-01 2.73184379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.10, Y:41.72, Z:27.32 [[ 9.85223139e-01 -1.61945271e-01 -5.57592641e-02 4.86095397e+02] [ 1.61841209e-01 9.86796015e-01 -6.40690397e-03 4.17164350e+01] [ 5.60605874e-02 -2.71191665e-03 9.98423686e-01 2.73211586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.16, Y:41.73, Z:27.32 [[ 9.84951119e-01 -1.63591397e-01 -5.57597283e-02 4.86157856e+02] [ 1.63490192e-01 9.86524181e-01 -6.40286085e-03 4.17252459e+01] [ 5.60557733e-02 -2.80966373e-03 9.98423686e-01 2.73246890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.22, Y:41.74, Z:27.33 [[ 9.84874249e-01 -1.64053314e-01 -5.57604206e-02 4.86219040e+02] [ 1.63953187e-01 9.86447380e-01 -6.39682649e-03 4.17352188e+01] [ 5.60541414e-02 -2.84202896e-03 9.98423686e-01 2.73281742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.28, Y:41.75, Z:27.33 [[ 9.84841880e-01 -1.64246945e-01 -5.57621135e-02 4.86279423e+02] [ 1.64147963e-01 9.86415083e-01 -6.38203498e-03 4.17455954e+01] [ 5.60528196e-02 -2.86794203e-03 9.98423686e-01 2.73318669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.34, Y:41.76, Z:27.34 [[ 9.84951055e-01 -1.63590859e-01 -5.57624476e-02 4.86340873e+02] [ 1.63490994e-01 9.86524202e-01 -6.37911443e-03 4.17552713e+01] [ 5.60545690e-02 -2.83354251e-03 9.98423686e-01 2.73362893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.40, Y:41.76, Z:27.34 [[ 9.85121263e-01 -1.62562592e-01 -5.57628891e-02 4.86402112e+02] [ 1.62461303e-01 9.86694320e-01 -6.37525263e-03 4.17646229e+01] [ 5.60573036e-02 -2.77891470e-03 9.98423686e-01 2.73403693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.46, Y:41.78, Z:27.34 [[ 9.85253945e-01 -1.61756343e-01 -5.57633244e-02 4.86463858e+02] [ 1.61653982e-01 9.86826933e-01 -6.37144305e-03 4.17752793e+01] [ 5.60593717e-02 -2.73687401e-03 9.98423686e-01 2.73449653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.53, Y:41.78, Z:27.35 [[ 9.85284642e-01 -1.61569025e-01 -5.57640033e-02 4.86526444e+02] [ 1.61466700e-01 9.86857632e-01 -6.36549581e-03 4.17834360e+01] [ 5.60595992e-02 -2.73220435e-03 9.98423686e-01 2.73485770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.59, Y:41.79, Z:27.35 [[ 9.85169800e-01 -1.62267569e-01 -5.57646966e-02 4.86587369e+02] [ 1.62166703e-01 9.86742884e-01 -6.35941592e-03 4.17932203e+01] [ 5.60573445e-02 -2.77807247e-03 9.98423686e-01 2.73512180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.65, Y:41.80, Z:27.35 [[ 9.85115047e-01 -1.62599482e-01 -5.57651499e-02 4.86649055e+02] [ 1.62499371e-01 9.86688179e-01 -6.35543882e-03 4.18015668e+01] [ 5.60562053e-02 -2.80096335e-03 9.98423686e-01 2.73540230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.71, Y:41.81, Z:27.36 [[ 9.85290868e-01 -1.61530499e-01 -5.57656079e-02 4.86711755e+02] [ 1.61428908e-01 9.86863905e-01 -6.35141751e-03 4.18101379e+01] [ 5.60590132e-02 -2.74418750e-03 9.98423686e-01 2.73566932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.77, Y:41.82, Z:27.36 [[ 9.85656692e-01 -1.59282788e-01 -5.57662875e-02 4.86773756e+02] [ 1.59177946e-01 9.87229516e-01 -6.34544506e-03 4.18186945e+01] [ 5.60648452e-02 -2.62233271e-03 9.98423686e-01 2.73607080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.83, Y:41.83, Z:27.37 [[ 9.86049971e-01 -1.56829524e-01 -5.57669682e-02 4.86834969e+02] [ 1.56721106e-01 9.87622552e-01 -6.33945691e-03 4.18267085e+01] [ 5.60709295e-02 -2.48883966e-03 9.98423686e-01 2.73651612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.90, Y:41.83, Z:27.37 [[ 9.86127817e-01 -1.56339128e-01 -5.57674271e-02 4.86897935e+02] [ 1.56230156e-01 9.87700360e-01 -6.33541710e-03 4.18339194e+01] [ 5.60719814e-02 -2.46502281e-03 9.98423686e-01 2.73686986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.96, Y:41.84, Z:27.37 [[ 9.85994387e-01 -1.57178202e-01 -5.57681094e-02 4.86960135e+02] [ 1.57070908e-01 9.87567045e-01 -6.32940602e-03 4.18384542e+01] [ 5.60695916e-02 -2.51878879e-03 9.98423686e-01 2.73703685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.02, Y:41.84, Z:27.37 [[ 9.85684847e-01 -1.59107244e-01 -5.57697740e-02 4.87022751e+02] [ 1.59003857e-01 9.87257767e-01 -6.31470469e-03 4.18434957e+01] [ 5.60638578e-02 -2.64330044e-03 9.98423686e-01 2.73738691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.09, Y:41.85, Z:27.38 [[ 9.85328101e-01 -1.61301552e-01 -5.57704370e-02 4.87085279e+02] [ 1.61201999e-01 9.86901269e-01 -6.30884351e-03 4.18490043e+01] [ 5.60575413e-02 -2.77402513e-03 9.98423686e-01 2.73780443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.15, Y:41.85, Z:27.38 [[ 9.85031328e-01 -1.63103840e-01 -5.57711365e-02 4.87147286e+02] [ 1.63007515e-01 9.86604696e-01 -6.30265401e-03 4.18535660e+01] [ 5.60520522e-02 -2.88280270e-03 9.98423686e-01 2.73807597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.21, Y:41.86, Z:27.38 [[ 9.84454074e-01 -1.66551990e-01 -5.57728486e-02 4.87209877e+02] [ 1.66462032e-01 9.86027819e-01 -6.28746682e-03 4.18569406e+01] [ 5.60407704e-02 -3.09433938e-03 9.98423686e-01 2.73848123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.27, Y:41.86, Z:27.39 [[ 9.84054345e-01 -1.68897483e-01 -5.57735337e-02 4.87272382e+02] [ 1.68811619e-01 9.85628318e-01 -6.28138339e-03 4.18614006e+01] [ 5.60328841e-02 -3.23399789e-03 9.98423686e-01 2.73895158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.33, Y:41.87, Z:27.39 [[ 9.83898627e-01 -1.69802026e-01 -5.57742141e-02 4.87333897e+02] [ 1.69717951e-01 9.85472697e-01 -6.27533598e-03 4.18660813e+01] [ 5.60295300e-02 -3.29159087e-03 9.98423686e-01 2.73938970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.40, Y:41.87, Z:27.40 [[ 9.83802709e-01 -1.70356736e-01 -5.57746630e-02 4.87397099e+02] [ 1.70273774e-01 9.85376838e-01 -6.27134359e-03 4.18701029e+01] [ 5.60274267e-02 -3.32719754e-03 9.98423686e-01 2.73979253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.46, Y:41.87, Z:27.40 [[ 9.83523620e-01 -1.71960462e-01 -5.57753359e-02 4.87460217e+02] [ 1.71880405e-01 9.85097900e-01 -6.26535385e-03 4.18724213e+01] [ 5.60215594e-02 -3.42456381e-03 9.98423686e-01 2.74008499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.52, Y:41.88, Z:27.40 [[ 9.83297051e-01 -1.73251111e-01 -5.57760017e-02 4.87522350e+02] [ 1.73173454e-01 9.84871451e-01 -6.25942074e-03 4.18762496e+01] [ 5.60166433e-02 -3.50405294e-03 9.98423686e-01 2.74028434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.58, Y:41.88, Z:27.40 [[ 9.83158408e-01 -1.74036012e-01 -5.57764425e-02 4.87584271e+02] [ 1.73959835e-01 9.84732880e-01 -6.25549095e-03 4.18783624e+01] [ 5.60135775e-02 -3.55272221e-03 9.98423686e-01 2.74049031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.65, Y:41.88, Z:27.41 [[ 9.83351052e-01 -1.72944055e-01 -5.57768957e-02 4.87645913e+02] [ 1.72866358e-01 9.84925450e-01 -6.25144702e-03 4.18825651e+01] [ 5.60172347e-02 -3.49458181e-03 9.98423686e-01 2.74076717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.71, Y:41.89, Z:27.41 [[ 9.83802447e-01 -1.70357335e-01 -5.57774549e-02 4.87708850e+02] [ 1.70275780e-01 9.85376649e-01 -6.24645391e-03 4.18864359e+01] [ 5.60259308e-02 -3.35227299e-03 9.98423686e-01 2.74124385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.77, Y:41.89, Z:27.42 [[ 9.84067978e-01 -1.68816510e-01 -5.57781377e-02 4.87770466e+02] [ 1.68732835e-01 9.85642069e-01 -6.24035046e-03 4.18915482e+01] [ 5.60307533e-02 -3.27067424e-03 9.98423686e-01 2.74154429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.83, Y:41.90, Z:27.42 [[ 9.84295753e-01 -1.67483156e-01 -5.57786974e-02 4.87832727e+02] [ 1.67397631e-01 9.85869745e-01 -6.23534357e-03 4.18958296e+01] [ 5.60348452e-02 -3.19979961e-03 9.98423686e-01 2.74187648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.90, Y:41.90, Z:27.42 [[ 9.84756273e-01 -1.64753661e-01 -5.57791515e-02 4.87896100e+02] [ 1.64664002e-01 9.86330035e-01 -6.23127872e-03 4.18985877e+01] [ 5.60432785e-02 -3.04852748e-03 9.98423686e-01 2.74225850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.96, Y:41.90, Z:27.43 [[ 9.85463098e-01 -1.60471468e-01 -5.57798303e-02 4.87959038e+02] [ 1.60375312e-01 9.87036477e-01 -6.22519717e-03 4.19015634e+01] [ 5.60556936e-02 -2.81100560e-03 9.98423686e-01 2.74268587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.02, Y:41.91, Z:27.43 [[ 9.85943930e-01 -1.57490001e-01 -5.57805130e-02 4.88020994e+02] [ 1.57389432e-01 9.87517033e-01 -6.21907384e-03 4.19061228e+01] [ 5.60636486e-02 -2.64760514e-03 9.98423686e-01 2.74302169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.08, Y:41.91, Z:27.43 [[ 9.86846319e-01 -1.51732709e-01 -5.57810735e-02 4.88083622e+02] [ 1.51623244e-01 9.88418827e-01 -6.21404186e-03 4.19087279e+01] [ 5.60779367e-02 -2.32540302e-03 9.98423686e-01 2.74320843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.15, Y:41.91, Z:27.44 [[ 9.87255599e-01 -1.49046264e-01 -5.57816550e-02 4.88145116e+02] [ 1.48932814e-01 9.88827825e-01 -6.20881774e-03 4.19129169e+01] [ 5.60838537e-02 -2.17802880e-03 9.98423686e-01 2.74379314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.21, Y:41.92, Z:27.44 [[ 9.87957755e-01 -1.44318497e-01 -5.57821210e-02 4.88207499e+02] [ 1.44197758e-01 9.89529438e-01 -6.20462816e-03 4.19163622e+01] [ 5.60934935e-02 -1.91374630e-03 9.98423686e-01 2.74423988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.27, Y:41.92, Z:27.45 [[ 9.88341065e-01 -1.41669441e-01 -5.57826955e-02 4.88269374e+02] [ 1.41544781e-01 9.89912441e-01 -6.19945871e-03 4.19212904e+01] [ 5.60982582e-02 -1.76856978e-03 9.98423686e-01 2.74455276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.33, Y:41.93, Z:27.45 [[ 9.88561292e-01 -1.40124272e-01 -5.57831525e-02 4.88330046e+02] [ 1.39997388e-01 9.90132491e-01 -6.19534432e-03 4.19260647e+01] [ 5.61008298e-02 -1.68501805e-03 9.98423686e-01 2.74485222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.39, Y:41.93, Z:27.45 [[ 9.88448345e-01 -1.40918669e-01 -5.57834895e-02 4.88392688e+02] [ 1.40793219e-01 9.90019659e-01 -6.19230789e-03 4.19289417e+01] [ 5.60993631e-02 -1.73316057e-03 9.98423686e-01 2.74509959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.45, Y:41.93, Z:27.45 [[ 9.88186341e-01 -1.42744206e-01 -5.57839370e-02 4.88453995e+02] [ 1.42621886e-01 9.89757901e-01 -6.18827460e-03 4.19327119e+01] [ 5.60959327e-02 -1.84084186e-03 9.98423686e-01 2.74534448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.52, Y:41.94, Z:27.46 [[ 9.87812583e-01 -1.45308008e-01 -5.57842675e-02 4.88515155e+02] [ 1.45189934e-01 9.89384468e-01 -6.18529336e-03 4.19366904e+01] [ 5.60908605e-02 -1.98940351e-03 9.98423686e-01 2.74562223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.58, Y:41.94, Z:27.46 [[ 9.87531862e-01 -1.47203603e-01 -5.57845895e-02 4.88577112e+02] [ 1.47088711e-01 9.89103983e-01 -6.18238831e-03 4.19413080e+01] [ 5.60868295e-02 -2.09997790e-03 9.98423686e-01 2.74603002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.64, Y:41.95, Z:27.46 [[ 9.87252196e-01 -1.49067537e-01 -5.57850352e-02 4.88638569e+02] [ 1.48955839e-01 9.88824548e-01 -6.17836390e-03 4.19463182e+01] [ 5.60826057e-02 -2.20990339e-03 9.98423686e-01 2.74643594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.70, Y:41.95, Z:27.47 [[ 9.86793339e-01 -1.52075269e-01 -5.57854750e-02 4.88700653e+02] [ 1.51968587e-01 9.88366038e-01 -6.17439034e-03 4.19504025e+01] [ 5.60754410e-02 -2.38479256e-03 9.98423686e-01 2.74690776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.76, Y:41.96, Z:27.47 [[ 9.86447357e-01 -1.54303419e-01 -5.57859087e-02 4.88762104e+02] [ 1.54200511e-01 9.88020307e-01 -6.17046879e-03 4.19558253e+01] [ 5.60697351e-02 -2.51537299e-03 9.98423686e-01 2.74740107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.82, Y:41.96, Z:27.48 [[ 9.85854837e-01 -1.58044692e-01 -5.57863397e-02 4.88824319e+02] [ 1.57947972e-01 9.87428181e-01 -6.16656973e-03 4.19610583e+01] [ 5.60595976e-02 -2.73199661e-03 9.98423686e-01 2.74766436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.89, Y:41.97, Z:27.48 [[ 9.85428414e-01 -1.60681901e-01 -5.57867993e-02 4.88885709e+02] [ 1.60589626e-01 9.87002025e-01 -6.16240960e-03 4.19671979e+01] [ 5.60518715e-02 -2.88616774e-03 9.98423686e-01 2.74786902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.95, Y:41.97, Z:27.48 [[ 9.84955011e-01 -1.63558575e-01 -5.57872561e-02 4.88946035e+02] [ 1.63471129e-01 9.86528898e-01 -6.15827163e-03 4.19743305e+01] [ 5.60429784e-02 -3.05398524e-03 9.98423687e-01 2.74802436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.01, Y:41.98, Z:27.48 [[ 9.84825402e-01 -1.64337069e-01 -5.57875936e-02 4.89007750e+02] [ 1.64251040e-01 9.86399366e-01 -6.15521250e-03 4.19822903e+01] [ 5.60403765e-02 -3.10136063e-03 9.98423687e-01 2.74839183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.07, Y:41.99, Z:27.48 [[ 9.85154133e-01 -1.62354644e-01 -5.57880323e-02 4.89069232e+02] [ 1.62265672e-01 9.86727933e-01 -6.15123335e-03 4.19909797e+01] [ 5.60462911e-02 -2.99256958e-03 9.98423687e-01 2.74829296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.13, Y:42.00, Z:27.49 [[ 9.85095853e-01 -1.62707726e-01 -5.57884928e-02 4.89129295e+02] [ 1.62619554e-01 9.86669699e-01 -6.14705390e-03 4.20000980e+01] [ 5.60449886e-02 -3.01686252e-03 9.98423687e-01 2.74916711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.19, Y:42.01, Z:27.50 [[ 9.85282111e-01 -1.61575888e-01 -5.57888326e-02 4.89190697e+02] [ 1.61486082e-01 9.86855864e-01 -6.14396891e-03 4.20086714e+01] [ 5.60482538e-02 -2.95557736e-03 9.98423687e-01 2.74967988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.25, Y:42.02, Z:27.50 [[ 9.85335951e-01 -1.61247076e-01 -5.57892817e-02 4.89253265e+02] [ 1.61156976e-01 9.86909687e-01 -6.13988850e-03 4.20188203e+01] [ 5.60490216e-02 -2.94097902e-03 9.98423687e-01 2.75011538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.32, Y:42.03, Z:27.50 [[ 9.84967474e-01 -1.63482588e-01 -5.57899483e-02 4.89315276e+02] [ 1.63396401e-01 9.86541430e-01 -6.13382522e-03 4.20279311e+01] [ 5.60418690e-02 -3.07425843e-03 9.98423687e-01 2.75040329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.38, Y:42.04, Z:27.51 [[ 9.84563793e-01 -1.65896219e-01 -5.57905107e-02 4.89375587e+02] [ 1.65814179e-01 9.86137971e-01 -6.12870550e-03 4.20351410e+01] [ 5.60338701e-02 -3.21675620e-03 9.98423687e-01 2.75063301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.44, Y:42.04, Z:27.51 [[ 9.84159902e-01 -1.68275573e-01 -5.57908437e-02 4.89436815e+02] [ 1.68197510e-01 9.85734282e-01 -6.12567286e-03 4.20426897e+01] [ 5.60257483e-02 -3.35523938e-03 9.98423687e-01 2.75091492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.50, Y:42.05, Z:27.51 [[ 9.83844603e-01 -1.70109135e-01 -5.57913839e-02 4.89499193e+02] [ 1.70034284e-01 9.85419139e-01 -6.12074838e-03 4.20520407e+01] [ 5.60190927e-02 -3.46458276e-03 9.98423687e-01 2.75130788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.56, Y:42.06, Z:27.52 [[ 9.83992177e-01 -1.69253197e-01 -5.57920400e-02 4.89560320e+02] [ 1.69177314e-01 9.85566662e-01 -6.11476252e-03 4.20606680e+01] [ 5.60217177e-02 -3.42186899e-03 9.98423687e-01 2.75163864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.62, Y:42.07, Z:27.52 [[ 9.84699291e-01 -1.65089389e-01 -5.57924738e-02 4.89622510e+02] [ 1.65007071e-01 9.86273453e-01 -6.11080130e-03 4.20706430e+01] [ 5.60354643e-02 -3.18885097e-03 9.98423687e-01 2.75201845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.68, Y:42.08, Z:27.52 [[ 9.85334875e-01 -1.61252320e-01 -5.57931364e-02 4.89684664e+02] [ 1.61164212e-01 9.86908724e-01 -6.10474604e-03 4.20804828e+01] [ 5.60471375e-02 -2.97663768e-03 9.98423687e-01 2.75244322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.74, Y:42.09, Z:27.53 [[ 9.85987303e-01 -1.57213518e-01 -5.57938060e-02 4.89744487e+02] [ 1.57119308e-01 9.87560798e-01 -6.09862052e-03 4.20905064e+01] [ 5.60585611e-02 -2.75312176e-03 9.98423687e-01 2.75286395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.81, Y:42.10, Z:27.53 [[ 9.85998089e-01 -1.57145775e-01 -5.57940253e-02 4.89805927e+02] [ 1.57051569e-01 9.87571585e-01 -6.09661279e-03 4.20982686e+01] [ 5.60586510e-02 -2.75129067e-03 9.98423687e-01 2.75332229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.87, Y:42.10, Z:27.53 [[ 9.86496132e-01 -1.53988180e-01 -5.57944567e-02 4.89868810e+02] [ 1.53889160e-01 9.88069333e-01 -6.09266212e-03 4.21006227e+01] [ 5.60669896e-02 -2.57577447e-03 9.98423687e-01 2.75266689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.93, Y:42.11, Z:27.54 [[ 9.85539348e-01 -1.59997258e-01 -5.57949069e-02 4.89928818e+02] [ 1.59908060e-01 9.87113135e-01 -6.08853658e-03 4.21119580e+01] [ 5.60500347e-02 -2.92156298e-03 9.98423687e-01 2.75393810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.99, Y:42.12, Z:27.54 [[ 9.85214365e-01 -1.61986253e-01 -5.57952404e-02 4.89990725e+02] [ 1.61900405e-01 9.86788339e-01 -6.08547965e-03 4.21185809e+01] [ 5.60438566e-02 -3.03777004e-03 9.98423687e-01 2.75410287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.05, Y:42.13, Z:27.54 [[ 9.85101927e-01 -1.62668484e-01 -5.57956783e-02 4.90053729e+02] [ 1.62583953e-01 9.86675972e-01 -6.08146169e-03 4.21257244e+01] [ 5.60415173e-02 -3.08062231e-03 9.98423687e-01 2.75443571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.12, Y:42.13, Z:27.55 [[ 9.85090498e-01 -1.62737452e-01 -5.57963468e-02 4.90116149e+02] [ 1.62653378e-01 9.86664568e-01 -6.07532209e-03 4.21338887e+01] [ 5.60409608e-02 -3.09072223e-03 9.98423687e-01 2.75487276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.18, Y:42.14, Z:27.55 [[ 9.85197792e-01 -1.62086407e-01 -5.57970213e-02 4.90177116e+02] [ 1.62001643e-01 9.86771824e-01 -6.06912097e-03 4.21410727e+01] [ 5.60426505e-02 -3.05992452e-03 9.98423687e-01 2.75523235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.24, Y:42.15, Z:27.56 [[ 9.85516195e-01 -1.60138954e-01 -5.57973518e-02 4.90238741e+02] [ 1.60051251e-01 9.87090067e-01 -6.06608086e-03 4.21483857e+01] [ 5.60484276e-02 -2.95221502e-03 9.98423687e-01 2.75560569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.30, Y:42.16, Z:27.56 [[ 9.85752293e-01 -1.58678783e-01 -5.57983873e-02 4.90301049e+02] [ 1.58589287e-01 9.87326064e-01 -6.05654087e-03 4.21559912e+01] [ 5.60522467e-02 -2.87877738e-03 9.98423687e-01 2.75604275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.36, Y:42.16, Z:27.56 [[ 9.86028450e-01 -1.56953380e-01 -5.57990316e-02 4.90362649e+02] [ 1.56861465e-01 9.87602081e-01 -6.05059973e-03 4.21631684e+01] [ 5.60569018e-02 -2.78665436e-03 9.98423687e-01 2.75631295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.42, Y:42.17, Z:27.57 [[ 9.86027076e-01 -1.56961827e-01 -5.57995604e-02 4.90424071e+02] [ 1.56870201e-01 9.87600724e-01 -6.04571853e-03 4.21698984e+01] [ 5.60566333e-02 -2.79204610e-03 9.98423687e-01 2.75654783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.49, Y:42.18, Z:27.57 [[ 9.85977892e-01 -1.57270336e-01 -5.57999869e-02 4.90485804e+02] [ 1.57179424e-01 9.87551581e-01 -6.04177974e-03 4.21761074e+01] [ 5.60555580e-02 -2.81354856e-03 9.98423687e-01 2.75690020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.55, Y:42.18, Z:27.57 [[ 9.85786315e-01 -1.58466566e-01 -5.58004360e-02 4.90547067e+02] [ 1.58377799e-01 9.87360127e-01 -6.03762905e-03 4.21839155e+01] [ 5.60518879e-02 -2.88573814e-03 9.98423687e-01 2.75727202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.61, Y:42.19, Z:27.57 [[ 9.85931509e-01 -1.57560524e-01 -5.58008990e-02 4.90608512e+02] [ 1.57470552e-01 9.87505253e-01 -6.03334655e-03 4.21904981e+01] [ 5.60542981e-02 -2.83853193e-03 9.98423687e-01 2.75745163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.67, Y:42.20, Z:27.58 [[ 9.86129907e-01 -1.56313794e-01 -5.58014709e-02 4.90670989e+02] [ 1.56222130e-01 9.87703553e-01 -6.02805269e-03 4.21985212e+01] [ 5.60575789e-02 -2.77298163e-03 9.98423687e-01 2.75785407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.73, Y:42.21, Z:27.58 [[ 9.86912456e-01 -1.51294174e-01 -5.58021262e-02 4.90732943e+02] [ 1.51194847e-01 9.88485637e-01 -6.02198041e-03 4.22058585e+01] [ 5.60706908e-02 -2.49382648e-03 9.98423687e-01 2.75804270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.79, Y:42.22, Z:27.59 [[ 9.86952129e-01 -1.51034988e-01 -5.58025706e-02 4.90793792e+02] [ 1.50935482e-01 9.88525298e-01 -6.01786012e-03 4.22157640e+01] [ 5.60711601e-02 -2.48324801e-03 9.98423687e-01 2.75890159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.85, Y:42.22, Z:27.59 [[ 9.87315081e-01 -1.48643715e-01 -5.58030119e-02 4.90853931e+02] [ 1.48540628e-01 9.88888020e-01 -6.01376508e-03 4.22238856e+01] [ 5.60768383e-02 -2.35153349e-03 9.98423687e-01 2.75928413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.92, Y:42.23, Z:27.59 [[ 9.88028512e-01 -1.43825060e-01 -5.58033372e-02 4.90916616e+02] [ 1.43714471e-01 9.89600941e-01 -6.01074428e-03 4.22267583e+01] [ 5.60875307e-02 -2.08096038e-03 9.98423687e-01 2.75892179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.98, Y:42.24, Z:27.60 [[ 9.87934490e-01 -1.44469316e-01 -5.58037699e-02 4.90977164e+02] [ 1.44359979e-01 9.89507006e-01 -6.00672449e-03 4.22377635e+01] [ 5.60860087e-02 -2.12158075e-03 9.98423687e-01 2.75990527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.04, Y:42.25, Z:27.60 [[ 9.88320306e-01 -1.41805725e-01 -5.58042100e-02 4.91039336e+02] [ 1.41692381e-01 9.89892538e-01 -6.00263333e-03 4.22450668e+01] [ 5.60913789e-02 -1.97450698e-03 9.98423687e-01 2.76026079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.10, Y:42.25, Z:27.61 [[ 9.88783292e-01 -1.38540355e-01 -5.58047571e-02 4.91101825e+02] [ 1.38422105e-01 9.90355164e-01 -5.99754300e-03 4.22525214e+01] [ 5.60974311e-02 -1.79434165e-03 9.98423687e-01 2.76061204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.16, Y:42.26, Z:27.61 [[ 9.88968337e-01 -1.37212921e-01 -5.58054075e-02 4.91164118e+02] [ 1.37092902e-01 9.90540074e-01 -5.99148456e-03 4.22591161e+01] [ 5.60996016e-02 -1.72513675e-03 9.98423687e-01 2.76100230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.23, Y:42.27, Z:27.61 [[ 9.88830563e-01 -1.38202031e-01 -5.58060547e-02 4.91225921e+02] [ 1.38083925e-01 9.90402446e-01 -5.98545034e-03 4.22655182e+01] [ 5.60976545e-02 -1.78732284e-03 9.98423687e-01 2.76127902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.29, Y:42.27, Z:27.62 [[ 9.88464414e-01 -1.40796548e-01 -5.58071109e-02 4.91288199e+02] [ 1.40683124e-01 9.90036641e-01 -5.97558633e-03 4.22710432e+01] [ 5.60924266e-02 -1.94446425e-03 9.98423687e-01 2.76156306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.35, Y:42.28, Z:27.62 [[ 9.87476612e-01 -1.47565106e-01 -5.58075246e-02 4.91350087e+02] [ 1.47462674e-01 9.89049593e-01 -5.97172027e-03 4.22757214e+01] [ 5.60776271e-02 -2.33259270e-03 9.98423687e-01 2.76187746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.41, Y:42.28, Z:27.62 [[ 9.86621181e-01 -1.53180022e-01 -5.58079468e-02 4.91412944e+02] [ 1.53086762e-01 9.88194732e-01 -5.96777192e-03 4.22807529e+01] [ 5.60632625e-02 -2.65552771e-03 9.98423687e-01 2.76229265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.48, Y:42.28, Z:27.63 [[ 9.85138938e-01 -1.62439749e-01 -5.58086081e-02 4.91475416e+02] [ 1.62361621e-01 9.86713314e-01 -5.96158166e-03 4.22848104e+01] [ 5.60354945e-02 -3.18818985e-03 9.98423687e-01 2.76267030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.54, Y:42.29, Z:27.63 [[ 9.84591653e-01 -1.65724480e-01 -5.58092646e-02 4.91537845e+02] [ 1.65651951e-01 9.86166296e-01 -5.95542941e-03 4.22885760e+01] [ 5.60241762e-02 -3.38124750e-03 9.98423687e-01 2.76264683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.60, Y:42.29, Z:27.63 [[ 9.83673747e-01 -1.71088385e-01 -5.58097059e-02 4.91598771e+02] [ 1.71024673e-01 9.85248772e-01 -5.95129111e-03 4.22949562e+01] [ 5.60046410e-02 -3.69070788e-03 9.98423687e-01 2.76342899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.66, Y:42.30, Z:27.64 [[ 9.83345519e-01 -1.72964827e-01 -5.58100316e-02 4.91661181e+02] [ 1.72904294e-01 9.84920669e-01 -5.94823501e-03 4.23000780e+01] [ 5.59972891e-02 -3.80062385e-03 9.98423687e-01 2.76376454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.72, Y:42.31, Z:27.64 [[ 9.83178250e-01 -1.73912897e-01 -5.58106910e-02 4.91723104e+02] [ 1.73854232e-01 9.84753471e-01 -5.94204186e-03 4.23052874e+01] [ 5.59931694e-02 -3.86083851e-03 9.98423687e-01 2.76396176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.78, Y:42.31, Z:27.64 [[ 9.82893184e-01 -1.75516687e-01 -5.58111280e-02 4.91783956e+02] [ 1.75460824e-01 9.84468506e-01 -5.93793473e-03 4.23102756e+01] [ 5.59865044e-02 -3.95631095e-03 9.98423687e-01 2.76420497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.85, Y:42.31, Z:27.64 [[ 9.82468516e-01 -1.77878319e-01 -5.58114508e-02 4.91845831e+02] [ 1.77826414e-01 9.84043974e-01 -5.93489840e-03 4.23140863e+01] [ 5.59766117e-02 -4.09389933e-03 9.98423687e-01 2.76446483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.91, Y:42.32, Z:27.65 [[ 9.82362249e-01 -1.78464133e-01 -5.58118733e-02 4.91908240e+02] [ 1.78413392e-01 9.83937745e-01 -5.93092338e-03 4.23189313e+01] [ 5.59738658e-02 -4.13127039e-03 9.98423687e-01 2.76485447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.97, Y:42.32, Z:27.65 [[ 9.82555149e-01 -1.77398855e-01 -5.58124106e-02 4.91971336e+02] [ 1.77346691e-01 9.84130599e-01 -5.92586268e-03 4.23239927e+01] [ 5.59779423e-02 -4.07565944e-03 9.98423687e-01 2.76528060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.03, Y:42.33, Z:27.66 [[ 9.82908066e-01 -1.75432708e-01 -5.58130734e-02 4.92032715e+02] [ 1.75377745e-01 9.84483420e-01 -5.91961293e-03 4.23284744e+01] [ 5.59855392e-02 -3.96993568e-03 9.98423687e-01 2.76569171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.10, Y:42.33, Z:27.66 [[ 9.82987768e-01 -1.74985466e-01 -5.58133982e-02 4.92095926e+02] [ 1.74929960e-01 9.84563103e-01 -5.91654943e-03 4.23334467e+01] [ 5.59871227e-02 -3.94753979e-03 9.98423687e-01 2.76611801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.16, Y:42.34, Z:27.67 [[ 9.82876303e-01 -1.75610268e-01 -5.58140399e-02 4.92158676e+02] [ 1.75556106e-01 9.84451685e-01 -5.91048935e-03 4.23365822e+01] [ 5.59841683e-02 -3.98921559e-03 9.98423687e-01 2.76653772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.22, Y:42.34, Z:27.67 [[ 9.82824495e-01 -1.75899782e-01 -5.58146878e-02 4.92221551e+02] [ 1.75846429e-01 9.84399904e-01 -5.90436486e-03 4.23406776e+01] [ 5.59825498e-02 -4.01185913e-03 9.98423687e-01 2.76692730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.29, Y:42.34, Z:27.67 [[ 9.82371215e-01 -1.78413692e-01 -5.58153297e-02 4.92285023e+02] [ 1.78364714e-01 9.83946766e-01 -5.89829044e-03 4.23429638e+01] [ 5.59716490e-02 -4.16117455e-03 9.98423687e-01 2.76730508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.35, Y:42.35, Z:27.68 [[ 9.81987528e-01 -1.80513361e-01 -5.58159659e-02 4.92345724e+02] [ 1.80468091e-01 9.83563190e-01 -5.89226412e-03 4.23464096e+01] [ 5.59621619e-02 -4.28687093e-03 9.98423687e-01 2.76761012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.41, Y:42.35, Z:27.68 [[ 9.81793849e-01 -1.81563592e-01 -5.58166717e-02 4.92408454e+02] [ 1.81520386e-01 9.83369569e-01 -5.88557083e-03 4.23513177e+01] [ 5.59570218e-02 -4.35344654e-03 9.98423687e-01 2.76805718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.47, Y:42.35, Z:27.68 [[ 9.81105961e-01 -1.85244487e-01 -5.58173153e-02 4.92471138e+02] [ 1.85207536e-01 9.82681841e-01 -5.87946051e-03 4.23523465e+01] [ 5.59397998e-02 -4.56941366e-03 9.98423687e-01 2.76848856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.53, Y:42.36, Z:27.69 [[ 9.80636407e-01 -1.87714188e-01 -5.58177547e-02 4.92533243e+02] [ 1.87681441e-01 9.82212379e-01 -5.87528619e-03 4.23557671e+01] [ 5.59277642e-02 -4.71443708e-03 9.98423687e-01 2.76889879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.60, Y:42.36, Z:27.69 [[ 9.79943493e-01 -1.91298404e-01 -5.58181929e-02 4.92595923e+02] [ 1.91271655e-01 9.81519579e-01 -5.87112008e-03 4.23579499e+01] [ 5.59097851e-02 -4.92307219e-03 9.98423687e-01 2.76930953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.66, Y:42.36, Z:27.70 [[ 9.79628411e-01 -1.92905239e-01 -5.58188539e-02 4.92658554e+02] [ 1.92881430e-01 9.81204544e-01 -5.86482839e-03 4.23615907e+01] [ 5.59010693e-02 -5.02106784e-03 9.98423687e-01 2.76960482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.72, Y:42.36, Z:27.70 [[ 9.79280075e-01 -1.94665656e-01 -5.58195127e-02 4.92720350e+02] [ 1.94645035e-01 9.80856252e-01 -5.85855187e-03 4.23648743e+01] [ 5.58913769e-02 -5.12782789e-03 9.98423687e-01 2.76987380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.78, Y:42.37, Z:27.70 [[ 9.79203226e-01 -1.95051727e-01 -5.58199435e-02 4.92781493e+02] [ 1.95031960e-01 9.80779415e-01 -5.85444409e-03 4.23698739e+01] [ 5.58889710e-02 -5.15398245e-03 9.98423687e-01 2.77017002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.84, Y:42.37, Z:27.71 [[ 9.79376525e-01 -1.94179496e-01 -5.58206540e-02 4.92843744e+02] [ 1.94158708e-01 9.80952701e-01 -5.84766174e-03 4.23748162e+01] [ 5.58929173e-02 -5.11100341e-03 9.98423687e-01 2.77062113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.91, Y:42.38, Z:27.71 [[ 9.79885579e-01 -1.91593926e-01 -5.58213090e-02 4.92905223e+02] [ 1.91569332e-01 9.81461700e-01 -5.84140291e-03 4.23789184e+01] [ 5.59056541e-02 -4.96974441e-03 9.98423687e-01 2.77107787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.97, Y:42.38, Z:27.71 [[ 9.80843260e-01 -1.86629127e-01 -5.58217480e-02 4.92967089e+02] [ 1.86596788e-01 9.82419241e-01 -5.83720434e-03 4.23843805e+01] [ 5.59297517e-02 -4.69077634e-03 9.98423687e-01 2.77142182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.03, Y:42.39, Z:27.72 [[ 9.81525465e-01 -1.83007197e-01 -5.58222898e-02 4.93028850e+02] [ 1.82969334e-01 9.83101323e-01 -5.83201880e-03 4.23901393e+01] [ 5.59462683e-02 -4.48949221e-03 9.98423687e-01 2.77178106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.09, Y:42.40, Z:27.72 [[ 9.82639397e-01 -1.76928347e-01 -5.58227172e-02 4.93091270e+02] [ 1.76880963e-01 9.84214997e-01 -5.82792452e-03 4.23950271e+01] [ 5.59726805e-02 -4.14722772e-03 9.98423687e-01 2.77210301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.15, Y:42.40, Z:27.72 [[ 9.83547936e-01 -1.71805805e-01 -5.58231448e-02 4.93151629e+02] [ 1.71750443e-01 9.85123276e-01 -5.82382625e-03 4.24008547e+01] [ 5.59932464e-02 -3.85963755e-03 9.98423687e-01 2.77243337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.21, Y:42.41, Z:27.73 [[ 9.85185461e-01 -1.62152242e-01 -5.58234602e-02 4.93212032e+02] [ 1.62081604e-01 9.86760190e-01 -5.82080148e-03 4.24078064e+01] [ 5.60282242e-02 -3.31338698e-03 9.98423687e-01 2.77278765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.27, Y:42.41, Z:27.73 [[ 9.86454178e-01 -1.54246111e-01 -5.58237651e-02 4.93273805e+02] [ 1.54163012e-01 9.88028298e-01 -5.81787621e-03 4.24141090e+01] [ 5.60528444e-02 -2.86689146e-03 9.98423687e-01 2.77324427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.34, Y:42.42, Z:27.74 [[ 9.88041765e-01 -1.43725892e-01 -5.58241833e-02 4.93335009e+02] [ 1.43626250e-01 9.89614925e-01 -5.81386002e-03 4.24205894e+01] [ 5.60800472e-02 -2.27348160e-03 9.98423687e-01 2.77389847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.40, Y:42.43, Z:27.74 [[ 9.88878025e-01 -1.37854506e-01 -5.58246112e-02 4.93395867e+02] [ 1.37745754e-01 9.90450581e-01 -5.80974836e-03 4.24264611e+01] [ 5.60924186e-02 -1.94447066e-03 9.98423687e-01 2.77439666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.46, Y:42.43, Z:27.75 [[ 9.89518052e-01 -1.33182631e-01 -5.58248243e-02 4.93455647e+02] [ 1.33066568e-01 9.91090086e-01 -5.80770046e-03 4.24315011e+01] [ 5.61009147e-02 -1.68159332e-03 9.98423687e-01 2.77478663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.52, Y:42.43, Z:27.75 [[ 9.90023354e-01 -1.29372853e-01 -5.58249290e-02 4.93515772e+02] [ 1.29250797e-01 9.91594934e-01 -5.80669411e-03 4.24341288e+01] [ 5.61069454e-02 -1.46665379e-03 9.98423687e-01 2.77509971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.58, Y:42.44, Z:27.75 [[ 9.90125355e-01 -1.28589932e-01 -5.58248245e-02 4.93576135e+02] [ 1.28466576e-01 9.91696833e-01 -5.80769858e-03 4.24370359e+01] [ 5.61081132e-02 -1.42127446e-03 9.98423687e-01 2.77548727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.64, Y:42.44, Z:27.76 [[ 9.89975876e-01 -1.29735705e-01 -5.58248245e-02 4.93635988e+02] [ 1.29614168e-01 9.91547497e-01 -5.80769858e-03 4.24406134e+01] [ 5.61064308e-02 -1.48620669e-03 9.98423687e-01 2.77585218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.69, Y:42.44, Z:27.76 [[ 9.89722144e-01 -1.31657385e-01 -5.58248245e-02 4.93694276e+02] [ 1.31538899e-01 9.91293997e-01 -5.80769858e-03 4.24441365e+01] [ 5.61034398e-02 -1.59512807e-03 9.98423687e-01 2.77610169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.75, Y:42.45, Z:27.77 [[ 9.89366417e-01 -1.34304569e-01 -5.58245110e-02 4.93754180e+02] [ 1.34190119e-01 9.90938569e-01 -5.81070987e-03 4.24467938e+01] [ 5.60990660e-02 -1.74217658e-03 9.98423687e-01 2.77657977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.81, Y:42.45, Z:27.77 [[ 9.89197149e-01 -1.35545651e-01 -5.58245110e-02 4.93812428e+02] [ 1.35433173e-01 9.90769444e-01 -5.81070987e-03 4.24511955e+01] [ 5.60968362e-02 -1.81255304e-03 9.98423687e-01 2.77686822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.87, Y:42.45, Z:27.77 [[ 9.89039346e-01 -1.36692470e-01 -5.58241990e-02 4.93871532e+02] [ 1.36581647e-01 9.90611758e-01 -5.81370629e-03 4.24547765e+01] [ 5.60947977e-02 -1.87457676e-03 9.98423687e-01 2.77721273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.93, Y:42.46, Z:27.78 [[ 9.88925695e-01 -1.37512372e-01 -5.58239900e-02 4.93930801e+02] [ 1.37402739e-01 9.90498190e-01 -5.81571193e-03 4.24592194e+01] [ 5.60932934e-02 -1.91906216e-03 9.98423687e-01 2.77755623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.99, Y:42.46, Z:27.78 [[ 9.88830876e-01 -1.38192636e-01 -5.58237777e-02 4.93989190e+02] [ 1.38083970e-01 9.90403439e-01 -5.81774914e-03 4.24626741e+01] [ 5.60920315e-02 -1.95559888e-03 9.98423687e-01 2.77791557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.05, Y:42.47, Z:27.78 [[ 9.88966030e-01 -1.37222233e-01 -5.58233820e-02 4.94048919e+02] [ 1.37111810e-01 9.90538470e-01 -5.82154339e-03 4.24674347e+01] [ 5.60940526e-02 -1.89673628e-03 9.98423687e-01 2.77833395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.11, Y:42.47, Z:27.79 [[ 9.89581234e-01 -1.32713052e-01 -5.58231715e-02 4.94107623e+02] [ 1.32595350e-01 9.91153146e-01 -5.82356112e-03 4.24727429e+01] [ 5.61021747e-02 -1.63900614e-03 9.98423687e-01 2.77865732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.17, Y:42.48, Z:27.79 [[ 9.90076546e-01 -1.28966049e-01 -5.58228610e-02 4.94165921e+02] [ 1.28842229e-01 9.91647988e-01 -5.82653591e-03 4.24790690e+01] [ 5.61080531e-02 -1.42362530e-03 9.98423687e-01 2.77908250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.22, Y:42.49, Z:27.79 [[ 9.90709403e-01 -1.24011512e-01 -5.58213615e-02 4.94224664e+02] [ 1.23879025e-01 9.92280138e-01 -5.84086750e-03 4.24855133e+01] [ 5.61147630e-02 -1.12849347e-03 9.98423688e-01 2.77939327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.28, Y:42.49, Z:27.80 [[ 9.90977393e-01 -1.21852157e-01 -5.58198662e-02 4.94282936e+02] [ 1.21715445e-01 9.92547766e-01 -5.85512224e-03 4.24906379e+01] [ 5.61173428e-02 -9.91846086e-04 9.98423688e-01 2.77983592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.34, Y:42.50, Z:27.80 [[ 9.90947888e-01 -1.22092557e-01 -5.58183815e-02 4.94341659e+02] [ 1.21955431e-01 9.92518224e-01 -5.86924233e-03 4.24961799e+01] [ 5.61173517e-02 -9.91241470e-04 9.98423688e-01 2.78023675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.40, Y:42.50, Z:27.81 [[ 9.90821065e-01 -1.23118204e-01 -5.58168898e-02 4.94398997e+02] [ 1.22981906e-01 9.92391473e-01 -5.88339460e-03 4.25007052e+01] [ 5.61165585e-02 -1.03507617e-03 9.98423688e-01 2.78060033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.46, Y:42.50, Z:27.81 [[ 9.90218403e-01 -1.27875127e-01 -5.58163657e-02 4.94456855e+02] [ 1.27746093e-01 9.91789425e-01 -5.88836306e-03 4.25032813e+01] [ 5.61110564e-02 -1.29955716e-03 9.98423688e-01 2.78085766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.51, Y:42.51, Z:27.81 [[ 9.89367859e-01 -1.34298034e-01 -5.58146818e-02 4.94514467e+02] [ 1.34178299e-01 9.90939617e-01 -5.90428092e-03 4.25057673e+01] [ 5.61019127e-02 -1.64761329e-03 9.98423688e-01 2.78111945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.57, Y:42.51, Z:27.81 [[ 9.88628118e-01 -1.39640082e-01 -5.58130003e-02 4.94572349e+02] [ 1.39527945e-01 9.90200437e-01 -5.92013365e-03 4.25097997e+01] [ 5.60927452e-02 -1.93466262e-03 9.98423688e-01 2.78143153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.63, Y:42.51, Z:27.82 [[ 9.87746970e-01 -1.45742990e-01 -5.58113298e-02 4.94630149e+02] [ 1.45639679e-01 9.89319892e-01 -5.93584091e-03 4.25139227e+01] [ 5.60803660e-02 -2.26523530e-03 9.98423688e-01 2.78178414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.69, Y:42.52, Z:27.82 [[ 9.86407013e-01 -1.54552546e-01 -5.58096260e-02 4.94688291e+02] [ 1.54462376e-01 9.87980744e-01 -5.95181671e-03 4.25178602e+01] [ 5.60587043e-02 -2.74957371e-03 9.98423688e-01 2.78210465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.75, Y:42.52, Z:27.82 [[ 9.85548111e-01 -1.59938727e-01 -5.58079205e-02 4.94747118e+02] [ 1.59856255e-01 9.87122264e-01 -5.96776625e-03 4.25230404e+01] [ 5.60437178e-02 -3.03972439e-03 9.98423689e-01 2.78246403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.81, Y:42.53, Z:27.83 [[ 9.84633776e-01 -1.65474991e-01 -5.58063943e-02 4.94806763e+02] [ 1.65400562e-01 9.86208330e-01 -5.98200431e-03 4.25293328e+01] [ 5.60266030e-02 -3.34032552e-03 9.98423689e-01 2.78284784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.87, Y:42.54, Z:27.83 [[ 9.84325399e-01 -1.67299672e-01 -5.58061715e-02 4.94866344e+02] [ 1.67228044e-01 9.85900082e-01 -5.98408225e-03 4.25365867e+01] [ 5.60204440e-02 -3.44207277e-03 9.98423689e-01 2.78320209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.93, Y:42.55, Z:27.84 [[ 9.84228609e-01 -1.67868225e-01 -5.58059503e-02 4.94925904e+02] [ 1.67797391e-01 9.85803328e-01 -5.98614464e-03 4.25455940e+01] [ 5.60185750e-02 -3.47235804e-03 9.98423689e-01 2.78358526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.98, Y:42.55, Z:27.84 [[ 9.84342812e-01 -1.67197262e-01 -5.58059503e-02 4.94984452e+02] [ 1.67125354e-01 9.85917482e-01 -5.98614464e-03 4.25537877e+01] [ 5.60209290e-02 -3.43417076e-03 9.98423689e-01 2.78391656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.04, Y:42.56, Z:27.84 [[ 9.84596429e-01 -1.65697256e-01 -5.58058404e-02 4.95043974e+02] [ 1.65622891e-01 9.86170985e-01 -5.98716871e-03 4.25625700e+01] [ 5.60261580e-02 -3.34777970e-03 9.98423689e-01 2.78428050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.10, Y:42.57, Z:27.85 [[ 9.85210665e-01 -1.62005106e-01 -5.58058404e-02 4.95103340e+02] [ 1.61924839e-01 9.86784931e-01 -5.98716871e-03 4.25746213e+01] [ 5.60383143e-02 -3.13772925e-03 9.98423689e-01 2.78456640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.16, Y:42.59, Z:27.85 [[ 9.85835804e-01 -1.58156489e-01 -5.58058404e-02 4.95163453e+02] [ 1.58070075e-01 9.87409745e-01 -5.98716871e-03 4.25883286e+01] [ 5.60501402e-02 -2.91886808e-03 9.98423689e-01 2.78510368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.22, Y:42.60, Z:27.85 [[ 9.86135221e-01 -1.56278627e-01 -5.58060570e-02 4.95224210e+02] [ 1.56189329e-01 9.87709001e-01 -5.98514868e-03 4.25996235e+01] [ 5.60554957e-02 -2.81414471e-03 9.98423689e-01 2.78542369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.28, Y:42.61, Z:27.86 [[ 9.86367610e-01 -1.54805030e-01 -5.58062763e-02 4.95284532e+02] [ 1.54713497e-01 9.87941262e-01 -5.98310344e-03 4.26104690e+01] [ 5.60595375e-02 -2.73244471e-03 9.98423689e-01 2.78566997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.35, Y:42.62, Z:27.86 [[ 9.87011421e-01 -1.50645579e-01 -5.58064964e-02 4.95345901e+02] [ 1.50547529e-01 9.88584680e-01 -5.98105026e-03 4.26232502e+01] [ 5.60704661e-02 -2.49816520e-03 9.98423689e-01 2.78613013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.41, Y:42.63, Z:27.86 [[ 9.87673292e-01 -1.46243129e-01 -5.58069391e-02 4.95406184e+02] [ 1.46138298e-01 9.89246114e-01 -5.97691621e-03 4.26342686e+01] [ 5.60808806e-02 -2.25229059e-03 9.98423689e-01 2.78646608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.47, Y:42.65, Z:27.87 [[ 9.88929610e-01 -1.37491003e-01 -5.58072656e-02 4.95467104e+02] [ 1.37372419e-01 9.90501454e-01 -5.97386582e-03 4.26476149e+01] [ 5.60985306e-02 -1.75864631e-03 9.98423689e-01 2.78679469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.53, Y:42.66, Z:27.87 [[ 9.89752708e-01 -1.31434690e-01 -5.58076999e-02 4.95527867e+02] [ 1.31306716e-01 9.91323816e-01 -5.96980626e-03 4.26593288e+01] [ 5.61081417e-02 -1.41929387e-03 9.98423689e-01 2.78722896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.59, Y:42.67, Z:27.88 [[ 9.90737339e-01 -1.23794189e-01 -5.58079167e-02 4.95588270e+02] [ 1.23654210e-01 9.92307423e-01 -5.96777863e-03 4.26713027e+01] [ 5.61173863e-02 -9.88382750e-04 9.98423689e-01 2.78775626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.65, Y:42.68, Z:27.88 [[ 9.91115972e-01 -1.20725236e-01 -5.58081299e-02 4.95648429e+02] [ 1.20580508e-01 9.92685625e-01 -5.96578436e-03 4.26799838e+01] [ 5.61201491e-02 -8.16588499e-04 9.98423689e-01 2.78820465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.71, Y:42.69, Z:27.88 [[ 9.91145894e-01 -1.20479233e-01 -5.58083437e-02 4.95706936e+02] [ 1.20334228e-01 9.92715522e-01 -5.96378379e-03 4.26877286e+01] [ 5.61203211e-02 -8.04674141e-04 9.98423689e-01 2.78849662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.77, Y:42.69, Z:27.89 [[ 9.90803480e-01 -1.23263554e-01 -5.58082385e-02 4.95766854e+02] [ 1.23122904e-01 9.92373504e-01 -5.96476754e-03 4.26945744e+01] [ 5.61178557e-02 -9.61359983e-04 9.98423689e-01 2.78875936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.83, Y:42.70, Z:27.89 [[ 9.89831796e-01 -1.30837521e-01 -5.58082385e-02 4.95827654e+02] [ 1.30708882e-01 9.91402849e-01 -5.96476754e-03 4.26998084e+01] [ 5.61088621e-02 -1.39051591e-03 9.98423689e-01 2.78891281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.89, Y:42.70, Z:27.89 [[ 9.89110499e-01 -1.36183146e-01 -5.58083442e-02 4.95888338e+02] [ 1.36063053e-01 9.90682229e-01 -5.96377848e-03 4.27048619e+01] [ 5.61005010e-02 -1.69461777e-03 9.98423689e-01 2.78924186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.95, Y:42.71, Z:27.90 [[ 9.88220454e-01 -1.42498211e-01 -5.58085562e-02 4.95949705e+02] [ 1.42388272e-01 9.89792926e-01 -5.96179418e-03 4.27095502e+01] [ 5.60884592e-02 -2.05491692e-03 9.98423689e-01 2.78969868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.01, Y:42.71, Z:27.90 [[ 9.87757935e-01 -1.45669596e-01 -5.58088742e-02 4.96011059e+02] [ 1.45564873e-01 9.89330764e-01 -5.95881567e-03 4.27148581e+01] [ 5.60814544e-02 -2.23794422e-03 9.98423689e-01 2.78988047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.07, Y:42.72, Z:27.90 [[ 9.87604477e-01 -1.46706318e-01 -5.58090820e-02 4.96072728e+02] [ 1.46603355e-01 9.89177422e-01 -5.95686893e-03 4.27207916e+01] [ 5.60789942e-02 -2.29876826e-03 9.98423689e-01 2.79013217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.13, Y:42.73, Z:27.90 [[ 9.87333745e-01 -1.48517255e-01 -5.58095137e-02 4.96133555e+02] [ 1.48417406e-01 9.88906890e-01 -5.95282219e-03 4.27267227e+01] [ 5.60745094e-02 -2.40568102e-03 9.98423689e-01 2.79038946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.19, Y:42.73, Z:27.91 [[ 9.86550396e-01 -1.53634562e-01 -5.58098327e-02 4.96194842e+02] [ 1.53543040e-01 9.88124048e-01 -5.94982988e-03 4.27337750e+01] [ 5.60611373e-02 -2.69940433e-03 9.98423689e-01 2.79071645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.26, Y:42.74, Z:27.91 [[ 9.86304384e-01 -1.55205910e-01 -5.58102744e-02 4.96255298e+02] [ 1.55117128e-01 9.87878194e-01 -5.94568387e-03 4.27399822e+01] [ 5.60565583e-02 -2.79287541e-03 9.98423689e-01 2.79100411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.32, Y:42.75, Z:27.91 [[ 9.86042128e-01 -1.56863313e-01 -5.58106009e-02 4.96317102e+02] [ 1.56777349e-01 9.87616093e-01 -5.94261755e-03 4.27464456e+01] [ 5.60516263e-02 -2.89016681e-03 9.98423689e-01 2.79133840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.38, Y:42.75, Z:27.92 [[ 9.85814175e-01 -1.58289420e-01 -5.58110334e-02 4.96379084e+02] [ 1.58205963e-01 9.87388276e-01 -5.93855212e-03 4.27531662e+01] [ 5.60471700e-02 -2.97532942e-03 9.98423689e-01 2.79169464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.44, Y:42.76, Z:27.92 [[ 9.85281174e-01 -1.61573783e-01 -5.58114702e-02 4.96439354e+02] [ 1.61495804e-01 9.86855556e-01 -5.93444496e-03 4.27611853e+01] [ 5.60367101e-02 -3.16622136e-03 9.98423689e-01 2.79209850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.50, Y:42.77, Z:27.93 [[ 9.85110501e-01 -1.62611025e-01 -5.58117926e-02 4.96500636e+02] [ 1.62534875e-01 9.86684971e-01 -5.93141118e-03 4.27701359e+01] [ 5.60331698e-02 -3.22826730e-03 9.98423689e-01 2.79262600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.56, Y:42.78, Z:27.93 [[ 9.85088932e-01 -1.62741485e-01 -5.58122294e-02 4.96561801e+02] [ 1.62665775e-01 9.86663424e-01 -5.92729820e-03 4.27776186e+01] [ 5.60325027e-02 -3.23982371e-03 9.98423689e-01 2.79303077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.62, Y:42.79, Z:27.93 [[ 9.85192048e-01 -1.62115932e-01 -5.58126643e-02 4.96623424e+02] [ 1.62039454e-01 9.86766503e-01 -5.92320024e-03 4.27854279e+01] [ 5.60343127e-02 -3.20836386e-03 9.98423689e-01 2.79345036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.69, Y:42.79, Z:27.94 [[ 9.85690211e-01 -1.59058815e-01 -5.58130934e-02 4.96685173e+02] [ 1.58977682e-01 9.87264433e-01 -5.91915369e-03 4.27945017e+01] [ 5.60437756e-02 -3.03858436e-03 9.98423689e-01 2.79380348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.75, Y:42.80, Z:27.94 [[ 9.86342532e-01 -1.54962128e-01 -5.58135151e-02 4.96746994e+02] [ 1.54874679e-01 9.87916416e-01 -5.91517481e-03 4.28032871e+01] [ 5.60557159e-02 -2.80971175e-03 9.98423689e-01 2.79414762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.81, Y:42.81, Z:27.94 [[ 9.87780407e-01 -1.45515199e-01 -5.58139316e-02 4.96808415e+02] [ 1.45412914e-01 9.89353396e-01 -5.91124237e-03 4.28136205e+01] [ 5.60798784e-02 -2.27705703e-03 9.98423689e-01 2.79441871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.87, Y:42.82, Z:27.95 [[ 9.88879007e-01 -1.37851618e-01 -5.58143418e-02 4.96869484e+02] [ 1.37737357e-01 9.90451172e-01 -5.90736677e-03 4.28234050e+01] [ 5.60957203e-02 -1.84604895e-03 9.98423689e-01 2.79476241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.93, Y:42.83, Z:27.95 [[ 9.90564273e-01 -1.25168425e-01 -5.58147561e-02 4.96931087e+02] [ 1.25034247e-01 9.92134863e-01 -5.90345006e-03 4.28337866e+01] [ 5.61146909e-02 -1.13100930e-03 9.98423689e-01 2.79509884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.99, Y:42.84, Z:27.95 [[ 9.91622522e-01 -1.16487933e-01 -5.58151812e-02 4.96992681e+02] [ 1.16340231e-01 9.93191899e-01 -5.89942731e-03 4.28423024e+01] [ 5.61223979e-02 -6.43546108e-04 9.98423689e-01 2.79544717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.05, Y:42.85, Z:27.96 [[ 9.92780044e-01 -1.06171568e-01 -5.58156127e-02 4.97052791e+02] [ 1.06007787e-01 9.94347823e-01 -5.89534278e-03 4.28522963e+01] [ 5.61260507e-02 -6.41109413e-05 9.98423689e-01 2.79588456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.11, Y:42.86, Z:27.96 [[ 9.93171996e-01 -1.02440126e-01 -5.58158254e-02 4.97113198e+02] [ 1.02270568e-01 9.94739162e-01 -5.89332816e-03 4.28593117e+01] [ 5.61259006e-02 1.44772349e-04 9.98423689e-01 2.79623171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.17, Y:42.86, Z:27.97 [[ 9.93216245e-01 -1.02010212e-01 -5.58158254e-02 4.97173142e+02] [ 1.01839976e-01 9.94783337e-01 -5.89332817e-03 4.28646951e+01] [ 5.61258327e-02 1.69066959e-04 9.98423689e-01 2.79653937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.23, Y:42.87, Z:27.97 [[ 9.92765789e-01 -1.06304661e-01 -5.58158254e-02 4.97232103e+02] [ 1.06141203e-01 9.94333603e-01 -5.89332817e-03 4.28680379e+01] [ 5.61260390e-02 -7.36642886e-05 9.98423689e-01 2.79689878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.29, Y:42.87, Z:27.97 [[ 9.92001062e-01 -1.13218747e-01 -5.58158463e-02 4.97292341e+02] [ 1.13066227e-01 9.93569977e-01 -5.89312951e-03 4.28696015e+01] [ 5.61241619e-02 -4.64896429e-04 9.98423689e-01 2.79733292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.35, Y:42.87, Z:27.98 [[ 9.91430959e-01 -1.18106918e-01 -5.58158463e-02 4.97353676e+02] [ 1.17962134e-01 9.93000607e-01 -5.89312951e-03 4.28727114e+01] [ 5.61211887e-02 -7.41525294e-04 9.98423689e-01 2.79765031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.42, Y:42.87, Z:27.98 [[ 9.90822430e-01 -1.23107599e-01 -5.58160571e-02 4.97415259e+02] [ 1.22970849e-01 9.92392798e-01 -5.89113224e-03 4.28740992e+01] [ 5.61166963e-02 -1.02668196e-03 9.98423689e-01 2.79797961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.48, Y:42.88, Z:27.98 [[ 9.90637856e-01 -1.24584035e-01 -5.58162691e-02 4.97476375e+02] [ 1.24449738e-01 9.92208436e-01 -5.88912314e-03 4.28774480e+01] [ 5.61150638e-02 -1.11233172e-03 9.98423689e-01 2.79831884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.54, Y:42.88, Z:27.99 [[ 9.90588362e-01 -1.24976866e-01 -5.58164776e-02 4.97537105e+02] [ 1.24843303e-01 9.92159005e-01 -5.88714640e-03 4.28807532e+01] [ 5.61145780e-02 -1.13657470e-03 9.98423689e-01 2.79871901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.60, Y:42.88, Z:27.99 [[ 9.90796658e-01 -1.23314553e-01 -5.58166914e-02 4.97598709e+02] [ 1.23178470e-01 9.92367084e-01 -5.88511866e-03 4.28825457e+01] [ 5.61163681e-02 -1.04445873e-03 9.98423689e-01 2.79909908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.66, Y:42.89, Z:27.99 [[ 9.90961679e-01 -1.21981245e-01 -5.58169043e-02 4.97659266e+02] [ 1.21843162e-01 9.92531931e-01 -5.88309845e-03 4.28862085e+01] [ 5.61176875e-02 -9.70982994e-04 9.98423689e-01 2.79947064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.72, Y:42.89, Z:28.00 [[ 9.91096649e-01 -1.20879719e-01 -5.58169043e-02 4.97719351e+02] [ 1.20739891e-01 9.92666746e-01 -5.88309844e-03 4.28885518e+01] [ 5.61187321e-02 -9.08607773e-04 9.98423689e-01 2.79968422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.78, Y:42.89, Z:28.00 [[ 9.90900241e-01 -1.22479331e-01 -5.58169043e-02 4.97779853e+02] [ 1.22342037e-01 9.92470561e-01 -5.88309844e-03 4.28910040e+01] [ 5.61171924e-02 -9.99190114e-04 9.98423689e-01 2.80001515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.84, Y:42.90, Z:28.00 [[ 9.90521934e-01 -1.25502076e-01 -5.58169043e-02 4.97840390e+02] [ 1.25369574e-01 9.92092667e-01 -5.88309844e-03 4.28950468e+01] [ 5.61138825e-02 -1.17040347e-03 9.98423689e-01 2.80043664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.90, Y:42.90, Z:28.01 [[ 9.90047990e-01 -1.29187654e-01 -5.58169043e-02 4.97900052e+02] [ 1.29060998e-01 9.91619205e-01 -5.88309845e-03 4.28989028e+01] [ 5.61091380e-02 -1.37923560e-03 9.98423689e-01 2.80080707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.96, Y:42.90, Z:28.01 [[ 9.89102175e-01 -1.36240130e-01 -5.58167997e-02 4.97960277e+02] [ 1.36124619e-01 9.90674248e-01 -5.88409077e-03 4.29015701e+01] [ 5.60979154e-02 -1.77807363e-03 9.98423689e-01 2.80119869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.02, Y:42.90, Z:28.02 [[ 9.87943987e-01 -1.44399323e-01 -5.58167997e-02 4.98021789e+02] [ 1.44296792e-01 9.89516960e-01 -5.88409077e-03 4.29048113e+01] [ 5.60813287e-02 -2.24103303e-03 9.98423689e-01 2.80158896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.08, Y:42.91, Z:28.02 [[ 9.87158804e-01 -1.49672828e-01 -5.58170153e-02 4.98082268e+02] [ 1.49578814e-01 9.88732310e-01 -5.88204514e-03 4.29094838e+01] [ 5.60684688e-02 -2.54253030e-03 9.98423689e-01 2.80187465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.14, Y:42.91, Z:28.02 [[ 9.86378623e-01 -1.54730930e-01 -5.58171215e-02 4.98143486e+02] [ 1.54645039e-01 9.87952593e-01 -5.88103743e-03 4.29148740e+01] [ 5.60546483e-02 -2.83091134e-03 9.98423689e-01 2.80228345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.20, Y:42.92, Z:28.03 [[ 9.85768182e-01 -1.58573381e-01 -5.58173372e-02 4.98203746e+02] [ 1.58493739e-01 9.87342480e-01 -5.87898892e-03 4.29204643e+01] [ 5.60430793e-02 -3.05137828e-03 9.98423689e-01 2.80257208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.26, Y:42.93, Z:28.03 [[ 9.85298701e-01 -1.61464806e-01 -5.58174435e-02 4.98264749e+02] [ 1.61389841e-01 9.86873228e-01 -5.87797982e-03 4.29268436e+01] [ 5.60338275e-02 -3.21680244e-03 9.98423689e-01 2.80294745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.33, Y:42.93, Z:28.03 [[ 9.84758355e-01 -1.64728176e-01 -5.58176546e-02 4.98325498e+02] [ 1.64658541e-01 9.86333127e-01 -5.87597428e-03 4.29325981e+01] [ 5.60227404e-02 -3.40443883e-03 9.98423689e-01 2.80308703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.39, Y:42.94, Z:28.03 [[ 9.84415836e-01 -1.66762788e-01 -5.58178629e-02 4.98385262e+02] [ 1.66696519e-01 9.85990754e-01 -5.87399501e-03 4.29390144e+01] [ 5.60154605e-02 -3.52218975e-03 9.98423689e-01 2.80324520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.45, Y:42.95, Z:28.04 [[ 9.83974046e-01 -1.69350028e-01 -5.58179654e-02 4.98446188e+02] [ 1.69287954e-01 9.85549134e-01 -5.87302133e-03 4.29469018e+01] [ 5.60059438e-02 -3.67040859e-03 9.98423689e-01 2.80351462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.51, Y:42.95, Z:28.04 [[ 9.83877193e-01 -1.69911746e-01 -5.58181703e-02 4.98506633e+02] [ 1.69850682e-01 9.85452321e-01 -5.87107267e-03 4.29544910e+01] [ 5.60037097e-02 -3.70433979e-03 9.98423689e-01 2.80387407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.57, Y:42.96, Z:28.04 [[ 9.84096593e-01 -1.68636311e-01 -5.58183733e-02 4.98568340e+02] [ 1.68573314e-01 9.85671645e-01 -5.86914200e-03 4.29642757e+01] [ 5.60083383e-02 -3.63368554e-03 9.98423689e-01 2.80433477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.63, Y:42.97, Z:28.05 [[ 9.84444144e-01 -1.66595290e-01 -5.58187873e-02 4.98630094e+02] [ 1.66529249e-01 9.86019071e-01 -5.86520230e-03 4.29734758e+01] [ 5.60155039e-02 -3.52149670e-03 9.98423689e-01 2.80479091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.745099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.69, Y:42.98, Z:28.05 [[ 9.84996899e-01 -1.63295211e-01 -5.58192093e-02 4.98690952e+02] [ 1.63224119e-01 9.86571606e-01 -5.86118309e-03 4.29840600e+01] [ 5.60267501e-02 -3.33779413e-03 9.98423689e-01 2.80518180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.75, Y:42.99, Z:28.05 [[ 9.85321935e-01 -1.61322204e-01 -5.58196295e-02 4.98752796e+02] [ 1.61248186e-01 9.86896507e-01 -5.85717865e-03 4.29928831e+01] [ 5.60330904e-02 -3.22960739e-03 9.98423689e-01 2.80549505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.81, Y:43.00, Z:28.06 [[ 9.85597280e-01 -1.59631208e-01 -5.58200645e-02 4.98814503e+02] [ 1.59554722e-01 9.87171734e-01 -5.85303011e-03 4.30020301e+01] [ 5.60383162e-02 -3.13762432e-03 9.98423689e-01 2.80579053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.88, Y:43.01, Z:28.06 [[ 9.85943964e-01 -1.57475621e-01 -5.58204972e-02 4.98875889e+02] [ 1.57395925e-01 9.87518260e-01 -5.84890089e-03 4.30129796e+01] [ 5.60448195e-02 -3.01923026e-03 9.98423689e-01 2.80598561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.94, Y:43.02, Z:28.06 [[ 9.86233332e-01 -1.55652947e-01 -5.58209253e-02 4.98937076e+02] [ 1.55570572e-01 9.87807489e-01 -5.84481247e-03 4.30219127e+01] [ 5.60500903e-02 -2.91974440e-03 9.98423689e-01 2.80623994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.00, Y:43.03, Z:28.07 [[ 9.86869211e-01 -1.51568920e-01 -5.58213477e-02 4.98998630e+02] [ 1.51480258e-01 9.88443027e-01 -5.84077477e-03 4.30327929e+01] [ 5.60615018e-02 -2.69175135e-03 9.98423689e-01 2.80656833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.06, Y:43.04, Z:28.07 [[ 9.87414539e-01 -1.47974521e-01 -5.58217682e-02 4.99060177e+02] [ 1.47880355e-01 9.88988035e-01 -5.83675368e-03 4.30428669e+01] [ 5.60707517e-02 -2.49164745e-03 9.98423689e-01 2.80693027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.12, Y:43.05, Z:28.07 [[ 9.88369277e-01 -1.41456906e-01 -5.58221884e-02 4.99121091e+02] [ 1.41352588e-01 9.89942132e-01 -5.83273256e-03 4.30546622e+01] [ 5.60858165e-02 -2.12571711e-03 9.98423689e-01 2.80731340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.18, Y:43.06, Z:28.08 [[ 9.88897183e-01 -1.37717819e-01 -5.58226199e-02 4.99182897e+02] [ 1.37607786e-01 9.90469649e-01 -5.82859915e-03 4.30639538e+01] [ 5.60933127e-02 -1.91774185e-03 9.98423689e-01 2.80769544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.24, Y:43.07, Z:28.08 [[ 9.89716114e-01 -1.31703457e-01 -5.58230495e-02 4.99244725e+02] [ 1.31584099e-01 9.91287900e-01 -5.82448182e-03 4.30736489e+01] [ 5.61038179e-02 -1.58084215e-03 9.98423689e-01 2.80797334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.31, Y:43.08, Z:28.08 [[ 9.90173526e-01 -1.28219064e-01 -5.58234811e-02 4.99306198e+02] [ 1.28094407e-01 9.91744900e-01 -5.82034249e-03 4.30820532e+01] [ 5.61089316e-02 -1.38752669e-03 9.98423689e-01 2.80828860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.37, Y:43.09, Z:28.09 [[ 9.90753467e-01 -1.23657829e-01 -5.58239146e-02 4.99366737e+02] [ 1.23526172e-01 9.92324270e-01 -5.81618187e-03 4.30903890e+01] [ 5.61146417e-02 -1.13331211e-03 9.98423689e-01 2.80856672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.43, Y:43.10, Z:28.09 [[ 9.91125167e-01 -1.20642271e-01 -5.58242348e-02 4.99428714e+02] [ 1.20506008e-01 9.92695578e-01 -5.81310656e-03 4.30972097e+01] [ 5.61177774e-02 -9.65639450e-04 9.98423689e-01 2.80890194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.49, Y:43.10, Z:28.09 [[ 9.91477581e-01 -1.17710719e-01 -5.58246554e-02 4.99489198e+02] [ 1.17570039e-01 9.93047602e-01 -5.80906476e-03 4.31040425e+01] [ 5.61203294e-02 -8.03749460e-04 9.98423689e-01 2.80923517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.55, Y:43.11, Z:28.10 [[ 9.91867687e-01 -1.14376907e-01 -5.58248640e-02 4.99551077e+02] [ 1.14231063e-01 9.93437236e-01 -5.80705981e-03 4.31101496e+01] [ 5.61226921e-02 -6.17098574e-04 9.98423689e-01 2.80957538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.61, Y:43.11, Z:28.10 [[ 9.91912456e-01 -1.13987793e-01 -5.58252857e-02 4.99611995e+02] [ 1.13841561e-01 9.93481970e-01 -5.80300287e-03 4.31144148e+01] [ 5.61228863e-02 -5.99166859e-04 9.98423689e-01 2.80983610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.67, Y:43.12, Z:28.10 [[ 9.91684104e-01 -1.15957538e-01 -5.58254985e-02 4.99671944e+02] [ 1.15814539e-01 9.93253916e-01 -5.80095495e-03 4.31187795e+01] [ 5.61215595e-02 -7.12689567e-04 9.98423689e-01 2.81008885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.73, Y:43.12, Z:28.10 [[ 9.91094203e-01 -1.20895752e-01 -5.58256031e-02 4.99733569e+02] [ 1.20760631e-01 9.92664712e-01 -5.79994805e-03 4.31220505e+01] [ 5.61172953e-02 -9.93240162e-04 9.98423689e-01 2.81037943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.79, Y:43.12, Z:28.11 [[ 9.90694364e-01 -1.24129590e-01 -5.58258185e-02 4.99793615e+02] [ 1.23999712e-01 9.92265315e-01 -5.79787378e-03 4.31249129e+01] [ 5.61137111e-02 -1.17846455e-03 9.98423689e-01 2.81065400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.85, Y:43.13, Z:28.11 [[ 9.90273458e-01 -1.27443885e-01 -5.58259246e-02 4.99854783e+02] [ 1.27319322e-01 9.91844840e-01 -5.79685239e-03 4.31268024e+01] [ 5.61094286e-02 -1.36724982e-03 9.98423689e-01 2.81086301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.92, Y:43.13, Z:28.11 [[ 9.90119578e-01 -1.28633840e-01 -5.58261351e-02 4.99916467e+02] [ 1.28511279e-01 9.91691117e-01 -5.79482410e-03 4.31313299e+01] [ 5.61076928e-02 -1.43671925e-03 9.98423689e-01 2.81118080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.98, Y:43.13, Z:28.12 [[ 9.90039547e-01 -1.29248171e-01 -5.58265593e-02 4.99977545e+02] [ 1.29126816e-01 9.91611180e-01 -5.79073481e-03 4.31348282e+01] [ 5.61066823e-02 -1.47564940e-03 9.98423689e-01 2.81151173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.04, Y:43.14, Z:28.12 [[ 9.89890872e-01 -1.30381875e-01 -5.58267682e-02 5.00037473e+02] [ 1.30262434e-01 9.91462651e-01 -5.78872066e-03 4.31386792e+01] [ 5.61048998e-02 -1.54192893e-03 9.98423689e-01 2.81185176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.10, Y:43.14, Z:28.12 [[ 9.89760701e-01 -1.31366337e-01 -5.58268709e-02 5.00098465e+02] [ 1.31248515e-01 9.91332603e-01 -5.78772927e-03 4.31437704e+01] [ 5.61033101e-02 -1.59872693e-03 9.98423689e-01 2.81225882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.16, Y:43.15, Z:28.13 [[ 9.88934459e-01 -1.37448075e-01 -5.58270811e-02 5.00159167e+02] [ 1.37340032e-01 9.90507063e-01 -5.78570115e-03 4.31463102e+01] [ 5.60923516e-02 -1.94561389e-03 9.98423689e-01 2.81267020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.245099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.22, Y:43.15, Z:28.13 [[ 9.88193122e-01 -1.42680382e-01 -5.58270811e-02 5.00221028e+02] [ 1.42580664e-01 9.89766275e-01 -5.78570115e-03 4.31498684e+01] [ 5.60812682e-02 -2.24247222e-03 9.98423689e-01 2.81298383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.28, Y:43.15, Z:28.13 [[ 9.87040419e-01 -1.50447668e-01 -5.58275052e-02 5.00281141e+02] [ 1.50360556e-01 9.88614321e-01 -5.78160653e-03 4.31526686e+01] [ 5.60617004e-02 -2.68757538e-03 9.98423689e-01 2.81323334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.34, Y:43.16, Z:28.14 [[ 9.86341041e-01 -1.54966539e-01 -5.58276090e-02 5.00341321e+02] [ 1.54886693e-01 9.87915329e-01 -5.78060373e-03 4.31574073e+01] [ 5.60487509e-02 -2.94530704e-03 9.98423689e-01 2.81358703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.40, Y:43.16, Z:28.14 [[ 9.85715267e-01 -1.58898330e-01 -5.58277111e-02 5.00402876e+02] [ 1.58824818e-01 9.87289863e-01 -5.77961756e-03 4.31617383e+01] [ 5.60365048e-02 -3.16976880e-03 9.98423689e-01 2.81397402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.46, Y:43.17, Z:28.14 [[ 9.85533684e-01 -1.60020551e-01 -5.58281306e-02 5.00464403e+02] [ 1.59949060e-01 9.87108374e-01 -5.77556259e-03 4.31675657e+01] [ 5.60326239e-02 -3.23764553e-03 9.98423689e-01 2.81441661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.53, Y:43.17, Z:28.15 [[ 9.85790304e-01 -1.58431845e-01 -5.58285451e-02 5.00526264e+02] [ 1.58358043e-01 9.87364887e-01 -5.77155329e-03 4.31740163e+01] [ 5.60375429e-02 -3.15135786e-03 9.98423689e-01 2.81481197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.59, Y:43.18, Z:28.15 [[ 9.86133195e-01 -1.56283233e-01 -5.58289591e-02 5.00587860e+02] [ 1.56206226e-01 9.87707624e-01 -5.76754607e-03 4.31807492e+01] [ 5.60440592e-02 -3.03326236e-03 9.98423689e-01 2.81517179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.65, Y:43.19, Z:28.16 [[ 9.86483764e-01 -1.54054744e-01 -5.58293742e-02 5.00648202e+02] [ 1.53974406e-01 9.88058027e-01 -5.76352443e-03 4.31879714e+01] [ 5.60505596e-02 -2.91067148e-03 9.98423689e-01 2.81555179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.71, Y:43.20, Z:28.16 [[ 9.86940071e-01 -1.51103787e-01 -5.58295778e-02 5.00709316e+02] [ 1.51018853e-01 9.88514092e-01 -5.76155173e-03 4.31960827e+01] [ 5.60589167e-02 -2.74501256e-03 9.98423689e-01 2.81593283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.77, Y:43.20, Z:28.16 [[ 9.87435063e-01 -1.47834392e-01 -5.58300001e-02 5.00771311e+02] [ 1.47744477e-01 9.89008807e-01 -5.75745692e-03 4.32043194e+01] [ 5.60675120e-02 -2.56345933e-03 9.98423689e-01 2.81618358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.83, Y:43.21, Z:28.17 [[ 9.88016813e-01 -1.43894900e-01 -5.58304199e-02 5.00832523e+02] [ 1.43798939e-01 9.89590200e-01 -5.75338268e-03 4.32124146e+01] [ 5.60771189e-02 -2.34391632e-03 9.98423689e-01 2.81656208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.89, Y:43.22, Z:28.17 [[ 9.89352270e-01 -1.34406113e-01 -5.58308462e-02 5.00893836e+02] [ 1.34295289e-01 9.90924680e-01 -5.74924327e-03 4.32225763e+01] [ 5.60968969e-02 -1.80979277e-03 9.98423689e-01 2.81700431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.95, Y:43.23, Z:28.17 [[ 9.90325473e-01 -1.27036709e-01 -5.58312762e-02 5.00954954e+02] [ 1.26914418e-01 9.91897033e-01 -5.74506429e-03 4.32313055e+01] [ 5.61087113e-02 -1.39631041e-03 9.98423689e-01 2.81739333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.02, Y:43.24, Z:28.18 [[ 9.91122011e-01 -1.20664843e-01 -5.58314866e-02 5.01015510e+02] [ 1.20532561e-01 9.92692762e-01 -5.74301879e-03 4.32392059e+01] [ 5.61164931e-02 -1.03747976e-03 9.98423689e-01 2.81772232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.08, Y:43.25, Z:28.18 [[ 9.91786391e-01 -1.15076395e-01 -5.58316942e-02 5.01075235e+02] [ 1.14935376e-01 9.93356381e-01 -5.74100062e-03 4.32471283e+01] [ 5.61214233e-02 -7.23190465e-04 9.98423689e-01 2.81806841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.14, Y:43.25, Z:28.18 [[ 9.91849704e-01 -1.14529413e-01 -5.58316942e-02 5.01135828e+02] [ 1.14387528e-01 9.93419616e-01 -5.74100063e-03 4.32532030e+01] [ 5.61218136e-02 -6.92239697e-04 9.98423689e-01 2.81836794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.20, Y:43.26, Z:28.19 [[ 9.91443090e-01 -1.17997545e-01 -5.58316942e-02 5.01196288e+02] [ 1.17861151e-01 9.93013489e-01 -5.74100062e-03 4.32578819e+01] [ 5.61190494e-02 -8.88512328e-04 9.98423689e-01 2.81870235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.26, Y:43.26, Z:28.19 [[ 9.90834800e-01 -1.23000897e-01 -5.58316942e-02 5.01256255e+02] [ 1.22872432e-01 9.92405868e-01 -5.74100063e-03 4.32620720e+01] [ 5.61138491e-02 -1.17179284e-03 9.98423689e-01 2.81904449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.32, Y:43.27, Z:28.19 [[ 9.90405084e-01 -1.26414367e-01 -5.58316942e-02 5.01317162e+02] [ 1.26291316e-01 9.91976585e-01 -5.74100063e-03 4.32666709e+01] [ 5.61094782e-02 -1.36514195e-03 9.98423689e-01 2.81939104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.38, Y:43.27, Z:28.20 [[ 9.89762668e-01 -1.31349377e-01 -5.58319040e-02 5.01377479e+02] [ 1.31234277e-01 9.91334771e-01 -5.73895906e-03 4.32700917e+01] [ 5.61019165e-02 -1.64685210e-03 9.98423689e-01 2.81967111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.44, Y:43.27, Z:28.20 [[ 9.89402116e-01 -1.34038206e-01 -5.58320074e-02 5.01437991e+02] [ 1.33927435e-01 9.90974530e-01 -5.73795300e-03 4.32743042e+01] [ 5.60972022e-02 -1.80029468e-03 9.98423689e-01 2.82009752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.50, Y:43.28, Z:28.21 [[ 9.89015025e-01 -1.36865139e-01 -5.58320074e-02 5.01499247e+02] [ 1.36758862e-01 9.90587750e-01 -5.73795300e-03 4.32782513e+01] [ 5.60918283e-02 -1.96060004e-03 9.98423689e-01 2.82059089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.56, Y:43.28, Z:28.21 [[ 9.88753638e-01 -1.38740791e-01 -5.58322190e-02 5.01559715e+02] [ 1.38637613e-01 9.90326568e-01 -5.73589309e-03 4.32822490e+01] [ 5.60879322e-02 -2.06906041e-03 9.98423689e-01 2.82077843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.62, Y:43.29, Z:28.21 [[ 9.88377490e-01 -1.41395504e-01 -5.58323231e-02 5.01621152e+02] [ 1.41296607e-01 9.89950696e-01 -5.73487953e-03 4.32866435e+01] [ 5.60821333e-02 -2.22069200e-03 9.98423689e-01 2.82103489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.68, Y:43.29, Z:28.21 [[ 9.87553804e-01 -1.47038132e-01 -5.58325333e-02 5.01681306e+02] [ 1.46948337e-01 9.89127555e-01 -5.73283312e-03 4.32901032e+01] [ 5.60684422e-02 -2.54301676e-03 9.98423689e-01 2.82117925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.74, Y:43.30, Z:28.22 [[ 9.86840331e-01 -1.51752689e-01 -5.58326367e-02 5.01743342e+02] [ 1.51670468e-01 9.88414496e-01 -5.73182524e-03 4.32953435e+01] [ 5.60556074e-02 -2.81176583e-03 9.98423689e-01 2.82157120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.80, Y:43.30, Z:28.22 [[ 9.85829739e-01 -1.58184683e-01 -5.58330640e-02 5.01804775e+02] [ 1.58112964e-01 9.87404418e-01 -5.72765983e-03 4.33007525e+01] [ 5.60358422e-02 -3.18143385e-03 9.98423689e-01 2.82176008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.87, Y:43.31, Z:28.22 [[ 9.85330974e-01 -1.61262223e-01 -5.58333799e-02 5.01866088e+02] [ 1.61195595e-01 9.86905877e-01 -5.72457935e-03 4.33072371e+01] [ 5.60254491e-02 -3.35948954e-03 9.98423689e-01 2.82218585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.93, Y:43.31, Z:28.23 [[ 9.84915595e-01 -1.63779905e-01 -5.58338032e-02 5.01927610e+02] [ 1.63717536e-01 9.86490671e-01 -5.72044736e-03 4.33144471e+01] [ 5.60164204e-02 -3.50681488e-03 9.98423689e-01 2.82253952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.99, Y:43.32, Z:28.23 [[ 9.84799683e-01 -1.64475298e-01 -5.58342247e-02 5.01988254e+02] [ 1.64414273e-01 9.86374812e-01 -5.71633098e-03 4.33214227e+01] [ 5.60136681e-02 -3.55050254e-03 9.98423689e-01 2.82284704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.05, Y:43.33, Z:28.23 [[ 9.84844869e-01 -1.64204411e-01 -5.58345358e-02 5.02049494e+02] [ 1.64143125e-01 9.86419988e-01 -5.71329048e-03 4.33279018e+01] [ 5.60144496e-02 -3.53815036e-03 9.98423689e-01 2.82326375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.11, Y:43.34, Z:28.24 [[ 9.85070314e-01 -1.62846354e-01 -5.58349471e-02 5.02111257e+02] [ 1.62783124e-01 9.86645356e-01 -5.70926800e-03 4.33363610e+01] [ 5.60190247e-02 -3.46495667e-03 9.98423689e-01 2.82366455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.17, Y:43.35, Z:28.24 [[ 9.85650974e-01 -1.59293975e-01 -5.58353644e-02 5.02171564e+02] [ 1.59225297e-01 9.87225788e-01 -5.70518423e-03 4.33460685e+01] [ 5.60309130e-02 -3.26708208e-03 9.98423689e-01 2.82405386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.23, Y:43.35, Z:28.24 [[ 9.86214399e-01 -1.55767436e-01 -5.58360473e-02 5.02232125e+02] [ 1.55693504e-01 9.87788975e-01 -5.69849239e-03 4.33547679e+01] [ 5.60418715e-02 -3.07337459e-03 9.98423689e-01 2.82429526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.29, Y:43.36, Z:28.25 [[ 9.86846892e-01 -1.51708648e-01 -5.58363494e-02 5.02294059e+02] [ 1.51628405e-01 9.88421159e-01 -5.69553095e-03 4.33632901e+01] [ 5.60538905e-02 -2.84575960e-03 9.98423689e-01 2.82455405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.36, Y:43.37, Z:28.25 [[ 9.88124059e-01 -1.43154107e-01 -5.58367738e-02 5.02355973e+02] [ 1.43060464e-01 9.89697586e-01 -5.69136709e-03 4.33735536e+01] [ 5.60762628e-02 -2.36425805e-03 9.98423689e-01 2.82473309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.42, Y:43.38, Z:28.25 [[ 9.89152443e-01 -1.35866302e-01 -5.58371921e-02 5.02417002e+02] [ 1.35761294e-01 9.90725253e-01 -5.68726026e-03 4.33833102e+01] [ 5.60920233e-02 -1.95496208e-03 9.98423689e-01 2.82503034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.48, Y:43.39, Z:28.25 [[ 9.90760166e-01 -1.23597958e-01 -5.58376084e-02 5.02477468e+02] [ 1.23473697e-01 9.92331571e-01 -5.68317062e-03 4.33936960e+01] [ 5.61118499e-02 -1.26381689e-03 9.98423689e-01 2.82528244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.54, Y:43.40, Z:28.26 [[ 9.91721583e-01 -1.15630568e-01 -5.58379150e-02 5.02537678e+02] [ 1.15493851e-01 9.93291954e-01 -5.68015625e-03 4.34025838e+01] [ 5.61201514e-02 -8.15802301e-04 9.98423689e-01 2.82566698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.60, Y:43.41, Z:28.26 [[ 9.92686789e-01 -1.07028233e-01 -5.58381190e-02 5.02596808e+02] [ 1.06878020e-01 9.94255927e-01 -5.67814977e-03 4.34114128e+01] [ 5.61251031e-02 -3.31243318e-04 9.98423689e-01 2.82611303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.66, Y:43.42, Z:28.26 [[ 9.92923346e-01 -1.04810992e-01 -5.58380187e-02 5.02656790e+02] [ 1.04657219e-01 9.94492139e-01 -5.67913629e-03 4.34178876e+01] [ 5.61257065e-02 -2.04904740e-04 9.98423689e-01 2.82649752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.72, Y:43.42, Z:28.27 [[ 9.92845492e-01 -1.05545932e-01 -5.58380187e-02 5.02716601e+02] [ 1.05393320e-01 9.94414398e-01 -5.67913629e-03 4.34232458e+01] [ 5.61255395e-02 -2.46449313e-04 9.98423689e-01 2.82681590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.78, Y:43.43, Z:28.27 [[ 9.92030438e-01 -1.12950203e-01 -5.58378107e-02 5.02775070e+02] [ 1.12809185e-01 9.93600429e-01 -5.68118058e-03 4.34267226e+01] [ 5.61221632e-02 -6.63113842e-04 9.98423689e-01 2.82712853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.83, Y:43.43, Z:28.27 [[ 9.91097368e-01 -1.20864302e-01 -5.58375038e-02 5.02834947e+02] [ 1.20735649e-01 9.92668420e-01 -5.68419544e-03 4.34304534e+01] [ 5.61151430e-02 -1.10798615e-03 9.98423689e-01 2.82743507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.90, Y:43.43, Z:28.28 [[ 9.89409520e-01 -1.33981248e-01 -5.58375038e-02 5.02896045e+02] [ 1.33873416e-01 9.90982138e-01 -5.68419544e-03 4.34323265e+01] [ 5.60955445e-02 -1.85116029e-03 9.98423689e-01 2.82771590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.96, Y:43.44, Z:28.28 [[ 9.87790437e-01 -1.45437969e-01 -5.58377089e-02 5.02957936e+02] [ 1.45348482e-01 9.89364206e-01 -5.68218003e-03 4.34352421e+01] [ 5.60702352e-02 -2.50312313e-03 9.98423689e-01 2.82801624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.02, Y:43.44, Z:28.28 [[ 9.86905132e-01 -1.51328661e-01 -5.58381279e-02 5.03018789e+02] [ 1.51248798e-01 9.88479418e-01 -5.67805935e-03 4.34395651e+01] [ 5.60540933e-02 -2.84174382e-03 9.98423689e-01 2.82832765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.08, Y:43.44, Z:28.29 [[ 9.85869441e-01 -1.57935034e-01 -5.58387895e-02 5.03081066e+02] [ 1.57866084e-01 9.87444243e-01 -5.67154535e-03 4.34439370e+01] [ 5.60334270e-02 -3.22364778e-03 9.98423689e-01 2.82872796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.14, Y:43.45, Z:28.29 [[ 9.85378286e-01 -1.60970853e-01 -5.58392103e-02 5.03142831e+02] [ 1.60906987e-01 9.86953303e-01 -5.66739946e-03 4.34491072e+01] [ 5.60229792e-02 -3.40038675e-03 9.98423689e-01 2.82915587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.20, Y:43.45, Z:28.30 [[ 9.84797324e-01 -1.64487585e-01 -5.58396334e-02 5.03203593e+02] [ 1.64429579e-01 9.86372567e-01 -5.66322810e-03 4.34549816e+01] [ 5.60102133e-02 -3.60455553e-03 9.98423689e-01 2.82953759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.26, Y:43.46, Z:28.30 [[ 9.84618254e-01 -1.65556018e-01 -5.58399452e-02 5.03264322e+02] [ 1.65499894e-01 9.86193565e-01 -5.66015158e-03 4.34613119e+01] [ 5.60060668e-02 -3.66841648e-03 9.98423689e-01 2.82976224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.33, Y:43.47, Z:28.30 [[ 9.84875557e-01 -1.64018301e-01 -5.58402505e-02 5.03326797e+02] [ 1.63959888e-01 9.86450785e-01 -5.65713869e-03 4.34657776e+01] [ 5.60115332e-02 -3.58398361e-03 9.98423689e-01 2.82975569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.39, Y:43.48, Z:28.30 [[ 9.84656914e-01 -1.65325687e-01 -5.58406609e-02 5.03387690e+02] [ 1.65269594e-01 9.86232226e-01 -5.65308453e-03 4.34763886e+01] [ 5.60064594e-02 -3.66241461e-03 9.98423689e-01 2.83048908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.45, Y:43.49, Z:28.31 [[ 9.85536258e-01 -1.60000182e-01 -5.58410734e-02 5.03448094e+02] [ 1.59935804e-01 9.87111254e-01 -5.64900732e-03 4.34863300e+01] [ 5.60251941e-02 -3.36368542e-03 9.98423689e-01 2.83084602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.51, Y:43.50, Z:28.31 [[ 9.86529936e-01 -1.53754392e-01 -5.58415003e-02 5.03508331e+02] [ 1.53680277e-01 9.88104503e-01 -5.64478352e-03 4.34950129e+01] [ 5.60451482e-02 -3.01298932e-03 9.98423689e-01 2.83107968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.57, Y:43.50, Z:28.32 [[ 9.87555559e-01 -1.47022899e-01 -5.58416055e-02 5.03569211e+02] [ 1.46938106e-01 9.89129588e-01 -5.64374324e-03 4.35044889e+01] [ 5.60643437e-02 -2.63174974e-03 9.98423689e-01 2.83183278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.63, Y:43.52, Z:28.32 [[ 9.89517560e-01 -1.33179058e-01 -5.58420652e-02 5.03630067e+02] [ 1.33072488e-01 9.91090265e-01 -5.63919109e-03 4.35155316e+01] [ 5.60955493e-02 -1.85096393e-03 9.98423689e-01 2.83232027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.69, Y:43.52, Z:28.33 [[ 9.90726265e-01 -1.23867213e-01 -5.58424749e-02 5.03691212e+02] [ 1.23746086e-01 9.92297915e-01 -5.63513074e-03 4.35238936e+01] [ 5.61103793e-02 -1.32741570e-03 9.98423689e-01 2.83274052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.75, Y:43.53, Z:28.33 [[ 9.92264590e-01 -1.10871798e-01 -5.58428784e-02 5.03751506e+02] [ 1.10730308e-01 9.93834538e-01 -5.63112968e-03 4.35316318e+01] [ 5.61229147e-02 -5.95928541e-04 9.98423689e-01 2.83311646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.81, Y:43.54, Z:28.33 [[ 9.93042691e-01 -1.03671423e-01 -5.58430816e-02 5.03811593e+02] [ 1.03518663e-01 9.94611582e-01 -5.62911387e-03 4.35382087e+01] [ 5.61257540e-02 -1.90850737e-04 9.98423689e-01 2.83344518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.87, Y:43.54, Z:28.34 [[ 9.93968782e-01 -9.43801359e-02 -5.58430816e-02 5.03870518e+02] [ 9.42127099e-02 9.95536176e-01 -5.62911387e-03 4.35433305e+01] [ 5.61250844e-02 3.34035421e-04 9.98423689e-01 2.83365560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.93, Y:43.55, Z:28.34 [[ 9.94369449e-01 -9.00609323e-02 -5.58428790e-02 5.03928176e+02] [ 8.98865855e-02 9.95936088e-01 -5.63112210e-03 4.35481866e+01] [ 5.61230826e-02 5.79890054e-04 9.98423689e-01 2.83395364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.98, Y:43.55, Z:28.34 [[ 9.94567623e-01 -8.78464474e-02 -5.58412432e-02 5.03984668e+02] [ 8.76677044e-02 9.96133767e-01 -5.64729752e-03 4.35519179e+01] [ 5.61214430e-02 7.21145664e-04 9.98423689e-01 2.83412973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.04, Y:43.56, Z:28.34 [[ 9.94500687e-01 -8.86014583e-02 -5.58405398e-02 5.04042544e+02] [ 8.84235143e-02 9.96066921e-01 -5.65424430e-03 4.35550157e+01] [ 5.61218889e-02 6.85533067e-04 9.98423689e-01 2.83438091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.10, Y:43.55, Z:28.35 [[ 9.94049800e-01 -9.35254406e-02 -5.58389419e-02 5.04101255e+02] [ 9.33543714e-02 9.95616800e-01 -5.66998045e-03 4.35543278e+01] [ 5.61244761e-02 4.23433606e-04 9.98423690e-01 2.83485006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.16, Y:43.55, Z:28.35 [[ 9.93560009e-01 -9.85935320e-02 -5.58374808e-02 5.04159280e+02] [ 9.84296496e-02 9.95127777e-01 -5.68433292e-03 4.35547150e+01] [ 5.61258666e-02 1.51662195e-04 9.98423690e-01 2.83521884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.22, Y:43.55, Z:28.36 [[ 9.93019082e-01 -1.03900605e-01 -5.58369672e-02 5.04217102e+02] [ 1.03744818e-01 9.94587675e-01 -5.68937378e-03 4.35541279e+01] [ 5.61258888e-02 -1.43139247e-04 9.98423690e-01 2.83558704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.26509989299996 meters Centerline goodness : 0.995580 with order 1 Centerline is valid? [True, True] Translation: X:504.28, Y:43.55, Z:28.36 [[ 9.92207780e-01 -1.11382837e-01 -5.58353401e-02 5.04275193e+02] [ 1.11237983e-01 9.93777420e-01 -5.70529754e-03 4.35509714e+01] [ 5.61233725e-02 -5.50169981e-04 9.98423690e-01 2.83566290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.33, Y:43.55, Z:28.36 [[ 9.91950899e-01 -1.13648782e-01 -5.58333944e-02 5.04332853e+02] [ 1.13506444e-01 9.93520770e-01 -5.72427587e-03 4.35506312e+01] [ 5.61221940e-02 -6.59249473e-04 9.98423690e-01 2.83616961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.39, Y:43.55, Z:28.36 [[ 9.91954018e-01 -1.13622600e-01 -5.58312785e-02 5.04391486e+02] [ 1.13479063e-01 9.93523779e-01 -5.74483969e-03 4.35484261e+01] [ 5.61224464e-02 -6.37064371e-04 9.98423690e-01 2.83639126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.45, Y:43.55, Z:28.37 [[ 9.92245046e-01 -1.11053264e-01 -5.58295819e-02 5.04449225e+02] [ 1.10904738e-01 9.93814342e-01 -5.76128002e-03 4.35500773e+01] [ 5.61240482e-02 -4.75163590e-04 9.98423690e-01 2.83659474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.51, Y:43.55, Z:28.37 [[ 9.92847822e-01 -1.05528751e-01 -5.58290613e-02 5.04507414e+02] [ 1.05371209e-01 9.94416240e-01 -5.76632068e-03 4.35507739e+01] [ 5.61258378e-02 -1.57696764e-04 9.98423690e-01 2.83682113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.57, Y:43.55, Z:28.37 [[ 9.93507342e-01 -9.91285054e-02 -5.58274256e-02 5.04565135e+02] [ 9.89599722e-02 9.95074616e-01 -5.78211335e-03 4.35520867e+01] [ 5.61256264e-02 2.19891574e-04 9.98423690e-01 2.83710850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.62, Y:43.55, Z:28.38 [[ 9.93923936e-01 -9.48614330e-02 -5.58257739e-02 5.04624108e+02] [ 9.46852782e-02 9.95490372e-01 -5.79801672e-03 4.35548595e+01] [ 5.61240286e-02 4.76908665e-04 9.98423691e-01 2.83752254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.68, Y:43.55, Z:28.38 [[ 9.94398349e-01 -8.97528262e-02 -5.58243154e-02 5.04682250e+02] [ 8.95678382e-02 9.95963766e-01 -5.81202566e-03 4.35545437e+01] [ 5.61206412e-02 7.79405467e-04 9.98423691e-01 2.83793265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.74, Y:43.56, Z:28.38 [[ 9.94486075e-01 -8.87765617e-02 -5.58226571e-02 5.04740313e+02] [ 8.85891455e-02 9.96051203e-01 -5.82791052e-03 4.35553291e+01] [ 5.61196066e-02 8.50494373e-04 9.98423691e-01 2.83831237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.80, Y:43.55, Z:28.39 [[ 9.94309642e-01 -9.07323158e-02 -5.58209919e-02 5.04799234e+02] [ 9.05470854e-02 9.95875030e-01 -5.84381649e-03 4.35521634e+01] [ 5.61209550e-02 7.56134960e-04 9.98423691e-01 2.83865484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.86, Y:43.55, Z:28.39 [[ 9.94045170e-01 -9.35863504e-02 -5.58193103e-02 5.04857255e+02] [ 9.34047152e-02 9.95610979e-01 -5.85983477e-03 4.35518502e+01] [ 5.61227187e-02 6.11153661e-04 9.98423691e-01 2.83902761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.92, Y:43.55, Z:28.39 [[ 9.93536178e-01 -9.88446109e-02 -5.58176138e-02 5.04916019e+02] [ 9.86703577e-02 9.95102826e-01 -5.87595068e-03 4.35487523e+01] [ 5.61250713e-02 3.30425657e-04 9.98423691e-01 2.83939264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.97, Y:43.55, Z:28.40 [[ 9.93102822e-01 -1.03108535e-01 -5.58158999e-02 5.04974242e+02] [ 1.02940096e-01 9.94670106e-01 -5.89218602e-03 4.35491089e+01] [ 5.61259417e-02 1.05852475e-04 9.98423691e-01 2.83974392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.03, Y:43.55, Z:28.40 [[ 9.92589724e-01 -1.07937091e-01 -5.58141904e-02 5.05032502e+02] [ 1.07775368e-01 9.94157715e-01 -5.90833539e-03 4.35498726e+01] [ 5.61258365e-02 -1.50841923e-04 9.98423691e-01 2.84013694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.09, Y:43.55, Z:28.40 [[ 9.91748604e-01 -1.15410910e-01 -5.58124334e-02 5.05089868e+02] [ 1.15260071e-01 9.93317679e-01 -5.92488685e-03 4.35493586e+01] [ 5.61232734e-02 -5.56946797e-04 9.98423692e-01 2.84042985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.15, Y:43.55, Z:28.41 [[ 9.90949848e-01 -1.22079706e-01 -5.58116777e-02 5.05146861e+02] [ 1.21939025e-01 9.92519867e-01 -5.93199687e-03 4.35514821e+01] [ 5.61183753e-02 -9.27310181e-04 9.98423692e-01 2.84066009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.20, Y:43.55, Z:28.41 [[ 9.89068839e-01 -1.36484327e-01 -5.58109371e-02 5.05204811e+02] [ 1.36366111e-01 9.90640708e-01 -5.93895592e-03 4.35515029e+01] [ 5.60991607e-02 -1.73668423e-03 9.98423692e-01 2.84092789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.26, Y:43.55, Z:28.41 [[ 9.87412815e-01 -1.47990756e-01 -5.58092216e-02 5.05262861e+02] [ 1.47889943e-01 9.88985896e-01 -5.95503326e-03 4.35544547e+01] [ 5.60758229e-02 -2.37354647e-03 9.98423692e-01 2.84123881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.32, Y:43.56, Z:28.42 [[ 9.85101439e-01 -1.62667376e-01 -5.58075230e-02 5.05321147e+02] [ 1.62589085e-01 9.86675802e-01 -5.97090987e-03 4.35575330e+01] [ 5.60352047e-02 -3.19174219e-03 9.98423692e-01 2.84165540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.38, Y:43.56, Z:28.42 [[ 9.84115234e-01 -1.68531587e-01 -5.58060090e-02 5.05378112e+02] [ 1.68461877e-01 9.85690000e-01 -5.98502683e-03 4.35636961e+01] [ 5.60160911e-02 -3.51122896e-03 9.98423692e-01 2.84207992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.44, Y:43.57, Z:28.42 [[ 9.83808661e-01 -1.70312671e-01 -5.58042297e-02 5.05435230e+02] [ 1.70244877e-01 9.85383511e-01 -6.00157157e-03 4.35718319e+01] [ 5.60107114e-02 -3.59598612e-03 9.98423692e-01 2.84242251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.49, Y:43.58, Z:28.43 [[ 9.84196948e-01 -1.68054921e-01 -5.58024261e-02 5.05491080e+02] [ 1.67982569e-01 9.85771595e-01 -6.01829422e-03 4.35815207e+01] [ 5.60198506e-02 -3.45064811e-03 9.98423692e-01 2.84273955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.55, Y:43.59, Z:28.43 [[ 9.85056399e-01 -1.62941913e-01 -5.58016506e-02 5.05548086e+02] [ 1.62860980e-01 9.86630627e-01 -6.02547658e-03 4.35939649e+01] [ 5.60374202e-02 -3.15247724e-03 9.98423692e-01 2.84308740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.60, Y:43.60, Z:28.43 [[ 9.85654849e-01 -1.59282432e-01 -5.57998719e-02 5.05604558e+02] [ 1.59194726e-01 9.87228714e-01 -6.04190393e-03 4.36043735e+01] [ 5.60496049e-02 -2.92781341e-03 9.98423692e-01 2.84335325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.66, Y:43.62, Z:28.44 [[ 9.86305310e-01 -1.55204043e-01 -5.57991073e-02 5.05660931e+02] [ 1.55109429e-01 9.87878776e-01 -6.04895663e-03 4.36174331e+01] [ 5.60615763e-02 -2.68884964e-03 9.98423693e-01 2.84355737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.72, Y:43.63, Z:28.44 [[ 9.86498395e-01 -1.53972635e-01 -5.57973529e-02 5.05717938e+02] [ 1.53875146e-01 9.88071685e-01 -6.06509704e-03 4.36287348e+01] [ 5.60656434e-02 -2.60261732e-03 9.98423693e-01 2.84387763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.77, Y:43.64, Z:28.44 [[ 9.86740417e-01 -1.52414591e-01 -5.57955339e-02 5.05773791e+02] [ 1.52313676e-01 9.88313491e-01 -6.08178505e-03 4.36413834e+01] [ 5.60704316e-02 -2.49727974e-03 9.98423693e-01 2.84416590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.83, Y:43.65, Z:28.44 [[ 9.86790609e-01 -1.52089580e-01 -5.57947520e-02 5.05831455e+02] [ 1.51987742e-01 9.88363623e-01 -6.08894952e-03 4.36498459e+01] [ 5.60715690e-02 -2.47160017e-03 9.98423693e-01 2.84449305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.89, Y:43.66, Z:28.45 [[ 9.87107779e-01 -1.50017915e-01 -5.57929845e-02 5.05888150e+02] [ 1.49911864e-01 9.88680515e-01 -6.10510279e-03 4.36599144e+01] [ 5.60773114e-02 -2.33763584e-03 9.98423693e-01 2.84479236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.95, Y:43.67, Z:28.45 [[ 9.87870110e-01 -1.44913715e-01 -5.57912196e-02 5.05945412e+02] [ 1.44798629e-01 9.89442211e-01 -6.12118893e-03 4.36723845e+01] [ 5.60892318e-02 -2.03155254e-03 9.98423693e-01 2.84520127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.00, Y:43.68, Z:28.46 [[ 9.88857601e-01 -1.38015167e-01 -5.57894198e-02 5.06002002e+02] [ 1.37888190e-01 9.90428785e-01 -6.13754853e-03 4.36844104e+01] [ 5.61025220e-02 -1.62354058e-03 9.98423693e-01 2.84556634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.06, Y:43.69, Z:28.46 [[ 9.89438724e-01 -1.33786209e-01 -5.57876451e-02 5.06058653e+02] [ 1.33651608e-01 9.91009274e-01 -6.15363770e-03 4.36942959e+01] [ 5.61093455e-02 -1.36746106e-03 9.98423693e-01 2.84595562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.12, Y:43.70, Z:28.46 [[ 9.89920262e-01 -1.30176080e-01 -5.57858735e-02 5.06115345e+02] [ 1.30034848e-01 9.91490229e-01 -6.16965625e-03 4.37046368e+01] [ 5.61142902e-02 -1.14663988e-03 9.98423693e-01 2.84628253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.17, Y:43.71, Z:28.47 [[ 9.90026047e-01 -1.29369874e-01 -5.57840726e-02 5.06171383e+02] [ 1.29226450e-01 9.91595815e-01 -6.18589660e-03 4.37123113e+01] [ 5.61155216e-02 -1.08457890e-03 9.98423694e-01 2.84658488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.23, Y:43.72, Z:28.47 [[ 9.89855833e-01 -1.30666193e-01 -5.57832984e-02 5.06228854e+02] [ 1.30524431e-01 9.91425752e-01 -6.19287046e-03 4.37192813e+01] [ 5.61141974e-02 -1.15103437e-03 9.98423694e-01 2.84689458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.29, Y:43.73, Z:28.47 [[ 9.89335143e-01 -1.34552587e-01 -5.57815003e-02 5.06285519e+02] [ 1.34416082e-01 9.90905528e-01 -6.20902448e-03 4.37260244e+01] [ 5.61096373e-02 -1.35512458e-03 9.98423694e-01 2.84715842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.34, Y:43.73, Z:28.48 [[ 9.88656058e-01 -1.39455047e-01 -5.57807257e-02 5.06343243e+02] [ 1.39325936e-01 9.90227068e-01 -6.21597616e-03 4.37321642e+01] [ 5.61024337e-02 -1.62623933e-03 9.98423694e-01 2.84752683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.40, Y:43.74, Z:28.48 [[ 9.87506565e-01 -1.47375374e-01 -5.57788733e-02 5.06400796e+02] [ 1.47257925e-01 9.89078490e-01 -6.23255398e-03 4.37373033e+01] [ 5.60882088e-02 -2.05919318e-03 9.98423694e-01 2.84781449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.46, Y:43.74, Z:28.48 [[ 9.86701429e-01 -1.52673543e-01 -5.57770460e-02 5.06458567e+02] [ 1.52563612e-01 9.88273897e-01 -6.24886435e-03 4.37432590e+01] [ 5.60770349e-02 -2.34378422e-03 9.98423694e-01 2.84812573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.52, Y:43.75, Z:28.48 [[ 9.85715653e-01 -1.58914371e-01 -5.57752053e-02 5.06516297e+02] [ 1.58813468e-01 9.87288726e-01 -6.26525109e-03 4.37497559e+01] [ 5.60618699e-02 -2.68209770e-03 9.98423694e-01 2.84840395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.57, Y:43.76, Z:28.49 [[ 9.85053408e-01 -1.62969242e-01 -5.57746387e-02 5.06574515e+02] [ 1.62874529e-01 9.86626865e-01 -6.27029112e-03 4.37558694e+01] [ 5.60506215e-02 -2.90769635e-03 9.98423694e-01 2.84871259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.63, Y:43.76, Z:28.49 [[ 9.84145433e-01 -1.68366076e-01 -5.57730335e-02 5.06631693e+02] [ 1.68279183e-01 9.85719342e-01 -6.28453719e-03 4.37622193e+01] [ 5.60346607e-02 -3.20054196e-03 9.98423694e-01 2.84889228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.69, Y:43.77, Z:28.49 [[ 9.83740718e-01 -1.70715061e-01 -5.57724692e-02 5.06690520e+02] [ 1.70631644e-01 9.85314815e-01 -6.28954041e-03 4.37700806e+01] [ 5.60271595e-02 -3.32927112e-03 9.98423694e-01 2.84923159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.75, Y:43.78, Z:28.50 [[ 9.83432583e-01 -1.72481340e-01 -5.57722415e-02 5.06749909e+02] [ 1.72400635e-01 9.85006821e-01 -6.29155908e-03 4.37796003e+01] [ 5.60212149e-02 -3.42784566e-03 9.98423694e-01 2.85000327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.81, Y:43.79, Z:28.50 [[ 9.83838102e-01 -1.70153010e-01 -5.57722415e-02 5.06808981e+02] [ 1.70068579e-01 9.85412145e-01 -6.29155908e-03 4.37893421e+01] [ 5.60291718e-02 -3.29523031e-03 9.98423694e-01 2.84993892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.87, Y:43.80, Z:28.50 [[ 9.84436614e-01 -1.66655378e-01 -5.57721947e-02 5.06868640e+02] [ 1.66565330e-01 9.86010346e-01 -6.29197386e-03 4.38014911e+01] [ 5.60405523e-02 -3.09566460e-03 9.98423694e-01 2.85033463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.93, Y:43.81, Z:28.51 [[ 9.84711486e-01 -1.65023486e-01 -5.57721947e-02 5.06927576e+02] [ 1.64930830e-01 9.86285067e-01 -6.29197386e-03 4.38112489e+01] [ 5.60456062e-02 -3.00277542e-03 9.98423694e-01 2.85054823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.99, Y:43.82, Z:28.51 [[ 9.84914056e-01 -1.63810137e-01 -5.57722287e-02 5.06987716e+02] [ 1.63715560e-01 9.86487522e-01 -6.29167265e-03 4.38206378e+01] [ 5.60492474e-02 -2.93402481e-03 9.98423694e-01 2.85094551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.05, Y:43.83, Z:28.51 [[ 9.85116503e-01 -1.62588153e-01 -5.57724615e-02 5.07047142e+02] [ 1.62491740e-01 9.86689858e-01 -6.28960845e-03 4.38312036e+01] [ 5.60527379e-02 -2.86656720e-03 9.98423694e-01 2.85134325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.11, Y:43.84, Z:28.52 [[ 9.85297682e-01 -1.61486522e-01 -5.57725759e-02 5.07107012e+02] [ 1.61388407e-01 9.86870932e-01 -6.28859370e-03 4.38406987e+01] [ 5.60558571e-02 -2.80491039e-03 9.98423694e-01 2.85173366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.17, Y:43.85, Z:28.52 [[ 9.85923796e-01 -1.57618807e-01 -5.57725759e-02 5.07167581e+02] [ 1.57514519e-01 9.87496648e-01 -6.28859370e-03 4.38522774e+01] [ 5.60664324e-02 -2.58491632e-03 9.98423694e-01 2.85208937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.23, Y:43.86, Z:28.52 [[ 9.86548731e-01 -1.53658701e-01 -5.57728047e-02 5.07228208e+02] [ 1.53548213e-01 9.88121159e-01 -6.28656367e-03 4.38621697e+01] [ 5.60762737e-02 -2.36181308e-03 9.98423694e-01 2.85245535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.29, Y:43.87, Z:28.53 [[ 9.87669602e-01 -1.46280980e-01 -5.57730358e-02 5.07288821e+02] [ 1.46158858e-01 9.89241170e-01 -6.28451281e-03 4.38735492e+01] [ 5.60922879e-02 -1.94470096e-03 9.98423694e-01 2.85286788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.35, Y:43.88, Z:28.53 [[ 9.88364738e-01 -1.41507908e-01 -5.57732670e-02 5.07348183e+02] [ 1.41378311e-01 9.89935707e-01 -6.28246085e-03 4.38834556e+01] [ 5.61009663e-02 -1.67576753e-03 9.98423694e-01 2.85315438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.41, Y:43.89, Z:28.53 [[ 9.89084864e-01 -1.36383400e-01 -5.57736414e-02 5.07409108e+02] [ 1.36245851e-01 9.90655157e-01 -6.27913519e-03 4.38928117e+01] [ 5.61088153e-02 -1.38832963e-03 9.98423694e-01 2.85347993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.47, Y:43.90, Z:28.54 [[ 9.90176839e-01 -1.28215063e-01 -5.57738681e-02 5.07469375e+02] [ 1.28064671e-01 9.91745954e-01 -6.27712103e-03 4.39028491e+01] [ 5.61183295e-02 -9.27202185e-04 9.98423694e-01 2.85377544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.53, Y:43.91, Z:28.54 [[ 9.90779354e-01 -1.23472755e-01 -5.57741007e-02 5.07528779e+02] [ 1.23314968e-01 9.92347743e-01 -6.27505364e-03 4.39116017e+01] [ 5.61221010e-02 -6.60587839e-04 9.98423694e-01 2.85415827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.59, Y:43.92, Z:28.55 [[ 9.91475338e-01 -1.17753569e-01 -5.57741007e-02 5.07586610e+02] [ 1.17586735e-01 9.93042790e-01 -6.27505364e-03 4.39190567e+01] [ 5.61249785e-02 -3.36733442e-04 9.98423694e-01 2.85451568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.65, Y:43.93, Z:28.55 [[ 9.91643913e-01 -1.16325568e-01 -5.57737609e-02 5.07645767e+02] [ 1.16156306e-01 9.93211105e-01 -6.27807206e-03 4.39258580e+01] [ 5.61254190e-02 -2.52862099e-04 9.98423694e-01 2.85486668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.70, Y:43.93, Z:28.55 [[ 9.91906191e-01 -1.14067615e-01 -5.57735310e-02 5.07704635e+02] [ 1.13894671e-01 9.93472981e-01 -6.28011400e-03 4.39326290e+01] [ 5.61258537e-02 -1.23024014e-04 9.98423694e-01 2.85513620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.76, Y:43.94, Z:28.55 [[ 9.91872312e-01 -1.14361949e-01 -5.57733042e-02 5.07762436e+02] [ 1.14189357e-01 9.93439140e-01 -6.28212715e-03 4.39382767e+01] [ 5.61258197e-02 -1.37649744e-04 9.98423694e-01 2.85541324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.82, Y:43.94, Z:28.56 [[ 9.91702200e-01 -1.15828090e-01 -5.57727461e-02 5.07820609e+02] [ 1.15657536e-01 9.93269252e-01 -6.28707828e-03 4.39431968e+01] [ 5.61255741e-02 -2.15629025e-04 9.98423694e-01 2.85573980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.88, Y:43.95, Z:28.56 [[ 9.91232580e-01 -1.19781245e-01 -5.57711834e-02 5.07877920e+02] [ 1.19616162e-01 9.92800218e-01 -6.30091006e-03 4.39471449e+01] [ 5.61243739e-02 -4.25467550e-04 9.98423694e-01 2.85610076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.94, Y:43.95, Z:28.56 [[ 9.90365027e-01 -1.26754683e-01 -5.57706340e-02 5.07935683e+02] [ 1.26600364e-01 9.91933760e-01 -6.30576888e-03 4.39499047e+01] [ 5.61200605e-02 -8.15569619e-04 9.98423694e-01 2.85643827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.99, Y:43.95, Z:28.57 [[ 9.89579856e-01 -1.32746157e-01 -5.57688683e-02 5.07994275e+02] [ 1.32600457e-01 9.91149413e-01 -6.32134645e-03 4.39526681e+01] [ 5.61144156e-02 -1.13950030e-03 9.98423695e-01 2.85676411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.05, Y:43.95, Z:28.57 [[ 9.88337135e-01 -1.41702915e-01 -5.57672950e-02 5.08054012e+02] [ 1.41570655e-01 9.89907882e-01 -6.33519598e-03 4.39537164e+01] [ 5.61022007e-02 -1.63370306e-03 9.98423695e-01 2.85715233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.11, Y:43.96, Z:28.57 [[ 9.87443343e-01 -1.47802836e-01 -5.57670698e-02 5.08113780e+02] [ 1.47680166e-01 9.89014868e-01 -6.33717785e-03 4.39571284e+01] [ 5.60911141e-02 -1.97808604e-03 9.98423695e-01 2.85747240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.17, Y:43.96, Z:28.58 [[ 9.86045022e-01 -1.56860685e-01 -5.57668416e-02 5.08174073e+02] [ 1.56752332e-01 9.87617599e-01 -6.33918524e-03 4.39582679e+01] [ 5.60706832e-02 -2.49086044e-03 9.98423695e-01 2.85777984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.23, Y:43.96, Z:28.58 [[ 9.85188415e-01 -1.62153775e-01 -5.57668416e-02 5.08233695e+02] [ 1.62053869e-01 9.86761551e-01 -6.33918524e-03 4.39612583e+01] [ 5.60564980e-02 -2.79194057e-03 9.98423695e-01 2.85808753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.29, Y:43.97, Z:28.58 [[ 9.84316637e-01 -1.67364403e-01 -5.57666101e-02 5.08294270e+02] [ 1.67272707e-01 9.85890273e-01 -6.34122123e-03 4.39662194e+01] [ 5.60410532e-02 -3.08646226e-03 9.98423695e-01 2.85849956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.35, Y:43.97, Z:28.59 [[ 9.83454381e-01 -1.72358828e-01 -5.57666101e-02 5.08354839e+02] [ 1.72275122e-01 9.85028462e-01 -6.34122123e-03 4.39708789e+01] [ 5.60246637e-02 -3.37089775e-03 9.98423695e-01 2.85877987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.41, Y:43.98, Z:28.59 [[ 9.83189365e-01 -1.73864194e-01 -5.57666101e-02 5.08414314e+02] [ 1.73782897e-01 9.84763572e-01 -6.34122123e-03 4.39761092e+01] [ 5.60194375e-02 -3.45666177e-03 9.98423695e-01 2.85907095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.47, Y:43.98, Z:28.59 [[ 9.83189260e-01 -1.73864826e-01 -5.57664960e-02 5.08474121e+02] [ 1.73783473e-01 9.84763464e-01 -6.34222449e-03 4.39821438e+01] [ 5.60194976e-02 -3.45568838e-03 9.98423695e-01 2.85940880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.53, Y:43.99, Z:28.60 [[ 9.83750491e-01 -1.70660683e-01 -5.57664960e-02 5.08534279e+02] [ 1.70574202e-01 9.85324423e-01 -6.34222449e-03 4.39901476e+01] [ 5.60304589e-02 -3.27315913e-03 9.98423695e-01 2.85979901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.59, Y:44.00, Z:28.60 [[ 9.84322933e-01 -1.67327407e-01 -5.57664960e-02 5.08594383e+02] [ 1.67235595e-01 9.85896563e-01 -6.34222449e-03 4.39978091e+01] [ 5.60412247e-02 -3.08334613e-03 9.98423695e-01 2.86017554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.65, Y:44.01, Z:28.61 [[ 9.84970846e-01 -1.63470275e-01 -5.57664960e-02 5.08654438e+02] [ 1.63372300e-01 9.86544103e-01 -6.34222449e-03 4.40058117e+01] [ 5.60528730e-02 -2.86379450e-03 9.98423695e-01 2.86053056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.71, Y:44.02, Z:28.61 [[ 9.85866558e-01 -1.57978567e-01 -5.57664960e-02 5.08714054e+02] [ 1.57871825e-01 9.87439245e-01 -6.34222449e-03 4.40162734e+01] [ 5.60679623e-02 -2.55137149e-03 9.98423695e-01 2.86089804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.78, Y:44.03, Z:28.61 [[ 9.86392122e-01 -1.54663114e-01 -5.57664960e-02 5.08775017e+02] [ 1.54551085e-01 9.87964442e-01 -6.34222449e-03 4.40252858e+01] [ 5.60762233e-02 -2.36285222e-03 9.98423695e-01 2.86124470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.83, Y:44.04, Z:28.62 [[ 9.87203820e-01 -1.49394409e-01 -5.57667328e-02 5.08834262e+02] [ 1.49274105e-01 9.88775528e-01 -6.34014174e-03 4.40354172e+01] [ 5.60879624e-02 -2.06551698e-03 9.98423695e-01 2.86151663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.89, Y:44.05, Z:28.62 [[ 9.87843917e-01 -1.45101576e-01 -5.57667328e-02 5.08893106e+02] [ 1.44974441e-01 9.89415087e-01 -6.34014174e-03 4.40451314e+01] [ 5.60964114e-02 -1.82168044e-03 9.98423695e-01 2.86181895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.95, Y:44.06, Z:28.62 [[ 9.89005551e-01 -1.36960226e-01 -5.57666184e-02 5.08952233e+02] [ 1.36820098e-01 9.90575616e-01 -6.34114818e-03 4.40559995e+01] [ 5.61095374e-02 -1.35856343e-03 9.98423695e-01 2.86222577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.01, Y:44.06, Z:28.63 [[ 9.89855746e-01 -1.30673970e-01 -5.57666184e-02 5.09011567e+02] [ 1.30523869e-01 9.91424889e-01 -6.34114818e-03 4.40647469e+01] [ 5.61170364e-02 -1.00205281e-03 9.98423695e-01 2.86254080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.07, Y:44.07, Z:28.63 [[ 9.91071616e-01 -1.21108057e-01 -5.57663931e-02 5.09070915e+02] [ 1.20942697e-01 9.92639224e-01 -6.34312900e-03 4.40740472e+01] [ 5.61241132e-02 -4.58042863e-04 9.98423695e-01 2.86291988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.13, Y:44.08, Z:28.63 [[ 9.91658992e-01 -1.16200598e-01 -5.57661667e-02 5.09129705e+02] [ 1.16027368e-01 9.93225749e-01 -6.34511810e-03 4.40818362e+01] [ 5.61256993e-02 -1.78208147e-04 9.98423695e-01 2.86333323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.19, Y:44.09, Z:28.64 [[ 9.91907463e-01 -1.14060273e-01 -5.57659357e-02 5.09186701e+02] [ 1.13883548e-01 9.93473830e-01 -6.34714775e-03 4.40880675e+01] [ 5.61259552e-02 -5.50394061e-05 9.98423695e-01 2.86364058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.24, Y:44.09, Z:28.64 [[ 9.91693612e-01 -1.15905760e-01 -5.57640997e-02 5.09244282e+02] [ 1.15731046e-01 9.93260205e-01 -6.36323823e-03 4.40923616e+01] [ 5.61257970e-02 -1.43254863e-04 9.98423695e-01 2.86389197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.30, Y:44.10, Z:28.64 [[ 9.90785753e-01 -1.23426751e-01 -5.57622518e-02 5.09301953e+02] [ 1.23263019e-01 9.92353531e-01 -6.37939077e-03 4.40954497e+01] [ 5.61232549e-02 -5.52814027e-04 9.98423695e-01 2.86418505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.36, Y:44.10, Z:28.65 [[ 9.90016518e-01 -1.29452982e-01 -5.57603794e-02 5.09359583e+02] [ 1.29297873e-01 9.91585173e-01 -6.39571485e-03 4.40990121e+01] [ 5.61191098e-02 -8.77835130e-04 9.98423695e-01 2.86452816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.42, Y:44.10, Z:28.65 [[ 9.88864960e-01 -1.37974919e-01 -5.57585165e-02 5.09418183e+02] [ 1.37832413e-01 9.90434810e-01 -6.41191516e-03 4.41018601e+01] [ 5.61098591e-02 -1.34481265e-03 9.98423695e-01 2.86487826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.48, Y:44.11, Z:28.65 [[ 9.88308125e-01 -1.41909206e-01 -5.57568589e-02 5.09477997e+02] [ 1.41772138e-01 9.89878459e-01 -6.42629720e-03 4.41068463e+01] [ 5.61044643e-02 -1.55360735e-03 9.98423695e-01 2.86521600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.54, Y:44.11, Z:28.66 [[ 9.87734832e-01 -1.45846153e-01 -5.57566252e-02 5.09537006e+02] [ 1.45715229e-01 9.89305690e-01 -6.42832349e-03 4.41120374e+01] [ 5.60978929e-02 -1.77511040e-03 9.98423695e-01 2.86553801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.59, Y:44.12, Z:28.66 [[ 9.87052095e-01 -1.50397426e-01 -5.57563952e-02 5.09594895e+02] [ 1.50273632e-01 9.88623531e-01 -6.43031851e-03 4.41161013e+01] [ 5.60891876e-02 -2.03165665e-03 9.98423695e-01 2.86580843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.65, Y:44.12, Z:28.66 [[ 9.85479642e-01 -1.60378188e-01 -5.57558282e-02 5.09653564e+02] [ 1.60270025e-01 9.87052231e-01 -6.43523076e-03 4.41191934e+01] [ 5.60659853e-02 -2.59419906e-03 9.98423695e-01 2.86596759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.71, Y:44.12, Z:28.66 [[ 9.84366810e-01 -1.67073179e-01 -5.57542448e-02 5.09711557e+02] [ 1.66974934e-01 9.85940050e-01 -6.44892031e-03 4.41243180e+01] [ 5.60477845e-02 -2.96145823e-03 9.98423695e-01 2.86630151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.77, Y:44.13, Z:28.67 [[ 9.82276919e-01 -1.78951275e-01 -5.57538797e-02 5.09770699e+02] [ 1.78871863e-01 9.83851222e-01 -6.45207525e-03 4.41340118e+01] [ 5.60081297e-02 -3.63507571e-03 9.98423695e-01 2.86744647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.83, Y:44.14, Z:28.67 [[ 9.82435896e-01 -1.78076430e-01 -5.57538797e-02 5.09831119e+02] [ 1.77995616e-01 9.84010128e-01 -6.45207525e-03 4.41378528e+01] [ 5.60113448e-02 -3.58519581e-03 9.98423695e-01 2.86667852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.89, Y:44.15, Z:28.67 [[ 9.82315977e-01 -1.78736750e-01 -5.57538797e-02 5.09891731e+02] [ 1.78656994e-01 9.83890263e-01 -6.45207525e-03 4.41486361e+01] [ 5.60089223e-02 -3.62284395e-03 9.98423695e-01 2.86712687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.95, Y:44.16, Z:28.67 [[ 9.82578533e-01 -1.77287632e-01 -5.57541211e-02 5.09951085e+02] [ 1.77205672e-01 9.84152705e-01 -6.44998816e-03 4.41591261e+01] [ 5.60140723e-02 -3.54232662e-03 9.98423695e-01 2.86748473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.01, Y:44.17, Z:28.68 [[ 9.83121189e-01 -1.74253244e-01 -5.57542397e-02 5.10011031e+02] [ 1.74166482e-01 9.84695104e-01 -6.44896280e-03 4.41697810e+01] [ 5.60246796e-02 -3.37040782e-03 9.98423695e-01 2.86793710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.07, Y:44.18, Z:28.68 [[ 9.84248220e-01 -1.67770318e-01 -5.57544757e-02 5.10070862e+02] [ 1.67673301e-01 9.85821536e-01 -6.44692210e-03 4.41829886e+01] [ 5.60455650e-02 -3.00316537e-03 9.98423695e-01 2.86842956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.13, Y:44.19, Z:28.69 [[ 9.85088782e-01 -1.62762107e-01 -5.57547109e-02 5.10131547e+02] [ 1.62657203e-01 9.86661592e-01 -6.44488728e-03 4.41941191e+01] [ 5.60600153e-02 -2.72011918e-03 9.98423695e-01 2.86880720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.19, Y:44.21, Z:28.69 [[ 9.86183914e-01 -1.55989339e-01 -5.57549422e-02 5.10191658e+02] [ 1.55873744e-01 9.87755975e-01 -6.44288568e-03 4.42056025e+01] [ 5.60772987e-02 -2.33686135e-03 9.98423695e-01 2.86904728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.25, Y:44.22, Z:28.69 [[ 9.87216553e-01 -1.49314564e-01 -5.57551731e-02 5.10250962e+02] [ 1.49188450e-01 9.88787804e-01 -6.44088702e-03 4.42177283e+01] [ 5.60917534e-02 -1.95947758e-03 9.98423695e-01 2.86921300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.31, Y:44.23, Z:28.69 [[ 9.87966120e-01 -1.44271594e-01 -5.57552867e-02 5.10311869e+02] [ 1.44137514e-01 9.89536712e-01 -6.43990355e-03 4.42284973e+01] [ 5.61009982e-02 -1.67402189e-03 9.98423695e-01 2.86947669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.37, Y:44.24, Z:28.70 [[ 9.89342088e-01 -1.34512288e-01 -5.57555086e-02 5.10373156e+02] [ 1.34362819e-01 9.90911290e-01 -6.43798169e-03 4.42415259e+01] [ 5.61147506e-02 -1.12210106e-03 9.98423695e-01 2.86991393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.43, Y:44.25, Z:28.70 [[ 9.90419404e-01 -1.26335565e-01 -5.57559863e-02 5.10433413e+02] [ 1.26173372e-01 9.91987342e-01 -6.43384152e-03 4.42526107e+01] [ 5.61220557e-02 -6.62719324e-04 9.98423695e-01 2.87027662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.49, Y:44.26, Z:28.71 [[ 9.91451883e-01 -1.17959350e-01 -5.57562220e-02 5.10493208e+02] [ 1.17784025e-01 9.93018406e-01 -6.43179899e-03 4.42641892e+01] [ 5.61256455e-02 -1.90372996e-04 9.98423695e-01 2.87069860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.55, Y:44.28, Z:28.71 [[ 9.92519864e-01 -1.08607185e-01 -5.57566010e-02 5.10552930e+02] [ 1.08417284e-01 9.94084688e-01 -6.42851180e-03 4.42764318e+01] [ 5.61249658e-02 3.35446424e-04 9.98423695e-01 2.87116773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.61, Y:44.28, Z:28.71 [[ 9.92858029e-01 -1.05471019e-01 -5.57566010e-02 5.10612282e+02] [ 1.05276175e-01 9.94422245e-01 -6.42851180e-03 4.42846219e+01] [ 5.61236260e-02 5.12757853e-04 9.98423695e-01 2.87149866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.67, Y:44.29, Z:28.72 [[ 9.92625271e-01 -1.07639610e-01 -5.57564831e-02 5.10670884e+02] [ 1.07448126e-01 9.94189902e-01 -6.42953408e-03 4.42916631e+01] [ 5.61246050e-02 3.91188381e-04 9.98423695e-01 2.87181660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.73, Y:44.30, Z:28.72 [[ 9.92021695e-01 -1.13067324e-01 -5.57560492e-02 5.10730051e+02] [ 1.12884189e-01 9.93587325e-01 -6.43329434e-03 4.42963769e+01] [ 5.61258992e-02 8.79911548e-05 9.98423695e-01 2.87208500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.79, Y:44.30, Z:28.72 [[ 9.91575501e-01 -1.16915843e-01 -5.57558142e-02 5.10790495e+02] [ 1.16738670e-01 9.93141817e-01 -6.43533014e-03 4.43008739e+01] [ 5.61258227e-02 -1.27743902e-04 9.98423695e-01 2.87241194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.85, Y:44.30, Z:28.73 [[ 9.91132022e-01 -1.20617593e-01 -5.57558142e-02 5.10850999e+02] [ 1.20446271e-01 9.92698989e-01 -6.43533014e-03 4.43038904e+01] [ 5.61249544e-02 -3.37318112e-04 9.98423695e-01 2.87273934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.04509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.91, Y:44.31, Z:28.73 [[ 9.90974252e-01 -1.21907020e-01 -5.57558142e-02 5.10911245e+02] [ 1.21737736e-01 9.92541440e-01 -6.43533014e-03 4.43080608e+01] [ 5.61244681e-02 -4.10340138e-04 9.98423695e-01 2.87309758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.10509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.97, Y:44.31, Z:28.73 [[ 9.90908031e-01 -1.22444125e-01 -5.57558142e-02 5.10972226e+02] [ 1.22275691e-01 9.92475311e-01 -6.43533014e-03 4.43107899e+01] [ 5.61242374e-02 -4.40760378e-04 9.98423695e-01 2.87335150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.16509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.03, Y:44.32, Z:28.74 [[ 9.90810322e-01 -1.23232280e-01 -5.57558142e-02 5.11032844e+02] [ 1.23065092e-01 9.92377735e-01 -6.43533014e-03 4.43151257e+01] [ 5.61238691e-02 -4.85402888e-04 9.98423695e-01 2.87365294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.22509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.09, Y:44.32, Z:28.74 [[ 9.90524125e-01 -1.25511936e-01 -5.57558142e-02 5.11092661e+02] [ 1.25348356e-01 9.92091919e-01 -6.43533014e-03 4.43197646e+01] [ 5.61226035e-02 -6.14549892e-04 9.98423695e-01 2.87401415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.28509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.15, Y:44.32, Z:28.74 [[ 9.89728048e-01 -1.31642242e-01 -5.57558142e-02 5.11152014e+02] [ 1.31488372e-01 9.91296825e-01 -6.43533014e-03 4.43216826e+01] [ 5.61177229e-02 -9.62014492e-04 9.98423695e-01 2.87422653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.34509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.21, Y:44.33, Z:28.75 [[ 9.88968804e-01 -1.37229759e-01 -5.57556972e-02 5.11212036e+02] [ 1.37084694e-01 9.90538419e-01 -6.43634390e-03 4.43253102e+01] [ 5.61114181e-02 -1.27790934e-03 9.98423695e-01 2.87460924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.40509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.27, Y:44.33, Z:28.75 [[ 9.87587913e-01 -1.46838060e-01 -5.57556972e-02 5.11272231e+02] [ 1.46708262e-01 9.89158865e-01 -6.43634390e-03 4.43290509e+01] [ 5.60963424e-02 -1.82336598e-03 9.98423695e-01 2.87490895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.46509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.33, Y:44.33, Z:28.75 [[ 9.85878558e-01 -1.57907474e-01 -5.57556972e-02 5.11333503e+02] [ 1.57795306e-01 9.87450867e-01 -6.43634390e-03 4.43325585e+01] [ 5.60723584e-02 -2.45253388e-03 9.98423695e-01 2.87512679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.52509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.39, Y:44.34, Z:28.75 [[ 9.84590447e-01 -1.65749593e-01 -5.57559351e-02 5.11393171e+02] [ 1.65650060e-01 9.86163606e-01 -6.43428211e-03 4.43378110e+01] [ 5.60509537e-02 -2.90084129e-03 9.98423695e-01 2.87538487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.58509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.45, Y:44.34, Z:28.76 [[ 9.83999569e-01 -1.69221983e-01 -5.57563338e-02 5.11453647e+02] [ 1.69128196e-01 9.85573081e-01 -6.43082565e-03 4.43445212e+01] [ 5.60401788e-02 -3.10203850e-03 9.98423696e-01 2.87576333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.64509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.51, Y:44.35, Z:28.76 [[ 9.82935545e-01 -1.75296661e-01 -5.57565650e-02 5.11512894e+02] [ 1.75212708e-01 9.84509613e-01 -6.42882040e-03 4.43523112e+01] [ 5.60198250e-02 -3.45014266e-03 9.98423696e-01 2.87617965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.70509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.57, Y:44.36, Z:28.77 [[ 9.82854185e-01 -1.75752222e-01 -5.57566789e-02 5.11573941e+02] [ 1.75669054e-01 9.84428294e-01 -6.42783241e-03 4.43608363e+01] [ 5.60181581e-02 -3.47710107e-03 9.98423696e-01 2.87662411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.76509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.63, Y:44.37, Z:28.77 [[ 9.82896119e-01 -1.75517401e-01 -5.57571566e-02 5.11633967e+02] [ 1.75434091e-01 9.84470221e-01 -6.42368628e-03 4.43695619e+01] [ 5.60187290e-02 -3.46788978e-03 9.98423696e-01 2.87706664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.82509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.69, Y:44.38, Z:28.77 [[ 9.82841707e-01 -1.75821726e-01 -5.57575098e-02 5.11694935e+02] [ 1.75739077e-01 9.84415843e-01 -6.42061894e-03 4.43783642e+01] [ 5.60174603e-02 -3.48832125e-03 9.98423696e-01 2.87705235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.88509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.76, Y:44.39, Z:28.77 [[ 9.83253576e-01 -1.73503509e-01 -5.57578537e-02 5.11756973e+02] [ 1.73417317e-01 9.84827522e-01 -6.41763099e-03 4.43869278e+01] [ 5.60253504e-02 -3.35921877e-03 9.98423696e-01 2.87726322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.94509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.82, Y:44.40, Z:28.78 [[ 9.84501092e-01 -1.66278711e-01 -5.57583279e-02 5.11818210e+02] [ 1.66181197e-01 9.86074377e-01 -6.41350862e-03 4.43980254e+01] [ 5.60482884e-02 -2.95187942e-03 9.98423696e-01 2.87774248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.00509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.88, Y:44.41, Z:28.78 [[ 9.85620818e-01 -1.59507242e-01 -5.57587937e-02 5.11879763e+02] [ 1.59399144e-01 9.87193411e-01 -6.40945652e-03 4.44080285e+01] [ 5.60670685e-02 -2.57061022e-03 9.98423696e-01 2.87821722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.06509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.94, Y:44.42, Z:28.79 [[ 9.87177000e-01 -1.49574310e-01 -5.57592673e-02 5.11941314e+02] [ 1.49450614e-01 9.88748444e-01 -6.40533361e-03 4.44190481e+01] [ 5.60899621e-02 -2.01005873e-03 9.98423696e-01 2.87861225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.12509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.00, Y:44.43, Z:28.79 [[ 9.88116713e-01 -1.43234817e-01 -5.57597405e-02 5.12002338e+02] [ 1.43101270e-01 9.89687350e-01 -6.40121114e-03 4.44272838e+01] [ 5.61015862e-02 -1.65414598e-03 9.98423696e-01 2.87903006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.185099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.06, Y:44.44, Z:28.79 [[ 9.89641473e-01 -1.32289523e-01 -5.57605343e-02 5.12063443e+02] [ 1.32138990e-01 9.91210573e-01 -6.39428926e-03 4.44354740e+01] [ 5.61163286e-02 -1.04008686e-03 9.98423696e-01 2.87946745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.12, Y:44.44, Z:28.80 [[ 9.90788958e-01 -1.23401695e-01 -5.57607680e-02 5.12123653e+02] [ 1.23237199e-01 9.92356656e-01 -6.39225029e-03 4.44434528e+01] [ 5.61233838e-02 -5.38429888e-04 9.98423696e-01 2.87990800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.18, Y:44.45, Z:28.80 [[ 9.92225850e-01 -1.11259032e-01 -5.57610048e-02 5.12182997e+02] [ 1.11075467e-01 9.93791430e-01 -6.39018451e-03 4.44506191e+01] [ 5.61257744e-02 1.46826615e-04 9.98423696e-01 2.88047436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.24, Y:44.46, Z:28.81 [[ 9.92809306e-01 -1.05926416e-01 -5.57608879e-02 5.12241349e+02] [ 1.05734385e-01 9.94373870e-01 -6.39120445e-03 4.44555371e+01] [ 5.61241672e-02 4.49404090e-04 9.98423696e-01 2.88077556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.30, Y:44.46, Z:28.81 [[ 9.92895912e-01 -1.05112380e-01 -5.57592638e-02 5.12299671e+02] [ 1.04918272e-01 9.94460219e-01 -6.40534211e-03 4.44574345e+01] [ 5.61236505e-02 5.09672391e-04 9.98423696e-01 2.88106401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.36, Y:44.46, Z:28.81 [[ 9.92422804e-01 -1.09490155e-01 -5.57573653e-02 5.12356768e+02] [ 1.09302021e-01 9.93987841e-01 -6.42182635e-03 4.44596352e+01] [ 5.61252699e-02 2.78774182e-04 9.98423696e-01 2.88145798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.54509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.42, Y:44.46, Z:28.82 [[ 9.90957485e-01 -1.22043119e-01 -5.57560690e-02 5.12415118e+02] [ 1.21874178e-01 9.92524710e-01 -6.43306090e-03 4.44569727e+01] [ 5.61243871e-02 -4.20335240e-04 9.98423696e-01 2.88172699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.60509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.47, Y:44.45, Z:28.82 [[ 9.88903346e-01 -1.37701285e-01 -5.57541848e-02 5.12473333e+02] [ 1.37556235e-01 9.90472962e-01 -6.44935020e-03 4.44537189e+01] [ 5.61110963e-02 -1.29155178e-03 9.98423696e-01 2.88201104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.66509989299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.53, Y:44.45, Z:28.82 [[ 9.87300258e-01 -1.48761149e-01 -5.57523115e-02 5.12530510e+02] [ 1.48632765e-01 9.88871325e-01 -6.46550395e-03 4.44501459e+01] [ 5.60936779e-02 -1.90322651e-03 9.98423696e-01 2.88234695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.72509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.59, Y:44.45, Z:28.83 [[ 9.86803392e-01 -1.52022483e-01 -5.57515041e-02 5.12589352e+02] [ 1.51898899e-01 9.88374844e-01 -6.47245851e-03 4.44465798e+01] [ 5.60873433e-02 -2.08154809e-03 9.98423696e-01 2.88272449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.78509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.65, Y:44.45, Z:28.83 [[ 9.87849843e-01 -1.45067790e-01 -5.57496543e-02 5.12647257e+02] [ 1.44932244e-01 9.89420308e-01 -6.48835206e-03 4.44453511e+01] [ 5.61010911e-02 -1.67040493e-03 9.98423696e-01 2.88307713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.84509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.71, Y:44.45, Z:28.83 [[ 9.87806952e-01 -1.45360300e-01 -5.57477285e-02 5.12705185e+02] [ 1.45224288e-01 9.89377376e-01 -6.50485672e-03 4.44521804e+01] [ 5.61010893e-02 -1.67038148e-03 9.98423696e-01 2.88340537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.90509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.76, Y:44.46, Z:28.84 [[ 9.88133115e-01 -1.43127052e-01 -5.57458005e-02 5.12761768e+02] [ 1.42986561e-01 9.89703145e-01 -6.52133755e-03 4.44572593e+01] [ 5.61051739e-02 -1.52695075e-03 9.98423697e-01 2.88367889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.96509989299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.82, Y:44.46, Z:28.84 [[ 9.88902580e-01 -1.37710711e-01 -5.57444843e-02 5.12819968e+02] [ 1.37560987e-01 9.90471756e-01 -6.53256977e-03 4.44610404e+01] [ 5.61129421e-02 -1.20819121e-03 9.98423697e-01 2.88394134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.02509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.88, Y:44.46, Z:28.84 [[ 9.90125834e-01 -1.28621868e-01 -5.57426901e-02 5.12878387e+02] [ 1.28456877e-01 9.91693479e-01 -6.54784408e-03 4.44641065e+01] [ 5.61218582e-02 -6.77342320e-04 9.98423697e-01 2.88425365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.08509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.94, Y:44.47, Z:28.84 [[ 9.91073241e-01 -1.21106216e-01 -5.57415004e-02 5.12937025e+02] [ 1.20928768e-01 9.92639525e-01 -6.55795621e-03 4.44672850e+01] [ 5.61254257e-02 -2.41336071e-04 9.98423697e-01 2.88448315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.14509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.99, Y:44.47, Z:28.85 [[ 9.91455110e-01 -1.17939967e-01 -5.57398383e-02 5.12994396e+02] [ 1.17756725e-01 9.93020726e-01 -6.57205322e-03 4.44718949e+01] [ 5.61259224e-02 -4.78450753e-05 9.98423697e-01 2.88485472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.20509989299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.05, Y:44.47, Z:28.85 [[ 9.91495530e-01 -1.17600607e-01 -5.57378834e-02 5.13052217e+02] [ 1.17415900e-01 9.93060973e-01 -6.58859114e-03 4.44741673e+01] [ 5.61259390e-02 -1.19550574e-05 9.98423697e-01 2.88518641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.26509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.11, Y:44.48, Z:28.86 [[ 9.91160366e-01 -1.20393043e-01 -5.57372840e-02 5.13109492e+02] [ 1.20212460e-01 9.92726291e-01 -6.59365789e-03 4.44776989e+01] [ 5.61256977e-02 -1.64943679e-04 9.98423697e-01 2.88560311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.32509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.17, Y:44.48, Z:28.86 [[ 9.90399444e-01 -1.26501032e-01 -5.57353657e-02 5.13166610e+02] [ 1.26329196e-01 9.91966352e-01 -6.60983317e-03 4.44786727e+01] [ 5.61237582e-02 -4.94628846e-04 9.98423697e-01 2.88605218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.38509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.22, Y:44.48, Z:28.87 [[ 9.89650699e-01 -1.32231447e-01 -5.57345407e-02 5.13224936e+02] [ 1.32068292e-01 9.91218535e-01 -6.61678270e-03 4.44816562e+01] [ 5.61200565e-02 -8.12461978e-04 9.98423697e-01 2.88650177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.44509989299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.28, Y:44.48, Z:28.87 [[ 9.88715388e-01 -1.39053023e-01 -5.57327481e-02 5.13281857e+02] [ 1.38899836e-01 9.90284229e-01 -6.63184699e-03 4.44843708e+01] [ 5.61134399e-02 -1.18426038e-03 9.98423697e-01 2.88682012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.50509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.34, Y:44.49, Z:28.87 [[ 9.87570766e-01 -1.46962358e-01 -5.57319249e-02 5.13339386e+02] [ 1.46821343e-01 9.89140748e-01 -6.63875794e-03 4.44876559e+01] [ 5.61023654e-02 -1.62639279e-03 9.98423697e-01 2.88715505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.56509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.40, Y:44.49, Z:28.87 [[ 9.85790643e-01 -1.58464430e-01 -5.57299914e-02 5.13397226e+02] [ 1.58340812e-01 9.87362091e-01 -6.65494995e-03 4.44908832e+01] [ 5.60802537e-02 -2.26394466e-03 9.98423697e-01 2.88749415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.62509989299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.45, Y:44.50, Z:28.88 [[ 9.84741128e-01 -1.64861448e-01 -5.57280418e-02 5.13454499e+02] [ 1.64747116e-01 9.86313278e-01 -6.67123577e-03 4.44962603e+01] [ 5.60651372e-02 -2.61159391e-03 9.98423698e-01 2.88783824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.685099893 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.51, Y:44.50, Z:28.88 [[ 9.83863275e-01 -1.70022536e-01 -5.57260490e-02 5.13512401e+02] [ 1.69915511e-01 9.85435940e-01 -6.68784064e-03 4.45028977e+01] [ 5.60515351e-02 -2.88879928e-03 9.98423698e-01 2.88816440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.57, Y:44.51, Z:28.89 [[ 9.83029677e-01 -1.74778381e-01 -5.57240715e-02 5.13569930e+02] [ 1.74678033e-01 9.84602782e-01 -6.70427720e-03 4.45112938e+01] [ 5.60378385e-02 -3.14326773e-03 9.98423698e-01 2.88858061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.63, Y:44.52, Z:28.89 [[ 9.82602210e-01 -1.77166447e-01 -5.57220590e-02 5.13626661e+02] [ 1.77068979e-01 9.84175495e-01 -6.72096267e-03 4.45201664e+01] [ 5.60310140e-02 -3.26261529e-03 9.98423698e-01 2.88888488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.68, Y:44.53, Z:28.89 [[ 9.82228788e-01 -1.79225787e-01 -5.57200542e-02 5.13682989e+02] [ 1.79130680e-01 9.83802219e-01 -6.73754220e-03 4.45287001e+01] [ 5.60250542e-02 -3.36336326e-03 9.98423698e-01 2.88910648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.74, Y:44.54, Z:28.89 [[ 9.81671864e-01 -1.82251967e-01 -5.57186856e-02 5.13740301e+02] [ 1.82161071e-01 9.83245543e-01 -6.74884112e-03 4.45380417e+01] [ 5.60151389e-02 -3.52462798e-03 9.98423698e-01 2.88943257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.80, Y:44.55, Z:28.90 [[ 9.81330338e-01 -1.84082622e-01 -5.57167432e-02 5.13797562e+02] [ 1.83993756e-01 9.82904133e-01 -6.76483982e-03 4.45476864e+01] [ 5.60095066e-02 -3.61299029e-03 9.98423698e-01 2.88977059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.86, Y:44.56, Z:28.90 [[ 9.81013690e-01 -1.85763310e-01 -5.57147463e-02 5.13855516e+02] [ 1.85676213e-01 9.82587583e-01 -6.78124633e-03 4.45596154e+01] [ 5.60043247e-02 -3.69240761e-03 9.98423699e-01 2.88990358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.91, Y:44.57, Z:28.90 [[ 9.81302029e-01 -1.84234365e-01 -5.57137961e-02 5.13912449e+02] [ 1.84144374e-01 9.82875759e-01 -6.78904429e-03 4.45731824e+01] [ 5.60105149e-02 -3.59727917e-03 9.98423699e-01 2.89045003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.97, Y:44.59, Z:28.91 [[ 9.81916709e-01 -1.80930231e-01 -5.57120046e-02 5.13969130e+02] [ 1.80834114e-01 9.83490078e-01 -6.80371377e-03 4.45857535e+01] [ 5.60232012e-02 -3.39395075e-03 9.98423699e-01 2.89094538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.03, Y:44.60, Z:28.91 [[ 9.83293972e-01 -1.73289819e-01 -5.57099825e-02 5.14025651e+02] [ 1.73180539e-01 9.84866481e-01 -6.82023056e-03 4.46012127e+01] [ 5.60487710e-02 -2.94159318e-03 9.98423699e-01 2.89135556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.08, Y:44.61, Z:28.92 [[ 9.84168081e-01 -1.68254734e-01 -5.57093626e-02 5.14082474e+02] [ 1.68137120e-01 9.85739988e-01 -6.82529045e-03 4.46137524e+01] [ 5.60633339e-02 -2.64957878e-03 9.98423699e-01 2.89173890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.14, Y:44.63, Z:28.92 [[ 9.85196154e-01 -1.62127185e-01 -5.57073982e-02 5.14140345e+02] [ 1.61998888e-01 9.86767225e-01 -6.84128646e-03 4.46281588e+01] [ 5.60793933e-02 -2.28452747e-03 9.98423699e-01 2.89213754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.20, Y:44.64, Z:28.92 [[ 9.85521913e-01 -1.60135173e-01 -5.57071459e-02 5.14196731e+02] [ 1.60003585e-01 9.87092712e-01 -6.84334030e-03 4.46394275e+01] [ 5.60839772e-02 -2.16908122e-03 9.98423699e-01 2.89239182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.25, Y:44.65, Z:28.93 [[ 9.85630245e-01 -1.59467251e-01 -5.57065256e-02 5.14253994e+02] [ 1.59334313e-01 9.87200930e-01 -6.84838594e-03 4.46510161e+01] [ 5.60856272e-02 -2.12598470e-03 9.98423699e-01 2.89274137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.31, Y:44.66, Z:28.93 [[ 9.85703921e-01 -1.59011805e-01 -5.57048074e-02 5.14312264e+02] [ 1.58877355e-01 9.87274478e-01 -6.86233319e-03 4.46615983e+01] [ 5.60871267e-02 -2.08600374e-03 9.98423699e-01 2.89321250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.37, Y:44.67, Z:28.94 [[ 9.86268713e-01 -1.55470346e-01 -5.57045579e-02 5.14369572e+02] [ 1.55330142e-01 9.87838766e-01 -6.86435846e-03 4.46737306e+01] [ 5.60943259e-02 -1.88249490e-03 9.98423699e-01 2.89358487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.43, Y:44.68, Z:28.94 [[ 9.86897295e-01 -1.51429100e-01 -5.57041894e-02 5.14428643e+02] [ 1.51282297e-01 9.88466745e-01 -6.86734687e-03 4.46842370e+01] [ 5.61016550e-02 -1.64969167e-03 9.98423699e-01 2.89394855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.49, Y:44.70, Z:28.94 [[ 9.87917742e-01 -1.44622288e-01 -5.57039482e-02 5.14487052e+02] [ 1.44464559e-01 9.89486131e-01 -6.86930345e-03 4.46951064e+01] [ 5.61117385e-02 -1.26093956e-03 9.98423699e-01 2.89426668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.55, Y:44.70, Z:28.95 [[ 9.88298922e-01 -1.41994148e-01 -5.57037052e-02 5.14546180e+02] [ 1.41832138e-01 9.89866875e-01 -6.87127321e-03 4.47047870e+01] [ 5.61149332e-02 -1.10970367e-03 9.98423699e-01 2.89474002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.61, Y:44.71, Z:28.95 [[ 9.88459556e-01 -1.40871582e-01 -5.57037052e-02 5.14605528e+02] [ 1.40707791e-01 9.90027325e-01 -6.87127321e-03 4.47134193e+01] [ 5.61161573e-02 -1.04596961e-03 9.98423699e-01 2.89502458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.66, Y:44.72, Z:28.95 [[ 9.88419888e-01 -1.41149745e-01 -5.57034534e-02 5.14664273e+02] [ 1.40986280e-01 9.89987690e-01 -6.87331367e-03 4.47205760e+01] [ 5.61158996e-02 -1.05970276e-03 9.98423699e-01 2.89530473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.72, Y:44.73, Z:28.96 [[ 9.88335139e-01 -1.41742037e-01 -5.57032051e-02 5.14724416e+02] [ 1.41579398e-01 9.89903028e-01 -6.87532515e-03 4.47280940e+01] [ 5.61152940e-02 -1.09130081e-03 9.98423699e-01 2.89564002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.78, Y:44.74, Z:28.96 [[ 9.88170352e-01 -1.42886351e-01 -5.57032051e-02 5.14784318e+02] [ 1.42725528e-01 9.89738427e-01 -6.87532515e-03 4.47350213e+01] [ 5.61139928e-02 -1.15627688e-03 9.98423699e-01 2.89593548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.84, Y:44.74, Z:28.96 [[ 9.88175191e-01 -1.42852878e-01 -5.57032051e-02 5.14844072e+02] [ 1.42692001e-01 9.89743261e-01 -6.87532515e-03 4.47414263e+01] [ 5.61140319e-02 -1.15437606e-03 9.98423699e-01 2.89619340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.90, Y:44.75, Z:28.97 [[ 9.88412073e-01 -1.41204654e-01 -5.57029561e-02 5.14902339e+02] [ 1.41041049e-01 9.89979861e-01 -6.87734217e-03 4.47477425e+01] [ 5.61159175e-02 -1.05875530e-03 9.98423699e-01 2.89660522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.96, Y:44.75, Z:28.97 [[ 9.88798242e-01 -1.38474808e-01 -5.57024681e-02 5.14961212e+02] [ 1.38306652e-01 9.90365548e-01 -6.88129283e-03 4.47542711e+01] [ 5.61186910e-02 -8.99811594e-04 9.98423699e-01 2.89709913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.02, Y:44.76, Z:28.98 [[ 9.88974044e-01 -1.37213710e-01 -5.57022216e-02 5.15020703e+02] [ 1.37043443e-01 9.90541122e-01 -6.88328759e-03 4.47607438e+01] [ 5.61198225e-02 -8.26231466e-04 9.98423699e-01 2.89750973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.08, Y:44.77, Z:28.98 [[ 9.89014798e-01 -1.36919759e-01 -5.57019686e-02 5.15080124e+02] [ 1.36748911e-01 9.90581813e-01 -6.88533370e-03 4.47666016e+01] [ 5.61200953e-02 -8.07486644e-04 9.98423699e-01 2.89775092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.14, Y:44.77, Z:28.98 [[ 9.88979631e-01 -1.37173645e-01 -5.57017175e-02 5.15138932e+02] [ 1.37003084e-01 9.90546677e-01 -6.88736471e-03 4.47733772e+01] [ 5.61199161e-02 -8.19843703e-04 9.98423699e-01 2.89804708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.20, Y:44.78, Z:28.98 [[ 9.88712439e-01 -1.39086518e-01 -5.57014679e-02 5.15196537e+02] [ 1.38918876e-01 9.90279800e-01 -6.88938254e-03 4.47795916e+01] [ 5.61182588e-02 -9.26367114e-04 9.98423699e-01 2.89833311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.26, Y:44.78, Z:28.99 [[ 9.87993865e-01 -1.44102525e-01 -5.57008534e-02 5.15256058e+02] [ 1.43942560e-01 9.89562028e-01 -6.89434746e-03 4.47846445e+01] [ 5.61129423e-02 -1.20615045e-03 9.98423699e-01 2.89875346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.31, Y:44.79, Z:28.99 [[ 9.87262454e-01 -1.49031169e-01 -5.57005999e-02 5.15314530e+02] [ 1.48878916e-01 9.88831385e-01 -6.89639462e-03 4.47903413e+01] [ 5.61062791e-02 -1.48409347e-03 9.98423699e-01 2.89906365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.37, Y:44.80, Z:28.99 [[ 9.86332315e-01 -1.55067884e-01 -5.57002252e-02 5.15374129e+02] [ 1.54925061e-01 9.87902133e-01 -6.89941997e-03 4.47968109e+01] [ 5.60962497e-02 -1.82423989e-03 9.98423699e-01 2.89949283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.43, Y:44.80, Z:29.00 [[ 9.84623832e-01 -1.65569910e-01 -5.57002252e-02 5.15434281e+02] [ 1.65443823e-01 9.86195082e-01 -6.89941997e-03 4.48019142e+01] [ 5.60736245e-02 -2.42192490e-03 9.98423699e-01 2.89984903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.49, Y:44.81, Z:29.00 [[ 9.82768263e-01 -1.76249897e-01 -5.57002252e-02 5.15494103e+02] [ 1.76140877e-01 9.84340789e-01 -6.89941997e-03 4.48076788e+01] [ 5.60440257e-02 -3.03055552e-03 9.98423699e-01 2.90017248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.55, Y:44.81, Z:29.00 [[ 9.81750725e-01 -1.81832338e-01 -5.57002252e-02 5.15554551e+02] [ 1.81732256e-01 9.83323845e-01 -6.89941997e-03 4.48146367e+01] [ 5.60258973e-02 -3.34901704e-03 9.98423699e-01 2.90049289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.61, Y:44.82, Z:29.01 [[ 9.80917059e-01 -1.86277235e-01 -5.57002252e-02 5.15613309e+02] [ 1.86184280e-01 9.82490617e-01 -6.89941996e-03 4.48228688e+01] [ 5.60101535e-02 -3.60274759e-03 9.98423699e-01 2.90079785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.67, Y:44.83, Z:29.01 [[ 9.80920047e-01 -1.86261538e-01 -5.57001014e-02 5.15671757e+02] [ 1.86168501e-01 9.82493600e-01 -6.90041928e-03 4.48320011e+01] [ 5.60102758e-02 -3.60084477e-03 9.98423699e-01 2.90118830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.73, Y:44.84, Z:29.02 [[ 9.81871504e-01 -1.81179124e-01 -5.56998596e-02 5.15731416e+02] [ 1.81077829e-01 9.83444547e-01 -6.90237068e-03 4.48445797e+01] [ 5.60282887e-02 -3.30876856e-03 9.98423699e-01 2.90172364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.79, Y:44.86, Z:29.02 [[ 9.82962874e-01 -1.75161317e-01 -5.57001071e-02 5.15791594e+02] [ 1.75050501e-01 9.84535275e-01 -6.90037294e-03 4.48566375e+01] [ 5.60473986e-02 -2.96752124e-03 9.98423699e-01 2.90211469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.85, Y:44.87, Z:29.02 [[ 9.84831026e-01 -1.64332955e-01 -5.57003534e-02 5.15851169e+02] [ 1.64204954e-01 9.86402122e-01 -6.89838440e-03 4.48705030e+01] [ 5.60765786e-02 -2.35253096e-03 9.98423699e-01 2.90246508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.91, Y:44.88, Z:29.03 [[ 9.85969387e-01 -1.57358859e-01 -5.57005998e-02 5.15911463e+02] [ 1.57219854e-01 9.87539547e-01 -6.89639377e-03 4.48827135e+01] [ 5.60917538e-02 -1.95760703e-03 9.98423699e-01 2.90284457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.97, Y:44.90, Z:29.04 [[ 9.86926892e-01 -1.51237316e-01 -5.57008464e-02 5.15969537e+02] [ 1.51088682e-01 9.88496170e-01 -6.89440145e-03 4.49002599e+01] [ 5.61027641e-02 -1.61149728e-03 9.98423699e-01 2.90365922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.03, Y:44.91, Z:29.04 [[ 9.87931894e-01 -1.44526783e-01 -5.57008254e-02 5.16029570e+02] [ 1.44367478e-01 9.89500124e-01 -6.89457143e-03 4.49073993e+01] [ 5.61124239e-02 -1.23002069e-03 9.98423699e-01 2.90353078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.09, Y:44.92, Z:29.04 [[ 9.88367726e-01 -1.41515570e-01 -5.57008254e-02 5.16090131e+02] [ 1.41351487e-01 9.89935463e-01 -6.89457143e-03 4.49196682e+01] [ 5.61159116e-02 -1.05902263e-03 9.98423699e-01 2.90382205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.15, Y:44.93, Z:29.04 [[ 9.88341047e-01 -1.41701680e-01 -5.57010738e-02 5.16150720e+02] [ 1.41538006e-01 9.89908827e-01 -6.89256373e-03 4.49289805e+01] [ 5.61156725e-02 -1.07161525e-03 9.98423699e-01 2.90407227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.21, Y:44.94, Z:29.04 [[ 9.87988561e-01 -1.44138705e-01 -5.57013263e-02 5.16210798e+02] [ 1.43979013e-01 9.89556752e-01 -6.89052233e-03 4.49388635e+01] [ 5.61128145e-02 -1.21206474e-03 9.98423699e-01 2.90435987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.27, Y:44.95, Z:29.05 [[ 9.87736899e-01 -1.45853190e-01 -5.57015750e-02 5.16270251e+02] [ 1.45696333e-01 9.89305376e-01 -6.88851164e-03 4.49478841e+01] [ 5.61105790e-02 -1.31147809e-03 9.98423699e-01 2.90470678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.33, Y:44.96, Z:29.05 [[ 9.87441422e-01 -1.47840210e-01 -5.57019793e-02 5.16330595e+02] [ 1.47686694e-01 9.89010229e-01 -6.88524107e-03 4.49579930e+01] [ 5.61077428e-02 -1.42766891e-03 9.98423699e-01 2.90517114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.39, Y:44.97, Z:29.06 [[ 9.87342048e-01 -1.48502329e-01 -5.57022234e-02 5.16391684e+02] [ 1.48349976e-01 9.88910969e-01 -6.88326571e-03 4.49667536e+01] [ 5.61067207e-02 -1.46728582e-03 9.98423699e-01 2.90561264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.45, Y:44.98, Z:29.06 [[ 9.87079276e-01 -1.50238847e-01 -5.57027167e-02 5.16452499e+02] [ 1.50089479e-01 9.88648484e-01 -6.87927091e-03 4.49754343e+01] [ 5.61039402e-02 -1.57000597e-03 9.98423699e-01 2.90606350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.51, Y:44.98, Z:29.07 [[ 9.86935756e-01 -1.51178636e-01 -5.57030809e-02 5.16513504e+02] [ 1.51030929e-01 9.88505121e-01 -6.87632051e-03 4.49842289e+01] [ 5.61023335e-02 -1.62640147e-03 9.98423699e-01 2.90653060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.58, Y:44.99, Z:29.07 [[ 9.86825867e-01 -1.51894108e-01 -5.57035785e-02 5.16575053e+02] [ 1.51747766e-01 9.88395360e-01 -6.87228748e-03 4.49942643e+01] [ 5.61010185e-02 -1.67114254e-03 9.98423699e-01 2.90702478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8650998929999 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:516.63, Y:45.00, Z:29.07 [[ 9.86960334e-01 -1.51017728e-01 -5.57040811e-02 5.16633754e+02] [ 1.50870222e-01 9.88529718e-01 -6.86821111e-03 4.50032424e+01] [ 5.61023613e-02 -1.62543514e-03 9.98423699e-01 2.90715967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.69, Y:45.01, Z:29.08 [[ 9.86886568e-01 -1.51499031e-01 -5.57040811e-02 5.16693477e+02] [ 1.51352291e-01 9.88456024e-01 -6.86821111e-03 4.50130839e+01] [ 5.61015619e-02 -1.65279498e-03 9.98423699e-01 2.90781044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.76, Y:45.02, Z:29.08 [[ 9.86918421e-01 -1.51291393e-01 -5.57040811e-02 5.16755245e+02] [ 1.51144323e-01 9.88487846e-01 -6.86821111e-03 4.50221204e+01] [ 5.61019084e-02 -1.64099154e-03 9.98423699e-01 2.90823614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.82, Y:45.03, Z:29.09 [[ 9.86924194e-01 -1.51253546e-01 -5.57045846e-02 5.16815199e+02] [ 1.51106646e-01 9.88493635e-01 -6.86412550e-03 4.50316291e+01] [ 5.61018506e-02 -1.64296139e-03 9.98423699e-01 2.90873966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.88, Y:45.04, Z:29.09 [[ 9.86752135e-01 -1.52371851e-01 -5.57049561e-02 5.16877025e+02] [ 1.52226899e-01 9.88321758e-01 -6.86110876e-03 4.50404175e+01] [ 5.60998600e-02 -1.70957902e-03 9.98423699e-01 2.90911625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.94, Y:45.05, Z:29.09 [[ 9.86428968e-01 -1.54449976e-01 -5.57054410e-02 5.16938042e+02] [ 1.54308553e-01 9.87998912e-01 -6.85716971e-03 4.50490424e+01] [ 5.60960048e-02 -1.83171517e-03 9.98423699e-01 2.90948067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.00, Y:45.06, Z:29.10 [[ 9.85991803e-01 -1.57216449e-01 -5.57059427e-02 5.17000111e+02] [ 1.57079660e-01 9.87562158e-01 -6.85309146e-03 4.50577734e+01] [ 5.60904997e-02 -1.99317856e-03 9.98423699e-01 2.90977821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.06, Y:45.07, Z:29.10 [[ 9.85809199e-01 -1.58357142e-01 -5.57067112e-02 5.17061385e+02] [ 1.58222524e-01 9.87379741e-01 -6.84683929e-03 4.50657196e+01] [ 5.60879240e-02 -2.06437928e-03 9.98423699e-01 2.91015825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.12, Y:45.07, Z:29.10 [[ 9.85476619e-01 -1.60413605e-01 -5.57073423e-02 5.17122855e+02] [ 1.60282553e-01 9.87047463e-01 -6.84170082e-03 4.50738930e+01] [ 5.60832927e-02 -2.18657884e-03 9.98423699e-01 2.91047309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.19, Y:45.08, Z:29.11 [[ 9.85241616e-01 -1.61850536e-01 -5.57078344e-02 5.17185630e+02] [ 1.61722002e-01 9.86812667e-01 -6.83769132e-03 4.50824409e+01] [ 5.60798807e-02 -2.27240447e-03 9.98423699e-01 2.91067786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.25, Y:45.09, Z:29.11 [[ 9.85285685e-01 -1.61581786e-01 -5.57085830e-02 5.17248304e+02] [ 1.61453168e-01 9.86856729e-01 -6.83158700e-03 4.50903356e+01] [ 5.60802500e-02 -2.26326231e-03 9.98423699e-01 2.91088457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.31, Y:45.10, Z:29.11 [[ 9.85499611e-01 -1.60271606e-01 -5.57093251e-02 5.17310896e+02] [ 1.60141241e-01 9.87070512e-01 -6.82552993e-03 4.50978079e+01] [ 5.60829707e-02 -2.19480335e-03 9.98423699e-01 2.91105210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.37, Y:45.10, Z:29.11 [[ 9.85681729e-01 -1.59147468e-01 -5.57100783e-02 5.17371989e+02] [ 1.59015658e-01 9.87252509e-01 -6.81937663e-03 4.51047993e+01] [ 5.60852011e-02 -2.13703983e-03 9.98423699e-01 2.91134007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.43, Y:45.11, Z:29.12 [[ 9.85972160e-01 -1.57337912e-01 -5.57106964e-02 5.17433678e+02] [ 1.57203504e-01 9.87542720e-01 -6.81432318e-03 4.51119458e+01] [ 5.60888440e-02 -2.03918375e-03 9.98423699e-01 2.91152030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.50, Y:45.12, Z:29.12 [[ 9.86075420e-01 -1.56689282e-01 -5.57111722e-02 5.17495074e+02] [ 1.56554061e-01 9.87645910e-01 -6.81043097e-03 4.51184388e+01] [ 5.60900330e-02 -2.00621166e-03 9.98423699e-01 2.91166512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.56, Y:45.12, Z:29.12 [[ 9.85885102e-01 -1.57882153e-01 -5.57116784e-02 5.17557717e+02] [ 1.57749066e-01 9.87455774e-01 -6.80628822e-03 4.51231383e+01] [ 5.60874099e-02 -2.07824708e-03 9.98423699e-01 2.91174304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.62, Y:45.13, Z:29.12 [[ 9.85653982e-01 -1.59318399e-01 -5.57124398e-02 5.17619082e+02] [ 1.59187953e-01 9.87224876e-01 -6.80004973e-03 4.51279236e+01] [ 5.60840795e-02 -2.16625314e-03 9.98423699e-01 2.91189986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.68, Y:45.13, Z:29.12 [[ 9.85689491e-01 -1.59098428e-01 -5.57128136e-02 5.17681150e+02] [ 1.58967803e-01 9.87260370e-01 -6.79698616e-03 4.51325366e+01] [ 5.60844427e-02 -2.15682576e-03 9.98423699e-01 2.91216657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.74, Y:45.14, Z:29.12 [[ 9.86101052e-01 -1.56527127e-01 -5.57133177e-02 5.17743489e+02] [ 1.56392639e-01 9.87671605e-01 -6.79285142e-03 4.51383805e+01] [ 5.60897274e-02 -2.01471486e-03 9.98423699e-01 2.91248410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.80, Y:45.14, Z:29.13 [[ 9.87093591e-01 -1.50140642e-01 -5.57138224e-02 5.17804475e+02] [ 1.49996225e-01 9.88663262e-01 -6.78870897e-03 4.51430198e+01] [ 5.61014706e-02 -1.65577191e-03 9.98423699e-01 2.91276879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.87, Y:45.15, Z:29.13 [[ 9.87745443e-01 -1.45790497e-01 -5.57141951e-02 5.17866040e+02] [ 1.45639338e-01 9.89314479e-01 -6.78564961e-03 4.51481234e+01] [ 5.61081431e-02 -1.41168403e-03 9.98423699e-01 2.91310571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.93, Y:45.15, Z:29.13 [[ 9.88450966e-01 -1.40927498e-01 -5.57146941e-02 5.17927802e+02] [ 1.40768850e-01 9.90019263e-01 -6.78154958e-03 4.51509130e+01] [ 5.61143272e-02 -1.13966421e-03 9.98423699e-01 2.91332327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.99, Y:45.15, Z:29.14 [[ 9.88638345e-01 -1.39606786e-01 -5.57150621e-02 5.17988642e+02] [ 1.39446214e-01 9.90206446e-01 -6.77852524e-03 4.51549525e+01] [ 5.61157417e-02 -1.06774448e-03 9.98423699e-01 2.91356833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.05, Y:45.16, Z:29.14 [[ 9.88575909e-01 -1.40048120e-01 -5.57153080e-02 5.18049723e+02] [ 1.39888361e-01 9.90144093e-01 -6.77650291e-03 4.51569485e+01] [ 5.61152196e-02 -1.09483558e-03 9.98423699e-01 2.91378027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.11, Y:45.16, Z:29.14 [[ 9.88310896e-01 -1.41906132e-01 -5.57155525e-02 5.18110379e+02] [ 1.41749435e-01 9.89879389e-01 -6.77449256e-03 4.51605562e+01] [ 5.61130191e-02 -1.20234326e-03 9.98423699e-01 2.91410379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.17, Y:45.16, Z:29.15 [[ 9.87794217e-01 -1.45459142e-01 -5.57155525e-02 5.18170726e+02] [ 1.45308085e-01 9.89363263e-01 -6.77449256e-03 4.51625377e+01] [ 5.61083327e-02 -1.40411567e-03 9.98423699e-01 2.91450387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.23, Y:45.17, Z:29.15 [[ 9.87478016e-01 -1.47590465e-01 -5.57155525e-02 5.18230755e+02] [ 1.47442795e-01 9.89047384e-01 -6.77449256e-03 4.51669237e+01] [ 5.61051719e-02 -1.52519432e-03 9.98423699e-01 2.91485370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.29, Y:45.17, Z:29.15 [[ 9.86991265e-01 -1.50811158e-01 -5.57156762e-02 5.18290874e+02] [ 1.50668666e-01 9.88561113e-01 -6.77347461e-03 4.51701298e+01] [ 5.60998664e-02 -1.70924633e-03 9.98423699e-01 2.91527078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.35, Y:45.18, Z:29.16 [[ 9.86563118e-01 -1.53587035e-01 -5.57156762e-02 5.18349593e+02] [ 1.53448960e-01 9.88133360e-01 -6.77347461e-03 4.51751095e+01] [ 5.60948362e-02 -1.86705233e-03 9.98423699e-01 2.91567312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.41, Y:45.18, Z:29.16 [[ 9.85496853e-01 -1.60286401e-01 -5.57155554e-02 5.18410216e+02] [ 1.60158941e-01 9.87067992e-01 -6.77446834e-03 4.51789598e+01] [ 5.60808965e-02 -2.24712712e-03 9.98423699e-01 2.91617814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.47, Y:45.18, Z:29.17 [[ 9.83923768e-01 -1.69675563e-01 -5.57155554e-02 5.18470929e+02] [ 1.69563089e-01 9.85496050e-01 -6.77446834e-03 4.51824885e+01] [ 5.60569215e-02 -2.78174127e-03 9.98423699e-01 2.91660264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.53, Y:45.19, Z:29.17 [[ 9.82740808e-01 -1.76398078e-01 -5.57155554e-02 5.18531495e+02] [ 1.76296356e-01 9.84313823e-01 -6.77446834e-03 4.51871929e+01] [ 5.60365945e-02 -3.16490287e-03 9.98423699e-01 2.91690586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.59, Y:45.19, Z:29.17 [[ 9.81755208e-01 -1.81803398e-01 -5.57156770e-02 5.18592608e+02] [ 1.81710390e-01 9.83328762e-01 -6.77346808e-03 4.51925248e+01] [ 5.60182672e-02 -3.47422983e-03 9.98423699e-01 2.91726105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.65, Y:45.20, Z:29.17 [[ 9.80653126e-01 -1.87657086e-01 -5.57159237e-02 5.18653248e+02] [ 1.87573582e-01 9.82227213e-01 -6.77143817e-03 4.51972428e+01] [ 5.59964048e-02 -3.81040340e-03 9.98423699e-01 2.91749838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.71, Y:45.20, Z:29.18 [[ 9.80395622e-01 -1.88997779e-01 -5.57159237e-02 5.18713905e+02] [ 1.88916427e-01 9.81969822e-01 -6.77143817e-03 4.52034605e+01] [ 5.59911425e-02 -3.88696490e-03 9.98423699e-01 2.91779010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.77, Y:45.21, Z:29.18 [[ 9.80936441e-01 -1.86170370e-01 -5.57161700e-02 5.18774459e+02] [ 1.86084595e-01 9.82510406e-01 -6.76941107e-03 4.52116570e+01] [ 5.60019806e-02 -3.72755893e-03 9.98423699e-01 2.91824492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.83, Y:45.22, Z:29.19 [[ 9.81903180e-01 -1.81002283e-01 -5.57164187e-02 5.18834847e+02] [ 1.80908336e-01 9.83476678e-01 -6.76736319e-03 4.52214158e+01] [ 5.60207066e-02 -3.43466917e-03 9.98423699e-01 2.91871072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.90, Y:45.23, Z:29.19 [[ 9.83992513e-01 -1.69276071e-01 -5.57166670e-02 5.18895198e+02] [ 1.69163476e-01 9.85564787e-01 -6.76531837e-03 4.52341266e+01] [ 5.60575916e-02 -2.76820246e-03 9.98423699e-01 2.91927134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.95, Y:45.25, Z:29.20 [[ 9.86054983e-01 -1.56815757e-01 -5.57170403e-02 5.18954447e+02] [ 1.56683457e-01 9.87625722e-01 -6.76224299e-03 4.52462545e+01] [ 5.60880084e-02 -2.06199506e-03 9.98423699e-01 2.91964680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.02, Y:45.26, Z:29.20 [[ 9.86536354e-01 -1.53758316e-01 -5.57171618e-02 5.19015039e+02] [ 1.53621203e-01 9.88106680e-01 -6.76124123e-03 4.52550935e+01] [ 5.60940969e-02 -1.88912718e-03 9.98423699e-01 2.92012424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.08, Y:45.26, Z:29.21 [[ 9.87350802e-01 -1.48438417e-01 -5.57174078e-02 5.19075631e+02] [ 1.48292956e-01 9.88920377e-01 -6.75921342e-03 4.52648098e+01] [ 5.61034069e-02 -1.58878434e-03 9.98423699e-01 2.92050252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.14, Y:45.28, Z:29.21 [[ 9.88433544e-01 -1.41048471e-01 -5.57176547e-02 5.19135594e+02] [ 1.40891388e-01 9.90001999e-01 -6.75717800e-03 4.52750661e+01] [ 5.61136791e-02 -1.17111629e-03 9.98423699e-01 2.92063441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.20, Y:45.28, Z:29.21 [[ 9.88948999e-01 -1.37387674e-01 -5.57180832e-02 5.19195599e+02] [ 1.37224984e-01 9.90516881e-01 -6.75364258e-03 4.52844508e+01] [ 5.61175693e-02 -9.66905006e-04 9.98423699e-01 2.92104715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.25, Y:45.30, Z:29.21 [[ 9.89340075e-01 -1.34542598e-01 -5.57180832e-02 5.19254896e+02] [ 1.34375399e-01 9.90907483e-01 -6.75364258e-03 4.52960948e+01] [ 5.61201182e-02 -8.05490401e-04 9.98423699e-01 2.92134353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.31, Y:45.30, Z:29.22 [[ 9.89877543e-01 -1.30529425e-01 -5.57182141e-02 5.19314380e+02] [ 1.30355932e-01 9.91444267e-01 -6.75256269e-03 4.53017944e+01] [ 5.61229120e-02 -5.78989537e-04 9.98423699e-01 2.92188625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.37, Y:45.31, Z:29.22 [[ 9.90280903e-01 -1.27433231e-01 -5.57180831e-02 5.19372742e+02] [ 1.27254778e-01 9.91847070e-01 -6.75364370e-03 4.53104878e+01] [ 5.61244561e-02 -4.02387920e-04 9.98423699e-01 2.92226056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.43, Y:45.32, Z:29.23 [[ 9.90221357e-01 -1.27895272e-01 -5.57177232e-02 5.19431831e+02] [ 1.27717383e-01 9.91787587e-01 -6.75661135e-03 4.53179478e+01] [ 5.61242849e-02 -4.25580914e-04 9.98423699e-01 2.92269706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.49, Y:45.32, Z:29.23 [[ 9.89876453e-01 -1.30538000e-01 -5.57174818e-02 5.19492386e+02] [ 1.30364181e-01 9.91443141e-01 -6.75860121e-03 4.53240440e+01] [ 5.61229695e-02 -5.73383680e-04 9.98423699e-01 2.92310819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.55, Y:45.33, Z:29.23 [[ 9.88907464e-01 -1.37686567e-01 -5.57174818e-02 5.19552182e+02] [ 1.37524071e-01 9.90475366e-01 -6.75860121e-03 4.53289054e+01] [ 5.61173618e-02 -9.78863742e-04 9.98423699e-01 2.92321016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.61, Y:45.33, Z:29.23 [[ 9.88174223e-01 -1.42854052e-01 -5.57173605e-02 5.19611717e+02] [ 1.42699698e-01 9.89742948e-01 -6.75960084e-03 4.53348821e+01] [ 5.61115011e-02 -1.27118721e-03 9.98423699e-01 2.92349140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.67, Y:45.34, Z:29.24 [[ 9.87349700e-01 -1.48445851e-01 -5.57171279e-02 5.19671885e+02] [ 1.48300273e-01 9.88919264e-01 -6.76151759e-03 4.53401061e+01] [ 5.61034604e-02 -1.58688289e-03 9.98423699e-01 2.92388953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.73, Y:45.35, Z:29.24 [[ 9.87052111e-01 -1.50411872e-01 -5.57171279e-02 5.19731570e+02] [ 1.50269419e-01 9.88621962e-01 -6.76151759e-03 4.53466702e+01] [ 5.61001888e-02 -1.69861026e-03 9.98423699e-01 2.92422469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.79, Y:45.35, Z:29.25 [[ 9.87014477e-01 -1.50658636e-01 -5.57171279e-02 5.19792449e+02] [ 1.50516576e-01 9.88584363e-01 -6.76151759e-03 4.53546969e+01] [ 5.60997624e-02 -1.71263557e-03 9.98423699e-01 2.92474083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.85, Y:45.36, Z:29.25 [[ 9.87072126e-01 -1.50280377e-01 -5.57173786e-02 5.19852379e+02] [ 1.50137832e-01 9.88641968e-01 -6.75945140e-03 4.53624960e+01] [ 5.61003517e-02 -1.69322036e-03 9.98423699e-01 2.92505915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.91, Y:45.37, Z:29.25 [[ 9.86973483e-01 -1.50926815e-01 -5.57175020e-02 5.19912011e+02] [ 1.50785355e-01 9.88543424e-01 -6.75843439e-03 4.53699178e+01] [ 5.60991991e-02 -1.73098778e-03 9.98423699e-01 2.92531257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.97, Y:45.38, Z:29.26 [[ 9.86652239e-01 -1.53012805e-01 -5.57175020e-02 5.19972476e+02] [ 1.52874664e-01 9.88222475e-01 -6.75843439e-03 4.53772451e+01] [ 5.60954147e-02 -1.84956997e-03 9.98423699e-01 2.92551467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.03, Y:45.38, Z:29.26 [[ 9.86299667e-01 -1.55269121e-01 -5.57177427e-02 5.20033914e+02] [ 1.55134684e-01 9.87870224e-01 -6.75644876e-03 4.53842847e+01] [ 5.60909669e-02 -1.97987125e-03 9.98423699e-01 2.92568867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.09, Y:45.39, Z:29.26 [[ 9.86001125e-01 -1.57153666e-01 -5.57181063e-02 5.20094986e+02] [ 1.57022400e-01 9.87571950e-01 -6.75344915e-03 4.53920277e+01] [ 5.60869682e-02 -2.09008234e-03 9.98423699e-01 2.92591487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.16, Y:45.40, Z:29.26 [[ 9.86419790e-01 -1.54503929e-01 -5.57183516e-02 5.20155629e+02] [ 1.54368557e-01 9.87990267e-01 -6.75142478e-03 4.54021733e+01] [ 5.60923107e-02 -1.94142255e-03 9.98423699e-01 2.92625571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.22, Y:45.41, Z:29.27 [[ 9.87079626e-01 -1.50230657e-01 -5.57185962e-02 5.20216755e+02] [ 1.50088599e-01 9.88649512e-01 -6.74940599e-03 4.54122556e+01] [ 5.61001306e-02 -1.70052491e-03 9.98423699e-01 2.92671110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.28, Y:45.42, Z:29.27 [[ 9.88158551e-01 -1.42961741e-01 -5.57191006e-02 5.20277875e+02] [ 1.42808367e-01 9.89727373e-01 -6.74523905e-03 4.54227426e+01] [ 5.61110302e-02 -1.29178814e-03 9.98423699e-01 2.92713372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.34, Y:45.43, Z:29.27 [[ 9.88709640e-01 -1.39099149e-01 -5.57196052e-02 5.20337924e+02] [ 1.38939881e-01 9.90277874e-01 -6.74106842e-03 4.54317603e+01] [ 5.61155690e-02 -1.07671596e-03 9.98423699e-01 2.92749371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.40, Y:45.44, Z:29.28 [[ 9.89106512e-01 -1.36248377e-01 -5.57197288e-02 5.20397174e+02] [ 1.36084647e-01 9.90674286e-01 -6.74004612e-03 4.54409984e+01] [ 5.61184229e-02 -9.15976119e-04 9.98423699e-01 2.92784476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.46, Y:45.45, Z:29.28 [[ 9.89053525e-01 -1.36632488e-01 -5.57197288e-02 5.20458398e+02] [ 1.36469366e-01 9.90621363e-01 -6.74004612e-03 4.54486671e+01] [ 5.61180630e-02 -9.37769704e-04 9.98423699e-01 2.92813187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.52, Y:45.46, Z:29.28 [[ 9.88652488e-01 -1.39504631e-01 -5.57199761e-02 5.20518281e+02] [ 1.39346179e-01 9.90220804e-01 -6.73800119e-03 4.54551765e+01] [ 5.61150619e-02 -1.10282415e-03 9.98423699e-01 2.92831696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.58, Y:45.46, Z:29.29 [[ 9.88152110e-01 -1.43005869e-01 -5.57200977e-02 5.20578337e+02] [ 1.42853030e-01 9.89720983e-01 -6.73699576e-03 4.54620141e+01] [ 5.61107798e-02 -1.30260821e-03 9.98423699e-01 2.92854152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.64, Y:45.47, Z:29.29 [[ 9.87936020e-01 -1.44491142e-01 -5.57200977e-02 5.20640058e+02] [ 1.44340662e-01 9.89505122e-01 -6.73699576e-03 4.54694446e+01] [ 5.61087583e-02 -1.38695500e-03 9.98423699e-01 2.92883081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.70, Y:45.48, Z:29.29 [[ 9.87884893e-01 -1.44840098e-01 -5.57205998e-02 5.20700017e+02] [ 1.44690406e-01 9.89454069e-01 -6.73284057e-03 4.54769849e+01] [ 5.61081595e-02 -1.41096471e-03 9.98423699e-01 2.92922372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.76, Y:45.48, Z:29.30 [[ 9.87938349e-01 -1.44474868e-01 -5.57210155e-02 5.20759679e+02] [ 1.44324790e-01 9.89507489e-01 -6.72939820e-03 4.54845327e+01] [ 5.61085910e-02 -1.39369330e-03 9.98423699e-01 2.92963618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.82, Y:45.49, Z:29.30 [[ 9.87937358e-01 -1.44481593e-01 -5.57211363e-02 5.20820378e+02] [ 1.44331582e-01 9.89506505e-01 -6.72839774e-03 4.54914558e+01] [ 5.61085564e-02 -1.39508427e-03 9.98423699e-01 2.92998601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.88, Y:45.50, Z:29.30 [[ 9.87758425e-01 -1.45699764e-01 -5.57213845e-02 5.20881536e+02] [ 1.45551805e-01 9.89327766e-01 -6.72634192e-03 4.54982181e+01] [ 5.61067392e-02 -1.46634717e-03 9.98423699e-01 2.93023812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.94, Y:45.50, Z:29.30 [[ 9.87459530e-01 -1.47711800e-01 -5.57216313e-02 5.20942378e+02] [ 1.47567153e-01 9.89029180e-01 -6.72429693e-03 4.55048010e+01] [ 5.61035773e-02 -1.58271139e-03 9.98423699e-01 2.93044195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.00, Y:45.51, Z:29.31 [[ 9.87067585e-01 -1.50308534e-01 -5.57218765e-02 5.21003235e+02] [ 1.50168131e-01 9.88637620e-01 -6.72226397e-03 4.55110210e+01] [ 5.60991570e-02 -1.73232117e-03 9.98423699e-01 2.93070174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.06, Y:45.52, Z:29.31 [[ 9.86666674e-01 -1.52918014e-01 -5.57221217e-02 5.21063881e+02] [ 1.52781878e-01 9.88237085e-01 -6.72023122e-03 4.55174536e+01] [ 5.60943115e-02 -1.88270218e-03 9.98423699e-01 2.93097426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.12, Y:45.52, Z:29.31 [[ 9.86763111e-01 -1.52294386e-01 -5.57223664e-02 5.21124666e+02] [ 1.52157372e-01 9.88333446e-01 -6.71820107e-03 4.55247497e+01] [ 5.60954227e-02 -1.84929582e-03 9.98423699e-01 2.93127381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.18, Y:45.53, Z:29.32 [[ 9.87428125e-01 -1.47921226e-01 -5.57226100e-02 5.21184576e+02] [ 1.47777370e-01 9.88997847e-01 -6.71618041e-03 4.55335419e+01] [ 5.61030070e-02 -1.60279532e-03 9.98423699e-01 2.93164744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.25, Y:45.54, Z:29.32 [[ 9.88024116e-01 -1.43886498e-01 -5.57227297e-02 5.21245433e+02] [ 1.43736287e-01 9.89593243e-01 -6.71518683e-03 4.55420172e+01] [ 5.61090615e-02 -1.37461174e-03 9.98423699e-01 2.93210690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.31, Y:45.55, Z:29.32 [[ 9.88537470e-01 -1.40316143e-01 -5.57229768e-02 5.21305336e+02] [ 1.40160380e-01 9.90106056e-01 -6.71313583e-03 4.55500799e+01] [ 5.61136181e-02 -1.17396729e-03 9.98423699e-01 2.93248935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.37, Y:45.56, Z:29.33 [[ 9.88938323e-01 -1.37462464e-01 -5.57230983e-02 5.21365789e+02] [ 1.37302230e-01 9.90506459e-01 -6.71212715e-03 4.55568772e+01] [ 5.61167543e-02 -1.01302592e-03 9.98423699e-01 2.93284216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.43, Y:45.56, Z:29.33 [[ 9.88963101e-01 -1.37283991e-01 -5.57233423e-02 5.21427086e+02] [ 1.37123589e-01 9.90531219e-01 -6.71010086e-03 4.55635919e+01] [ 5.61168996e-02 -1.00494255e-03 9.98423699e-01 2.93318939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.49, Y:45.57, Z:29.33 [[ 9.88764470e-01 -1.38707260e-01 -5.57235905e-02 5.21486872e+02] [ 1.38549232e-01 9.90332829e-01 -6.70803915e-03 4.55692288e+01] [ 5.61153548e-02 -1.08778987e-03 9.98423699e-01 2.93349738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.55, Y:45.57, Z:29.34 [[ 9.88609552e-01 -1.39807137e-01 -5.57235905e-02 5.21547275e+02] [ 1.39650853e-01 9.90178086e-01 -6.70803915e-03 4.55744075e+01] [ 5.61141099e-02 -1.15021536e-03 9.98423699e-01 2.93372848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.61, Y:45.58, Z:29.34 [[ 9.88560306e-01 -1.40154923e-01 -5.57235905e-02 5.21607690e+02] [ 1.39999191e-01 9.90128895e-01 -6.70803915e-03 4.55811185e+01] [ 5.61137018e-02 -1.16995635e-03 9.98423699e-01 2.93413999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.67, Y:45.59, Z:29.34 [[ 9.88425370e-01 -1.41103400e-01 -5.57235905e-02 5.21667881e+02] [ 1.40949173e-01 9.89994108e-01 -6.70803915e-03 4.55873936e+01] [ 5.61125534e-02 -1.22379790e-03 9.98423699e-01 2.93430436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.73, Y:45.59, Z:29.35 [[ 9.88221897e-01 -1.42521453e-01 -5.57235905e-02 5.21726753e+02] [ 1.42369477e-01 9.89790854e-01 -6.70803915e-03 4.55941617e+01] [ 5.61107397e-02 -1.30430725e-03 9.98423699e-01 2.93473246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.79, Y:45.60, Z:29.35 [[ 9.87796247e-01 -1.45442279e-01 -5.57235785e-02 5.21785760e+02] [ 1.45294937e-01 9.89365646e-01 -6.70813901e-03 4.55998365e+01] [ 5.61066413e-02 -1.47007926e-03 9.98423699e-01 2.93516525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.85, Y:45.61, Z:29.35 [[ 9.87555009e-01 -1.47071412e-01 -5.57234598e-02 5.21846695e+02] [ 1.46926603e-01 9.89124644e-01 -6.70912433e-03 4.56063269e+01] [ 5.61041678e-02 -1.56162933e-03 9.98423699e-01 2.93545271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.91, Y:45.61, Z:29.36 [[ 9.87291731e-01 -1.48828445e-01 -5.57237045e-02 5.21907151e+02] [ 1.48686544e-01 9.88861632e-01 -6.70709152e-03 4.56129604e+01] [ 5.61012394e-02 -1.66350904e-03 9.98423699e-01 2.93570683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.97, Y:45.62, Z:29.36 [[ 9.87157097e-01 -1.49718763e-01 -5.57239487e-02 5.21967486e+02] [ 1.49578392e-01 9.88727135e-01 -6.70506239e-03 4.56192154e+01] [ 5.60996538e-02 -1.71614871e-03 9.98423699e-01 2.93600901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2050998929999 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:522.03, Y:45.63, Z:29.36 [[ 9.86916765e-01 -1.51294735e-01 -5.57243493e-02 5.22027212e+02] [ 1.51157059e-01 9.88487041e-01 -6.70173118e-03 4.56263827e+01] [ 5.60967338e-02 -1.80907788e-03 9.98423699e-01 2.93633387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.09, Y:45.63, Z:29.37 [[ 9.86791132e-01 -1.52111991e-01 -5.57243493e-02 5.22086725e+02] [ 1.51975616e-01 9.88361522e-01 -6.70173118e-03 4.56340130e+01] [ 5.60952164e-02 -1.85553338e-03 9.98423699e-01 2.93674435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.15, Y:45.64, Z:29.37 [[ 9.86537185e-01 -1.53750380e-01 -5.57243493e-02 5.22147704e+02] [ 1.53616612e-01 9.88107799e-01 -6.70173118e-03 4.56423485e+01] [ 5.60920579e-02 -1.94867872e-03 9.98423699e-01 2.93721074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.21, Y:45.65, Z:29.38 [[ 9.86276217e-01 -1.55415554e-01 -5.57245911e-02 5.22208904e+02] [ 1.55284551e-01 9.87847064e-01 -6.69971986e-03 4.56503655e+01] [ 5.60886144e-02 -2.04539374e-03 9.98423699e-01 2.93758585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.27, Y:45.66, Z:29.38 [[ 9.85901601e-01 -1.57774448e-01 -5.57248335e-02 5.22268664e+02] [ 1.57647317e-01 9.87472766e-01 -6.69770298e-03 4.56593483e+01] [ 5.60834819e-02 -2.18159439e-03 9.98423699e-01 2.93799519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.33, Y:45.67, Z:29.38 [[ 9.85721857e-01 -1.58893518e-01 -5.57249529e-02 5.22329128e+02] [ 1.58768227e-01 9.87293170e-01 -6.69670978e-03 4.56677589e+01] [ 5.60809292e-02 -2.24625876e-03 9.98423699e-01 2.93836062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.39, Y:45.68, Z:29.39 [[ 9.85699781e-01 -1.59030327e-01 -5.57251868e-02 5.22390582e+02] [ 1.58905363e-01 9.87271121e-01 -6.69476276e-03 4.56779467e+01] [ 5.60805379e-02 -2.25600487e-03 9.98423699e-01 2.93874643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.45, Y:45.69, Z:29.39 [[ 9.86180263e-01 -1.56022880e-01 -5.57256733e-02 5.22451934e+02] [ 1.55893353e-01 9.87751232e-01 -6.69071090e-03 4.56891325e+01] [ 5.60870065e-02 -2.08901503e-03 9.98423700e-01 2.93915766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.51, Y:45.70, Z:29.40 [[ 9.86925909e-01 -1.51234404e-01 -5.57261584e-02 5.22513602e+02] [ 1.51097481e-01 9.88496252e-01 -6.68666849e-03 4.56994774e+01] [ 5.60963530e-02 -1.82083577e-03 9.98423700e-01 2.93956509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.57, Y:45.71, Z:29.40 [[ 9.88490393e-01 -1.40645951e-01 -5.57266583e-02 5.22574977e+02] [ 1.40492437e-01 9.90059200e-01 -6.68249964e-03 4.57125078e+01] [ 5.61125572e-02 -1.22358734e-03 9.98423700e-01 2.94004101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.64, Y:45.72, Z:29.40 [[ 9.89963828e-01 -1.29869568e-01 -5.57271528e-02 5.22636282e+02] [ 1.29699205e-01 9.91530895e-01 -6.67837329e-03 4.57246860e+01] [ 5.61225111e-02 -6.16419451e-04 9.98423700e-01 2.94040082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.70, Y:45.73, Z:29.41 [[ 9.90624288e-01 -1.24731513e-01 -5.57276435e-02 5.22696834e+02] [ 1.24553253e-01 9.92190476e-01 -6.67427629e-03 4.57332977e+01] [ 5.61249297e-02 -3.29359077e-04 9.98423700e-01 2.94071645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.76, Y:45.74, Z:29.41 [[ 9.90967673e-01 -1.21973245e-01 -5.57278930e-02 5.22757804e+02] [ 1.21790742e-01 9.92533373e-01 -6.67219202e-03 4.57417444e+01] [ 5.61256225e-02 -1.75214862e-04 9.98423700e-01 2.94066694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.82, Y:45.75, Z:29.41 [[ 9.91010055e-01 -1.21628310e-01 -5.57281427e-02 5.22817236e+02] [ 1.21445380e-01 9.92575705e-01 -6.67010568e-03 4.57477375e+01] [ 5.61256742e-02 -1.57783689e-04 9.98423700e-01 2.94126119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.88, Y:45.75, Z:29.42 [[ 9.90869299e-01 -1.22769675e-01 -5.57282655e-02 5.22877630e+02] [ 1.22588606e-01 9.92435165e-01 -6.66907991e-03 4.57544160e+01] [ 5.61254511e-02 -2.23463859e-04 9.98423700e-01 2.94165582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.94, Y:45.76, Z:29.42 [[ 9.90532596e-01 -1.25457202e-01 -5.57285128e-02 5.22938021e+02] [ 1.25280498e-01 9.92098961e-01 -6.66701219e-03 4.57597517e+01] [ 5.61246244e-02 -3.77802941e-04 9.98423700e-01 2.94201044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.00, Y:45.76, Z:29.42 [[ 9.89624729e-01 -1.32428153e-01 -5.57286346e-02 5.22999008e+02] [ 1.32262539e-01 9.91192305e-01 -6.66599444e-03 4.57632418e+01] [ 5.61205591e-02 -7.73977778e-04 9.98423700e-01 2.94239491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.06, Y:45.77, Z:29.43 [[ 9.88803983e-01 -1.38423177e-01 -5.57288737e-02 5.23060301e+02] [ 1.38267179e-01 9.90372545e-01 -6.66399462e-03 4.57672837e+01] [ 5.61147978e-02 -1.11608972e-03 9.98423700e-01 2.94271505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.12, Y:45.77, Z:29.43 [[ 9.87406946e-01 -1.48060086e-01 -5.57291165e-02 5.23120757e+02] [ 1.47919508e-01 9.88976965e-01 -6.66196336e-03 4.57692897e+01] [ 5.61011834e-02 -1.66535460e-03 9.98423700e-01 2.94299017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.18, Y:45.77, Z:29.43 [[ 9.86506840e-01 -1.53943104e-01 -5.57294902e-02 5.23181871e+02] [ 1.53812063e-01 9.88077684e-01 -6.65883611e-03 4.57735479e+01] [ 5.60901475e-02 -2.00288051e-03 9.98423700e-01 2.94333873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.24, Y:45.78, Z:29.44 [[ 9.85512127e-01 -1.60187530e-01 -5.57297310e-02 5.23243207e+02] [ 1.60066553e-01 9.87083778e-01 -6.65681971e-03 4.57772919e+01] [ 5.60762530e-02 -2.36008942e-03 9.98423700e-01 2.94359495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.30, Y:45.78, Z:29.44 [[ 9.84696127e-01 -1.65129363e-01 -5.57299753e-02 5.23303250e+02] [ 1.65016388e-01 9.86268374e-01 -6.65477440e-03 4.57814631e+01] [ 5.60636108e-02 -2.64342865e-03 9.98423700e-01 2.94388984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.36, Y:45.79, Z:29.44 [[ 9.84274066e-01 -1.67626724e-01 -5.57300955e-02 5.23363266e+02] [ 1.67517794e-01 9.85846599e-01 -6.65376784e-03 4.57873290e+01] [ 5.60566743e-02 -2.78665153e-03 9.98423700e-01 2.94426668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.42, Y:45.79, Z:29.45 [[ 9.83933788e-01 -1.69612629e-01 -5.57302127e-02 5.23424577e+02] [ 1.69506928e-01 9.85506541e-01 -6.65278564e-03 4.57943252e+01] [ 5.60508856e-02 -2.90075660e-03 9.98423700e-01 2.94462250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.49, Y:45.80, Z:29.45 [[ 9.83708150e-01 -1.70916253e-01 -5.57306903e-02 5.23485180e+02] [ 1.70812862e-01 9.85281056e-01 -6.64878211e-03 4.58026691e+01] [ 5.60467784e-02 -2.97905758e-03 9.98423700e-01 2.94490572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.55, Y:45.81, Z:29.45 [[ 9.83773771e-01 -1.70538067e-01 -5.57309247e-02 5.23546528e+02] [ 1.70434183e-01 9.85346644e-01 -6.64681718e-03 4.58111041e+01] [ 5.60478150e-02 -2.95949020e-03 9.98423700e-01 2.94536092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.61, Y:45.82, Z:29.46 [[ 9.84182244e-01 -1.68164565e-01 -5.57314131e-02 5.23608092e+02] [ 1.68057119e-01 9.85754878e-01 -6.64271944e-03 4.58217574e+01] [ 5.60545823e-02 -2.82841417e-03 9.98423700e-01 2.94582595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.67, Y:45.83, Z:29.46 [[ 9.84518855e-01 -1.66182368e-01 -5.57318969e-02 5.23668917e+02] [ 1.66071985e-01 9.86091286e-01 -6.63865804e-03 4.58313246e+01] [ 5.60599658e-02 -2.71962271e-03 9.98423700e-01 2.94629035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.73, Y:45.84, Z:29.47 [[ 9.85248836e-01 -1.61798162e-01 -5.57322659e-02 5.23729502e+02] [ 1.61680955e-01 9.86820773e-01 -6.63555874e-03 4.58423158e+01] [ 5.60713789e-02 -2.47316944e-03 9.98423700e-01 2.94665293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.79, Y:45.85, Z:29.47 [[ 9.86125532e-01 -1.56365791e-01 -5.57330657e-02 5.23790769e+02] [ 1.56240302e-01 9.87696829e-01 -6.62883397e-03 4.58544283e+01] [ 5.60838952e-02 -2.17088857e-03 9.98423700e-01 2.94710033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.85, Y:45.87, Z:29.47 [[ 9.86821520e-01 -1.51911357e-01 -5.57335385e-02 5.23852353e+02] [ 1.51778998e-01 9.88392254e-01 -6.62485704e-03 4.58653449e+01] [ 5.60929887e-02 -1.92162913e-03 9.98423700e-01 2.94744877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.91, Y:45.88, Z:29.48 [[ 9.87838452e-01 -1.45151344e-01 -5.57340073e-02 5.23912940e+02] [ 1.45008457e-01 9.89408263e-01 -6.62091066e-03 4.58773511e+01] [ 5.61047214e-02 -1.54151224e-03 9.98423700e-01 2.94784252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.97, Y:45.89, Z:29.48 [[ 9.88432728e-01 -1.41047549e-01 -5.57344735e-02 5.23974223e+02] [ 1.40898364e-01 9.90001953e-01 -6.61698382e-03 4.58871629e+01] [ 5.61105469e-02 -1.31245279e-03 9.98423700e-01 2.94825784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.04, Y:45.90, Z:29.49 [[ 9.89258428e-01 -1.35134668e-01 -5.57349501e-02 5.24035887e+02] [ 1.34976330e-01 9.90826755e-01 -6.61296685e-03 4.58973710e+01] [ 5.61173208e-02 -9.80965803e-04 9.98423700e-01 2.94864906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.10, Y:45.91, Z:29.49 [[ 9.89767024e-01 -1.31357523e-01 -5.57354403e-02 5.24097547e+02] [ 1.31193431e-01 9.91334760e-01 -6.60883272e-03 4.59060585e+01] [ 5.61205992e-02 -7.70918959e-04 9.98423700e-01 2.94888421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.16, Y:45.91, Z:29.49 [[ 9.90288017e-01 -1.27370127e-01 -5.57359268e-02 5.24158998e+02] [ 1.27199954e-01 9.91855105e-01 -6.60472713e-03 4.59139574e+01] [ 5.61232085e-02 -5.49025187e-04 9.98423700e-01 2.94911383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.22, Y:45.92, Z:29.49 [[ 9.90620070e-01 -1.24761088e-01 -5.57364096e-02 5.24219983e+02] [ 1.24587017e-01 9.92186730e-01 -6.60065060e-03 4.59188287e+01] [ 5.61244303e-02 -4.05296033e-04 9.98423700e-01 2.94912133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.28, Y:45.92, Z:29.50 [[ 9.90196731e-01 -1.28077555e-01 -5.57366518e-02 5.24280409e+02] [ 1.27908846e-01 9.91763977e-01 -6.59860484e-03 4.59244886e+01] [ 5.61227366e-02 -5.95293877e-04 9.98423700e-01 2.94980824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.34, Y:45.93, Z:29.50 [[ 9.89805023e-01 -1.31070268e-01 -5.57368941e-02 5.24341263e+02] [ 1.30906413e-01 9.91372784e-01 -6.59655730e-03 4.59295030e+01] [ 5.61206524e-02 -7.67011331e-04 9.98423700e-01 2.95012394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.40, Y:45.93, Z:29.50 [[ 9.89050255e-01 -1.36649056e-01 -5.57371338e-02 5.24402800e+02] [ 1.36494157e-01 9.90618926e-01 -6.59453138e-03 4.59326852e+01] [ 5.61153961e-02 -1.08547017e-03 9.98423700e-01 2.95037390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.46, Y:45.94, Z:29.51 [[ 9.88599802e-01 -1.39870575e-01 -5.57373697e-02 5.24462578e+02] [ 1.39720900e-01 9.90168980e-01 -6.59253671e-03 4.59365823e+01] [ 5.61115164e-02 -1.27029496e-03 9.98423700e-01 2.95066669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.52, Y:45.94, Z:29.51 [[ 9.88076764e-01 -1.43518786e-01 -5.57374860e-02 5.24524993e+02] [ 1.43374960e-01 9.89646489e-01 -6.59155347e-03 4.59405341e+01] [ 5.61064191e-02 -1.47839900e-03 9.98423700e-01 2.95104062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.59, Y:45.95, Z:29.51 [[ 9.87889342e-01 -1.44803065e-01 -5.57379623e-02 5.24585170e+02] [ 1.44661506e-01 9.89459273e-01 -6.58752351e-03 4.59451323e+01] [ 5.61043373e-02 -1.55539332e-03 9.98423700e-01 2.95129732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.65, Y:45.95, Z:29.52 [[ 9.87707793e-01 -1.46036235e-01 -5.57380793e-02 5.24645320e+02] [ 1.45896692e-01 9.89277905e-01 -6.58653369e-03 4.59488073e+01] [ 5.61023228e-02 -1.62643076e-03 9.98423700e-01 2.95157998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.71, Y:45.95, Z:29.52 [[ 9.87674431e-01 -1.46261655e-01 -5.57381933e-02 5.24705352e+02] [ 1.46122525e-01 9.89244579e-01 -6.58556821e-03 4.59537471e+01] [ 5.61019217e-02 -1.64020822e-03 9.98423700e-01 2.95190395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.77, Y:45.96, Z:29.52 [[ 9.87794595e-01 -1.45447902e-01 -5.57381933e-02 5.24766627e+02] [ 1.45307479e-01 9.89364628e-01 -6.58556821e-03 4.59592985e+01] [ 5.61032540e-02 -1.59398766e-03 9.98423700e-01 2.95219555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.83, Y:45.97, Z:29.53 [[ 9.87978006e-01 -1.44196699e-01 -5.57384255e-02 5.24827831e+02] [ 1.44054398e-01 9.89547870e-01 -6.58360240e-03 4.59650383e+01] [ 5.61051740e-02 -1.52491097e-03 9.98423700e-01 2.95251616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.89, Y:45.97, Z:29.53 [[ 9.88164355e-01 -1.42913991e-01 -5.57386586e-02 5.24888136e+02] [ 1.42769763e-01 9.89734044e-01 -6.58162861e-03 4.59704533e+01] [ 5.61070548e-02 -1.45406429e-03 9.98423700e-01 2.95276262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.95, Y:45.98, Z:29.53 [[ 9.88086515e-01 -1.43451180e-01 -5.57386586e-02 5.24947831e+02] [ 1.43307805e-01 9.89656281e-01 -6.58162861e-03 4.59765264e+01] [ 5.61062560e-02 -1.48456636e-03 9.98423700e-01 2.95304404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.01, Y:45.98, Z:29.53 [[ 9.87735043e-01 -1.45851677e-01 -5.57384308e-02 5.25006357e+02] [ 1.45712009e-01 9.89305144e-01 -6.58355718e-03 4.59820014e+01] [ 5.61025391e-02 -1.61894857e-03 9.98423700e-01 2.95338041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.07, Y:45.99, Z:29.54 [[ 9.87409796e-01 -1.48037698e-01 -5.57380941e-02 5.25065649e+02] [ 1.47901345e-01 9.88980188e-01 -6.58640630e-03 4.59887705e+01] [ 5.60989072e-02 -1.74025700e-03 9.98423700e-01 2.95366028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.13, Y:46.00, Z:29.54 [[ 9.86917832e-01 -1.51282792e-01 -5.57378725e-02 5.25126654e+02] [ 1.51151496e-01 9.88488654e-01 -6.58828137e-03 4.59966846e+01] [ 5.60929482e-02 -1.92277047e-03 9.98423700e-01 2.95417697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.19, Y:46.00, Z:29.55 [[ 9.86575369e-01 -1.53500174e-01 -5.57381115e-02 5.25185785e+02] [ 1.53372523e-01 9.88146492e-01 -6.58625908e-03 4.60048644e+01] [ 5.60884112e-02 -2.05085378e-03 9.98423700e-01 2.95464354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.25, Y:46.01, Z:29.55 [[ 9.86071133e-01 -1.56706640e-01 -5.57382291e-02 5.25246672e+02] [ 1.56584153e-01 9.87642667e-01 -6.58526292e-03 4.60137987e+01] [ 5.60814077e-02 -2.23418572e-03 9.98423700e-01 2.95516331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.31, Y:46.02, Z:29.56 [[ 9.85715286e-01 -1.58929542e-01 -5.57384622e-02 5.25306693e+02] [ 1.58810710e-01 9.87287100e-01 -6.58328997e-03 4.60230238e+01] [ 5.60761440e-02 -2.36261519e-03 9.98423700e-01 2.95555157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.37, Y:46.03, Z:29.56 [[ 9.85060937e-01 -1.62935976e-01 -5.57388423e-02 5.25368420e+02] [ 1.62823717e-01 9.86633235e-01 -6.58006982e-03 4.60335089e+01] [ 5.60659244e-02 -2.59383574e-03 9.98423700e-01 2.95595629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.43, Y:46.04, Z:29.56 [[ 9.84461175e-01 -1.66521240e-01 -5.57393240e-02 5.25428122e+02] [ 1.66414937e-01 9.86033886e-01 -6.57598692e-03 4.60441520e+01] [ 5.60559038e-02 -2.80205227e-03 9.98423700e-01 2.95605101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.49, Y:46.05, Z:29.56 [[ 9.83887847e-01 -1.69875852e-01 -5.57395769e-02 5.25488740e+02] [ 1.69775031e-01 9.85460919e-01 -6.57384294e-03 4.60537489e+01] [ 5.60459118e-02 -2.99526423e-03 9.98423700e-01 2.95646583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.55, Y:46.07, Z:29.57 [[ 9.83575310e-01 -1.71676095e-01 -5.57398326e-02 5.25549554e+02] [ 1.71578276e-01 9.85148572e-01 -6.57167348e-03 4.60665900e+01] [ 5.60402158e-02 -3.10000860e-03 9.98423700e-01 2.95683289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.61, Y:46.08, Z:29.57 [[ 9.83655240e-01 -1.71217363e-01 -5.57403182e-02 5.25610772e+02] [ 1.71119043e-01 9.85228471e-01 -6.56755244e-03 4.60771293e+01] [ 5.60414275e-02 -3.07802252e-03 9.98423700e-01 2.95711911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.67, Y:46.09, Z:29.57 [[ 9.84000192e-01 -1.69223438e-01 -5.57409176e-02 5.25671883e+02] [ 1.69122217e-01 9.85573239e-01 -6.56246103e-03 4.60893300e+01] [ 5.60472790e-02 -2.96956464e-03 9.98423700e-01 2.95734780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.73, Y:46.10, Z:29.58 [[ 9.84448057e-01 -1.66598081e-01 -5.57413952e-02 5.25732827e+02] [ 1.66492894e-01 9.86020843e-01 -6.55840240e-03 4.61019577e+01] [ 5.60547947e-02 -2.82413970e-03 9.98423700e-01 2.95766805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.79, Y:46.11, Z:29.58 [[ 9.84828047e-01 -1.64336694e-01 -5.57419850e-02 5.25794228e+02] [ 1.64228178e-01 9.86400608e-01 -6.55338505e-03 4.61124743e+01] [ 5.60608895e-02 -2.70044723e-03 9.98423700e-01 2.95806498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.86, Y:46.12, Z:29.59 [[ 9.85504051e-01 -1.60232784e-01 -5.57424405e-02 5.25855571e+02] [ 1.60117937e-01 9.87076162e-01 -6.54950814e-03 4.61240903e+01] [ 5.60714802e-02 -2.47079780e-03 9.98423700e-01 2.95852685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.92, Y:46.13, Z:29.59 [[ 9.86087492e-01 -1.56601999e-01 -5.57429091e-02 5.25917520e+02] [ 1.56481588e-01 9.87659187e-01 -6.54551802e-03 4.61341522e+01] [ 5.60800374e-02 -2.26828549e-03 9.98423700e-01 2.95894191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.98, Y:46.14, Z:29.59 [[ 9.87077260e-01 -1.50236915e-01 -5.57436331e-02 5.25978635e+02] [ 1.50106715e-01 9.88648174e-01 -6.53934633e-03 4.61445908e+01] [ 5.60932923e-02 -1.91265356e-03 9.98423700e-01 2.95919051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.04, Y:46.15, Z:29.59 [[ 9.88074515e-01 -1.43531690e-01 -5.57441138e-02 5.26039297e+02] [ 1.43391058e-01 9.89644530e-01 -6.53524590e-03 4.61536375e+01] [ 5.61048722e-02 -1.53589756e-03 9.98423700e-01 2.95929580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.10, Y:46.16, Z:29.60 [[ 9.88787379e-01 -1.38535457e-01 -5.57444684e-02 5.26100903e+02] [ 1.38387061e-01 9.90356679e-01 -6.53221996e-03 4.61616309e+01] [ 5.61118507e-02 -1.25533652e-03 9.98423700e-01 2.95967645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.16, Y:46.17, Z:29.60 [[ 9.89534991e-01 -1.33090201e-01 -5.57449506e-02 5.26162713e+02] [ 1.32933401e-01 9.91103473e-01 -6.52810260e-03 4.61690781e+01] [ 5.61178406e-02 -9.50579920e-04 9.98423700e-01 2.96002871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.22, Y:46.18, Z:29.60 [[ 9.90469169e-01 -1.25949480e-01 -5.57454296e-02 5.26223490e+02] [ 1.25781601e-01 9.92036504e-01 -6.52400957e-03 4.61752705e+01] [ 5.61231967e-02 -5.49919037e-04 9.98423700e-01 2.96031520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.29, Y:46.18, Z:29.61 [[ 9.90758601e-01 -1.23651942e-01 -5.57457827e-02 5.26285877e+02] [ 1.23480599e-01 9.92325561e-01 -6.52099062e-03 4.61776553e+01] [ 5.61242983e-02 -4.22795093e-04 9.98423700e-01 2.96063817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.35, Y:46.18, Z:29.61 [[ 9.90691979e-01 -1.24184373e-01 -5.57462457e-02 5.26347599e+02] [ 1.24014094e-01 9.92259055e-01 -6.51703061e-03 4.61809098e+01] [ 5.61240304e-02 -4.56950199e-04 9.98423700e-01 2.96101647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.41, Y:46.18, Z:29.61 [[ 9.90336662e-01 -1.26986611e-01 -5.57467170e-02 5.26409330e+02] [ 1.26820993e-01 9.91904238e-01 -6.51299616e-03 4.61820340e+01] [ 5.61224682e-02 -6.19795146e-04 9.98423700e-01 2.96140705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.47, Y:46.18, Z:29.62 [[ 9.90019952e-01 -1.29432500e-01 -5.57469523e-02 5.26470844e+02] [ 1.29270869e-01 9.91587943e-01 -6.51098191e-03 4.61840422e+01] [ 5.61207384e-02 -7.60454959e-04 9.98423700e-01 2.96181721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.53, Y:46.18, Z:29.62 [[ 9.89632441e-01 -1.32362698e-01 -5.57471857e-02 5.26532581e+02] [ 1.32205822e-01 9.91200915e-01 -6.50898249e-03 4.61837416e+01] [ 5.61182080e-02 -9.28602293e-04 9.98423700e-01 2.96228730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.59, Y:46.18, Z:29.62 [[ 9.89394435e-01 -1.34130076e-01 -5.57474186e-02 5.26592914e+02] [ 1.33976113e-01 9.90963198e-01 -6.50698767e-03 4.61840591e+01] [ 5.61164230e-02 -1.03084509e-03 9.98423700e-01 2.96249756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.65, Y:46.19, Z:29.63 [[ 9.89344047e-01 -1.34501189e-01 -5.57475332e-02 5.26653612e+02] [ 1.34347870e-01 9.90912873e-01 -6.50600566e-03 4.61868321e+01] [ 5.61160138e-02 -1.05288437e-03 9.98423700e-01 2.96276031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.71, Y:46.19, Z:29.63 [[ 9.89327173e-01 -1.34625249e-01 -5.57475332e-02 5.26713371e+02] [ 1.34472127e-01 9.90896018e-01 -6.50600566e-03 4.61919267e+01] [ 5.61158813e-02 -1.05992119e-03 9.98423700e-01 2.96309375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.77, Y:46.19, Z:29.64 [[ 9.89464217e-01 -1.33614376e-01 -5.57473095e-02 5.26773557e+02] [ 1.33459544e-01 9.91032894e-01 -6.50792190e-03 4.61941972e+01] [ 5.61169694e-02 -1.00065464e-03 9.98423700e-01 2.96360042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.83, Y:46.20, Z:29.64 [[ 9.89712279e-01 -1.31764344e-01 -5.57473095e-02 5.26833259e+02] [ 1.31606579e-01 9.91280664e-01 -6.50792190e-03 4.61989009e+01] [ 5.61187420e-02 -8.95742468e-04 9.98423700e-01 2.96393855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.89, Y:46.20, Z:29.64 [[ 9.90302973e-01 -1.27248863e-01 -5.57471909e-02 5.26893212e+02] [ 1.27083889e-01 9.91870616e-01 -6.50893734e-03 4.62021294e+01] [ 5.61222555e-02 -6.38749803e-04 9.98423700e-01 2.96431020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.95, Y:46.21, Z:29.65 [[ 9.90970810e-01 -1.21939048e-01 -5.57469555e-02 5.26952953e+02] [ 1.21765561e-01 9.92537534e-01 -6.51095318e-03 4.62055257e+01] [ 5.61248851e-02 -3.35894770e-04 9.98423700e-01 2.96464713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.01, Y:46.21, Z:29.65 [[ 9.91347700e-01 -1.18836198e-01 -5.57467191e-02 5.27011614e+02] [ 1.18657693e-01 9.92913860e-01 -6.51297630e-03 4.62099592e+01] [ 5.61256674e-02 -1.58152994e-04 9.98423700e-01 2.96497971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.07, Y:46.21, Z:29.65 [[ 9.91647438e-01 -1.16309270e-01 -5.57450588e-02 5.27068852e+02] [ 1.16125977e-01 9.93213046e-01 -6.52715602e-03 4.62143547e+01] [ 5.61258884e-02 -8.11848583e-07 9.98423700e-01 2.96529061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.13, Y:46.22, Z:29.66 [[ 9.91902470e-01 -1.14114321e-01 -5.57441549e-02 5.27126814e+02] [ 1.13927131e-01 9.93467616e-01 -6.53486658e-03 4.62165150e+01] [ 5.61257346e-02 1.31178685e-04 9.98423700e-01 2.96560982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.18, Y:46.22, Z:29.66 [[ 9.91864089e-01 -1.14448363e-01 -5.57422790e-02 5.27184409e+02] [ 1.14260802e-01 9.93429190e-01 -6.55082891e-03 4.62194865e+01] [ 5.61257388e-02 1.28374431e-04 9.98423700e-01 2.96598441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.24, Y:46.22, Z:29.66 [[ 9.91683448e-01 -1.16004091e-01 -5.57403747e-02 5.27241717e+02] [ 1.15818077e-01 9.93248734e-01 -6.56699334e-03 4.62230258e+01] [ 5.61258547e-02 5.66356166e-05 9.98423700e-01 2.96635029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.30, Y:46.22, Z:29.67 [[ 9.90992985e-01 -1.21762581e-01 -5.57384830e-02 5.27299522e+02] [ 1.21584761e-01 9.92559222e-01 -6.58301034e-03 4.62244031e+01] [ 5.61253096e-02 -2.53233083e-04 9.98423700e-01 2.96664290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.36, Y:46.23, Z:29.67 [[ 9.90148803e-01 -1.28447590e-01 -5.57365617e-02 5.27357912e+02] [ 1.28279431e-01 9.91716107e-01 -6.59923685e-03 4.62268386e+01] [ 5.61225021e-02 -6.15627944e-04 9.98423701e-01 2.96691645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.42, Y:46.23, Z:29.67 [[ 9.88446775e-01 -1.40949034e-01 -5.57345729e-02 5.27415212e+02] [ 1.40799749e-01 9.90015989e-01 -6.61599143e-03 4.62269796e+01] [ 5.61106359e-02 -1.30785848e-03 9.98423701e-01 2.96722654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.47, Y:46.23, Z:29.68 [[ 9.86822261e-01 -1.51906660e-01 -5.57332133e-02 5.27472105e+02] [ 1.51774149e-01 9.88392981e-01 -6.62742477e-03 4.62277386e+01] [ 5.60930668e-02 -1.91877071e-03 9.98423701e-01 2.96754228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.53, Y:46.23, Z:29.68 [[ 9.85955331e-01 -1.57435651e-01 -5.57324044e-02 5.27530337e+02] [ 1.57311562e-01 9.87526739e-01 -6.63421992e-03 4.62307384e+01] [ 5.60817023e-02 -2.22630711e-03 9.98423701e-01 2.96778449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.59, Y:46.24, Z:29.68 [[ 9.85881910e-01 -1.57895462e-01 -5.57304438e-02 5.27587715e+02] [ 1.57771180e-01 9.87453302e-01 -6.65064990e-03 4.62371051e+01] [ 5.60813182e-02 -2.23590244e-03 9.98423701e-01 2.96805871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.65, Y:46.24, Z:29.68 [[ 9.86028909e-01 -1.56975556e-01 -5.57284900e-02 5.27645948e+02] [ 1.56848885e-01 9.87600111e-01 -6.66698135e-03 4.62447271e+01] [ 5.60840160e-02 -2.16711519e-03 9.98423701e-01 2.96842215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.70, Y:46.25, Z:29.69 [[ 9.86201620e-01 -1.55887451e-01 -5.57267252e-02 5.27702790e+02] [ 1.55758217e-01 9.87772612e-01 -6.68170043e-03 4.62533646e+01] [ 5.60869261e-02 -2.09039153e-03 9.98423701e-01 2.96868256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.76, Y:46.26, Z:29.69 [[ 9.86102289e-01 -1.56514883e-01 -5.57258224e-02 5.27759837e+02] [ 1.56386224e-01 9.87673328e-01 -6.68922143e-03 4.62616275e+01] [ 5.60858711e-02 -2.11849436e-03 9.98423701e-01 2.96893843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.82, Y:46.27, Z:29.69 [[ 9.85529727e-01 -1.60081258e-01 -5.57238643e-02 5.27815646e+02] [ 1.59957364e-01 9.87101149e-01 -6.70549356e-03 4.62719757e+01] [ 5.60785143e-02 -2.30497921e-03 9.98423701e-01 2.96921600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.87, Y:46.28, Z:29.70 [[ 9.84873905e-01 -1.64068084e-01 -5.57230220e-02 5.27873349e+02] [ 1.63950156e-01 9.86445786e-01 -6.71248552e-03 4.62810219e+01] [ 5.60690449e-02 -2.52484631e-03 9.98423701e-01 2.96951820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.93, Y:46.29, Z:29.70 [[ 9.83879805e-01 -1.69928408e-01 -5.57213145e-02 5.27929921e+02] [ 1.69819041e-01 9.85452305e-01 -6.72662986e-03 4.62911139e+01] [ 5.60537433e-02 -2.84434493e-03 9.98423701e-01 2.96971594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.99, Y:46.30, Z:29.70 [[ 9.83484434e-01 -1.72202206e-01 -5.57204418e-02 5.27988288e+02] [ 1.72096066e-01 9.85057155e-01 -6.73385120e-03 4.63015018e+01] [ 5.60474039e-02 -2.96663097e-03 9.98423701e-01 2.97016732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.05, Y:46.32, Z:29.71 [[ 9.83399244e-01 -1.72688118e-01 -5.57201965e-02 5.28045990e+02] [ 1.72582640e-01 9.84972010e-01 -6.73588092e-03 4.63154306e+01] [ 5.60460405e-02 -2.99227841e-03 9.98423701e-01 2.97064674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.10, Y:46.33, Z:29.71 [[ 9.83686956e-01 -1.71041649e-01 -5.57200756e-02 5.28104286e+02] [ 1.70933482e-01 9.85259539e-01 -6.73688018e-03 4.63275728e+01] [ 5.60510231e-02 -2.89744541e-03 9.98423701e-01 2.97103012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.16, Y:46.34, Z:29.71 [[ 9.84693133e-01 -1.65150640e-01 -5.57198437e-02 5.28163724e+02] [ 1.65032954e-01 9.86265032e-01 -6.73879798e-03 4.63433630e+01] [ 5.60674502e-02 -2.55996230e-03 9.98423701e-01 2.97141127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.22, Y:46.36, Z:29.72 [[ 9.85647111e-01 -1.59358226e-01 -5.57200940e-02 5.28224220e+02] [ 1.59231417e-01 9.87218300e-01 -6.73672786e-03 4.63574467e+01] [ 5.60814495e-02 -2.23235318e-03 9.98423701e-01 2.97177121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.28, Y:46.38, Z:29.73 [[ 9.86947897e-01 -1.51092943e-01 -5.57204646e-02 5.28283815e+02] [ 1.50953145e-01 9.88517985e-01 -6.73366095e-03 4.63760175e+01] [ 5.60980900e-02 -1.76540686e-03 9.98423701e-01 2.97273565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.34, Y:46.39, Z:29.72 [[ 9.88061625e-01 -1.43629379e-01 -5.57209805e-02 5.28344578e+02] [ 1.43477958e-01 9.89630634e-01 -6.72938892e-03 4.63867260e+01] [ 5.61097272e-02 -1.34568158e-03 9.98423701e-01 2.97243071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.40, Y:46.40, Z:29.73 [[ 9.88904228e-01 -1.37708110e-01 -5.57216742e-02 5.28404489e+02] [ 1.37547618e-01 9.90472335e-01 -6.72364020e-03 4.64012611e+01] [ 5.61166765e-02 -1.01534734e-03 9.98423701e-01 2.97256409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.46, Y:46.41, Z:29.73 [[ 9.89324433e-01 -1.34655932e-01 -5.57220419e-02 5.28464529e+02] [ 1.34490773e-01 9.90892055e-01 -6.72059153e-03 4.64136532e+01] [ 5.61194962e-02 -8.45255100e-04 9.98423701e-01 2.97299350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.52, Y:46.42, Z:29.73 [[ 9.89455564e-01 -1.33688870e-01 -5.57222878e-02 5.28524724e+02] [ 1.33522294e-01 9.91023036e-01 -6.71855201e-03 4.64246085e+01] [ 5.61202665e-02 -7.92459021e-04 9.98423701e-01 2.97330186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.59, Y:46.43, Z:29.74 [[ 9.89440576e-01 -1.33799600e-01 -5.57226523e-02 5.28585799e+02] [ 1.33633370e-01 9.91008085e-01 -6.71552726e-03 4.64335324e+01] [ 5.61201338e-02 -8.01790669e-04 9.98423702e-01 2.97367343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.65, Y:46.44, Z:29.74 [[ 9.89373488e-01 -1.34294573e-01 -5.57231423e-02 5.28647539e+02] [ 1.34129356e-01 9.90941104e-01 -6.71145910e-03 4.64431252e+01] [ 5.61196647e-02 -8.33969487e-04 9.98423702e-01 2.97399688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.71, Y:46.45, Z:29.74 [[ 9.89088201e-01 -1.36379641e-01 -5.57236350e-02 5.28708903e+02] [ 1.36217959e-01 9.90656186e-01 -6.70736592e-03 4.64522689e+01] [ 5.61177119e-02 -9.56383350e-04 9.98423702e-01 2.97425276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.77, Y:46.46, Z:29.75 [[ 9.88536259e-01 -1.40324223e-01 -5.57241201e-02 5.28770658e+02] [ 1.40169025e-01 9.90104898e-01 -6.70333311e-03 4.64609132e+01] [ 5.61133643e-02 -1.18430774e-03 9.98423702e-01 2.97458148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.83, Y:46.47, Z:29.75 [[ 9.88128430e-01 -1.43167646e-01 -5.57246061e-02 5.28832142e+02] [ 1.43017189e-01 9.89697531e-01 -6.69929081e-03 4.64700390e+01] [ 5.61096268e-02 -1.34981682e-03 9.98423702e-01 2.97505928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.89, Y:46.48, Z:29.75 [[ 9.87521767e-01 -1.47293831e-01 -5.57250961e-02 5.28893354e+02] [ 1.47150160e-01 9.89091505e-01 -6.69521290e-03 4.64780410e+01] [ 5.61033827e-02 -1.58828832e-03 9.98423702e-01 2.97546314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.96, Y:46.49, Z:29.76 [[ 9.87212354e-01 -1.49353363e-01 -5.57255807e-02 5.28955303e+02] [ 1.49213193e-01 9.88782408e-01 -6.69117656e-03 4.64854451e+01] [ 5.60998236e-02 -1.70937969e-03 9.98423702e-01 2.97580304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.02, Y:46.49, Z:29.76 [[ 9.86960568e-01 -1.51008089e-01 -5.57260576e-02 5.29016727e+02] [ 1.50870776e-01 9.88530875e-01 -6.68720226e-03 4.64932718e+01] [ 5.60967501e-02 -1.80742860e-03 9.98423702e-01 2.97622232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.08, Y:46.50, Z:29.77 [[ 9.86821141e-01 -1.51916383e-01 -5.57265506e-02 5.29078677e+02] [ 1.51780747e-01 9.88391593e-01 -6.68309159e-03 4.65008983e+01] [ 5.60949252e-02 -1.86320141e-03 9.98423702e-01 2.97666945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.14, Y:46.51, Z:29.77 [[ 9.86877606e-01 -1.51548963e-01 -5.57270374e-02 5.29139490e+02] [ 1.51412971e-01 9.88448027e-01 -6.67903054e-03 4.65076293e+01] [ 5.60954803e-02 -1.84641063e-03 9.98423702e-01 2.97662357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.20, Y:46.52, Z:29.77 [[ 9.87070807e-01 -1.50285325e-01 -5.57273969e-02 5.29200503e+02] [ 1.50147492e-01 9.88641068e-01 -6.67602912e-03 4.65162187e+01] [ 5.60977024e-02 -1.77761544e-03 9.98423702e-01 2.97701123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.26, Y:46.52, Z:29.77 [[ 9.87241720e-01 -1.49158269e-01 -5.57278822e-02 5.29261012e+02] [ 1.49018873e-01 9.88811843e-01 -6.67197581e-03 4.65232397e+01] [ 5.60995703e-02 -1.71765330e-03 9.98423702e-01 2.97722831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.32, Y:46.53, Z:29.78 [[ 9.87494974e-01 -1.47472166e-01 -5.57282401e-02 5.29322369e+02] [ 1.47330257e-01 9.89064871e-01 -6.66898505e-03 4.65310116e+01] [ 5.61023343e-02 -1.62486673e-03 9.98423702e-01 2.97775648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.38, Y:46.54, Z:29.78 [[ 9.87920828e-01 -1.44591653e-01 -5.57287276e-02 5.29382639e+02] [ 1.44445395e-01 9.89490327e-01 -6.66490907e-03 4.65395416e+01] [ 5.61067271e-02 -1.46535560e-03 9.98423702e-01 2.97820296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.44, Y:46.55, Z:29.79 [[ 9.88059240e-01 -1.43642635e-01 -5.57290874e-02 5.29444278e+02] [ 1.43495040e-01 9.89628613e-01 -6.66189931e-03 4.65468130e+01] [ 5.61080322e-02 -1.41449645e-03 9.98423702e-01 2.97856576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.51, Y:46.55, Z:29.79 [[ 9.88188589e-01 -1.42749880e-01 -5.57295603e-02 5.29505504e+02] [ 1.42601090e-01 9.89757850e-01 -6.65794048e-03 4.65535642e+01] [ 5.61091900e-02 -1.36779523e-03 9.98423702e-01 2.97894499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.57, Y:46.56, Z:29.79 [[ 9.88065022e-01 -1.43602494e-01 -5.57300340e-02 5.29567161e+02] [ 1.43455282e-01 9.89634431e-01 -6.65397295e-03 4.65598875e+01] [ 5.61078876e-02 -1.42020984e-03 9.98423702e-01 2.97942988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.63, Y:46.57, Z:29.80 [[ 9.87731396e-01 -1.45879401e-01 -5.57305053e-02 5.29629395e+02] [ 1.45736029e-01 9.89301161e-01 -6.65002353e-03 4.65660103e+01] [ 5.61043550e-02 -1.55350551e-03 9.98423702e-01 2.97983317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.69, Y:46.57, Z:29.80 [[ 9.87250899e-01 -1.49096339e-01 -5.57309960e-02 5.29690691e+02] [ 1.48958313e-01 9.88821143e-01 -6.64590898e-03 4.65720139e+01] [ 5.60988678e-02 -1.74041554e-03 9.98423702e-01 2.98004314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.75, Y:46.58, Z:29.80 [[ 9.86725597e-01 -1.52533973e-01 -5.57313585e-02 5.29751206e+02] [ 1.52401589e-01 9.88296326e-01 -6.64286696e-03 4.65776212e+01] [ 5.60923598e-02 -1.93886075e-03 9.98423702e-01 2.98023221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.81, Y:46.59, Z:29.81 [[ 9.86819588e-01 -1.51924577e-01 -5.57317120e-02 5.29812417e+02] [ 1.51791391e-01 9.88390250e-01 -6.63990030e-03 4.65850956e+01] [ 5.60934448e-02 -1.90721042e-03 9.98423702e-01 2.98078131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.87, Y:46.59, Z:29.81 [[ 9.87119862e-01 -1.49961002e-01 -5.57321779e-02 5.29874392e+02] [ 1.49824912e-01 9.88690275e-01 -6.63598778e-03 4.65928074e+01] [ 5.60970016e-02 -1.79955328e-03 9.98423702e-01 2.98122328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.94, Y:46.60, Z:29.82 [[ 9.87574969e-01 -1.46933839e-01 -5.57326408e-02 5.29936158e+02] [ 1.46793154e-01 9.89144977e-01 -6.63209724e-03 4.65999532e+01] [ 5.61021412e-02 -1.63147691e-03 9.98423702e-01 2.98160885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.00, Y:46.61, Z:29.82 [[ 9.87764035e-01 -1.45657240e-01 -5.57331194e-02 5.29997485e+02] [ 1.45514752e-01 9.89333880e-01 -6.62807318e-03 4.66068440e+01] [ 5.61040901e-02 -1.56301875e-03 9.98423702e-01 2.98188919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.06, Y:46.61, Z:29.82 [[ 9.87333106e-01 -1.48549999e-01 -5.57336064e-02 5.30059202e+02] [ 1.48412342e-01 9.88903382e-01 -6.62397529e-03 4.66129798e+01] [ 5.60991434e-02 -1.73148497e-03 9.98423702e-01 2.98218580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.12, Y:46.62, Z:29.82 [[ 9.87030129e-01 -1.50549773e-01 -5.57340982e-02 5.30120615e+02] [ 1.50415531e-01 9.88600701e-01 -6.61983494e-03 4.66205273e+01] [ 5.60953832e-02 -1.84929742e-03 9.98423702e-01 2.98248069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.18, Y:46.63, Z:29.83 [[ 9.86931028e-01 -1.51197892e-01 -5.57345846e-02 5.30182750e+02] [ 1.51064912e-01 9.88501707e-01 -6.61573697e-03 4.66279366e+01] [ 5.60940175e-02 -1.89026402e-03 9.98423702e-01 2.98277116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.24, Y:46.64, Z:29.83 [[ 9.86780989e-01 -1.52173854e-01 -5.57350710e-02 5.30243718e+02] [ 1.52042658e-01 9.88351818e-01 -6.61163720e-03 4.66362371e+01] [ 5.60919770e-02 -1.94987046e-03 9.98423702e-01 2.98296474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.31, Y:46.64, Z:29.83 [[ 9.86814736e-01 -1.51954573e-01 -5.57358383e-02 5.30305054e+02] [ 1.51823394e-01 9.88385567e-01 -6.60516235e-03 4.66446739e+01] [ 5.60921828e-02 -1.94393259e-03 9.98423702e-01 2.98347744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.37, Y:46.66, Z:29.84 [[ 9.86910111e-01 -1.51333723e-01 -5.57363165e-02 5.30366590e+02] [ 1.51201784e-01 9.88480878e-01 -6.60112479e-03 4.66553164e+01] [ 5.60932558e-02 -1.91271367e-03 9.98423702e-01 2.98398312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.43, Y:46.66, Z:29.84 [[ 9.86912655e-01 -1.51316961e-01 -5.57367905e-02 5.30427476e+02] [ 1.51185220e-01 9.88483438e-01 -6.59712038e-03 4.66648454e+01] [ 5.60931505e-02 -1.91579736e-03 9.98423702e-01 2.98444794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.49, Y:46.67, Z:29.85 [[ 9.86600568e-01 -1.53338434e-01 -5.57372687e-02 5.30489793e+02] [ 1.53210140e-01 9.88171637e-01 -6.59307717e-03 4.66742574e+01] [ 5.60889602e-02 -2.03478106e-03 9.98423702e-01 2.98487764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.55, Y:46.68, Z:29.85 [[ 9.86067551e-01 -1.56729258e-01 -5.57379979e-02 5.30551842e+02] [ 1.56606714e-01 9.87639079e-01 -6.58690684e-03 4.66825841e+01] [ 5.60813859e-02 -2.23380963e-03 9.98423702e-01 2.98517434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.61, Y:46.69, Z:29.85 [[ 9.84997237e-01 -1.63320746e-01 -5.57384754e-02 5.30612803e+02] [ 1.63208944e-01 9.86569565e-01 -6.58286398e-03 4.66905697e+01] [ 5.60650017e-02 -2.61291486e-03 9.98423702e-01 2.98537296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.67, Y:46.70, Z:29.86 [[ 9.84289019e-01 -1.67535999e-01 -5.57388280e-02 5.30674606e+02] [ 1.67431097e-01 9.85861822e-01 -6.57987672e-03 4.66985579e+01] [ 5.60531488e-02 -2.85591274e-03 9.98423702e-01 2.98566144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.74, Y:46.71, Z:29.86 [[ 9.83780056e-01 -1.70499071e-01 -5.57392905e-02 5.30735876e+02] [ 1.70399127e-01 9.85353182e-01 -6.57595642e-03 4.67067172e+01] [ 5.60440818e-02 -3.02863168e-03 9.98423702e-01 2.98595203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.80, Y:46.72, Z:29.86 [[ 9.83752117e-01 -1.70660043e-01 -5.57397637e-02 5.30797456e+02] [ 1.70560583e-01 9.85325275e-01 -6.57194293e-03 4.67167086e+01] [ 5.60433661e-02 -3.04184385e-03 9.98423702e-01 2.98636027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.86, Y:46.73, Z:29.87 [[ 9.84292333e-01 -1.67516055e-01 -5.57402507e-02 5.30858135e+02] [ 1.67411803e-01 9.85865179e-01 -6.56780978e-03 4.67272361e+01] [ 5.60525859e-02 -2.86693108e-03 9.98423702e-01 2.98672602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.92, Y:46.74, Z:29.87 [[ 9.85740322e-01 -1.58773347e-01 -5.57408521e-02 5.30919350e+02] [ 1.58655428e-01 9.87312203e-01 -6.56270197e-03 4.67398987e+01] [ 5.60756057e-02 -2.37446877e-03 9.98423702e-01 2.98731515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.98, Y:46.75, Z:29.88 [[ 9.86855612e-01 -1.51686868e-01 -5.57413251e-02 5.30980631e+02] [ 1.51557885e-01 9.88426624e-01 -6.55868241e-03 4.67500993e+01] [ 5.60910757e-02 -1.97556480e-03 9.98423702e-01 2.98781415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.04, Y:46.76, Z:29.88 [[ 9.88360531e-01 -1.41549676e-01 -5.57418110e-02 5.31042479e+02] [ 1.41404808e-01 9.89930158e-01 -6.55454961e-03 4.67618753e+01] [ 5.61082942e-02 -1.40390196e-03 9.98423702e-01 2.98827056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.10, Y:46.77, Z:29.89 [[ 9.89168802e-01 -1.35786047e-01 -5.57425440e-02 5.31103127e+02] [ 1.35632383e-01 9.90737592e-01 -6.54831046e-03 4.67710093e+01] [ 5.61154030e-02 -1.08310968e-03 9.98423702e-01 2.98852208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.16, Y:46.78, Z:29.89 [[ 9.90121439e-01 -1.28655606e-01 -5.57429032e-02 5.31164874e+02] [ 1.28490816e-01 9.91689099e-01 -6.54525083e-03 4.67802456e+01] [ 5.61217127e-02 -6.81857933e-04 9.98423702e-01 2.98876740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.23, Y:46.79, Z:29.89 [[ 9.90876609e-01 -1.22703794e-01 -5.57433788e-02 5.31225593e+02] [ 1.22529814e-01 9.92443277e-01 -6.54119768e-03 4.67877583e+01] [ 5.61247713e-02 -3.48706062e-04 9.98423702e-01 2.98902134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.29, Y:46.80, Z:29.89 [[ 9.91262393e-01 -1.19547085e-01 -5.57437297e-02 5.31286976e+02] [ 1.19368284e-01 9.92828517e-01 -6.53820641e-03 4.67950055e+01] [ 5.61255880e-02 -1.72955219e-04 9.98423702e-01 2.98934348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.35, Y:46.80, Z:29.90 [[ 9.91484283e-01 -1.17692407e-01 -5.57441914e-02 5.31349170e+02] [ 1.17510898e-01 9.93050095e-01 -6.53426788e-03 4.68019828e+01] [ 5.61258083e-02 -7.19260936e-05 9.98423702e-01 2.98967347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.41, Y:46.81, Z:29.90 [[ 9.91348804e-01 -1.18827948e-01 -5.57446635e-02 5.31409715e+02] [ 1.18648459e-01 9.92914850e-01 -6.53023744e-03 4.68077214e+01] [ 5.61256789e-02 -1.40275369e-04 9.98423702e-01 2.98987845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.47, Y:46.81, Z:29.90 [[ 9.90797431e-01 -1.23340769e-01 -5.57450121e-02 5.31471365e+02] [ 1.23168580e-01 9.92364296e-01 -6.52726077e-03 4.68118576e+01] [ 5.61244370e-02 -3.98840785e-04 9.98423702e-01 2.99025033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.53, Y:46.82, Z:29.91 [[ 9.90239763e-01 -1.27740576e-01 -5.57454652e-02 5.31533434e+02] [ 1.27575567e-01 9.91807401e-01 -6.52338879e-03 4.68165715e+01] [ 5.61220663e-02 -6.52040370e-04 9.98423702e-01 2.99072304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.60, Y:46.82, Z:29.91 [[ 9.89288836e-01 -1.34907339e-01 -5.57459309e-02 5.31595862e+02] [ 1.34753910e-01 9.90857649e-01 -6.51940599e-03 4.68192409e+01] [ 5.61157978e-02 -1.06240658e-03 9.98423702e-01 2.99110122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.66, Y:46.82, Z:29.91 [[ 9.88662769e-01 -1.39421188e-01 -5.57463990e-02 5.31657622e+02] [ 1.39275147e-01 9.90232287e-01 -6.51540089e-03 4.68228087e+01] [ 5.61102692e-02 -1.32255361e-03 9.98423702e-01 2.99138169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.72, Y:46.83, Z:29.92 [[ 9.87957377e-01 -1.44334708e-01 -5.57468692e-02 5.31719403e+02] [ 1.44196698e-01 9.89527622e-01 -6.51137540e-03 4.68254928e+01] [ 5.61028844e-02 -1.60555311e-03 9.98423702e-01 2.99173578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.78, Y:46.83, Z:29.92 [[ 9.87546213e-01 -1.47121414e-01 -5.57473545e-02 5.31781345e+02] [ 1.46988069e-01 9.89116860e-01 -6.50721820e-03 4.68290239e+01] [ 5.60979994e-02 -1.76801731e-03 9.98423702e-01 2.99200237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.84, Y:46.83, Z:29.92 [[ 9.87353134e-01 -1.48411478e-01 -5.57478375e-02 5.31841845e+02] [ 1.48280418e-01 9.88923975e-01 -6.50307730e-03 4.68342457e+01] [ 5.60955044e-02 -1.84547892e-03 9.98423702e-01 2.99228115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.90, Y:46.84, Z:29.93 [[ 9.87104672e-01 -1.50055007e-01 -5.57481941e-02 5.31903341e+02] [ 1.49926735e-01 9.88675743e-01 -6.50001903e-03 4.68397268e+01] [ 5.60922476e-02 -1.94194558e-03 9.98423702e-01 2.99259910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.96, Y:46.85, Z:29.93 [[ 9.86946279e-01 -1.51093108e-01 -5.57486706e-02 5.31964658e+02] [ 1.50966720e-01 9.88517502e-01 -6.49593019e-03 4.68461493e+01] [ 5.60900269e-02 -2.00505979e-03 9.98423702e-01 2.99294313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.03, Y:46.85, Z:29.93 [[ 9.86674174e-01 -1.52859762e-01 -5.57491438e-02 5.32026902e+02] [ 1.52736416e-01 9.88245639e-01 -6.49186580e-03 4.68536979e+01] [ 5.60861933e-02 -2.10956808e-03 9.98423702e-01 2.99333719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.09, Y:46.86, Z:29.94 [[ 9.86446073e-01 -1.54324651e-01 -5.57498690e-02 5.32089405e+02] [ 1.54203991e-01 9.88017746e-01 -6.48563275e-03 4.68614099e+01] [ 5.60827529e-02 -2.19912532e-03 9.98423702e-01 2.99369325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.15, Y:46.87, Z:29.94 [[ 9.86026104e-01 -1.56985330e-01 -5.57505891e-02 5.32150663e+02] [ 1.56869260e-01 9.87598123e-01 -6.47943678e-03 4.68691668e+01] [ 5.60763536e-02 -2.35665982e-03 9.98423702e-01 2.99417168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.21, Y:46.88, Z:29.95 [[ 9.85813686e-01 -1.58313600e-01 -5.57510671e-02 5.32213423e+02] [ 1.58199880e-01 9.87385876e-01 -6.47532075e-03 4.68761398e+01] [ 5.60729476e-02 -2.43635231e-03 9.98423702e-01 2.99453931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.28, Y:46.88, Z:29.95 [[ 9.85778607e-01 -1.58531628e-01 -5.57517747e-02 5.32276051e+02] [ 1.58418599e-01 9.87350848e-01 -6.46922278e-03 4.68842479e+01] [ 5.60721385e-02 -2.45489664e-03 9.98423702e-01 2.99499301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.34, Y:46.89, Z:29.95 [[ 9.85979042e-01 -1.57279971e-01 -5.57524833e-02 5.32338464e+02] [ 1.57165292e-01 9.87551163e-01 -6.46311032e-03 4.68920658e+01] [ 5.60749475e-02 -2.38986400e-03 9.98423702e-01 2.99535882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.40, Y:46.90, Z:29.96 [[ 9.86618667e-01 -1.53216136e-01 -5.57532136e-02 5.32400404e+02] [ 1.53095336e-01 9.88190330e-01 -6.45680444e-03 4.69003947e+01] [ 5.60840732e-02 -2.16515316e-03 9.98423702e-01 2.99562734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.46, Y:46.91, Z:29.96 [[ 9.86897191e-01 -1.51411294e-01 -5.57544044e-02 5.32462694e+02] [ 1.51288201e-01 9.88468676e-01 -6.44650541e-03 4.69079777e+01] [ 5.60875560e-02 -2.07294544e-03 9.98423702e-01 2.99608054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.52, Y:46.92, Z:29.96 [[ 9.87824257e-01 -1.45239816e-01 -5.57551184e-02 5.32523930e+02] [ 1.45107251e-01 9.89394971e-01 -6.44032449e-03 4.69171213e+01] [ 5.60992252e-02 -1.72856320e-03 9.98423702e-01 2.99643530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.58, Y:46.93, Z:29.97 [[ 9.88566838e-01 -1.40096068e-01 -5.57557037e-02 5.32584963e+02] [ 1.39955615e-01 9.90136866e-01 -6.43525292e-03 4.69257393e+01] [ 5.61073314e-02 -1.44164618e-03 9.98423702e-01 2.99679685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.65, Y:46.93, Z:29.97 [[ 9.89731490e-01 -1.31616209e-01 -5.57561748e-02 5.32646144e+02] [ 1.31462531e-01 9.91300279e-01 -6.43116924e-03 4.69349456e+01] [ 5.61175577e-02 -9.64717141e-04 9.98423702e-01 2.99710072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.71, Y:46.94, Z:29.97 [[ 9.90494969e-01 -1.25741450e-01 -5.57566464e-02 5.32708036e+02] [ 1.25578698e-01 9.92062842e-01 -6.42707761e-03 4.69434876e+01] [ 5.61222472e-02 -6.35859001e-04 9.98423702e-01 2.99741816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.77, Y:46.95, Z:29.98 [[ 9.91492322e-01 -1.17618533e-01 -5.57571104e-02 5.32769050e+02] [ 1.17443162e-01 9.93058834e-01 -6.42304967e-03 4.69525396e+01] [ 5.61255607e-02 -1.79886892e-04 9.98423702e-01 2.99781240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.83, Y:46.96, Z:29.98 [[ 9.92093895e-01 -1.12431290e-01 -5.57575804e-02 5.32830737e+02] [ 1.12247957e-01 9.93659496e-01 -6.41896719e-03 4.69597394e+01] [ 5.61257420e-02 1.09543673e-04 9.98423702e-01 2.99828220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.89, Y:46.97, Z:29.99 [[ 9.92231345e-01 -1.11211498e-01 -5.57580547e-02 5.32892761e+02] [ 1.11026472e-01 9.93796746e-01 -6.41484483e-03 4.69656851e+01] [ 5.61255778e-02 1.74390026e-04 9.98423702e-01 2.99867696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.95, Y:46.97, Z:29.99 [[ 9.92050169e-01 -1.12815999e-01 -5.57585260e-02 5.32952573e+02] [ 1.12633735e-01 9.93615894e-01 -6.41074556e-03 4.69710688e+01] [ 5.61257923e-02 7.94901748e-05 9.98423702e-01 2.99900186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.01, Y:46.98, Z:29.99 [[ 9.91628711e-01 -1.16462326e-01 -5.57586415e-02 5.33014232e+02] [ 1.16285876e-01 9.93195102e-01 -6.40974030e-03 4.69761485e+01] [ 5.61257029e-02 -1.27859965e-04 9.98423702e-01 2.99932923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.08, Y:46.98, Z:30.00 [[ 9.90605995e-01 -1.24862661e-01 -5.57591072e-02 5.33075475e+02] [ 1.24699721e-01 9.92173849e-01 -6.40568645e-03 4.69791033e+01] [ 5.61225591e-02 -6.07633732e-04 9.98423702e-01 2.99958546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.14, Y:46.98, Z:30.00 [[ 9.89727164e-01 -1.31647346e-01 -5.57594515e-02 5.33137217e+02] [ 1.31495322e-01 9.91296114e-01 -6.40268866e-03 4.69836719e+01] [ 5.61170245e-02 -9.95192131e-04 9.98423702e-01 3.00003801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.20, Y:46.99, Z:30.01 [[ 9.88357944e-01 -1.41560613e-01 -5.57599091e-02 5.33198702e+02] [ 1.41424547e-01 9.89928358e-01 -6.39870067e-03 4.69875364e+01] [ 5.61041193e-02 -1.56161325e-03 9.98423702e-01 3.00055297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.26, Y:46.99, Z:30.01 [[ 9.87551621e-01 -1.47080167e-01 -5.57603806e-02 5.33260949e+02] [ 1.46953109e-01 9.89122790e-01 -6.39458973e-03 4.69920854e+01] [ 5.60943805e-02 -1.87917380e-03 9.98423702e-01 3.00084910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.32, Y:47.00, Z:30.01 [[ 9.86576756e-01 -1.53483006e-01 -5.57608465e-02 5.33322363e+02] [ 1.53366371e-01 9.88148732e-01 -6.39052449e-03 4.69960916e+01] [ 5.60808467e-02 -2.24709575e-03 9.98423702e-01 3.00108883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.38, Y:47.00, Z:30.01 [[ 9.86119284e-01 -1.56395166e-01 -5.57611911e-02 5.33383908e+02] [ 1.56283342e-01 9.87691610e-01 -6.38751586e-03 4.70023304e+01] [ 5.60738372e-02 -2.41569274e-03 9.98423702e-01 3.00148171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.44, Y:47.01, Z:30.02 [[ 9.85723056e-01 -1.58873201e-01 -5.57616559e-02 5.33444571e+02] [ 1.58765559e-01 9.87295674e-01 -6.38345575e-03 4.70090630e+01] [ 5.60674017e-02 -2.56071098e-03 9.98423702e-01 3.00181350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.51, Y:47.02, Z:30.02 [[ 9.85807078e-01 -1.58350748e-01 -5.57624107e-02 5.33506644e+02] [ 1.58242645e-01 9.87379664e-01 -6.37685526e-03 4.70163469e+01] [ 5.60684502e-02 -2.53764231e-03 9.98423702e-01 3.00211946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.57, Y:47.03, Z:30.03 [[ 9.86137305e-01 -1.56280898e-01 -5.57628597e-02 5.33567960e+02] [ 1.56169716e-01 9.87709677e-01 -6.37292642e-03 4.70253656e+01] [ 5.60734828e-02 -2.42388949e-03 9.98423702e-01 3.00253494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.63, Y:47.04, Z:30.03 [[ 9.86921978e-01 -1.51246364e-01 -5.57633035e-02 5.33627854e+02] [ 1.51127378e-01 9.88493779e-01 -6.36904092e-03 4.70358360e+01] [ 5.60849729e-02 -2.14161541e-03 9.98423702e-01 3.00294218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.69, Y:47.04, Z:30.03 [[ 9.87422907e-01 -1.47940600e-01 -5.57636317e-02 5.33688874e+02] [ 1.47816513e-01 9.88994313e-01 -6.36616625e-03 4.70449921e+01] [ 5.60917290e-02 -1.95668723e-03 9.98423702e-01 3.00341704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.75, Y:47.06, Z:30.04 [[ 9.88084035e-01 -1.43458378e-01 -5.57640955e-02 5.33749754e+02] [ 1.43327392e-01 9.89654880e-01 -6.36210076e-03 4.70550217e+01] [ 5.60999059e-02 -1.70623218e-03 9.98423702e-01 3.00359046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.81, Y:47.07, Z:30.04 [[ 9.88574394e-01 -1.40039262e-01 -5.57644382e-02 5.33810795e+02] [ 1.39903012e-01 9.90144792e-01 -6.35909609e-03 4.70652208e+01] [ 5.61053911e-02 -1.51517328e-03 9.98423702e-01 3.00432307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.87, Y:47.07, Z:30.05 [[ 9.88807461e-01 -1.38383814e-01 -5.57649080e-02 5.33872377e+02] [ 1.38245166e-01 9.90377649e-01 -6.35497323e-03 4.70742953e+01] [ 5.61077439e-02 -1.42538404e-03 9.98423702e-01 3.00479826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.93, Y:47.08, Z:30.05 [[ 9.88858510e-01 -1.38018372e-01 -5.57653762e-02 5.33933401e+02] [ 1.37879375e-01 9.90428667e-01 -6.35086192e-03 4.70820831e+01] [ 5.61081629e-02 -1.40879138e-03 9.98423702e-01 3.00509254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.99, Y:47.09, Z:30.05 [[ 9.88739368e-01 -1.38869171e-01 -5.57657217e-02 5.33994715e+02] [ 1.38731696e-01 9.90309659e-01 -6.34782646e-03 4.70897303e+01] [ 5.61068503e-02 -1.46012727e-03 9.98423702e-01 3.00538371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.06, Y:47.10, Z:30.06 [[ 9.88168034e-01 -1.42877820e-01 -5.57661750e-02 5.34056557e+02] [ 1.42746939e-01 9.89738888e-01 -6.34384221e-03 4.70979823e+01] [ 5.61003464e-02 -1.69166873e-03 9.98423702e-01 3.00575003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.12, Y:47.10, Z:30.06 [[ 9.87468742e-01 -1.47633213e-01 -5.57666376e-02 5.34117903e+02] [ 1.47510127e-01 9.89040227e-01 -6.33977262e-03 4.71048133e+01] [ 5.60914089e-02 -1.96581648e-03 9.98423702e-01 3.00594343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.18, Y:47.11, Z:30.06 [[ 9.85860598e-01 -1.58015507e-01 -5.57672094e-02 5.34180897e+02] [ 1.57909247e-01 9.87433310e-01 -6.33473918e-03 4.71113062e+01] [ 5.60673872e-02 -2.56098826e-03 9.98423702e-01 3.00624435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.24, Y:47.12, Z:30.07 [[ 9.84704826e-01 -1.65064673e-01 -5.57679129e-02 5.34241669e+02] [ 1.64970017e-01 9.86278279e-01 -6.32853936e-03 4.71188373e+01] [ 5.60472995e-02 -2.96829030e-03 9.98423702e-01 3.00654036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.30, Y:47.13, Z:30.07 [[ 9.83643203e-01 -1.71277409e-01 -5.57682587e-02 5.34303510e+02] [ 1.71192860e-01 9.85217231e-01 -6.32549110e-03 4.71276371e+01] [ 5.60272632e-02 -3.32510140e-03 9.98423702e-01 3.00687271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.36, Y:47.14, Z:30.07 [[ 9.83373082e-01 -1.72821385e-01 -5.57687200e-02 5.34364896e+02] [ 1.72739537e-01 9.84947253e-01 -6.32142136e-03 4.71366327e+01] [ 5.60217244e-02 -3.41714726e-03 9.98423702e-01 3.00725830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.43, Y:47.15, Z:30.08 [[ 9.83439181e-01 -1.72444700e-01 -5.57691877e-02 5.34425760e+02] [ 1.72362483e-01 9.85013333e-01 -6.31729236e-03 4.71459455e+01] [ 5.60227771e-02 -3.39984282e-03 9.98423702e-01 3.00764779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.49, Y:47.16, Z:30.08 [[ 9.83715140e-01 -1.70863345e-01 -5.57695331e-02 5.34486498e+02] [ 1.70778769e-01 9.85289167e-01 -6.31424143e-03 4.71557852e+01] [ 5.60279893e-02 -3.31283731e-03 9.98423702e-01 3.00800578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.55, Y:47.17, Z:30.08 [[ 9.83990033e-01 -1.69272741e-01 -5.57705506e-02 5.34548371e+02] [ 1.69186128e-01 9.85563949e-01 -6.30524191e-03 4.71656414e+01] [ 5.60327497e-02 -3.23130833e-03 9.98423702e-01 3.00828541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.61, Y:47.18, Z:30.09 [[ 9.84598251e-01 -1.65698073e-01 -5.57712489e-02 5.34609463e+02] [ 1.65606095e-01 9.86171863e-01 -6.29905920e-03 4.71775028e+01] [ 5.60437784e-02 -3.03401605e-03 9.98423702e-01 3.00851787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.67, Y:47.19, Z:30.09 [[ 9.85495496e-01 -1.60274975e-01 -5.57723881e-02 5.34671299e+02] [ 1.60174905e-01 9.87068614e-01 -6.28895615e-03 4.71897262e+01] [ 5.60591362e-02 -2.73559900e-03 9.98423703e-01 3.00880883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.73, Y:47.20, Z:30.09 [[ 9.86360391e-01 -1.54862986e-01 -5.57730617e-02 5.34733173e+02] [ 1.54754620e-01 9.87932959e-01 -6.28297731e-03 4.72015608e+01] [ 5.60730465e-02 -2.43385900e-03 9.98423703e-01 3.00917973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.79, Y:47.22, Z:30.10 [[ 9.87848733e-01 -1.45066099e-01 -5.57737238e-02 5.34794734e+02] [ 1.44942462e-01 9.89420174e-01 -6.27709461e-03 4.72155201e+01] [ 5.60942411e-02 -1.88316089e-03 9.98423703e-01 3.00958245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.86, Y:47.23, Z:30.10 [[ 9.89336953e-01 -1.34542211e-01 -5.57744289e-02 5.34855309e+02] [ 1.34402207e-01 9.90907021e-01 -6.27082315e-03 4.72288097e+01] [ 5.61109635e-02 -1.29224927e-03 9.98423703e-01 3.00989886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.92, Y:47.24, Z:30.10 [[ 9.90157717e-01 -1.28362161e-01 -5.57750071e-02 5.34917440e+02] [ 1.28212646e-01 9.91726907e-01 -6.26567625e-03 4.72397474e+01] [ 5.61178510e-02 -9.47053532e-04 9.98423703e-01 3.01017074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.98, Y:47.25, Z:30.10 [[ 9.90952959e-01 -1.22070895e-01 -5.57757011e-02 5.34978888e+02] [ 1.21911764e-01 9.92521204e-01 -6.25949230e-03 4.72512856e+01] [ 5.61226678e-02 -5.96851705e-04 9.98423703e-01 3.01044129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.04, Y:47.26, Z:30.11 [[ 9.91173431e-01 -1.20267355e-01 -5.57762700e-02 5.35040840e+02] [ 1.20105656e-01 9.92741413e-01 -6.25441886e-03 4.72599838e+01] [ 5.61236155e-02 -4.99831712e-04 9.98423703e-01 3.01080169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.10, Y:47.27, Z:30.11 [[ 9.91147435e-01 -1.20481096e-01 -5.57769367e-02 5.35102000e+02] [ 1.20320071e-01 9.92715487e-01 -6.24846710e-03 4.72688916e+01] [ 5.61234510e-02 -5.17932823e-04 9.98423703e-01 3.01118287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.16, Y:47.28, Z:30.11 [[ 9.90735138e-01 -1.23825559e-01 -5.57773980e-02 5.35162796e+02] [ 1.23670059e-01 9.92303746e-01 -6.24434688e-03 4.72764919e+01] [ 5.61213307e-02 -7.11500240e-04 9.98423703e-01 3.01143640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.23, Y:47.28, Z:30.12 [[ 9.90236998e-01 -1.27747919e-01 -5.57777389e-02 5.35225150e+02] [ 1.27598804e-01 9.91806227e-01 -6.24129974e-03 4.72828663e+01] [ 5.61180219e-02 -9.36806832e-04 9.98423703e-01 3.01163678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.29, Y:47.29, Z:30.12 [[ 9.89080193e-01 -1.36415316e-01 -5.57784292e-02 5.35287631e+02] [ 1.36280297e-01 9.90650697e-01 -6.23512493e-03 4.72883680e+01] [ 5.61075063e-02 -1.43446233e-03 9.98423703e-01 3.01180227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.35, Y:47.29, Z:30.12 [[ 9.87561494e-01 -1.47006749e-01 -5.57791324e-02 5.35349651e+02] [ 1.46888923e-01 9.89133381e-01 -6.22882793e-03 4.72935777e+01] [ 5.60886816e-02 -2.04198607e-03 9.98423703e-01 3.01201188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.41, Y:47.30, Z:30.12 [[ 9.86693148e-01 -1.52726082e-01 -5.57797092e-02 5.35411428e+02] [ 1.52617657e-01 9.88265712e-01 -6.22365813e-03 4.72984522e+01] [ 5.60756889e-02 -2.37212768e-03 9.98423703e-01 3.01227254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.47, Y:47.30, Z:30.12 [[ 9.86424375e-01 -1.54451892e-01 -5.57814002e-02 5.35474437e+02] [ 1.54347076e-01 9.87997184e-01 -6.20846493e-03 4.73016290e+01] [ 5.60707755e-02 -2.48551485e-03 9.98423703e-01 3.01247336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.54, Y:47.31, Z:30.13 [[ 9.86403998e-01 -1.54581730e-01 -5.57820859e-02 5.35535979e+02] [ 1.54477469e-01 9.87976843e-01 -6.20229766e-03 4.73079955e+01] [ 5.60701711e-02 -2.49910422e-03 9.98423703e-01 3.01294630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.60, Y:47.31, Z:30.13 [[ 9.86533452e-01 -1.53753235e-01 -5.57825358e-02 5.35598427e+02] [ 1.53647881e-01 9.88106224e-01 -6.19824945e-03 4.73126397e+01] [ 5.60720717e-02 -2.45608798e-03 9.98423703e-01 3.01322526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.66, Y:47.32, Z:30.13 [[ 9.86650501e-01 -1.53000154e-01 -5.57829888e-02 5.35660490e+02] [ 1.52893830e-01 9.88223208e-01 -6.19416905e-03 4.73168599e+01] [ 5.60737530e-02 -2.41739480e-03 9.98423703e-01 3.01331402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.72, Y:47.32, Z:30.13 [[ 9.86871126e-01 -1.51570405e-01 -5.57834465e-02 5.35721419e+02] [ 1.51462034e-01 9.88443694e-01 -6.19004482e-03 4.73223931e+01] [ 5.60770235e-02 -2.34029779e-03 9.98423703e-01 3.01334310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.78, Y:47.33, Z:30.14 [[ 9.87482368e-01 -1.47535566e-01 -5.57837831e-02 5.35782320e+02] [ 1.47420941e-01 9.89054491e-01 -6.18700965e-03 4.73294915e+01] [ 5.60860052e-02 -2.11413485e-03 9.98423703e-01 3.01356142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.85, Y:47.34, Z:30.14 [[ 9.88151613e-01 -1.42984348e-01 -5.57841101e-02 5.35845096e+02] [ 1.42862647e-01 9.89723205e-01 -6.18406048e-03 4.73366433e+01] [ 5.60950520e-02 -1.85867626e-03 9.98423703e-01 3.01391072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.91, Y:47.35, Z:30.14 [[ 9.89409011e-01 -1.34006966e-01 -5.57847852e-02 5.35907376e+02] [ 1.33871344e-01 9.90979463e-01 -6.17796407e-03 4.73456188e+01] [ 5.61094667e-02 -1.35545088e-03 9.98423703e-01 3.01434441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.97, Y:47.35, Z:30.15 [[ 9.90343926e-01 -1.26912932e-01 -5.57854474e-02 5.35970084e+02] [ 1.26766396e-01 9.91913397e-01 -6.17197893e-03 4.73541381e+01] [ 5.61176366e-02 -9.59338299e-04 9.98423703e-01 3.01473036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.03, Y:47.36, Z:30.15 [[ 9.91764041e-01 -1.15290923e-01 -5.57861060e-02 5.36032210e+02] [ 1.15126328e-01 9.93331721e-01 -6.16602057e-03 4.73623387e+01] [ 5.61249949e-02 -3.07212069e-04 9.98423703e-01 3.01507742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.09, Y:47.37, Z:30.15 [[ 9.92684893e-01 -1.07072591e-01 -5.57867669e-02 5.36094178e+02] [ 1.06895354e-01 9.94251194e-01 -6.16003529e-03 4.73697988e+01] [ 5.61256305e-02 1.51627772e-04 9.98423703e-01 3.01546275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.16, Y:47.38, Z:30.16 [[ 9.93850449e-01 -9.56507845e-02 -5.57872104e-02 5.36156097e+02] [ 9.54557740e-02 9.95414637e-01 -6.15601625e-03 4.73765661e+01] [ 5.61202335e-02 7.92948163e-04 9.98423703e-01 3.01587039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.22, Y:47.38, Z:30.16 [[ 9.94399247e-01 -8.97656697e-02 -5.57876528e-02 5.36215709e+02] [ 8.95616280e-02 9.95962282e-01 -6.15200438e-03 4.73819234e+01] [ 5.61146368e-02 1.12111552e-03 9.98423703e-01 3.01614058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.28, Y:47.38, Z:30.16 [[ 9.94722324e-01 -8.61116941e-02 -5.57877610e-02 5.36276458e+02] [ 8.59019662e-02 9.96284606e-01 -6.15102248e-03 4.73839755e+01] [ 5.61101625e-02 1.32628101e-03 9.98423703e-01 3.01624265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.34, Y:47.38, Z:30.16 [[ 9.94432633e-01 -8.93949931e-02 -5.57877610e-02 5.36335735e+02] [ 8.91904238e-02 9.95995599e-01 -6.15102248e-03 4.73843523e+01] [ 5.61142351e-02 1.14104343e-03 9.98423703e-01 3.01629412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.40, Y:47.39, Z:30.17 [[ 9.94218422e-01 -9.17476081e-02 -5.57862525e-02 5.36395544e+02] [ 9.15459716e-02 9.95781769e-01 -6.16467354e-03 4.73888662e+01] [ 5.61165273e-02 1.02202530e-03 9.98423703e-01 3.01658318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.46, Y:47.39, Z:30.17 [[ 9.93313875e-01 -1.01071575e-01 -5.57860388e-02 5.36456192e+02] [ 1.00884506e-01 9.94879033e-01 -6.16660728e-03 4.73881742e+01] [ 5.61236290e-02 4.97429600e-04 9.98423703e-01 3.01700942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.52, Y:47.39, Z:30.18 [[ 9.92546510e-01 -1.08348252e-01 -5.57860388e-02 5.36517350e+02] [ 1.08172659e-01 9.94112996e-01 -6.16660728e-03 4.73892541e+01] [ 5.61257673e-02 8.61204066e-05 9.98423703e-01 3.01754560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.58, Y:47.39, Z:30.18 [[ 9.91340044e-01 -1.18881498e-01 -5.57862656e-02 5.36578719e+02] [ 1.18722664e-01 9.92908318e-01 -6.16455485e-03 4.73864850e+01] [ 5.61234986e-02 -5.11923997e-04 9.98423703e-01 3.01795263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.64, Y:47.38, Z:30.18 [[ 9.90217868e-01 -1.27892101e-01 -5.57869593e-02 5.36641567e+02] [ 1.27747890e-01 9.91787554e-01 -6.15827020e-03 4.73844424e+01] [ 5.61164061e-02 -1.02863715e-03 9.98423703e-01 3.01827199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.70, Y:47.39, Z:30.19 [[ 9.89639546e-01 -1.32292610e-01 -5.57873993e-02 5.36703546e+02] [ 1.32155602e-01 9.91209878e-01 -6.15428234e-03 4.73858788e+01] [ 5.61111873e-02 -1.28209616e-03 9.98423703e-01 3.01858589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.76, Y:47.39, Z:30.19 [[ 9.89171249e-01 -1.35749613e-01 -5.57878368e-02 5.36764936e+02] [ 1.35618317e-01 9.90742068e-01 -6.15031400e-03 4.73880191e+01] [ 5.61062595e-02 -1.48213875e-03 9.98423703e-01 3.01874992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.83, Y:47.39, Z:30.19 [[ 9.88452132e-01 -1.40890252e-01 -5.57881603e-02 5.36827527e+02] [ 1.40767289e-01 9.90023626e-01 -6.14737766e-03 4.73896535e+01] [ 5.60977024e-02 -1.77675954e-03 9.98423703e-01 3.01882164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.89, Y:47.39, Z:30.19 [[ 9.87664101e-01 -1.46312188e-01 -5.57885897e-02 5.36890255e+02] [ 1.46198071e-01 9.89236262e-01 -6.14347803e-03 4.73922614e+01] [ 5.60869617e-02 -2.08849149e-03 9.98423703e-01 3.01910105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.95, Y:47.40, Z:30.19 [[ 9.87267124e-01 -1.48967098e-01 -5.57891557e-02 5.36951752e+02] [ 1.48857498e-01 9.88839606e-01 -6.13833462e-03 4.73969454e+01] [ 5.60809366e-02 -2.24445818e-03 9.98423703e-01 3.01917866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.01, Y:47.40, Z:30.20 [[ 9.86926056e-01 -1.51209957e-01 -5.57898710e-02 5.37013373e+02] [ 1.51104298e-01 9.88498807e-01 -6.13182632e-03 4.74032948e+01] [ 5.60754141e-02 -2.37843010e-03 9.98423703e-01 3.01991766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.07, Y:47.41, Z:30.20 [[ 9.86815587e-01 -1.51929053e-01 -5.57903202e-02 5.37073535e+02] [ 1.51824770e-01 9.88388431e-01 -6.12773618e-03 4.74105230e+01] [ 5.60734882e-02 -2.42340699e-03 9.98423703e-01 3.02033879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.13, Y:47.42, Z:30.21 [[ 9.86624369e-01 -1.53165782e-01 -5.57906524e-02 5.37134894e+02] [ 1.53063641e-01 9.88197354e-01 -6.12471063e-03 4.74174284e+01] [ 5.60702711e-02 -2.49673163e-03 9.98423703e-01 3.02084051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.20, Y:47.42, Z:30.21 [[ 9.86299780e-01 -1.55242062e-01 -5.57910984e-02 5.37197003e+02] [ 1.55143462e-01 9.87872990e-01 -6.12064492e-03 4.74239387e+01] [ 5.60647007e-02 -2.61883341e-03 9.98423703e-01 3.02133792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.26, Y:47.43, Z:30.22 [[ 9.86494114e-01 -1.54002169e-01 -5.57915388e-02 5.37258242e+02] [ 1.53901818e-01 9.88067213e-01 -6.11662770e-03 4.74312308e+01] [ 5.60677642e-02 -2.55240205e-03 9.98423703e-01 3.02181658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.32, Y:47.44, Z:30.22 [[ 9.87105418e-01 -1.50033826e-01 -5.57919750e-02 5.37319690e+02] [ 1.49927375e-01 9.88678116e-01 -6.11264660e-03 4.74394283e+01] [ 5.60774085e-02 -2.33091778e-03 9.98423703e-01 3.02220794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.38, Y:47.45, Z:30.23 [[ 9.88576976e-01 -1.40009890e-01 -5.57924165e-02 5.37380676e+02] [ 1.39887713e-01 9.90148531e-01 -6.10861441e-03 4.74503180e+01] [ 5.60980456e-02 -1.76583798e-03 9.98423703e-01 3.02270229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.44, Y:47.46, Z:30.23 [[ 9.89585387e-01 -1.32694827e-01 -5.57928666e-02 5.37441821e+02] [ 1.32561262e-01 9.91156015e-01 -6.10450062e-03 4.74593713e+01] [ 5.61094710e-02 -1.35504820e-03 9.98423703e-01 3.02313508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.50, Y:47.47, Z:30.24 [[ 9.90662368e-01 -1.24399274e-01 -5.57933107e-02 5.37503268e+02] [ 1.24252784e-01 9.92231843e-01 -6.10043866e-03 4.74687515e+01] [ 5.61187897e-02 -8.88999178e-04 9.98423703e-01 3.02366300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.56, Y:47.48, Z:30.24 [[ 9.90961902e-01 -1.21990022e-01 -5.57937594e-02 5.37564578e+02] [ 1.21839947e-01 9.92531038e-01 -6.09633281e-03 4.74753125e+01] [ 5.61207297e-02 -7.56675128e-04 9.98423703e-01 3.02403310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.63, Y:47.48, Z:30.24 [[ 9.90762437e-01 -1.23599350e-01 -5.57942041e-02 5.37625971e+02] [ 1.23452053e-01 9.92331837e-01 -6.09225947e-03 4.74811180e+01] [ 5.61193644e-02 -8.51927226e-04 9.98423703e-01 3.02438357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.69, Y:47.48, Z:30.25 [[ 9.90061228e-01 -1.29095785e-01 -5.57946560e-02 5.37687039e+02] [ 1.28957433e-01 9.91631441e-01 -6.08811868e-03 4.74846916e+01] [ 5.61136856e-02 -1.16752536e-03 9.98423703e-01 3.02473732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.75, Y:47.49, Z:30.25 [[ 9.89339521e-01 -1.34514802e-01 -5.57949896e-02 5.37749111e+02] [ 1.34385223e-01 9.90910482e-01 -6.08505915e-03 4.74893024e+01] [ 5.61063706e-02 -1.47783260e-03 9.98423703e-01 3.02514733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.81, Y:47.49, Z:30.25 [[ 9.87956627e-01 -1.44321075e-01 -5.57954350e-02 5.37811388e+02] [ 1.44207314e-01 9.89528813e-01 -6.08097260e-03 4.74925069e+01] [ 5.60888031e-02 -2.03837265e-03 9.98423703e-01 3.02548883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.87, Y:47.49, Z:30.26 [[ 9.86419985e-01 -1.54474696e-01 -5.57958863e-02 5.37872606e+02] [ 1.54377345e-01 9.87993273e-01 -6.07682946e-03 4.74940225e+01] [ 5.60646767e-02 -2.61931473e-03 9.98423703e-01 3.02571698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.93, Y:47.50, Z:30.26 [[ 9.85708248e-01 -1.58952924e-01 -5.57962204e-02 5.37934487e+02] [ 1.58862892e-01 9.87281971e-01 -6.07375964e-03 4.74981990e+01] [ 5.60520443e-02 -2.87699397e-03 9.98423703e-01 3.02603193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.99, Y:47.51, Z:30.26 [[ 9.85366284e-01 -1.61059056e-01 -5.57966524e-02 5.37994889e+02] [ 1.60972612e-01 9.86940209e-01 -6.06978902e-03 4.75054062e+01] [ 5.60455542e-02 -3.00076743e-03 9.98423703e-01 3.02638344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.06, Y:47.51, Z:30.27 [[ 9.85826332e-01 -1.58218653e-01 -5.57969716e-02 5.38055504e+02] [ 1.58127839e-01 9.87400010e-01 -6.06685342e-03 4.75143035e+01] [ 5.60538196e-02 -2.84219066e-03 9.98423703e-01 3.02676708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.12, Y:47.52, Z:30.27 [[ 9.86794039e-01 -1.52066391e-01 -5.57972853e-02 5.38117718e+02] [ 1.51965926e-01 9.88367131e-01 -6.06396682e-03 4.75211511e+01] [ 5.60703283e-02 -2.49539982e-03 9.98423703e-01 3.02705787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.18, Y:47.53, Z:30.27 [[ 9.87445417e-01 -1.47777410e-01 -5.57977283e-02 5.38178533e+02] [ 1.47670341e-01 9.89018073e-01 -6.05988755e-03 4.75282942e+01] [ 5.60804762e-02 -2.25586136e-03 9.98423703e-01 3.02738217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.24, Y:47.54, Z:30.28 [[ 9.88244949e-01 -1.42332348e-01 -5.57980546e-02 5.38239974e+02] [ 1.42216781e-01 9.89817004e-01 -6.05688106e-03 4.75358728e+01] [ 5.60919534e-02 -1.94973763e-03 9.98423703e-01 3.02754815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.30, Y:47.54, Z:30.28 [[ 9.88479533e-01 -1.40693784e-01 -5.57984907e-02 5.38301512e+02] [ 1.40575838e-01 9.90051411e-01 -6.05286164e-03 4.75425223e+01] [ 5.60949744e-02 -1.86078972e-03 9.98423703e-01 3.02781831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.36, Y:47.55, Z:30.28 [[ 9.89080039e-01 -1.36408043e-01 -5.57989400e-02 5.38363294e+02] [ 1.36283518e-01 9.90651410e-01 -6.04871694e-03 4.75492998e+01] [ 5.61023922e-02 -1.62181067e-03 9.98423703e-01 3.02803411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.42, Y:47.56, Z:30.28 [[ 9.89454510e-01 -1.33664510e-01 -5.57993819e-02 5.38424847e+02] [ 1.33535858e-01 9.91025548e-01 -6.04463755e-03 4.75567402e+01] [ 5.61065665e-02 -1.47032444e-03 9.98423703e-01 3.02833830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.49, Y:47.56, Z:30.29 [[ 9.90005048e-01 -1.29523683e-01 -5.57998285e-02 5.38486286e+02] [ 1.29388692e-01 9.91575554e-01 -6.04051210e-03 4.75641792e+01] [ 5.61121352e-02 -1.23972934e-03 9.98423703e-01 3.02872041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.55, Y:47.57, Z:30.29 [[ 9.90439153e-01 -1.26161063e-01 -5.58002733e-02 5.38545906e+02] [ 1.26020971e-01 9.92009212e-01 -6.03640000e-03 4.75703288e+01] [ 5.61159438e-02 -1.05331772e-03 9.98423703e-01 3.02907065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.61, Y:47.58, Z:30.29 [[ 9.91171583e-01 -1.20271278e-01 -5.58006449e-02 5.38606807e+02] [ 1.20122049e-01 9.92740800e-01 -6.03296279e-03 4.75772408e+01] [ 5.61211690e-02 -7.23186543e-04 9.98423703e-01 3.02936201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.67, Y:47.58, Z:30.30 [[ 9.91795974e-01 -1.15008736e-01 -5.58008659e-02 5.38667997e+02] [ 1.14851296e-01 9.93364388e-01 -6.03091863e-03 4.75838355e+01] [ 5.61242013e-02 -4.27360920e-04 9.98423703e-01 3.02994851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.73, Y:47.59, Z:30.30 [[ 9.91968640e-01 -1.13509721e-01 -5.58010841e-02 5.38728514e+02] [ 1.13350024e-01 9.93536826e-01 -6.02889878e-03 4.75891481e+01] [ 5.61247706e-02 -3.44575705e-04 9.98423703e-01 3.02996607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.79, Y:47.59, Z:30.30 [[ 9.91959786e-01 -1.13587072e-01 -5.58010841e-02 5.38787587e+02] [ 1.13427497e-01 9.93527984e-01 -6.02889878e-03 4.75935626e+01] [ 5.61247435e-02 -3.48952142e-04 9.98423703e-01 3.03032759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.85, Y:47.60, Z:30.31 [[ 9.91750848e-01 -1.15397170e-01 -5.58009761e-02 5.38846967e+02] [ 1.15240401e-01 9.93319329e-01 -6.02989802e-03 4.75977925e+01] [ 5.61240213e-02 -4.50370401e-04 9.98423703e-01 3.03064448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.91, Y:47.60, Z:30.31 [[ 9.91220879e-01 -1.19864225e-01 -5.58008703e-02 5.38907729e+02] [ 1.19714470e-01 9.92790045e-01 -6.03087728e-03 4.76014513e+01] [ 5.61214350e-02 -7.02240103e-04 9.98423703e-01 3.03099207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.97, Y:47.61, Z:30.31 [[ 9.90597033e-01 -1.24915099e-01 -5.58008703e-02 5.38967507e+02] [ 1.24773343e-01 9.92166942e-01 -6.03087728e-03 4.76052369e+01] [ 5.61171265e-02 -9.88292010e-04 9.98423703e-01 3.03126615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.03, Y:47.61, Z:30.32 [[ 9.90186835e-01 -1.28126137e-01 -5.58007617e-02 5.39027542e+02] [ 1.27989415e-01 9.91757191e-01 -6.03188211e-03 4.76101581e+01] [ 5.61136484e-02 -1.16921661e-03 9.98423703e-01 3.03172417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0050998929999 meters Centerline goodness : 0.996043 with order 1 Centerline is valid? [True, True] Translation: X:539.09, Y:47.61, Z:30.32 [[ 9.90064873e-01 -1.29065186e-01 -5.58007617e-02 5.39085556e+02] [ 1.28929954e-01 9.91635358e-01 -6.03188211e-03 4.76134909e+01] [ 5.61125142e-02 -1.22243506e-03 9.98423703e-01 3.03168159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0650998929999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:539.14, Y:47.62, Z:30.32 [[ 9.89506351e-01 -1.33279892e-01 -5.58001093e-02 5.39144346e+02] [ 1.33151009e-01 9.91077370e-01 -6.03791091e-03 4.76166895e+01] [ 5.61069577e-02 -1.45528967e-03 9.98423703e-01 3.03219353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.20, Y:47.62, Z:30.33 [[ 9.88791920e-01 -1.38481379e-01 -5.57982756e-02 5.39204009e+02] [ 1.38359806e-01 9.90363521e-01 -6.05480922e-03 4.76212564e+01] [ 5.60990550e-02 -1.73329216e-03 9.98423704e-01 3.03280615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.26, Y:47.63, Z:30.33 [[ 9.88382130e-01 -1.41376605e-01 -5.57980298e-02 5.39264158e+02] [ 1.41259507e-01 9.89954071e-01 -6.05707362e-03 4.76250336e+01] [ 5.60938153e-02 -1.89529888e-03 9.98423704e-01 3.03305495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.33, Y:47.63, Z:30.33 [[ 9.88119000e-01 -1.43204081e-01 -5.57981410e-02 5.39325417e+02] [ 1.43089948e-01 9.89691159e-01 -6.05604943e-03 4.76300365e+01] [ 5.60901778e-02 -2.00005560e-03 9.98423704e-01 3.03321677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.39, Y:47.64, Z:30.34 [[ 9.87828782e-01 -1.45192424e-01 -5.57983597e-02 5.39386151e+02] [ 1.45081570e-01 9.89401176e-01 -6.05403353e-03 4.76351568e+01] [ 5.60859625e-02 -2.11496504e-03 9.98423704e-01 3.03351651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.45, Y:47.64, Z:30.34 [[ 9.87402366e-01 -1.48064507e-01 -5.57984678e-02 5.39446984e+02] [ 1.47958281e-01 9.88975079e-01 -6.05303750e-03 4.76416000e+01] [ 5.60795341e-02 -2.27906184e-03 9.98423704e-01 3.03375969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4250998929999 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:539.51, Y:47.65, Z:30.33 [[ 9.87030377e-01 -1.50524223e-01 -5.57986865e-02 5.39505105e+02] [ 1.50422030e-01 9.88603357e-01 -6.05102073e-03 4.76478340e+01] [ 5.60735940e-02 -2.42081042e-03 9.98423704e-01 3.03343572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.56, Y:47.66, Z:30.34 [[ 9.85975202e-01 -1.57288267e-01 -5.57969788e-02 5.39562507e+02] [ 1.57195975e-01 9.87548794e-01 -6.06672653e-03 4.76557491e+01] [ 5.60564640e-02 -2.78941857e-03 9.98423704e-01 3.03428307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.62, Y:47.67, Z:30.35 [[ 9.84979676e-01 -1.63407270e-01 -5.57951767e-02 5.39623419e+02] [ 1.63323817e-01 9.86553762e-01 -6.08325561e-03 4.76656618e+01] [ 5.60389896e-02 -3.12079809e-03 9.98423704e-01 3.03473046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.68, Y:47.67, Z:30.35 [[ 9.84853339e-01 -1.64166833e-01 -5.57956170e-02 5.39684819e+02] [ 1.64084823e-01 9.86427501e-01 -6.07921376e-03 4.76727348e+01] [ 5.60363363e-02 -3.16807997e-03 9.98423704e-01 3.03508767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.75, Y:47.68, Z:30.35 [[ 9.84865240e-01 -1.64095277e-01 -5.57960576e-02 5.39747046e+02] [ 1.64013381e-01 9.86439407e-01 -6.07516800e-03 4.76794482e+01] [ 5.60363363e-02 -3.16807824e-03 9.98423704e-01 3.03543940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.81, Y:47.69, Z:30.36 [[ 9.84383694e-01 -1.66959557e-01 -5.57964980e-02 5.39806568e+02] [ 1.66882468e-01 9.85958104e-01 -6.07112049e-03 4.76893078e+01] [ 5.60266409e-02 -3.33514530e-03 9.98423704e-01 3.03583825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.87, Y:47.70, Z:30.36 [[ 9.84535212e-01 -1.66063666e-01 -5.57967278e-02 5.39866182e+02] [ 1.65985264e-01 9.86109557e-01 -6.06900767e-03 4.76984709e+01] [ 5.60295282e-02 -3.28628286e-03 9.98423704e-01 3.03634660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.93, Y:47.71, Z:30.37 [[ 9.84737455e-01 -1.64860155e-01 -5.57967278e-02 5.39926918e+02] [ 1.64779829e-01 9.86311703e-01 -6.06900768e-03 4.77095069e+01] [ 5.60335031e-02 -3.21779607e-03 9.98423704e-01 3.03655395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.99, Y:47.72, Z:30.37 [[ 9.84965981e-01 -1.63489198e-01 -5.57969370e-02 5.39988099e+02] [ 1.63406789e-01 9.86540122e-01 -6.06708379e-03 4.77195210e+01] [ 5.60378196e-02 -3.14172716e-03 9.98423704e-01 3.03690796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.05, Y:47.73, Z:30.38 [[ 9.85658200e-01 -1.59262571e-01 -5.57973613e-02 5.40048973e+02] [ 1.59173631e-01 9.87231985e-01 -6.06317834e-03 4.77323453e+01] [ 5.60505772e-02 -2.90524713e-03 9.98423704e-01 3.03753781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.11, Y:47.75, Z:30.38 [[ 9.86771074e-01 -1.52215151e-01 -5.57978068e-02 5.40109891e+02] [ 1.52115199e-01 9.88344198e-01 -6.05907618e-03 4.77455218e+01] [ 5.60697218e-02 -2.50877336e-03 9.98423704e-01 3.03793253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.17, Y:47.76, Z:30.38 [[ 9.88162179e-01 -1.42905782e-01 -5.57982503e-02 5.40170137e+02] [ 1.42791234e-01 9.89734308e-01 -6.05498942e-03 4.77581577e+01] [ 5.60907356e-02 -1.98418949e-03 9.98423704e-01 3.03829548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.23, Y:47.77, Z:30.39 [[ 9.88629200e-01 -1.39638023e-01 -5.57989826e-02 5.40230390e+02] [ 1.39518660e-01 9.90200971e-01 -6.04823374e-03 4.77669476e+01] [ 5.60967701e-02 -1.80553877e-03 9.98423704e-01 3.03857442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.29, Y:47.78, Z:30.39 [[ 9.89689407e-01 -1.31914044e-01 -5.57993023e-02 5.40291211e+02] [ 1.31782577e-01 9.91260212e-01 -6.04528223e-03 4.77790271e+01] [ 5.61090858e-02 -1.37042405e-03 9.98423704e-01 3.03901598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.35, Y:47.79, Z:30.39 [[ 9.90062357e-01 -1.29084933e-01 -5.57997334e-02 5.40352692e+02] [ 1.28949202e-01 9.91632798e-01 -6.04130101e-03 4.77875391e+01] [ 5.61126867e-02 -1.21406635e-03 9.98423704e-01 3.03937577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.41, Y:47.80, Z:30.40 [[ 9.90349952e-01 -1.26859433e-01 -5.58001600e-02 5.40413920e+02] [ 1.26720394e-01 9.91920104e-01 -6.03735731e-03 4.77958351e+01] [ 5.61151963e-02 -1.09192174e-03 9.98423704e-01 3.03968806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.48, Y:47.80, Z:30.40 [[ 9.90678363e-01 -1.24268562e-01 -5.58005823e-02 5.40475323e+02] [ 1.24125636e-01 9.92248166e-01 -6.03345205e-03 4.78041139e+01] [ 5.61177939e-02 -9.49072389e-04 9.98423704e-01 3.04004027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.54, Y:47.81, Z:30.40 [[ 9.91532623e-01 -1.17257433e-01 -5.58010100e-02 5.40536768e+02] [ 1.17103630e-01 9.93101397e-01 -6.02949351e-03 4.78132332e+01] [ 5.61230640e-02 -5.56061294e-04 9.98423704e-01 3.04045005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.60, Y:47.82, Z:30.41 [[ 9.92169963e-01 -1.11736134e-01 -5.58014447e-02 5.40596385e+02] [ 1.11573826e-01 9.93737880e-01 -6.02546836e-03 4.78203586e+01] [ 5.61252719e-02 -2.47691961e-04 9.98423704e-01 3.04059225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.66, Y:47.83, Z:30.41 [[ 9.93041106e-01 -1.03708959e-01 -5.58015512e-02 5.40657117e+02] [ 1.03534033e-01 9.94607666e-01 -6.02448142e-03 4.78253761e+01] [ 5.61254433e-02 2.05198072e-04 9.98423704e-01 3.04141661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.72, Y:47.83, Z:30.42 [[ 9.92955393e-01 -1.04526311e-01 -5.58017669e-02 5.40717802e+02] [ 1.04352786e-01 9.94522109e-01 -6.02248277e-03 4.78295716e+01] [ 5.61255989e-02 1.56986901e-04 9.98423704e-01 3.04164348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.78, Y:47.83, Z:30.42 [[ 9.92797393e-01 -1.06016508e-01 -5.58017669e-02 5.40778728e+02] [ 1.05845335e-01 9.94364367e-01 -6.02248277e-03 4.78347334e+01] [ 5.61257713e-02 7.27484744e-05 9.98423704e-01 3.04201256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.84, Y:47.84, Z:30.42 [[ 9.91942813e-01 -1.13734754e-01 -5.58019926e-02 5.40839475e+02] [ 1.13575891e-01 9.93511083e-01 -6.02039161e-03 4.78358020e+01] [ 5.61246258e-02 -3.65876838e-04 9.98423704e-01 3.04210871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.90, Y:47.84, Z:30.42 [[ 9.91082033e-01 -1.21006191e-01 -5.58023727e-02 5.40901160e+02] [ 1.20859031e-01 9.92651445e-01 -6.01686564e-03 4.78391592e+01] [ 5.61203839e-02 -7.81013285e-04 9.98423704e-01 3.04244882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.96, Y:47.84, Z:30.43 [[ 9.89663910e-01 -1.32103808e-01 -5.58025851e-02 5.40963811e+02] [ 1.31974355e-01 9.91234882e-01 -6.01489573e-03 4.78417020e+01] [ 5.61080594e-02 -1.41178494e-03 9.98423704e-01 3.04279266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.03, Y:47.85, Z:30.43 [[ 9.88221560e-01 -1.42492706e-01 -5.58030152e-02 5.41025644e+02] [ 1.42379987e-01 9.89793821e-01 -6.01090298e-03 4.78450410e+01] [ 5.60899894e-02 -2.00512867e-03 9.98423704e-01 3.04314385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.09, Y:47.85, Z:30.44 [[ 9.86874536e-01 -1.51540835e-01 -5.58034467e-02 5.41087357e+02] [ 1.51442752e-01 9.88447778e-01 -6.00689423e-03 4.78498203e+01] [ 5.60690826e-02 -2.52297661e-03 9.98423704e-01 3.04351293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.15, Y:47.86, Z:30.44 [[ 9.86097494e-01 -1.56517281e-01 -5.58038766e-02 5.41148424e+02] [ 1.56427361e-01 9.87671224e-01 -6.00289764e-03 4.78555574e+01] [ 5.60554403e-02 -2.80981086e-03 9.98423704e-01 3.04386681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.21, Y:47.86, Z:30.44 [[ 9.85392780e-01 -1.60894137e-01 -5.58045398e-02 5.41210374e+02] [ 1.60811554e-01 9.86966911e-01 -5.99672579e-03 4.78620342e+01] [ 5.60420723e-02 -3.06488449e-03 9.98423704e-01 3.04427715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.27, Y:47.87, Z:30.45 [[ 9.84748952e-01 -1.64788680e-01 -5.58049576e-02 5.41272454e+02] [ 1.64712542e-01 9.86323408e-01 -5.99283539e-03 4.78688920e+01] [ 5.60292874e-02 -3.29033805e-03 9.98423704e-01 3.04452638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.33, Y:47.88, Z:30.45 [[ 9.84577292e-01 -1.65811086e-01 -5.58053724e-02 5.41334142e+02] [ 1.65736801e-01 9.86151837e-01 -5.98897065e-03 4.78761440e+01] [ 5.60256082e-02 -3.35239938e-03 9.98423704e-01 3.04477118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.40, Y:47.88, Z:30.45 [[ 9.84539712e-01 -1.66033940e-01 -5.58057829e-02 5.41396153e+02] [ 1.65960228e-01 9.86114284e-01 -5.98514321e-03 4.78835885e+01] [ 5.60246165e-02 -3.36892925e-03 9.98423704e-01 3.04503067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.46, Y:47.89, Z:30.46 [[ 9.84783169e-01 -1.64583654e-01 -5.58061876e-02 5.41458721e+02] [ 1.64507835e-01 9.86357641e-01 -5.98136666e-03 4.78912072e+01] [ 5.60292948e-02 -3.29020589e-03 9.98423704e-01 3.04552119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.52, Y:47.90, Z:30.46 [[ 9.85913842e-01 -1.57668938e-01 -5.58068329e-02 5.41520366e+02] [ 1.57582412e-01 9.87487761e-01 -5.97534063e-03 4.79016854e+01] [ 5.60506900e-02 -2.90300432e-03 9.98423704e-01 3.04603262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.58, Y:47.91, Z:30.47 [[ 9.87985736e-01 -1.44117082e-01 -5.58072809e-02 5.41581835e+02] [ 1.44009190e-01 9.89558335e-01 -5.97115332e-03 4.79135667e+01] [ 5.60851051e-02 -2.13734703e-03 9.98423704e-01 3.04652211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.64, Y:47.92, Z:30.47 [[ 9.89607437e-01 -1.32524027e-01 -5.58077254e-02 5.41641964e+02] [ 1.32397940e-01 9.91178682e-01 -5.96699619e-03 4.79238026e+01] [ 5.61061981e-02 -1.48384408e-03 9.98423704e-01 3.04694331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.70, Y:47.94, Z:30.47 [[ 9.91924260e-01 -1.13893480e-01 -5.58080526e-02 5.41702857e+02] [ 1.13738044e-01 9.93492873e-01 -5.96393429e-03 4.79356528e+01] [ 5.61241557e-02 -4.31727613e-04 9.98423704e-01 3.04746362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.76, Y:47.95, Z:30.48 [[ 9.93556476e-01 -9.86455408e-02 -5.58084808e-02 5.41763625e+02] [ 9.84662568e-02 9.95122543e-01 -5.95992474e-03 4.79462138e+01] [ 5.61241973e-02 4.26269620e-04 9.98423704e-01 3.04791610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.82, Y:47.95, Z:30.48 [[ 9.94150006e-01 -9.24723877e-02 -5.58088090e-02 5.41823461e+02] [ 9.22835525e-02 9.95714950e-01 -5.95684993e-03 4.79527908e+01] [ 5.61205096e-02 7.71767242e-04 9.98423704e-01 3.04812791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.88, Y:47.96, Z:30.48 [[ 9.94346612e-01 -9.03337819e-02 -5.58088090e-02 5.41883124e+02] [ 9.01415809e-02 9.95911146e-01 -5.95684993e-03 4.79581329e+01] [ 5.61187197e-02 8.92479274e-04 9.98423704e-01 3.04833752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.94, Y:47.96, Z:30.49 [[ 9.94126935e-01 -9.27202157e-02 -5.58085935e-02 5.41941271e+02] [ 9.25316573e-02 9.95691912e-01 -5.95886778e-03 4.79629949e+01] [ 5.61206727e-02 7.59809315e-04 9.98423704e-01 3.04870295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.00, Y:47.97, Z:30.49 [[ 9.93442076e-01 -9.97918304e-02 -5.58071028e-02 5.42000599e+02] [ 9.96136304e-02 9.95008266e-01 -5.97279623e-03 4.79656835e+01] [ 5.61245649e-02 3.74478973e-04 9.98423704e-01 3.04914923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.06, Y:47.97, Z:30.49 [[ 9.92512444e-01 -1.08649157e-01 -5.58068915e-02 5.42059653e+02] [ 1.08484823e-01 9.94080150e-01 -5.97476984e-03 4.79676757e+01] [ 5.61256768e-02 -1.24167332e-04 9.98423704e-01 3.04948407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.12, Y:47.97, Z:30.50 [[ 9.91788605e-01 -1.15069500e-01 -5.58065789e-02 5.42120989e+02] [ 1.14915150e-01 9.93357325e-01 -5.97768811e-03 4.79713479e+01] [ 5.61237235e-02 -4.84418421e-04 9.98423704e-01 3.04986139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.18, Y:47.98, Z:30.50 [[ 9.91409812e-01 -1.18288575e-01 -5.58067899e-02 5.42181961e+02] [ 1.18139429e-01 9.92979036e-01 -5.97571805e-03 4.79761001e+01] [ 5.61218316e-02 -6.68596793e-04 9.98423704e-01 3.05020679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.24, Y:47.98, Z:30.51 [[ 9.90660768e-01 -1.24405870e-01 -5.58070057e-02 5.42243864e+02] [ 1.24266527e-01 9.92230893e-01 -5.97370163e-03 4.79788271e+01] [ 5.61165987e-02 -1.01703093e-03 9.98423704e-01 3.05051843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.31, Y:47.98, Z:30.51 [[ 9.89461225e-01 -1.33611430e-01 -5.58074366e-02 5.42306508e+02] [ 1.33486919e-01 9.91032596e-01 -5.96967391e-03 4.79789913e+01] [ 5.61046054e-02 -1.54280191e-03 9.98423704e-01 3.05074731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.37, Y:47.98, Z:30.51 [[ 9.89279939e-01 -1.34946970e-01 -5.58078644e-02 5.42368486e+02] [ 1.34824806e-01 9.90851494e-01 -5.96567157e-03 4.79836944e+01] [ 5.61023551e-02 -1.62256528e-03 9.98423704e-01 3.05098764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.43, Y:47.99, Z:30.51 [[ 9.89446839e-01 -1.33717558e-01 -5.58083046e-02 5.42429193e+02] [ 1.33593673e-01 9.91018259e-01 -5.96155084e-03 4.79881865e+01] [ 5.61042129e-02 -1.55699877e-03 9.98423704e-01 3.05121114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.49, Y:47.99, Z:30.52 [[ 9.90315155e-01 -1.27127064e-01 -5.58086304e-02 5.42490095e+02] [ 1.26992892e-01 9.91885730e-01 -5.95849908e-03 4.79932071e+01] [ 5.61132706e-02 -1.18650742e-03 9.98423704e-01 3.05150277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.55, Y:48.00, Z:30.52 [[ 9.91550577e-01 -1.17101723e-01 -5.58089502e-02 5.42550872e+02] [ 1.16951837e-01 9.93119731e-01 -5.95550272e-03 4.79999310e+01] [ 5.61223692e-02 -6.21777086e-04 9.98423704e-01 3.05175265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.61, Y:48.01, Z:30.52 [[ 9.92299906e-01 -1.10572304e-01 -5.58091653e-02 5.42610702e+02] [ 1.10412206e-01 9.93868050e-01 -5.95348557e-03 4.80063053e+01] [ 5.61252369e-02 -2.54369880e-04 9.98423704e-01 3.05202913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.67, Y:48.01, Z:30.52 [[ 9.93004420e-01 -1.04055557e-01 -5.58091653e-02 5.42670208e+02] [ 1.03885167e-01 9.94571480e-01 -5.95348558e-03 4.80110044e+01] [ 5.61256974e-02 1.14093023e-04 9.98423704e-01 3.05220842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.73, Y:48.01, Z:30.53 [[ 9.93070502e-01 -1.03423045e-01 -5.58090573e-02 5.42728680e+02] [ 1.03251600e-01 9.94637447e-01 -5.95449836e-03 4.80145681e+01] [ 5.61256106e-02 1.50862200e-04 9.98423704e-01 3.05254072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.79, Y:48.02, Z:30.53 [[ 9.92851013e-01 -1.05510104e-01 -5.58075683e-02 5.42785910e+02] [ 1.05341170e-01 9.94418230e-01 -5.96842065e-03 4.80185274e+01] [ 5.61257920e-02 4.69179270e-05 9.98423704e-01 3.05289796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.84, Y:48.02, Z:30.53 [[ 9.92142955e-01 -1.11973496e-01 -5.58058452e-02 5.42844696e+02] [ 1.11813869e-01 9.93711148e-01 -5.98448893e-03 4.80202991e+01] [ 5.61249946e-02 -3.02398913e-04 9.98423704e-01 3.05320612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.90, Y:48.02, Z:30.54 [[ 9.91435565e-01 -1.18073710e-01 -5.58042986e-02 5.42903886e+02] [ 1.17922921e-01 9.93004632e-01 -5.99887651e-03 4.80230278e+01] [ 5.61222366e-02 -6.33106351e-04 9.98423705e-01 3.05353336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.96, Y:48.02, Z:30.54 [[ 9.90129463e-01 -1.28567878e-01 -5.58027472e-02 5.42962738e+02] [ 1.28432905e-01 9.91699970e-01 -6.01327374e-03 4.80233154e+01] [ 5.61126965e-02 -1.21298941e-03 9.98423705e-01 3.05394259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.02, Y:48.03, Z:30.54 [[ 9.89108107e-01 -1.36202946e-01 -5.58024202e-02 5.43022694e+02] [ 1.36079923e-01 9.90679594e-01 -6.01630624e-03 4.80258138e+01] [ 5.61017577e-02 -1.64281178e-03 9.98423705e-01 3.05432281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.08, Y:48.03, Z:30.55 [[ 9.87432242e-01 -1.47863684e-01 -5.58023122e-02 5.43082054e+02] [ 1.47759154e-01 9.89005068e-01 -6.01730781e-03 4.80265596e+01] [ 5.60785109e-02 -2.30361870e-03 9.98423705e-01 3.05460589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.14, Y:48.03, Z:30.55 [[ 9.86322846e-01 -1.55091448e-01 -5.58022057e-02 5.43143455e+02] [ 1.54998384e-01 9.87896392e-01 -6.01829503e-03 4.80302403e+01] [ 5.60601838e-02 -2.71326983e-03 9.98423705e-01 3.05489360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.20, Y:48.03, Z:30.55 [[ 9.84882699e-01 -1.63988287e-01 -5.58024258e-02 5.43204962e+02] [ 1.63909546e-01 9.86457027e-01 -6.01625345e-03 4.80337064e+01] [ 5.60332902e-02 -3.22124637e-03 9.98423705e-01 3.05524189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.27, Y:48.04, Z:30.56 [[ 9.84388677e-01 -1.66928121e-01 -5.58026455e-02 5.43265487e+02] [ 1.66854196e-01 9.85963238e-01 -6.01421580e-03 4.80403075e+01] [ 5.60232987e-02 -3.39057960e-03 9.98423705e-01 3.05563555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.33, Y:48.05, Z:30.56 [[ 9.84551713e-01 -1.65963744e-01 -5.58028654e-02 5.43326589e+02] [ 1.65888392e-01 9.86126206e-01 -6.01217442e-03 4.80483423e+01] [ 5.60264709e-02 -3.33775099e-03 9.98423705e-01 3.05598746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.39, Y:48.06, Z:30.56 [[ 9.85244182e-01 -1.61802020e-01 -5.58033032e-02 5.43387340e+02] [ 1.61720245e-01 9.86818355e-01 -6.00810782e-03 4.80563144e+01] [ 5.60398479e-02 -3.10507061e-03 9.98423705e-01 3.05617554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.45, Y:48.06, Z:30.57 [[ 9.85898378e-01 -1.57766773e-01 -5.58035211e-02 5.43449278e+02] [ 1.57678668e-01 9.87472210e-01 -6.00608315e-03 4.80647108e+01] [ 5.60519867e-02 -2.87763725e-03 9.98423705e-01 3.05658309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.51, Y:48.08, Z:30.57 [[ 9.87256012e-01 -1.49035177e-01 -5.58039672e-02 5.43509032e+02] [ 1.48933381e-01 9.88829017e-01 -6.00193581e-03 4.80764385e+01] [ 5.60750816e-02 -2.38562629e-03 9.98423705e-01 3.05703488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.57, Y:48.09, Z:30.58 [[ 9.88762649e-01 -1.38687633e-01 -5.58047014e-02 5.43568799e+02] [ 1.38569754e-01 9.90334530e-01 -5.99510195e-03 4.80885086e+01] [ 5.60967692e-02 -1.80511084e-03 9.98423705e-01 3.05757641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.63, Y:48.10, Z:30.58 [[ 9.89759206e-01 -1.31386933e-01 -5.58049178e-02 5.43629259e+02] [ 1.31257571e-01 9.91330184e-01 -5.99308667e-03 4.80985854e+01] [ 5.61085127e-02 -1.39310526e-03 9.98423705e-01 3.05803929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.69, Y:48.11, Z:30.58 [[ 9.91043180e-01 -1.21322720e-01 -5.58051391e-02 5.43689187e+02] [ 1.21177516e-01 9.92612773e-01 -5.99102486e-03 4.81100065e+01] [ 5.61197413e-02 -8.24963840e-04 9.98423705e-01 3.05842917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.75, Y:48.12, Z:30.59 [[ 9.91707146e-01 -1.15770025e-01 -5.58053597e-02 5.43749285e+02] [ 1.15616148e-01 9.93275913e-01 -5.98896993e-03 4.81194035e+01] [ 5.61234628e-02 -5.12696469e-04 9.98423705e-01 3.05879960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.81, Y:48.13, Z:30.59 [[ 9.92427265e-01 -1.09425250e-01 -5.58053597e-02 5.43808222e+02] [ 1.09261343e-01 9.93995016e-01 -5.98896993e-03 4.81270203e+01] [ 5.61255939e-02 -1.53751514e-04 9.98423705e-01 3.05853404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.87, Y:48.14, Z:30.59 [[ 9.92807936e-01 -1.05915959e-01 -5.58051181e-02 5.43865366e+02] [ 1.05746385e-01 9.94375084e-01 -5.99122042e-03 4.81356573e+01] [ 5.61257848e-02 4.69417068e-05 9.98423705e-01 3.05944140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.92, Y:48.14, Z:30.60 [[ 9.92899913e-01 -1.05050730e-01 -5.58041891e-02 5.43924776e+02] [ 1.04879304e-01 9.94466859e-01 -5.99986084e-03 4.81426191e+01] [ 5.61257064e-02 1.04556790e-04 9.98423705e-01 3.05992166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.98, Y:48.15, Z:30.60 [[ 9.92584426e-01 -1.07991080e-01 -5.58039688e-02 5.43982831e+02] [ 1.07824181e-01 9.94151861e-01 -6.00190872e-03 4.81477439e+01] [ 5.61257721e-02 -5.96161157e-05 9.98423705e-01 3.06030042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.04, Y:48.15, Z:30.61 [[ 9.91728764e-01 -1.15586107e-01 -5.58024173e-02 5.44041509e+02] [ 1.15430402e-01 9.93297350e-01 -6.01629917e-03 4.81508972e+01] [ 5.61237939e-02 -4.74758526e-04 9.98423705e-01 3.06053001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.10, Y:48.16, Z:30.61 [[ 9.91324409e-01 -1.19004381e-01 -5.58020904e-02 5.44101850e+02] [ 1.18853914e-01 9.92893506e-01 -6.01933004e-03 4.81562383e+01] [ 5.61218598e-02 -6.65188071e-04 9.98423705e-01 3.06085534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.16, Y:48.16, Z:30.61 [[ 9.89915745e-01 -1.30203470e-01 -5.58020904e-02 5.44161928e+02] [ 1.30070751e-01 9.91486443e-01 -6.01933004e-03 4.81599226e+01] [ 5.61107538e-02 -1.29959021e-03 9.98423705e-01 3.06118433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.22, Y:48.16, Z:30.61 [[ 9.88936559e-01 -1.37443110e-01 -5.58020904e-02 5.44222960e+02] [ 1.37321887e-01 9.90508186e-01 -6.01933004e-03 4.81639040e+01] [ 5.60997428e-02 -1.71011280e-03 9.98423705e-01 3.06145601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.28, Y:48.17, Z:30.62 [[ 9.87746438e-01 -1.45750046e-01 -5.58023133e-02 5.44283265e+02] [ 1.45642153e-01 9.89319036e-01 -6.01726272e-03 4.81673910e+01] [ 5.60833072e-02 -2.18363924e-03 9.98423705e-01 3.06165800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.34, Y:48.17, Z:30.62 [[ 9.87087480e-01 -1.50147913e-01 -5.58024231e-02 5.44343769e+02] [ 1.50047083e-01 9.88660547e-01 -6.01624416e-03 4.81735749e+01] [ 5.60729807e-02 -2.43443152e-03 9.98423705e-01 3.06199368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.40, Y:48.18, Z:30.62 [[ 9.86913392e-01 -1.51287879e-01 -5.58026398e-02 5.44404533e+02] [ 1.51188979e-01 9.88486581e-01 -6.01423344e-03 4.81804321e+01] [ 5.60700413e-02 -2.50121663e-03 9.98423705e-01 3.06225424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.47, Y:48.19, Z:30.63 [[ 9.86782668e-01 -1.52137936e-01 -5.58033622e-02 5.44466330e+02] [ 1.52040770e-01 9.88355965e-01 -6.00752365e-03 4.81880447e+01] [ 5.60675581e-02 -2.55626594e-03 9.98423705e-01 3.06251638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.53, Y:48.20, Z:30.63 [[ 9.86595770e-01 -1.53345111e-01 -5.58037947e-02 5.44527289e+02] [ 1.53250096e-01 9.88169199e-01 -6.00350342e-03 4.81955383e+01] [ 5.60641990e-02 -2.62890584e-03 9.98423705e-01 3.06280889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.59, Y:48.20, Z:30.63 [[ 9.85926183e-01 -1.57592708e-01 -5.58041142e-02 5.44589258e+02] [ 1.57504639e-01 9.87500016e-01 -6.00053167e-03 4.82043143e+01] [ 5.60522038e-02 -2.87332556e-03 9.98423705e-01 3.06305384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.65, Y:48.21, Z:30.63 [[ 9.85376296e-01 -1.60995057e-01 -5.58045404e-02 5.44650413e+02] [ 1.60912645e-01 9.86950435e-01 -5.99656587e-03 4.82113753e+01] [ 5.60417329e-02 -3.07078231e-03 9.98423705e-01 3.06324927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.71, Y:48.22, Z:30.64 [[ 9.84675598e-01 -1.65226465e-01 -5.58048556e-02 5.44712009e+02] [ 1.65150981e-01 9.86250085e-01 -5.99363137e-03 4.82202375e+01] [ 5.60278501e-02 -3.31444411e-03 9.98423705e-01 3.06362442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.77, Y:48.23, Z:30.64 [[ 9.84720369e-01 -1.64959281e-01 -5.58052980e-02 5.44773121e+02] [ 1.64883603e-01 9.86294846e-01 -5.98950909e-03 4.82294185e+01] [ 5.60285029e-02 -3.30338701e-03 9.98423705e-01 3.06402717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.83, Y:48.24, Z:30.65 [[ 9.85733966e-01 -1.58790013e-01 -5.58057401e-02 5.44834223e+02] [ 1.58704710e-01 9.87307951e-01 -5.98538678e-03 4.82416251e+01] [ 5.60478706e-02 -2.95663476e-03 9.98423705e-01 3.06462130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.90, Y:48.25, Z:30.65 [[ 9.87485335e-01 -1.47507235e-01 -5.58061764e-02 5.44895004e+02] [ 1.47404168e-01 9.89058257e-01 -5.98131649e-03 4.82546885e+01] [ 5.60778470e-02 -2.31960069e-03 9.98423705e-01 3.06528086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.96, Y:48.27, Z:30.66 [[ 9.88664305e-01 -1.39386200e-01 -5.58066242e-02 5.44955433e+02] [ 1.39270445e-01 9.90236344e-01 -5.97713569e-03 4.82652523e+01] [ 5.60948777e-02 -1.86283267e-03 9.98423705e-01 3.06569521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.02, Y:48.28, Z:30.66 [[ 9.90188371e-01 -1.28111567e-01 -5.58069539e-02 5.45016145e+02] [ 1.27978080e-01 9.91759004e-01 -5.97405535e-03 4.82768957e+01] [ 5.61123946e-02 -1.22662667e-03 9.98423705e-01 3.06605531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.08, Y:48.29, Z:30.66 [[ 9.91002941e-01 -1.21649936e-01 -5.58073924e-02 5.45076882e+02] [ 1.21506437e-01 9.92572690e-01 -5.96995647e-03 4.82862307e+01] [ 5.61191384e-02 -8.64712988e-04 9.98423705e-01 3.06625715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.14, Y:48.30, Z:30.67 [[ 9.92013636e-01 -1.13112344e-01 -5.58080889e-02 5.45137902e+02] [ 1.12955701e-01 9.93582129e-01 -5.96343867e-03 4.82961942e+01] [ 5.61244583e-02 -3.88029328e-04 9.98423705e-01 3.06671340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.20, Y:48.30, Z:30.67 [[ 9.92635430e-01 -1.07518949e-01 -5.58084163e-02 5.45198510e+02] [ 1.07353640e-01 9.94203033e-01 -5.96037254e-03 4.83042431e+01] [ 5.61257498e-02 -7.47596539e-05 9.98423705e-01 3.06708818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.26, Y:48.31, Z:30.67 [[ 9.93176942e-01 -1.02396083e-01 -5.58086352e-02 5.45258069e+02] [ 1.02222803e-01 9.94743684e-01 -5.95832237e-03 4.83117068e+01] [ 5.61253963e-02 2.12753277e-04 9.98423705e-01 3.06742729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.32, Y:48.32, Z:30.68 [[ 9.93752487e-01 -9.66508058e-02 -5.58087427e-02 5.45316891e+02] [ 9.64685248e-02 9.95318207e-01 -5.95731535e-03 4.83186531e+01] [ 5.61232371e-02 5.36309861e-04 9.98423705e-01 3.06786061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.38, Y:48.32, Z:30.68 [[ 9.93896247e-01 -9.51611628e-02 -5.58086372e-02 5.45376168e+02] [ 9.49764797e-02 9.95461685e-01 -5.95830402e-03 4.83233123e+01] [ 5.61223591e-02 6.21428105e-04 9.98423705e-01 3.06838904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.43, Y:48.33, Z:30.69 [[ 9.93783510e-01 -9.63314820e-02 -5.58084218e-02 5.45434889e+02] [ 9.61485292e-02 9.95349152e-01 -5.96032015e-03 4.83269748e+01] [ 5.61230318e-02 5.57370201e-04 9.98423705e-01 3.06870134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.49, Y:48.33, Z:30.69 [[ 9.93326092e-01 -1.00939246e-01 -5.58081038e-02 5.45494588e+02] [ 1.00763389e-01 9.94892546e-01 -5.96329664e-03 4.83285317e+01] [ 5.61249971e-02 3.00084493e-04 9.98423705e-01 3.06904827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.55, Y:48.33, Z:30.69 [[ 9.92805738e-01 -1.05935101e-01 -5.58078888e-02 5.45553157e+02] [ 1.05767013e-01 9.94373046e-01 -5.96530827e-03 4.83303120e+01] [ 5.61257959e-02 1.97585674e-05 9.98423705e-01 3.06924521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4850998929999 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:545.61, Y:48.33, Z:30.69 [[ 9.91924547e-01 -1.13891791e-01 -5.58063975e-02 5.45612712e+02] [ 1.13735492e-01 9.93493073e-01 -5.97922714e-03 4.83306675e+01] [ 5.61242542e-02 -4.16225899e-04 9.98423705e-01 3.06905805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.67, Y:48.33, Z:30.70 [[ 9.91143628e-01 -1.20499504e-01 -5.58048181e-02 5.45671443e+02] [ 1.20352833e-01 9.92713085e-01 -5.99393132e-03 4.83311906e+01] [ 5.61204389e-02 -7.75421145e-04 9.98423705e-01 3.06969267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.73, Y:48.33, Z:30.70 [[ 9.90757928e-01 -1.23631472e-01 -5.58031041e-02 5.45731458e+02] [ 1.23488866e-01 9.92327759e-01 -6.00984623e-03 4.83344865e+01] [ 5.61179754e-02 -9.36759248e-04 9.98423705e-01 3.07001558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.79, Y:48.34, Z:30.70 [[ 9.90362058e-01 -1.26763589e-01 -5.58031041e-02 5.45792540e+02] [ 1.26625948e-01 9.91932332e-01 -6.00984623e-03 4.83379898e+01] [ 5.61147329e-02 -1.11419730e-03 9.98423705e-01 3.07037145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.85, Y:48.34, Z:30.71 [[ 9.89534924e-01 -1.33066239e-01 -5.58033241e-02 5.45852878e+02] [ 1.32938713e-01 9.91106051e-01 -6.00780287e-03 4.83406411e+01] [ 5.61064480e-02 -1.47349137e-03 9.98423705e-01 3.07058599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.91, Y:48.34, Z:30.71 [[ 9.88535569e-01 -1.40297565e-01 -5.58034324e-02 5.45913993e+02] [ 1.40181586e-01 9.90107591e-01 -6.00679679e-03 4.83432815e+01] [ 5.60941410e-02 -1.88468140e-03 9.98423705e-01 3.07082780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.98, Y:48.35, Z:30.71 [[ 9.88224467e-01 -1.42472296e-01 -5.58036543e-02 5.45975305e+02] [ 1.42359893e-01 9.89796749e-01 -6.00473525e-03 4.83485749e+01] [ 5.60897840e-02 -2.01017596e-03 9.98423705e-01 3.07109147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.04, Y:48.35, Z:30.71 [[ 9.87656545e-01 -1.46357359e-01 -5.58038729e-02 5.46036628e+02] [ 1.46251254e-01 9.89229265e-01 -6.00270234e-03 4.83531826e+01] [ 5.60813638e-02 -2.23277816e-03 9.98423705e-01 3.07135973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.10, Y:48.36, Z:30.72 [[ 9.87316580e-01 -1.48633358e-01 -5.58040905e-02 5.46098231e+02] [ 1.48530993e-01 9.88889547e-01 -6.00067873e-03 4.83591819e+01] [ 5.60759828e-02 -2.36406737e-03 9.98423705e-01 3.07171650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.16, Y:48.37, Z:30.72 [[ 9.87281966e-01 -1.48862937e-01 -5.58045278e-02 5.46159448e+02] [ 1.48761167e-01 9.88854972e-01 -5.99660985e-03 4.83654359e+01] [ 5.60752577e-02 -2.38120191e-03 9.98423705e-01 3.07210984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.22, Y:48.37, Z:30.73 [[ 9.87754474e-01 -1.45694645e-01 -5.58047459e-02 5.46221185e+02] [ 1.45587943e-01 9.89327153e-01 -5.99457886e-03 4.83724505e+01] [ 5.60825285e-02 -2.20332610e-03 9.98423705e-01 3.07250649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.28, Y:48.38, Z:30.73 [[ 9.88241493e-01 -1.42353550e-01 -5.58051901e-02 5.46281601e+02] [ 1.42241764e-01 9.89813818e-01 -5.99044089e-03 4.83800840e+01] [ 5.60895089e-02 -2.01782644e-03 9.98423705e-01 3.07271315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.34, Y:48.39, Z:30.73 [[ 9.88950824e-01 -1.37339037e-01 -5.58055183e-02 5.46342575e+02] [ 1.37219450e-01 9.90522576e-01 -5.98738209e-03 4.83886952e+01] [ 5.60989270e-02 -1.73637607e-03 9.98423705e-01 3.07313743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.40, Y:48.40, Z:30.73 [[ 9.89371440e-01 -1.34275361e-01 -5.58057367e-02 5.46402954e+02] [ 1.34151021e-01 9.90942823e-01 -5.98534541e-03 4.83959286e+01] [ 5.61039787e-02 -1.56466673e-03 9.98423705e-01 3.07345515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.46, Y:48.40, Z:30.74 [[ 9.89839867e-01 -1.30777416e-01 -5.58059550e-02 5.46462555e+02] [ 1.30647637e-01 9.91410810e-01 -5.98330960e-03 4.84038965e+01] [ 5.61091089e-02 -1.36839778e-03 9.98423705e-01 3.07388366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.52, Y:48.41, Z:30.74 [[ 9.89970730e-01 -1.29783042e-01 -5.58060623e-02 5.46521984e+02] [ 1.29651741e-01 9.91541546e-01 -5.98230856e-03 4.84112936e+01] [ 5.61104315e-02 -1.31304276e-03 9.98423705e-01 3.07427242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.58, Y:48.42, Z:30.75 [[ 9.89799064e-01 -1.31085687e-01 -5.58064044e-02 5.46581516e+02] [ 1.30956633e-01 9.91370067e-01 -5.97911625e-03 4.84180720e+01] [ 5.61085754e-02 -1.39009515e-03 9.98423705e-01 3.07469100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.64, Y:48.42, Z:30.75 [[ 9.88998342e-01 -1.36996077e-01 -5.58064044e-02 5.46642803e+02] [ 1.36876410e-01 9.90570088e-01 -5.97911625e-03 4.84238613e+01] [ 5.60992703e-02 -1.72524425e-03 9.98423705e-01 3.07497373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.70, Y:48.43, Z:30.75 [[ 9.88176076e-01 -1.42806386e-01 -5.58066259e-02 5.46703810e+02] [ 1.42696075e-01 9.89748506e-01 -5.97704787e-03 4.84301446e+01] [ 5.60880852e-02 -2.05701079e-03 9.98423705e-01 3.07528352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.77, Y:48.44, Z:30.76 [[ 9.86732691e-01 -1.52460423e-01 -5.58069541e-02 5.46765598e+02] [ 1.52365664e-01 9.88306135e-01 -5.97398175e-03 4.84364927e+01] [ 5.60651509e-02 -2.60834052e-03 9.98423705e-01 3.07565461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.83, Y:48.44, Z:30.76 [[ 9.85961713e-01 -1.57369108e-01 -5.58073865e-02 5.46826768e+02] [ 1.57282409e-01 9.87535622e-01 -5.96993949e-03 4.84434238e+01] [ 5.60512662e-02 -2.89138841e-03 9.98423705e-01 3.07607659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.89, Y:48.45, Z:30.77 [[ 9.85438608e-01 -1.60612076e-01 -5.58078128e-02 5.46888552e+02] [ 1.60530780e-01 9.87012804e-01 -5.96595227e-03 4.84514938e+01] [ 5.60412298e-02 -3.07979203e-03 9.98423705e-01 3.07658646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.95, Y:48.46, Z:30.77 [[ 9.85458915e-01 -1.60487278e-01 -5.58082486e-02 5.46949021e+02] [ 1.60406014e-01 9.87033113e-01 -5.96187222e-03 4.84601247e+01] [ 5.60413940e-02 -3.07679856e-03 9.98423705e-01 3.07691715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.01, Y:48.47, Z:30.77 [[ 9.85798758e-01 -1.58386131e-01 -5.58089733e-02 5.47010484e+02] [ 1.58301894e-01 9.87372801e-01 -5.95508039e-03 4.84699420e+01] [ 5.60474645e-02 -2.96415533e-03 9.98423705e-01 3.07728032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.07, Y:48.48, Z:30.78 [[ 9.86023188e-01 -1.56982752e-01 -5.58093963e-02 5.47071758e+02] [ 1.56896499e-01 9.87597121e-01 -5.95111424e-03 4.84788446e+01] [ 5.60514214e-02 -2.88836224e-03 9.98423705e-01 3.07766592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.13, Y:48.49, Z:30.78 [[ 9.86770400e-01 -1.52215114e-01 -5.58098351e-02 5.47133883e+02] [ 1.52121487e-01 9.88343911e-01 -5.94699565e-03 4.84881867e+01] [ 5.60645334e-02 -2.62155584e-03 9.98423705e-01 3.07764030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.20, Y:48.50, Z:30.78 [[ 9.86876731e-01 -1.51524026e-01 -5.58102803e-02 5.47195035e+02] [ 1.51429533e-01 9.88450191e-01 -5.94281457e-03 4.85008495e+01] [ 5.60661614e-02 -2.58649927e-03 9.98423705e-01 3.07841371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.26, Y:48.51, Z:30.79 [[ 9.87831851e-01 -1.45166794e-01 -5.58107192e-02 5.47255194e+02] [ 1.45062405e-01 9.89404685e-01 -5.93869011e-03 4.85131547e+01] [ 5.60814877e-02 -2.22960990e-03 9.98423705e-01 3.07866444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.32, Y:48.53, Z:30.79 [[ 9.89189570e-01 -1.35606343e-01 -5.58114113e-02 5.47315429e+02] [ 1.35487114e-01 9.90761349e-01 -5.93217902e-03 4.85259174e+01] [ 5.61002303e-02 -1.69367743e-03 9.98423705e-01 3.07894248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.38, Y:48.54, Z:30.79 [[ 9.90319564e-01 -1.27091181e-01 -5.58121282e-02 5.47376253e+02] [ 1.26958814e-01 9.91890291e-01 -5.92542610e-03 4.85370588e+01] [ 5.61125775e-02 -1.21777625e-03 9.98423705e-01 3.07940339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.44, Y:48.55, Z:30.80 [[ 9.92033927e-01 -1.12932044e-01 -5.58125529e-02 5.47437628e+02] [ 1.12777479e-01 9.93602625e-01 -5.92142342e-03 4.85496755e+01] [ 5.61242175e-02 -4.20146110e-04 9.98423705e-01 3.07994244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.50, Y:48.56, Z:30.80 [[ 9.92908016e-01 -1.04969437e-01 -5.58129893e-02 5.47499398e+02] [ 1.04802523e-01 9.94475448e-01 -5.91730683e-03 4.85596410e+01] [ 5.61257839e-02 2.59992840e-05 9.98423706e-01 3.08042160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.56, Y:48.57, Z:30.81 [[ 9.93509801e-01 -9.91117376e-02 -5.58134225e-02 5.47559184e+02] [ 9.89358121e-02 9.95076248e-01 -5.91321850e-03 4.85676321e+01] [ 5.61246804e-02 3.52894263e-04 9.98423706e-01 3.08073114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.62, Y:48.57, Z:30.81 [[ 9.93453762e-01 -9.96718253e-02 -5.58135285e-02 5.47620043e+02] [ 9.94968392e-02 9.95020314e-01 -5.91221733e-03 4.85738620e+01] [ 5.61248762e-02 3.20244879e-04 9.98423706e-01 3.08108153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.68, Y:48.58, Z:30.81 [[ 9.93099990e-01 -1.03136981e-01 -5.58137428e-02 5.47681163e+02] [ 1.02967575e-01 9.94667154e-01 -5.91019337e-03 4.85799883e+01] [ 5.61256563e-02 1.22407216e-04 9.98423706e-01 3.08141905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.74, Y:48.58, Z:30.82 [[ 9.92154923e-01 -1.11863359e-01 -5.58139565e-02 5.47741269e+02] [ 1.11707850e-01 9.93723528e-01 -5.90817498e-03 4.85840580e+01] [ 5.61245501e-02 -3.73032163e-04 9.98423706e-01 3.08168044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.80, Y:48.59, Z:30.82 [[ 9.90780167e-01 -1.23448170e-01 -5.58140616e-02 5.47802822e+02] [ 1.23311055e-01 9.92350487e-01 -5.90718154e-03 4.85864922e+01] [ 5.61163420e-02 -1.02977253e-03 9.98423706e-01 3.08208209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.86, Y:48.59, Z:30.82 [[ 9.89834419e-01 -1.30815102e-01 -5.58142707e-02 5.47863652e+02] [ 1.30689784e-01 9.91405724e-01 -5.90520570e-03 4.85897356e+01] [ 5.61070775e-02 -1.44917915e-03 9.98423706e-01 3.08245758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.93, Y:48.59, Z:30.83 [[ 9.89030258e-01 -1.36762132e-01 -5.58145815e-02 5.47925959e+02] [ 1.36646426e-01 9.90602300e-01 -5.90226645e-03 4.85940503e+01] [ 5.60972594e-02 -1.78934296e-03 9.98423706e-01 3.08297290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.99, Y:48.60, Z:30.83 [[ 9.88356679e-01 -1.41547731e-01 -5.58150099e-02 5.47987789e+02] [ 1.41439864e-01 9.89929278e-01 -5.89821243e-03 4.85985150e+01] [ 5.60877911e-02 -2.06492975e-03 9.98423706e-01 3.08335174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.05, Y:48.60, Z:30.84 [[ 9.87313458e-01 -1.48649828e-01 -5.58154410e-02 5.48049383e+02] [ 1.48553500e-01 9.88886807e-01 -5.89413011e-03 4.86015549e+01] [ 5.60713147e-02 -2.47222515e-03 9.98423706e-01 3.08363345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.11, Y:48.61, Z:30.84 [[ 9.86510840e-01 -1.53886205e-01 -5.58157599e-02 5.48111370e+02] [ 1.53798397e-01 9.88084687e-01 -5.89110865e-03 4.86057100e+01] [ 5.60572580e-02 -2.77273188e-03 9.98423706e-01 3.08393982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.17, Y:48.61, Z:30.84 [[ 9.85393912e-01 -1.60883158e-01 -5.58161891e-02 5.48173769e+02] [ 1.60806751e-01 9.86968354e-01 -5.88703937e-03 4.86106945e+01] [ 5.60359378e-02 -3.17456729e-03 9.98423706e-01 3.08416823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.24, Y:48.62, Z:30.84 [[ 9.85004291e-01 -1.63251498e-01 -5.58166146e-02 5.48235741e+02] [ 1.63179104e-01 9.86578922e-01 -5.88300201e-03 4.86167502e+01] [ 5.60279044e-02 -3.31332295e-03 9.98423706e-01 3.08433777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.30, Y:48.62, Z:30.85 [[ 9.85053871e-01 -1.62951927e-01 -5.58170334e-02 5.48297614e+02] [ 1.62879279e-01 9.86628490e-01 -5.87902620e-03 4.86244926e+01] [ 5.60286740e-02 -3.30028064e-03 9.98423706e-01 3.08453427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.36, Y:48.63, Z:30.85 [[ 9.85542975e-01 -1.59967052e-01 -5.58174468e-02 5.48359688e+02] [ 1.59889856e-01 9.87117378e-01 -5.87509837e-03 4.86325455e+01] [ 5.60381939e-02 -3.13448159e-03 9.98423706e-01 3.08489107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.42, Y:48.64, Z:30.85 [[ 9.86825209e-01 -1.51856340e-01 -5.58180788e-02 5.48422096e+02] [ 1.51766537e-01 9.88398944e-01 -5.86908763e-03 4.86437062e+01] [ 5.60617883e-02 -2.67955291e-03 9.98423706e-01 3.08527282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.48, Y:48.66, Z:30.86 [[ 9.88531111e-01 -1.40322888e-01 -5.58187192e-02 5.48482889e+02] [ 1.40215059e-01 9.90103713e-01 -5.86299082e-03 4.86558950e+01] [ 5.60890330e-02 -2.03087616e-03 9.98423706e-01 3.08577065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.54, Y:48.67, Z:30.86 [[ 9.89706066e-01 -1.31780598e-01 -5.58191442e-02 5.48544221e+02] [ 1.31659420e-01 9.91277696e-01 -5.85894167e-03 4.86655999e+01] [ 5.61043675e-02 -1.55048606e-03 9.98423706e-01 3.08617075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.61, Y:48.68, Z:30.87 [[ 9.91406225e-01 -1.18312607e-01 -5.58195605e-02 5.48605799e+02] [ 1.18170295e-01 9.92976083e-01 -5.85497314e-03 4.86769902e+01] [ 5.61202057e-02 -7.91557130e-04 9.98423706e-01 3.08666548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.67, Y:48.69, Z:30.87 [[ 9.92379254e-01 -1.09852371e-01 -5.58200007e-02 5.48665986e+02] [ 1.09696911e-01 9.93947864e-01 -5.85077334e-03 4.86872232e+01] [ 5.61248918e-02 -3.17095591e-04 9.98423706e-01 3.08702566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.73, Y:48.70, Z:30.87 [[ 9.93341989e-01 -1.00775701e-01 -5.58206972e-02 5.48727090e+02] [ 1.00606282e-01 9.94909153e-01 -5.84412081e-03 4.86966994e+01] [ 5.61254679e-02 1.89297774e-04 9.98423706e-01 3.08732737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.79, Y:48.70, Z:30.88 [[ 9.93649006e-01 -9.77018709e-02 -5.58211243e-02 5.48788403e+02] [ 9.75278335e-02 9.95215663e-01 -5.84003808e-03 4.87034793e+01] [ 5.61246399e-02 3.58834711e-04 9.98423706e-01 3.08760197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.85, Y:48.71, Z:30.88 [[ 9.93813980e-01 -9.60091286e-02 -5.58213345e-02 5.48849676e+02] [ 9.58325356e-02 9.95380351e-01 -5.83802859e-03 4.87097427e+01] [ 5.61239635e-02 4.52414404e-04 9.98423706e-01 3.08787117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.91, Y:48.72, Z:30.88 [[ 9.93776605e-01 -9.63950906e-02 -5.58215501e-02 5.48910363e+02] [ 9.62192217e-02 9.95343058e-01 -5.83596639e-03 4.87152654e+01] [ 5.61241509e-02 4.28540760e-04 9.98423706e-01 3.08819039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.97, Y:48.72, Z:30.88 [[ 9.93672514e-01 -9.74621228e-02 -5.58217663e-02 5.48970797e+02] [ 9.72880523e-02 9.95239168e-01 -5.83389745e-03 4.87197089e+01] [ 5.61245923e-02 3.66192622e-04 9.98423706e-01 3.08849581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.03, Y:48.72, Z:30.89 [[ 9.93564691e-01 -9.85551831e-02 -5.58218726e-02 5.49031269e+02] [ 9.83828933e-02 9.95131541e-01 -5.83287995e-03 4.87237291e+01] [ 5.61249667e-02 3.03426229e-04 9.98423706e-01 3.08890084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.09, Y:48.73, Z:30.89 [[ 9.93276381e-01 -1.01419667e-01 -5.58218726e-02 5.49092004e+02] [ 1.01251896e-01 9.94843722e-01 -5.83287995e-03 4.87253578e+01] [ 5.61256083e-02 1.41591457e-04 9.98423706e-01 3.08932498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.15, Y:48.73, Z:30.90 [[ 9.92953578e-01 -1.04532640e-01 -5.58222150e-02 5.49152362e+02] [ 1.04369967e-01 9.94521456e-01 -5.82960151e-03 4.87253795e+01] [ 5.61257742e-02 -3.76390723e-05 9.98423706e-01 3.08961527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.21, Y:48.73, Z:30.90 [[ 9.92574979e-01 -1.08068460e-01 -5.58222150e-02 5.49212747e+02] [ 1.07911372e-01 9.94143426e-01 -5.82960151e-03 4.87302318e+01] [ 5.61252841e-02 -2.37535202e-04 9.98423706e-01 3.09041183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.27, Y:48.73, Z:30.90 [[ 9.92894859e-01 -1.05088797e-01 -5.58224274e-02 5.49272804e+02] [ 1.04927116e-01 9.94462840e-01 -5.82756684e-03 4.87276694e+01] [ 5.61257417e-02 -7.11251616e-05 9.98423706e-01 3.08999194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.33, Y:48.73, Z:30.90 [[ 9.93092291e-01 -1.03206447e-01 -5.58223229e-02 5.49333340e+02] [ 1.03041739e-01 9.94659956e-01 -5.82856793e-03 4.87306355e+01] [ 5.61257750e-02 3.62766719e-05 9.98423706e-01 3.09026584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.39, Y:48.73, Z:30.91 [[ 9.93531448e-01 -9.88894823e-02 -5.58223229e-02 5.49393446e+02] [ 9.87179620e-02 9.95098383e-01 -5.82856793e-03 4.87321696e+01] [ 5.61250873e-02 2.80199588e-04 9.98423706e-01 3.09060075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.45, Y:48.73, Z:30.91 [[ 9.93865875e-01 -9.54699627e-02 -5.58221085e-02 5.49451107e+02] [ 9.52929360e-02 9.95432198e-01 -5.83062024e-03 4.87347799e+01] [ 5.61237733e-02 4.75401871e-04 9.98423706e-01 3.09088893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.51, Y:48.74, Z:30.91 [[ 9.94187556e-01 -9.20600589e-02 -5.58215816e-02 5.49508928e+02] [ 9.18773772e-02 9.95753229e-01 -5.83566022e-03 4.87352525e+01] [ 5.61217514e-02 6.73000262e-04 9.98423706e-01 3.09123077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.57, Y:48.73, Z:30.91 [[ 9.94289831e-01 -9.09498529e-02 -5.58198555e-02 5.49565732e+02] [ 9.07644988e-02 9.95855189e-01 -5.85212503e-03 4.87346588e+01] [ 5.61207427e-02 7.52247203e-04 9.98423706e-01 3.09147714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.62, Y:48.74, Z:30.92 [[ 9.94102049e-01 -9.29803360e-02 -5.58191142e-02 5.49623755e+02] [ 9.27977829e-02 9.95667736e-01 -5.85918699e-03 4.87361352e+01] [ 5.61220803e-02 6.44739747e-04 9.98423706e-01 3.09182628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.68, Y:48.73, Z:30.92 [[ 9.93464594e-01 -9.95616351e-02 -5.58173908e-02 5.49680939e+02] [ 9.93885347e-02 9.95031355e-01 -5.87555898e-03 4.87347835e+01] [ 5.61250343e-02 2.89551132e-04 9.98423706e-01 3.09219998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.74, Y:48.73, Z:30.92 [[ 9.92512570e-01 -1.08642991e-01 -5.58166497e-02 5.49740721e+02] [ 1.08483831e-01 9.94080808e-01 -5.88259153e-03 4.87324546e+01] [ 5.61253626e-02 -2.16657928e-04 9.98423706e-01 3.09233211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.80, Y:48.73, Z:30.93 [[ 9.91655451e-01 -1.16206963e-01 -5.58158418e-02 5.49798283e+02] [ 1.16059334e-01 9.93224816e-01 -5.89024701e-03 4.87334486e+01] [ 5.61221669e-02 -6.36853841e-04 9.98423706e-01 3.09281761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.86, Y:48.74, Z:30.93 [[ 9.91236842e-01 -1.19725548e-01 -5.58150094e-02 5.49856364e+02] [ 1.19583046e-01 9.92806682e-01 -5.89812425e-03 4.87372124e+01] [ 5.61196704e-02 -8.28090759e-04 9.98423706e-01 3.09320370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.91, Y:48.74, Z:30.94 [[ 9.90151212e-01 -1.28395706e-01 -5.58132706e-02 5.49914051e+02] [ 1.28266022e-01 9.91722162e-01 -5.91453251e-03 4.87368816e+01] [ 5.61106579e-02 -1.30266468e-03 9.98423706e-01 3.09357087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.97, Y:48.74, Z:30.94 [[ 9.89168418e-01 -1.35760009e-01 -5.58127366e-02 5.49971109e+02] [ 1.35641735e-01 9.90740268e-01 -5.91956691e-03 4.87361715e+01] [ 5.60995661e-02 -1.71508780e-03 9.98423706e-01 3.09387549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.03, Y:48.74, Z:30.94 [[ 9.88506392e-01 -1.40499583e-01 -5.58119991e-02 5.50029348e+02] [ 1.40388453e-01 9.90078764e-01 -5.92651304e-03 4.87392130e+01] [ 5.60909477e-02 -1.97696418e-03 9.98423706e-01 3.09428952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.09, Y:48.74, Z:30.95 [[ 9.87544008e-01 -1.47112340e-01 -5.58103214e-02 5.50086994e+02] [ 1.47010847e-01 9.89117031e-01 -5.94227006e-03 4.87412284e+01] [ 5.60771206e-02 -2.33646945e-03 9.98423706e-01 3.09459241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.14, Y:48.75, Z:30.95 [[ 9.86925303e-01 -1.51207932e-01 -5.58086643e-02 5.50144692e+02] [ 1.51112090e-01 9.88498680e-01 -5.95779294e-03 4.87452179e+01] [ 5.60676565e-02 -2.55346729e-03 9.98423707e-01 3.09483549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.20, Y:48.75, Z:30.95 [[ 9.86379988e-01 -1.54725872e-01 -5.58070195e-02 5.50203426e+02] [ 1.54634773e-01 9.87953647e-01 -5.97315982e-03 4.87507023e+01] [ 5.60589508e-02 -2.73790046e-03 9.98423707e-01 3.09513652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.26, Y:48.76, Z:30.96 [[ 9.86196072e-01 -1.55894363e-01 -5.58055191e-02 5.50262338e+02] [ 1.55804338e-01 9.87769792e-01 -5.98714493e-03 4.87584729e+01] [ 5.60563682e-02 -2.79024318e-03 9.98423707e-01 3.09552239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.32, Y:48.77, Z:30.96 [[ 9.86368281e-01 -1.54801111e-01 -5.58052981e-02 5.50319098e+02] [ 1.54709226e-01 9.87941893e-01 -5.98920439e-03 4.87675569e+01] [ 5.60595273e-02 -2.72603322e-03 9.98423707e-01 3.09569500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.38, Y:48.78, Z:30.96 [[ 9.86929346e-01 -1.51183364e-01 -5.58037251e-02 5.50376987e+02] [ 1.51084885e-01 9.88502560e-01 -6.00382454e-03 4.87792483e+01] [ 5.60698036e-02 -2.50574877e-03 9.98423707e-01 3.09632135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.43, Y:48.79, Z:30.97 [[ 9.87639678e-01 -1.46471796e-01 -5.58021446e-02 5.50434233e+02] [ 1.46364983e-01 9.89212348e-01 -6.01847918e-03 4.87901674e+01] [ 5.60817079e-02 -2.22339110e-03 9.98423707e-01 3.09656324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.49, Y:48.80, Z:30.97 [[ 9.88276506e-01 -1.42112062e-01 -5.58006196e-02 5.50492476e+02] [ 1.41997515e-01 9.89848632e-01 -6.03258512e-03 4.88025469e+01] [ 5.60914701e-02 -1.96168717e-03 9.98423707e-01 3.09707037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.55, Y:48.81, Z:30.97 [[ 9.88673394e-01 -1.39324211e-01 -5.58003899e-02 5.50550907e+02] [ 1.39205111e-01 9.90245181e-01 -6.03470925e-03 4.88123517e+01] [ 5.60968483e-02 -1.80134297e-03 9.98423707e-01 3.09724481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.61, Y:48.82, Z:30.98 [[ 9.89079283e-01 -1.36412974e-01 -5.58002818e-02 5.50609899e+02] [ 1.36289191e-01 9.90650709e-01 -6.03570858e-03 4.88240156e+01] [ 5.61019376e-02 -1.63518095e-03 9.98423707e-01 3.09769551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.67, Y:48.83, Z:30.98 [[ 9.89264761e-01 -1.35061323e-01 -5.58002818e-02 5.50669163e+02] [ 1.34935392e-01 9.90836016e-01 -6.03570858e-03 4.88347994e+01] [ 5.61041197e-02 -1.55851910e-03 9.98423707e-01 3.09798219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.73, Y:48.84, Z:30.98 [[ 9.89428870e-01 -1.33853799e-01 -5.58002818e-02 5.50727616e+02] [ 1.33725951e-01 9.90999970e-01 -6.03570858e-03 4.88434288e+01] [ 5.61059801e-02 -1.49004145e-03 9.98423707e-01 3.09821765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.79, Y:48.85, Z:30.99 [[ 9.89774812e-01 -1.31271332e-01 -5.58001728e-02 5.50787860e+02] [ 1.31139327e-01 9.91345568e-01 -6.03671605e-03 4.88529263e+01] [ 5.61097017e-02 -1.34260763e-03 9.98423707e-01 3.09861252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.85, Y:48.86, Z:30.99 [[ 9.90476920e-01 -1.25864158e-01 -5.58003970e-02 5.50848617e+02] [ 1.25723695e-01 9.92046942e-01 -6.03464273e-03 4.88642498e+01] [ 5.61161585e-02 -1.03825773e-03 9.98423707e-01 3.09901750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.91, Y:48.87, Z:30.99 [[ 9.90924485e-01 -1.22290454e-01 -5.58006191e-02 5.50908432e+02] [ 1.22144444e-01 9.92494001e-01 -6.03258887e-03 4.88740202e+01] [ 5.61195077e-02 -8.37895541e-04 9.98423707e-01 3.09944003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.97, Y:48.88, Z:31.00 [[ 9.91016911e-01 -1.21539184e-01 -5.58006191e-02 5.50968591e+02] [ 1.21391983e-01 9.92586316e-01 -6.03258887e-03 4.88819264e+01] [ 5.61201268e-02 -7.95350231e-04 9.98423707e-01 3.09978039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.03, Y:48.89, Z:31.00 [[ 9.90871083e-01 -1.22722402e-01 -5.58006191e-02 5.51028010e+02] [ 1.22577075e-01 9.92440662e-01 -6.03258887e-03 4.88899205e+01] [ 5.61191371e-02 -8.62358813e-04 9.98423707e-01 3.10010395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.09, Y:48.90, Z:31.00 [[ 9.90432974e-01 -1.26209411e-01 -5.58006191e-02 5.51087758e+02] [ 1.26069611e-01 9.92003055e-01 -6.03258887e-03 4.88969908e+01] [ 5.61157541e-02 -1.05988739e-03 9.98423707e-01 3.10034934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.15, Y:48.90, Z:31.01 [[ 9.89983590e-01 -1.29687101e-01 -5.58009667e-02 5.51147354e+02] [ 1.29552997e-01 9.91554168e-01 -6.02937112e-03 4.89036311e+01] [ 5.61116128e-02 -1.26020402e-03 9.98423707e-01 3.10067913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.21, Y:48.91, Z:31.01 [[ 9.89330053e-01 -1.34581940e-01 -5.58009667e-02 5.51208175e+02] [ 1.34455606e-01 9.90901275e-01 -6.02937112e-03 4.89100768e+01] [ 5.61046935e-02 -1.53771473e-03 9.98423707e-01 3.10102938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.27, Y:48.92, Z:31.01 [[ 9.89134550e-01 -1.36011283e-01 -5.58011887e-02 5.51270165e+02] [ 1.35887335e-01 9.90705962e-01 -6.02731635e-03 4.89171312e+01] [ 5.61023534e-02 -1.62084795e-03 9.98423707e-01 3.10143359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.33, Y:48.92, Z:31.02 [[ 9.89341425e-01 -1.34498041e-01 -5.58016359e-02 5.51332090e+02] [ 1.34371923e-01 9.90912664e-01 -6.02317325e-03 4.89241817e+01] [ 5.61046527e-02 -1.53919830e-03 9.98423707e-01 3.10176418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.39, Y:48.93, Z:31.02 [[ 9.90074918e-01 -1.28987536e-01 -5.58020794e-02 5.51392406e+02] [ 1.28852903e-01 9.91645451e-01 -6.01906102e-03 4.89329242e+01] [ 5.61122621e-02 -1.23093856e-03 9.98423707e-01 3.10217114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.45, Y:48.94, Z:31.03 [[ 9.91076899e-01 -1.21048268e-01 -5.58022996e-02 5.51452679e+02] [ 1.20901166e-01 9.92646313e-01 -6.01701966e-03 4.89415799e+01] [ 5.61202967e-02 -7.83233915e-04 9.98423707e-01 3.10264308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.51, Y:48.95, Z:31.03 [[ 9.92141245e-01 -1.11990309e-01 -5.58025180e-02 5.51513000e+02] [ 1.11828992e-01 9.93709262e-01 -6.01499330e-03 4.89493521e+01] [ 5.61250999e-02 -2.72616392e-04 9.98423707e-01 3.10305167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.57, Y:48.96, Z:31.03 [[ 9.92752538e-01 -1.06435201e-01 -5.58027376e-02 5.51572540e+02] [ 1.06265225e-01 9.94319640e-01 -6.01295477e-03 4.89569832e+01] [ 5.61257481e-02 3.94856527e-05 9.98423707e-01 3.10341315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.63, Y:48.96, Z:31.04 [[ 9.93179755e-01 -1.02372127e-01 -5.58025206e-02 5.51631907e+02] [ 1.02195627e-01 9.94746135e-01 -6.01496791e-03 4.89639792e+01] [ 5.61251068e-02 2.71170777e-04 9.98423707e-01 3.10369839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.69, Y:48.97, Z:31.04 [[ 9.93280105e-01 -1.01393967e-01 -5.58023016e-02 5.51690732e+02] [ 1.01215810e-01 9.94846297e-01 -6.01699955e-03 4.89689976e+01] [ 5.61248006e-02 3.28490815e-04 9.98423707e-01 3.10387147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.75, Y:48.97, Z:31.04 [[ 9.93145653e-01 -1.02703385e-01 -5.58007682e-02 5.51748043e+02] [ 1.02526496e-01 9.94711990e-01 -6.03118693e-03 4.89743456e+01] [ 5.61251164e-02 2.68789856e-04 9.98423707e-01 3.10412353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.81, Y:48.98, Z:31.04 [[ 9.92645644e-01 -1.07429491e-01 -5.57990160e-02 5.51807173e+02] [ 1.07259151e-01 9.94212706e-01 -6.04735421e-03 4.89791774e+01] [ 5.61257548e-02 1.79247434e-05 9.98423707e-01 3.10444915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.87, Y:48.98, Z:31.05 [[ 9.91407449e-01 -1.18312154e-01 -5.57987923e-02 5.51865527e+02] [ 1.18158898e-01 9.92976273e-01 -6.04941723e-03 4.89813705e+01] [ 5.61225964e-02 -5.95686520e-04 9.98423707e-01 3.10485520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.93, Y:48.98, Z:31.05 [[ 9.89824322e-01 -1.30898216e-01 -5.57984617e-02 5.51925071e+02] [ 1.30764732e-01 9.91394953e-01 -6.05246505e-03 4.89821044e+01] [ 5.61105702e-02 -1.30559378e-03 9.98423707e-01 3.10531935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.99, Y:48.99, Z:31.06 [[ 9.88779362e-01 -1.38571025e-01 -5.57982481e-02 5.51985519e+02] [ 1.38449616e-01 9.90350972e-01 -6.05443367e-03 4.89855284e+01] [ 5.60988183e-02 -1.73874694e-03 9.98423707e-01 3.10571680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.05, Y:48.99, Z:31.06 [[ 9.87344067e-01 -1.48452850e-01 -5.57982481e-02 5.52045473e+02] [ 1.48347164e-01 9.88916813e-01 -6.05443367e-03 4.89884256e+01] [ 5.60786236e-02 -2.29970270e-03 9.98423707e-01 3.10599584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.11, Y:48.99, Z:31.06 [[ 9.86324235e-01 -1.55084074e-01 -5.57981417e-02 5.52107091e+02] [ 1.54988903e-01 9.87897653e-01 -6.05541461e-03 4.89922201e+01] [ 5.60619515e-02 -2.67549060e-03 9.98423707e-01 3.10626739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.17, Y:49.00, Z:31.07 [[ 9.84806140e-01 -1.64448726e-01 -5.57985970e-02 5.52168545e+02] [ 1.64368747e-01 9.86380402e-01 -6.05121593e-03 4.89961387e+01] [ 5.60337573e-02 -3.21227087e-03 9.98423707e-01 3.10650368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.23, Y:49.00, Z:31.07 [[ 9.84083869e-01 -1.68716845e-01 -5.57993322e-02 5.52230663e+02] [ 1.68644075e-01 9.85658481e-01 -6.04442864e-03 4.90021184e+01] [ 5.60188820e-02 -3.46200205e-03 9.98423707e-01 3.10687434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.29, Y:49.01, Z:31.07 [[ 9.83717390e-01 -1.70840511e-01 -5.57997820e-02 5.52291355e+02] [ 1.70771375e-01 9.85292166e-01 -6.04027345e-03 4.90108104e+01] [ 5.60110115e-02 -3.58708349e-03 9.98423707e-01 3.10715919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.35, Y:49.02, Z:31.07 [[ 9.84172777e-01 -1.68197180e-01 -5.58001146e-02 5.52351361e+02] [ 1.68123987e-01 9.85747370e-01 -6.03719947e-03 4.90212097e+01] [ 5.60202561e-02 -3.43969039e-03 9.98423707e-01 3.10737819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.41, Y:49.03, Z:31.08 [[ 9.84590694e-01 -1.65733148e-01 -5.58004398e-02 5.52412329e+02] [ 1.65656184e-01 9.86165106e-01 -6.03419251e-03 4.90311670e+01] [ 5.60285124e-02 -3.30247813e-03 9.98423707e-01 3.10773221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.47, Y:49.04, Z:31.08 [[ 9.85149406e-01 -1.62378907e-01 -5.58008778e-02 5.52473219e+02] [ 1.62296810e-01 9.86723560e-01 -6.03013953e-03 4.90438193e+01] [ 5.60392082e-02 -3.11571608e-03 9.98423707e-01 3.10809586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.54, Y:49.05, Z:31.08 [[ 9.85486907e-01 -1.60317711e-01 -5.58013212e-02 5.52535003e+02] [ 1.60232553e-01 9.87060898e-01 -6.02603312e-03 4.90541991e+01] [ 5.60453821e-02 -3.00261145e-03 9.98423707e-01 3.10847560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.60, Y:49.07, Z:31.09 [[ 9.86025599e-01 -1.56970324e-01 -5.58017584e-02 5.52596388e+02] [ 1.56880050e-01 9.87599304e-01 -6.02198179e-03 4.90668251e+01] [ 5.60550502e-02 -2.81635446e-03 9.98423707e-01 3.10895285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.66, Y:49.08, Z:31.09 [[ 9.86886762e-01 -1.51461657e-01 -5.58022044e-02 5.52656798e+02] [ 1.51362831e-01 9.88459953e-01 -6.01784630e-03 4.90805302e+01] [ 5.60697173e-02 -2.50744678e-03 9.98423707e-01 3.10928729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.72, Y:49.09, Z:31.10 [[ 9.87674475e-01 -1.46236823e-01 -5.58025335e-02 5.52718180e+02] [ 1.46129844e-01 9.89247133e-01 -6.01479356e-03 4.90920440e+01] [ 5.60820806e-02 -2.21375745e-03 9.98423707e-01 3.10966907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.78, Y:49.11, Z:31.10 [[ 9.89006200e-01 -1.36940737e-01 -5.58029639e-02 5.52779066e+02] [ 1.36819196e-01 9.90577800e-01 -6.01079747e-03 4.91059098e+01] [ 5.61003003e-02 -1.69020070e-03 9.98423707e-01 3.11001902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.84, Y:49.12, Z:31.10 [[ 9.90005476e-01 -1.29518868e-01 -5.58034074e-02 5.52839567e+02] [ 1.29385775e-01 9.91576140e-01 -6.00667711e-03 4.91172728e+01] [ 5.61113053e-02 -1.27352390e-03 9.98423707e-01 3.11027139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.90, Y:49.13, Z:31.11 [[ 9.91562964e-01 -1.16999283e-01 -5.58037345e-02 5.52900851e+02] [ 1.16846526e-01 9.93131837e-01 -6.00363700e-03 4.91312040e+01] [ 5.61228866e-02 -5.67488420e-04 9.98423707e-01 3.11059542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.96, Y:49.14, Z:31.11 [[ 9.92962098e-01 -1.04461231e-01 -5.58043217e-02 5.52961041e+02] [ 1.04288969e-01 9.94528950e-01 -5.99817420e-03 4.91424771e+01] [ 5.61255901e-02 1.36184445e-04 9.98423707e-01 3.11116447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.02, Y:49.15, Z:31.11 [[ 9.93591297e-01 -9.82963493e-02 -5.58046749e-02 5.53021389e+02] [ 9.81145514e-02 9.95157071e-01 -5.99488635e-03 4.91509530e+01] [ 5.61236922e-02 4.81216261e-04 9.98423707e-01 3.11148116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.08, Y:49.16, Z:31.12 [[ 9.93959503e-01 -9.45003692e-02 -5.58048894e-02 5.53081296e+02] [ 9.43127039e-02 9.95524585e-01 -5.99288863e-03 4.91568301e+01] [ 5.61214695e-02 6.93578593e-04 9.98423707e-01 3.11183184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.14, Y:49.16, Z:31.12 [[ 9.93821624e-01 -9.59395312e-02 -5.58048894e-02 5.53140508e+02] [ 9.57541324e-02 9.95386976e-01 -5.99288863e-03 4.91611895e+01] [ 5.61224150e-02 6.12313544e-04 9.98423707e-01 3.11219239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.20, Y:49.16, Z:31.12 [[ 9.93256564e-01 -1.01623005e-01 -5.58046807e-02 5.53199298e+02] [ 1.01446455e-01 9.94822938e-01 -5.99483133e-03 4.91618577e+01] [ 5.61249892e-02 2.93218566e-04 9.98423707e-01 3.11244952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.26, Y:49.16, Z:31.13 [[ 9.92504610e-01 -1.08721990e-01 -5.58043724e-02 5.53259799e+02] [ 1.08556482e-01 9.94072189e-01 -5.99770018e-03 4.91614153e+01] [ 5.61256565e-02 -1.05181282e-04 9.98423707e-01 3.11265746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.32, Y:49.16, Z:31.13 [[ 9.91955212e-01 -1.13625491e-01 -5.58041649e-02 5.53320015e+02] [ 1.13467624e-01 9.93523579e-01 -5.99963024e-03 4.91619497e+01] [ 5.61244646e-02 -3.80601483e-04 9.98423707e-01 3.11297353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.38, Y:49.16, Z:31.13 [[ 9.90994624e-01 -1.21719149e-01 -5.58041649e-02 5.53381933e+02] [ 1.21574089e-01 9.92564227e-01 -5.99963024e-03 4.91604694e+01] [ 5.61194877e-02 -8.38739184e-04 9.98423707e-01 3.11337555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.44, Y:49.16, Z:31.14 [[ 9.90357380e-01 -1.26799572e-01 -5.58043774e-02 5.53443130e+02] [ 1.26662675e-01 9.91927717e-01 -5.99765311e-03 4.91614089e+01] [ 5.61144085e-02 -1.12851169e-03 9.98423707e-01 3.11373871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.50, Y:49.16, Z:31.14 [[ 9.89210075e-01 -1.35459493e-01 -5.58045932e-02 5.53504368e+02] [ 1.35336453e-01 9.90781559e-01 -5.99564422e-03 4.91590893e+01] [ 5.61023287e-02 -1.62144402e-03 9.98423707e-01 3.11397904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.57, Y:49.16, Z:31.14 [[ 9.87697823e-01 -1.46078258e-01 -5.58045932e-02 5.53566573e+02] [ 1.45972107e-01 9.89270537e-01 -5.99564423e-03 4.91579160e+01] [ 5.60816732e-02 -2.22402929e-03 9.98423707e-01 3.11427803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.63, Y:49.16, Z:31.14 [[ 9.87230885e-01 -1.49201132e-01 -5.58050329e-02 5.53628134e+02] [ 1.49100187e-01 9.88803942e-01 -5.99154904e-03 4.91618466e+01] [ 5.60741824e-02 -2.40549856e-03 9.98423707e-01 3.11448291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.69, Y:49.16, Z:31.15 [[ 9.86368535e-01 -1.54799466e-01 -5.58053581e-02 5.53690006e+02] [ 1.54707617e-01 9.87942149e-01 -5.98851852e-03 4.91637933e+01] [ 5.60594849e-02 -2.72662776e-03 9.98423707e-01 3.11482512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.75, Y:49.17, Z:31.15 [[ 9.85675439e-01 -1.59152968e-01 -5.58055737e-02 5.53751692e+02] [ 1.59068182e-01 9.87249449e-01 -5.98650875e-03 4.91653635e+01] [ 5.60467925e-02 -2.97613650e-03 9.98423707e-01 3.11506739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.81, Y:49.17, Z:31.15 [[ 9.85674700e-01 -1.59157470e-01 -5.58057862e-02 5.53812910e+02] [ 1.59072802e-01 9.87248717e-01 -5.98452723e-03 4.91700230e+01] [ 5.60466730e-02 -2.97838571e-03 9.98423707e-01 3.11537215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.87, Y:49.17, Z:31.16 [[ 9.86060527e-01 -1.56749249e-01 -5.58059964e-02 5.53874973e+02] [ 1.56660848e-01 9.87634339e-01 -5.98256594e-03 4.91748357e+01] [ 5.60536811e-02 -2.84344259e-03 9.98423707e-01 3.11577264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.94, Y:49.18, Z:31.16 [[ 9.86616711e-01 -1.53209358e-01 -5.58064366e-02 5.53936288e+02] [ 1.53115541e-01 9.88190209e-01 -5.97845738e-03 4.91806497e+01] [ 5.60633298e-02 -2.64638676e-03 9.98423708e-01 3.11619022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.00, Y:49.19, Z:31.17 [[ 9.86993014e-01 -1.50766070e-01 -5.58066540e-02 5.53996115e+02] [ 1.50668471e-01 9.88566282e-01 -5.97642720e-03 4.91880791e+01] [ 5.60696189e-02 -2.50961135e-03 9.98423708e-01 3.11650120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.06, Y:49.20, Z:31.17 [[ 9.87666515e-01 -1.46288965e-01 -5.58067608e-02 5.54056645e+02] [ 1.46184290e-01 9.89239328e-01 -5.97542930e-03 4.91971958e+01] [ 5.60803820e-02 -2.25634026e-03 9.98423708e-01 3.11717798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.12, Y:49.21, Z:31.18 [[ 9.88098676e-01 -1.43340809e-01 -5.58069798e-02 5.54116310e+02] [ 1.43231555e-01 9.89671178e-01 -5.97338403e-03 4.92050997e+01] [ 5.60867891e-02 -2.09102766e-03 9.98423708e-01 3.11753038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.18, Y:49.21, Z:31.18 [[ 9.88650734e-01 -1.39482239e-01 -5.58070873e-02 5.54175903e+02] [ 1.39366905e-01 9.90222801e-01 -5.97237928e-03 4.92140695e+01] [ 5.60944912e-02 -1.87306387e-03 9.98423708e-01 3.11784352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.24, Y:49.22, Z:31.18 [[ 9.88921079e-01 -1.37552424e-01 -5.58070873e-02 5.54236638e+02] [ 1.37434022e-01 9.90492918e-01 -5.97237928e-03 4.92229032e+01] [ 5.60980400e-02 -1.76358069e-03 9.98423708e-01 3.11818407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.30, Y:49.23, Z:31.18 [[ 9.88955560e-01 -1.37304210e-01 -5.58073005e-02 5.54297758e+02] [ 1.37185526e-01 9.90527378e-01 -5.97038588e-03 4.92304126e+01] [ 5.60984182e-02 -1.75150755e-03 9.98423708e-01 3.11845665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.36, Y:49.24, Z:31.19 [[ 9.88931074e-01 -1.37480373e-01 -5.58075124e-02 5.54357979e+02] [ 1.37362080e-01 9.90502921e-01 -5.96840512e-03 4.92382918e+01] [ 5.60980426e-02 -1.76349470e-03 9.98423708e-01 3.11868071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.42, Y:49.25, Z:31.19 [[ 9.88830822e-01 -1.38199445e-01 -5.58078808e-02 5.54418407e+02] [ 1.38082489e-01 9.90402769e-01 -5.96495790e-03 4.92456896e+01] [ 5.60966336e-02 -1.80775689e-03 9.98423708e-01 3.11935344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.48, Y:49.25, Z:31.20 [[ 9.88617427e-01 -1.39717713e-01 -5.58080911e-02 5.54479409e+02] [ 1.39603282e-01 9.90189561e-01 -5.96298963e-03 4.92531206e+01] [ 5.60937245e-02 -1.89587723e-03 9.98423708e-01 3.11982203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.54, Y:49.26, Z:31.20 [[ 9.88284540e-01 -1.42053157e-01 -5.58083142e-02 5.54540406e+02] [ 1.41942559e-01 9.89856948e-01 -5.96090144e-03 4.92610231e+01] [ 5.60890124e-02 -2.03050818e-03 9.98423708e-01 3.12043021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.60, Y:49.27, Z:31.21 [[ 9.87928628e-01 -1.44507381e-01 -5.58089875e-02 5.54600918e+02] [ 1.44401045e-01 9.89501329e-01 -5.95459074e-03 4.92675207e+01] [ 5.60835497e-02 -2.17616546e-03 9.98423708e-01 3.12072395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4850998929999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:554.66, Y:49.27, Z:31.21 [[ 9.87064745e-01 -1.50294742e-01 -5.58093135e-02 5.54662196e+02] [ 1.50197797e-01 9.88638054e-01 -5.95153339e-03 4.92745366e+01] [ 5.60696953e-02 -2.50788719e-03 9.98423708e-01 3.12110806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.72, Y:49.28, Z:31.21 [[ 9.86373232e-01 -1.54768034e-01 -5.58095246e-02 5.54723196e+02] [ 1.54678335e-01 9.87946970e-01 -5.94955339e-03 4.92811862e+01] [ 5.60576514e-02 -2.76404412e-03 9.98423708e-01 3.12134540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.79, Y:49.29, Z:31.22 [[ 9.85445996e-01 -1.60566033e-01 -5.58098377e-02 5.54785319e+02] [ 1.60485755e-01 9.87020243e-01 -5.94661471e-03 4.92878356e+01] [ 5.60402639e-02 -3.09661631e-03 9.98423708e-01 3.12176442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.85, Y:49.30, Z:31.22 [[ 9.85081222e-01 -1.62788819e-01 -5.58102740e-02 5.54846807e+02] [ 1.62712325e-01 9.86655657e-01 -5.94251738e-03 4.92956462e+01] [ 5.60328980e-02 -3.22715714e-03 9.98423708e-01 3.12198356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.91, Y:49.30, Z:31.22 [[ 9.85139357e-01 -1.62436490e-01 -5.58107046e-02 5.54907253e+02] [ 1.62359662e-01 9.86713776e-01 -5.93847055e-03 4.93046575e+01] [ 5.60338154e-02 -3.21118605e-03 9.98423708e-01 3.12236173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.97, Y:49.31, Z:31.23 [[ 9.85477554e-01 -1.60371685e-01 -5.58114023e-02 5.54967792e+02] [ 1.60291928e-01 9.87051828e-01 -5.93190613e-03 4.93142551e+01] [ 5.60400564e-02 -3.10035693e-03 9.98423708e-01 3.12269340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.03, Y:49.32, Z:31.23 [[ 9.85718675e-01 -1.58882678e-01 -5.58120842e-02 5.55028838e+02] [ 1.58800904e-01 9.87292845e-01 -5.92548391e-03 4.93231104e+01] [ 5.60443281e-02 -3.02214929e-03 9.98423708e-01 3.12294629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.09, Y:49.33, Z:31.23 [[ 9.85811302e-01 -1.58306837e-01 -5.58123918e-02 5.55090582e+02] [ 1.58224308e-01 9.87385432e-01 -5.92258509e-03 4.93315139e+01] [ 5.60459283e-02 -2.99232574e-03 9.98423708e-01 3.12340591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.15, Y:49.34, Z:31.24 [[ 9.86260118e-01 -1.55486039e-01 -5.58128279e-02 5.55150956e+02] [ 1.55399239e-01 9.87834019e-01 -5.91847206e-03 4.93421332e+01] [ 5.60540499e-02 -2.83611803e-03 9.98423708e-01 3.12367643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.21, Y:49.35, Z:31.24 [[ 9.87378863e-01 -1.48215631e-01 -5.58131493e-02 5.55211448e+02] [ 1.48117409e-01 9.88952092e-01 -5.91543984e-03 4.93546998e+01] [ 5.60732914e-02 -2.42611880e-03 9.98423708e-01 3.12424698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.27, Y:49.37, Z:31.25 [[ 9.88335858e-01 -1.41693476e-01 -5.58138912e-02 5.55272574e+02] [ 1.41585265e-01 9.89908432e-01 -5.90843117e-03 4.93653346e+01] [ 5.60878277e-02 -2.06291018e-03 9.98423708e-01 3.12463617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.33, Y:49.38, Z:31.25 [[ 9.89771965e-01 -1.31286783e-01 -5.58143203e-02 5.55333484e+02] [ 1.31162261e-01 9.91343331e-01 -5.90437503e-03 4.93776663e+01] [ 5.61063206e-02 -1.47674755e-03 9.98423708e-01 3.12504027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.39, Y:49.39, Z:31.25 [[ 9.91273921e-01 -1.19418284e-01 -5.58147529e-02 5.55394956e+02] [ 1.19275173e-01 9.92843704e-01 -5.90028310e-03 4.93894912e+01] [ 5.61199276e-02 -8.08517533e-04 9.98423708e-01 3.12532587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.46, Y:49.40, Z:31.26 [[ 9.91787032e-01 -1.15078881e-01 -5.58151827e-02 5.55456853e+02] [ 1.14929130e-01 9.93356195e-01 -5.89621389e-03 4.93980741e+01] [ 5.61228872e-02 -5.67001912e-04 9.98423708e-01 3.12560780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.52, Y:49.41, Z:31.26 [[ 9.92124164e-01 -1.12135018e-01 -5.58156057e-02 5.55517838e+02] [ 1.11980837e-01 9.93692897e-01 -5.89220763e-03 4.94056820e+01] [ 5.61242937e-02 -4.04476648e-04 9.98423708e-01 3.12590781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.58, Y:49.41, Z:31.26 [[ 9.92182963e-01 -1.11613450e-01 -5.58158146e-02 5.55578410e+02] [ 1.11458555e-01 9.93751627e-01 -5.89022824e-03 4.94123678e+01] [ 5.61244852e-02 -3.76965934e-04 9.98423708e-01 3.12625555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.64, Y:49.42, Z:31.27 [[ 9.92142280e-01 -1.11974409e-01 -5.58160237e-02 5.55639483e+02] [ 1.11820196e-01 9.93711010e-01 -5.88824533e-03 4.94186250e+01] [ 5.61243301e-02 -3.99381577e-04 9.98423708e-01 3.12665989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.70, Y:49.42, Z:31.27 [[ 9.91849323e-01 -1.14540247e-01 -5.58162392e-02 5.55700880e+02] [ 1.14390208e-01 9.93418458e-01 -5.88620237e-03 4.94237961e+01] [ 5.61230893e-02 -5.46605360e-04 9.98423708e-01 3.12696408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.76, Y:49.43, Z:31.27 [[ 9.91570785e-01 -1.16926911e-01 -5.58164519e-02 5.55761449e+02] [ 1.16780762e-01 9.93140287e-01 -5.88418475e-03 4.94290035e+01] [ 5.61215866e-02 -6.83702097e-04 9.98423708e-01 3.12724459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.82, Y:49.43, Z:31.28 [[ 9.91581014e-01 -1.16840030e-01 -5.58166614e-02 5.55823477e+02] [ 1.16693855e-01 9.93150514e-01 -5.88219643e-03 4.94345831e+01] [ 5.61216220e-02 -6.80787110e-04 9.98423708e-01 3.12765762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.88, Y:49.44, Z:31.28 [[ 9.91944244e-01 -1.13714863e-01 -5.58170780e-02 5.55884848e+02] [ 1.13563966e-01 9.93513297e-01 -5.87824046e-03 4.94402695e+01] [ 5.61234525e-02 -5.07921974e-04 9.98423708e-01 3.12816526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.95, Y:49.45, Z:31.29 [[ 9.92344654e-01 -1.10165761e-01 -5.58175029e-02 5.55945173e+02] [ 1.10009479e-01 9.93913179e-01 -5.87420304e-03 4.94467317e+01] [ 5.61248878e-02 -3.11220460e-04 9.98423708e-01 3.12857756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.01, Y:49.45, Z:31.29 [[ 9.92620388e-01 -1.07652964e-01 -5.58176070e-02 5.56005686e+02] [ 1.07492767e-01 9.94188519e-01 -5.87321356e-03 4.94545645e+01] [ 5.61254929e-02 -1.70117488e-04 9.98423708e-01 3.12905085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.07, Y:49.46, Z:31.29 [[ 9.92981068e-01 -1.04273478e-01 -5.58179289e-02 5.56066782e+02] [ 1.04108116e-01 9.94548662e-01 -5.87015282e-03 4.94567732e+01] [ 5.61257478e-02 1.78511781e-05 9.98423708e-01 3.12922393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.13, Y:49.46, Z:31.29 [[ 9.93059230e-01 -1.03526439e-01 -5.58179289e-02 5.56126779e+02] [ 1.03359898e-01 9.94626700e-01 -5.87015282e-03 4.94610363e+01] [ 5.61257185e-02 6.00739953e-05 9.98423708e-01 3.12944242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.19, Y:49.47, Z:31.30 [[ 9.93015618e-01 -1.03943930e-01 -5.58179289e-02 5.56186049e+02] [ 1.03778047e-01 9.94583158e-01 -5.87015282e-03 4.94653578e+01] [ 5.61257388e-02 3.64777573e-05 9.98423708e-01 3.12972932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.25, Y:49.47, Z:31.30 [[ 9.92977840e-01 -1.04304270e-01 -5.58178244e-02 5.56246527e+02] [ 1.04138901e-01 9.94545433e-01 -5.87114693e-03 4.94699419e+01] [ 5.61257480e-02 1.71119301e-05 9.98423708e-01 3.13011801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.31, Y:49.47, Z:31.30 [[ 9.92970891e-01 -1.04370396e-01 -5.58178244e-02 5.56306197e+02] [ 1.04205131e-01 9.94538496e-01 -5.87114693e-03 4.94743306e+01] [ 5.61257490e-02 1.33743017e-05 9.98423708e-01 3.13044062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.37, Y:49.48, Z:31.31 [[ 9.92874541e-01 -1.05283082e-01 -5.58177197e-02 5.56366541e+02] [ 1.05119203e-01 9.94442292e-01 -5.87214155e-03 4.94786270e+01] [ 5.61257383e-02 -3.72143529e-05 9.98423708e-01 3.13081539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.43, Y:49.48, Z:31.31 [[ 9.92516160e-01 -1.08609645e-01 -5.58177197e-02 5.56427358e+02] [ 1.08451020e-01 9.94084450e-01 -5.87214155e-03 4.94819464e+01] [ 5.61252984e-02 -2.25293263e-04 9.98423708e-01 3.13121884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.49, Y:49.49, Z:31.32 [[ 9.92165300e-01 -1.11769407e-01 -5.58177197e-02 5.56487106e+02] [ 1.11615776e-01 9.93734087e-01 -5.87214155e-03 4.94868226e+01] [ 5.61242966e-02 -4.04003048e-04 9.98423708e-01 3.13162132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.55, Y:49.49, Z:31.32 [[ 9.91754152e-01 -1.15360669e-01 -5.58177197e-02 5.56547576e+02] [ 1.15212719e-01 9.93323486e-01 -5.87214155e-03 4.94905743e+01] [ 5.61224661e-02 -6.07190514e-04 9.98423708e-01 3.13197317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.61, Y:49.49, Z:31.32 [[ 9.91560517e-01 -1.17013295e-01 -5.58178261e-02 5.56607556e+02] [ 1.16868018e-01 9.93130100e-01 -5.87113061e-03 4.94948345e+01] [ 5.61213635e-02 -7.01737372e-04 9.98423708e-01 3.13223779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.67, Y:49.50, Z:31.32 [[ 9.91586216e-01 -1.16795320e-01 -5.58178261e-02 5.56667369e+02] [ 1.16649698e-01 9.93155767e-01 -5.87113061e-03 4.94998202e+01] [ 5.61215164e-02 -6.89400337e-04 9.98423708e-01 3.13249860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.73, Y:49.51, Z:31.33 [[ 9.91971767e-01 -1.13474158e-01 -5.58178261e-02 5.56727550e+02] [ 1.13323280e-01 9.93540822e-01 -5.87113061e-03 4.95062389e+01] [ 5.61235104e-02 -5.01463336e-04 9.98423708e-01 3.13282792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.79, Y:49.51, Z:31.33 [[ 9.92937760e-01 -1.04685125e-01 -5.58178261e-02 5.56786606e+02] [ 1.04520358e-01 9.94505417e-01 -5.87113061e-03 4.95130748e+01] [ 5.61257504e-02 -4.43186326e-06 9.98423708e-01 3.13319288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.85, Y:49.52, Z:31.34 [[ 9.93524057e-01 -9.89663705e-02 -5.58176164e-02 5.56845715e+02] [ 9.87924682e-02 9.95090727e-01 -5.87312322e-03 4.95196293e+01] [ 5.61248342e-02 3.20729110e-04 9.98423708e-01 3.13361475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.90, Y:49.52, Z:31.34 [[ 9.93959355e-01 -9.44945383e-02 -5.58174063e-02 5.56903800e+02] [ 9.43134757e-02 9.95525214e-01 -5.87511957e-03 4.95244160e+01] [ 5.61228020e-02 5.75296469e-04 9.98423708e-01 3.13397801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.96, Y:49.53, Z:31.34 [[ 9.93713576e-01 -9.70459172e-02 -5.58159318e-02 5.56961953e+02] [ 9.68680902e-02 9.95279806e-01 -5.88909464e-03 4.95265782e+01] [ 5.61239823e-02 4.45290584e-04 9.98423708e-01 3.13415392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.02, Y:49.53, Z:31.34 [[ 9.93195874e-01 -1.02209214e-01 -5.58142655e-02 5.57020305e+02] [ 1.02038645e-01 9.94762910e-01 -5.90484500e-03 4.95293936e+01] [ 5.61254907e-02 1.69455690e-04 9.98423708e-01 3.13440602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.08, Y:49.53, Z:31.35 [[ 9.92045125e-01 -1.12833603e-01 -5.58126104e-02 5.57078426e+02] [ 1.12678937e-01 9.93613811e-01 -5.92044795e-03 4.95300097e+01] [ 5.61242060e-02 -4.15554101e-04 9.98423708e-01 3.13476771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.14, Y:49.53, Z:31.35 [[ 9.90877968e-01 -1.22662133e-01 -5.58108807e-02 5.57138351e+02] [ 1.22522109e-01 9.92448028e-01 -5.93670851e-03 4.95296588e+01] [ 5.61176078e-02 -9.55513169e-04 9.98423708e-01 3.13517077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.20, Y:49.53, Z:31.36 [[ 9.90290374e-01 -1.27319067e-01 -5.58106636e-02 5.57198661e+02] [ 1.27186312e-01 9.91861066e-01 -5.93874895e-03 4.95321866e+01] [ 5.61125402e-02 -1.21726654e-03 9.98423708e-01 3.13553216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.26, Y:49.54, Z:31.36 [[ 9.89927761e-01 -1.30108411e-01 -5.58106636e-02 5.57258598e+02] [ 1.29980081e-01 9.91498820e-01 -5.93874895e-03 4.95350851e+01] [ 5.61088883e-02 -1.37534214e-03 9.98423708e-01 3.13584898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.32, Y:49.54, Z:31.36 [[ 9.90136664e-01 -1.28509018e-01 -5.58105559e-02 5.57317967e+02] [ 1.28378093e-01 9.91707510e-01 -5.93976036e-03 4.95386099e+01] [ 5.61110602e-02 -1.28367822e-03 9.98423708e-01 3.13601787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.38, Y:49.54, Z:31.36 [[ 9.90497820e-01 -1.25695167e-01 -5.58103411e-02 5.57376840e+02] [ 1.25559666e-01 9.92068277e-01 -5.94177828e-03 4.95437265e+01] [ 5.61145217e-02 -1.12220935e-03 9.98423708e-01 3.13625370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.44, Y:49.55, Z:31.37 [[ 9.91333181e-01 -1.18927610e-01 -5.58099337e-02 5.57435910e+02] [ 1.18781171e-01 9.92902655e-01 -5.94560254e-03 4.95497488e+01] [ 5.61209277e-02 -7.35096229e-04 9.98423708e-01 3.13666209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.49, Y:49.56, Z:31.37 [[ 9.91627945e-01 -1.16444379e-01 -5.58097188e-02 5.57493960e+02] [ 1.16293896e-01 9.93197038e-01 -5.94761957e-03 4.95560029e+01] [ 5.61226142e-02 -5.92503860e-04 9.98423708e-01 3.13699847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.55, Y:49.56, Z:31.37 [[ 9.92519780e-01 -1.08581447e-01 -5.58081970e-02 5.57552185e+02] [ 1.08417731e-01 9.94087547e-01 -5.96186477e-03 4.95615921e+01] [ 5.61255816e-02 -1.33329393e-04 9.98423708e-01 3.13732742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.61, Y:49.57, Z:31.38 [[ 9.92815129e-01 -1.05847694e-01 -5.58066853e-02 5.57609828e+02] [ 1.05678868e-01 9.94382353e-01 -5.97598190e-03 4.95672110e+01] [ 5.61257269e-02 3.54578917e-05 9.98423708e-01 3.13759063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.67, Y:49.57, Z:31.38 [[ 9.92803486e-01 -1.05957754e-01 -5.58049572e-02 5.57667029e+02] [ 1.05788197e-01 9.94370631e-01 -5.99207606e-03 4.95726985e+01] [ 5.61257174e-02 4.54481807e-05 9.98423709e-01 3.13784913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.72, Y:49.58, Z:31.38 [[ 9.92240935e-01 -1.11103231e-01 -5.58032148e-02 5.57724773e+02] [ 1.10940891e-01 9.93808845e-01 -6.00825872e-03 4.95769264e+01] [ 5.61252654e-02 -2.29218125e-04 9.98423709e-01 3.13817824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.78, Y:49.58, Z:31.38 [[ 9.91675294e-01 -1.16044438e-01 -5.58014322e-02 5.57781421e+02] [ 1.15888982e-01 9.93243901e-01 -6.02476879e-03 4.95810775e+01] [ 5.61235731e-02 -4.92156800e-04 9.98423709e-01 3.13847600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.84, Y:49.58, Z:31.39 [[ 9.90822448e-01 -1.23114633e-01 -5.58002129e-02 5.57839744e+02] [ 1.22969733e-01 9.92392065e-01 -6.03604093e-03 4.95845665e+01] [ 5.61188135e-02 -8.81092461e-04 9.98423709e-01 3.13893844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.90, Y:49.59, Z:31.39 [[ 9.90164594e-01 -1.28298823e-01 -5.57986401e-02 5.57897212e+02] [ 1.28161324e-01 9.91734877e-01 -6.05054593e-03 4.95880995e+01] [ 5.61137354e-02 -1.16019124e-03 9.98423709e-01 3.13924174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.96, Y:49.59, Z:31.40 [[ 9.89984891e-01 -1.29678408e-01 -5.57980870e-02 5.57955308e+02] [ 1.29542810e-01 9.91555339e-01 -6.05564212e-03 4.95924153e+01] [ 5.61121771e-02 -1.23324678e-03 9.98423709e-01 3.13951625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.01, Y:49.60, Z:31.40 [[ 9.90417997e-01 -1.26328243e-01 -5.57975497e-02 5.58014595e+02] [ 1.26187054e-01 9.91987952e-01 -6.06058875e-03 4.95981452e+01] [ 5.61161206e-02 -1.03841223e-03 9.98423709e-01 3.13995308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.07, Y:49.60, Z:31.40 [[ 9.90994351e-01 -1.21724507e-01 -5.57973268e-02 5.58072520e+02] [ 1.21575908e-01 9.92563622e-01 -6.06264036e-03 4.96040513e+01] [ 5.61203687e-02 -7.75568319e-04 9.98423709e-01 3.14031697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.13, Y:49.61, Z:31.41 [[ 9.91772229e-01 -1.15215781e-01 -5.57957850e-02 5.58129268e+02] [ 1.15056086e-01 9.93340410e-01 -6.07679699e-03 4.96092998e+01] [ 5.61243508e-02 -3.92846142e-04 9.98423709e-01 3.14052994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.19, Y:49.61, Z:31.41 [[ 9.92027131e-01 -1.13000382e-01 -5.57950278e-02 5.58186428e+02] [ 1.12836794e-01 9.93594910e-01 -6.08374102e-03 4.96146670e+01] [ 5.61251207e-02 -2.60495939e-04 9.98423709e-01 3.14076990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.24, Y:49.62, Z:31.41 [[ 9.91960971e-01 -1.13580585e-01 -5.57932218e-02 5.58244205e+02] [ 1.13416985e-01 9.93528749e-01 -6.10025915e-03 4.96194766e+01] [ 5.61250408e-02 -2.76680035e-04 9.98423709e-01 3.14082026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.30, Y:49.62, Z:31.41 [[ 9.91321999e-01 -1.19028869e-01 -5.57926678e-02 5.58302005e+02] [ 1.18873601e-01 9.92890624e-01 -6.10532175e-03 4.96232509e+01] [ 5.61227263e-02 -5.79935563e-04 9.98423709e-01 3.14103845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.36, Y:49.63, Z:31.41 [[ 9.90617163e-01 -1.24759398e-01 -5.57918406e-02 5.58359400e+02] [ 1.24612779e-01 9.92186620e-01 -6.11287167e-03 4.96275882e+01] [ 5.61185559e-02 -8.96860692e-04 9.98423709e-01 3.14144877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.42, Y:49.63, Z:31.42 [[ 9.89463143e-01 -1.33604475e-01 -5.57900807e-02 5.58417551e+02] [ 1.33470980e-01 9.91033770e-01 -6.12889142e-03 4.96307674e+01] [ 5.61087014e-02 -1.38204457e-03 9.98423709e-01 3.14187182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.48, Y:49.63, Z:31.42 [[ 9.88719753e-01 -1.38999206e-01 -5.57895297e-02 5.58475549e+02] [ 1.38873997e-01 9.90291062e-01 -6.13390303e-03 4.96348686e+01] [ 5.61004803e-02 -1.68300390e-03 9.98423709e-01 3.14219601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.53, Y:49.64, Z:31.43 [[ 9.87913655e-01 -1.44617537e-01 -5.57886990e-02 5.58533509e+02] [ 1.44500837e-01 9.89485619e-01 -6.14144925e-03 4.96397819e+01] [ 5.60902766e-02 -1.99429212e-03 9.98423709e-01 3.14259350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.59, Y:49.65, Z:31.43 [[ 9.87185259e-01 -1.49509474e-01 -5.57869276e-02 5.58591075e+02] [ 1.49399656e-01 9.88757720e-01 -6.15749812e-03 4.96459560e+01] [ 5.60803596e-02 -2.25595643e-03 9.98423710e-01 3.14291725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.65, Y:49.65, Z:31.43 [[ 9.86141305e-01 -1.56247262e-01 -5.57863832e-02 5.58649327e+02] [ 1.56147907e-01 9.87714461e-01 -6.16242632e-03 4.96525949e+01] [ 5.60638796e-02 -2.63390382e-03 9.98423710e-01 3.14322279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.71, Y:49.66, Z:31.44 [[ 9.85379990e-01 -1.60979273e-01 -5.57848403e-02 5.58707182e+02] [ 1.60886684e-01 9.86953559e-01 -6.17636188e-03 4.96597505e+01] [ 5.60513129e-02 -2.88897454e-03 9.98423710e-01 3.14356011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.77, Y:49.67, Z:31.44 [[ 9.84607419e-01 -1.65639530e-01 -5.57832985e-02 5.58766213e+02] [ 1.65553602e-01 9.86181365e-01 -6.19025610e-03 4.96687594e+01] [ 5.60378006e-02 -3.14015391e-03 9.98423710e-01 3.14391799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.83, Y:49.68, Z:31.44 [[ 9.84288160e-01 -1.67526320e-01 -5.57830683e-02 5.58825948e+02] [ 1.67443291e-01 9.85862262e-01 -6.19232955e-03 4.96780389e+01] [ 5.60318001e-02 -3.24546391e-03 9.98423710e-01 3.14405803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.88, Y:49.69, Z:31.44 [[ 9.83860613e-01 -1.70019209e-01 -5.57831815e-02 5.58883414e+02] [ 1.69940226e-01 9.85434923e-01 -6.19130982e-03 4.96889564e+01] [ 5.60233367e-02 -3.38842060e-03 9.98423710e-01 3.14400719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.94, Y:49.70, Z:31.45 [[ 9.84369273e-01 -1.67049539e-01 -5.57815841e-02 5.58940475e+02] [ 1.66964995e-01 9.85943295e-01 -6.20566804e-03 4.96992188e+01] [ 5.60341328e-02 -3.20490300e-03 9.98423710e-01 3.14466099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.00, Y:49.71, Z:31.45 [[ 9.85501719e-01 -1.60234151e-01 -5.57797327e-02 5.58999948e+02] [ 1.60137780e-01 9.87075060e-01 -6.22226533e-03 4.97129205e+01] [ 5.60558024e-02 -2.80038940e-03 9.98423710e-01 3.14528230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.06, Y:49.73, Z:31.46 [[ 9.87267406e-01 -1.48968673e-01 -5.57799567e-02 5.59060536e+02] [ 1.48854453e-01 9.88839552e-01 -6.22025648e-03 4.97271350e+01] [ 5.60840508e-02 -2.16203849e-03 9.98423710e-01 3.14588342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.12, Y:49.74, Z:31.46 [[ 9.88927282e-01 -1.37518642e-01 -5.57804177e-02 5.59119562e+02] [ 1.37386446e-01 9.90498018e-01 -6.21612035e-03 4.97406489e+01] [ 5.61052256e-02 -1.51618233e-03 9.98423710e-01 3.14601323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.18, Y:49.75, Z:31.46 [[ 9.89772012e-01 -1.31300787e-01 -5.57805304e-02 5.59177975e+02] [ 1.31158779e-01 9.91341892e-01 -6.21510870e-03 4.97513327e+01] [ 5.61136252e-02 -1.16456562e-03 9.98423710e-01 3.14627296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.24, Y:49.76, Z:31.47 [[ 9.90635439e-01 -1.24619354e-01 -5.57803156e-02 5.59238011e+02] [ 1.24466648e-01 9.92204315e-01 -6.21703520e-03 4.97622309e+01] [ 5.61202328e-02 -7.83973538e-04 9.98423710e-01 3.14666046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.30, Y:49.77, Z:31.47 [[ 9.90997360e-01 -1.21707800e-01 -5.57803156e-02 5.59298203e+02] [ 1.21550484e-01 9.92565780e-01 -6.21703520e-03 4.97710249e+01] [ 5.61222942e-02 -6.19058904e-04 9.98423710e-01 3.14704113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.36, Y:49.78, Z:31.47 [[ 9.91251521e-01 -1.19620146e-01 -5.57803156e-02 5.59356628e+02] [ 1.19459527e-01 9.92819606e-01 -6.21703520e-03 4.97796667e+01] [ 5.61234737e-02 -5.00844521e-04 9.98423710e-01 3.14725902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.42, Y:49.79, Z:31.48 [[ 9.91396833e-01 -1.18409836e-01 -5.57802017e-02 5.59416021e+02] [ 1.18247246e-01 9.92964715e-01 -6.21805737e-03 4.97880470e+01] [ 5.61240512e-02 -4.31292840e-04 9.98423710e-01 3.14772638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.48, Y:49.79, Z:31.48 [[ 9.91372496e-01 -1.18613418e-01 -5.57802017e-02 5.59475520e+02] [ 1.18451150e-01 9.92940412e-01 -6.21805737e-03 4.97939396e+01] [ 5.61239615e-02 -4.42817962e-04 9.98423710e-01 3.14794845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.54, Y:49.80, Z:31.48 [[ 9.91016094e-01 -1.21555272e-01 -5.57800874e-02 5.59535222e+02] [ 1.21397600e-01 9.92584478e-01 -6.21908240e-03 4.97995607e+01] [ 5.61224112e-02 -6.08358014e-04 9.98423710e-01 3.14842190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.60, Y:49.80, Z:31.49 [[ 9.89890205e-01 -1.30406917e-01 -5.57800874e-02 5.59595782e+02] [ 1.30263267e-01 9.91459936e-01 -6.21908240e-03 4.98042371e+01] [ 5.61147333e-02 -1.10988767e-03 9.98423710e-01 3.14874976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.66, Y:49.81, Z:31.49 [[ 9.88142215e-01 -1.43050848e-01 -5.57800874e-02 5.59656323e+02] [ 1.42927278e-01 9.89713654e-01 -6.21908240e-03 4.98065076e+01] [ 5.60959591e-02 -1.82715819e-03 9.98423710e-01 3.14889164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.72, Y:49.81, Z:31.49 [[ 9.86894651e-01 -1.51418352e-01 -5.57802010e-02 5.59717647e+02] [ 1.51308159e-01 9.88467084e-01 -6.21806327e-03 4.98104637e+01] [ 5.60784216e-02 -2.30342613e-03 9.98423710e-01 3.14921498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.78, Y:49.82, Z:31.50 [[ 9.85356439e-01 -1.61124894e-01 -5.57804276e-02 5.59779250e+02] [ 1.61030298e-01 9.86929888e-01 -6.21603013e-03 4.98151041e+01] [ 5.60529284e-02 -2.85733356e-03 9.98423710e-01 3.14961328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.84, Y:49.82, Z:31.50 [[ 9.84619048e-01 -1.65571206e-01 -5.57808843e-02 5.59840740e+02] [ 1.65483945e-01 9.86192920e-01 -6.21192922e-03 4.98211745e+01] [ 5.60392298e-02 -3.11445695e-03 9.98423710e-01 3.14997128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.90, Y:49.83, Z:31.50 [[ 9.84114292e-01 -1.68545250e-01 -5.57813428e-02 5.59902027e+02] [ 1.68462978e-01 9.85688434e-01 -6.20780917e-03 4.98279314e+01] [ 5.60293212e-02 -3.28789738e-03 9.98423710e-01 3.15040310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.96, Y:49.84, Z:31.51 [[ 9.84362416e-01 -1.67089872e-01 -5.57817996e-02 5.59963364e+02] [ 1.67005503e-01 9.85936446e-01 -6.20370197e-03 4.98366627e+01] [ 5.60338850e-02 -3.20917645e-03 9.98423710e-01 3.15078307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.02, Y:49.85, Z:31.51 [[ 9.84659802e-01 -1.65328206e-01 -5.57822497e-02 5.60024492e+02] [ 1.65241250e-01 9.86233691e-01 -6.19965161e-03 4.98455107e+01] [ 5.60393113e-02 -3.11298092e-03 9.98423710e-01 3.15117680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.09, Y:49.85, Z:31.51 [[ 9.84915286e-01 -1.63799172e-01 -5.57827066e-02 5.60086028e+02] [ 1.63710004e-01 9.86489052e-01 -6.19553858e-03 4.98543130e+01] [ 5.60438534e-02 -3.03010649e-03 9.98423710e-01 3.15143625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.15, Y:49.86, Z:31.52 [[ 9.84629036e-01 -1.65511031e-01 -5.57831569e-02 5.60146305e+02] [ 1.65424829e-01 9.86202967e-01 -6.19148125e-03 4.98621832e+01] [ 5.60382733e-02 -3.13160695e-03 9.98423710e-01 3.15162190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.21, Y:49.87, Z:31.52 [[ 9.84576096e-01 -1.65825549e-01 -5.57834891e-02 5.60208276e+02] [ 1.65740018e-01 9.86150064e-01 -6.18848627e-03 4.98703388e+01] [ 5.60371005e-02 -3.15252084e-03 9.98423710e-01 3.15169716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.27, Y:49.88, Z:31.52 [[ 9.85017646e-01 -1.63182081e-01 -5.57839251e-02 5.60269346e+02] [ 1.63092548e-01 9.86591391e-01 -6.18455391e-03 4.98802116e+01] [ 5.60451486e-02 -3.00604776e-03 9.98423710e-01 3.15218224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.33, Y:49.89, Z:31.53 [[ 9.85751732e-01 -1.58687196e-01 -5.57843797e-02 5.60331100e+02] [ 1.58590717e-01 9.87325066e-01 -6.18045051e-03 4.98899318e+01] [ 5.60580748e-02 -2.75449498e-03 9.98423710e-01 3.15263728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.39, Y:49.90, Z:31.53 [[ 9.87208261e-01 -1.49358301e-01 -5.57848341e-02 5.60391912e+02] [ 1.49247179e-01 9.88780629e-01 -6.17634709e-03 4.99028668e+01] [ 5.60814520e-02 -2.22838827e-03 9.98423710e-01 3.15314531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.45, Y:49.91, Z:31.54 [[ 9.88616366e-01 -1.39734328e-01 -5.57852928e-02 5.60453577e+02] [ 1.39608128e-01 9.90187596e-01 -6.17220113e-03 4.99142894e+01] [ 5.61003733e-02 -1.68614125e-03 9.98423710e-01 3.15355018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.51, Y:49.92, Z:31.54 [[ 9.89528783e-01 -1.33119266e-01 -5.57857454e-02 5.60514929e+02] [ 1.32982791e-01 9.91099153e-01 -6.16810736e-03 4.99231007e+01] [ 5.61102990e-02 -1.31502436e-03 9.98423710e-01 3.15392619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4250998929999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:560.57, Y:49.93, Z:31.54 [[ 9.90808309e-01 -1.23234711e-01 -5.57861986e-02 5.60574777e+02] [ 1.23082797e-01 9.92377262e-01 -6.16400605e-03 4.99321840e+01] [ 5.61205745e-02 -7.58972953e-04 9.98423710e-01 3.15405841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.63, Y:49.94, Z:31.55 [[ 9.91408677e-01 -1.18307737e-01 -5.57863270e-02 5.60632620e+02] [ 1.18148091e-01 9.92976862e-01 -6.16284354e-03 4.99400347e+01] [ 5.61236440e-02 -4.81151503e-04 9.98423710e-01 3.15470621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.69, Y:49.95, Z:31.55 [[ 9.92159388e-01 -1.11837733e-01 -5.57859411e-02 5.60692985e+02] [ 1.11667664e-01 9.93726476e-01 -6.16633493e-03 4.99462414e+01] [ 5.61255956e-02 -1.11498638e-04 9.98423710e-01 3.15489182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.75, Y:49.95, Z:31.55 [[ 9.92360683e-01 -1.10037227e-01 -5.57860575e-02 5.60752266e+02] [ 1.09864374e-01 9.93927466e-01 -6.16528129e-03 4.99511087e+01] [ 5.61257053e-02 -1.07175617e-05 9.98423710e-01 3.15520857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.81, Y:49.96, Z:31.56 [[ 9.92222552e-01 -1.11275945e-01 -5.57859409e-02 5.60812902e+02] [ 1.11104989e-01 9.93789544e-01 -6.16633600e-03 4.99553002e+01] [ 5.61256497e-02 -7.97187232e-05 9.98423710e-01 3.15558801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.87, Y:49.96, Z:31.56 [[ 9.91830110e-01 -1.14721233e-01 -5.57859409e-02 5.60872412e+02] [ 1.14555720e-01 9.93397686e-01 -6.16633600e-03 4.99584791e+01] [ 5.61250343e-02 -2.74640903e-04 9.98423710e-01 3.15587000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.93, Y:49.96, Z:31.56 [[ 9.91135037e-01 -1.20578931e-01 -5.57858304e-02 5.60932638e+02] [ 1.20422626e-01 9.92703559e-01 -6.16733590e-03 4.99614781e+01] [ 5.61224431e-02 -6.05213502e-04 9.98423710e-01 3.15619374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.99, Y:49.96, Z:31.56 [[ 9.89754264e-01 -1.31432256e-01 -5.57858304e-02 5.60993216e+02] [ 1.31293148e-01 9.91324404e-01 -6.16733590e-03 4.99625783e+01] [ 5.61124419e-02 -1.22015028e-03 9.98423710e-01 3.15644839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.05, Y:49.96, Z:31.57 [[ 9.88385231e-01 -1.41359696e-01 -5.57859424e-02 5.61054412e+02] [ 1.41236411e-01 9.89956692e-01 -6.16632275e-03 4.99630346e+01] [ 5.60973365e-02 -1.78430396e-03 9.98423710e-01 3.15677922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.12, Y:49.96, Z:31.57 [[ 9.87268661e-01 -1.48958027e-01 -5.57861667e-02 5.61115937e+02] [ 1.48846948e-01 9.88841033e-01 -6.16429310e-03 4.99645012e+01] [ 5.60818716e-02 -2.21778725e-03 9.98423710e-01 3.15715273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.18, Y:49.97, Z:31.57 [[ 9.86428154e-01 -1.54425955e-01 -5.57863914e-02 5.61177639e+02] [ 1.54323704e-01 9.88001124e-01 -6.16225887e-03 4.99679841e+01] [ 5.60686301e-02 -2.53053692e-03 9.98423710e-01 3.15745817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.24, Y:49.97, Z:31.58 [[ 9.86439611e-01 -1.54352590e-01 -5.57868481e-02 5.61239859e+02] [ 1.54250456e-01 9.88012588e-01 -6.15812093e-03 4.99747926e+01] [ 5.60686301e-02 -2.53053237e-03 9.98423710e-01 3.15780992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.30, Y:49.98, Z:31.58 [[ 9.85817005e-01 -1.58280162e-01 -5.57873051e-02 5.61301585e+02] [ 1.58184527e-01 9.87390391e-01 -6.15397843e-03 4.99785966e+01] [ 5.60579017e-02 -2.75799191e-03 9.98423710e-01 3.15801443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.36, Y:49.98, Z:31.58 [[ 9.85638807e-01 -1.59385910e-01 -5.57877605e-02 5.61361687e+02] [ 1.59292274e-01 9.87212313e-01 -6.14984760e-03 4.99833355e+01] [ 5.60545631e-02 -2.82503078e-03 9.98423710e-01 3.15826111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.42, Y:49.99, Z:31.58 [[ 9.85914355e-01 -1.57672441e-01 -5.57878721e-02 5.61421804e+02] [ 1.57576127e-01 9.87487699e-01 -6.14883441e-03 4.99900817e+01] [ 5.60593392e-02 -2.72861273e-03 9.98423710e-01 3.15849927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.48, Y:50.00, Z:31.59 [[ 9.86444671e-01 -1.54319745e-01 -5.57882386e-02 5.61482235e+02] [ 1.54218270e-01 9.88017691e-01 -6.14550796e-03 4.99978071e+01] [ 5.60681399e-02 -2.54136208e-03 9.98423710e-01 3.15883573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.54, Y:50.01, Z:31.59 [[ 9.87663578e-01 -1.46315769e-01 -5.57884586e-02 5.61542910e+02] [ 1.46201655e-01 9.89235732e-01 -6.14350979e-03 5.00068540e+01] [ 5.60868291e-02 -2.08864412e-03 9.98423710e-01 3.15918116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.60, Y:50.01, Z:31.60 [[ 9.88472171e-01 -1.40749387e-01 -5.57886793e-02 5.61603420e+02] [ 1.40626531e-01 9.90043666e-01 -6.14150528e-03 5.00149701e+01] [ 5.60976417e-02 -1.77466140e-03 9.98423710e-01 3.15958992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.66, Y:50.02, Z:31.60 [[ 9.89407008e-01 -1.34020044e-01 -5.57888991e-02 5.61663491e+02] [ 1.33886610e-01 9.90977640e-01 -6.13950814e-03 5.00239213e+01] [ 5.61083687e-02 -1.39491421e-03 9.98423710e-01 3.16005966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.72, Y:50.03, Z:31.60 [[ 9.89766886e-01 -1.31335867e-01 -5.57888991e-02 5.61723101e+02] [ 1.31198174e-01 9.91337150e-01 -6.13950814e-03 5.00312782e+01] [ 5.61119459e-02 -1.24271982e-03 9.98423710e-01 3.16049757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.78, Y:50.04, Z:31.61 [[ 9.89809213e-01 -1.31016491e-01 -5.57888991e-02 5.61783511e+02] [ 1.30878291e-01 9.91379433e-01 -6.13950814e-03 5.00373113e+01] [ 5.61123439e-02 -1.22461407e-03 9.98423710e-01 3.16095429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.84, Y:50.04, Z:31.61 [[ 9.89309259e-01 -1.34739710e-01 -5.57888991e-02 5.61843893e+02] [ 1.34607419e-01 9.90879987e-01 -6.13950814e-03 5.00432963e+01] [ 5.61073391e-02 -1.43572744e-03 9.98423710e-01 3.16134741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.90, Y:50.05, Z:31.62 [[ 9.88826022e-01 -1.38241444e-01 -5.57888991e-02 5.61902754e+02] [ 1.38114715e-01 9.90397209e-01 -6.13950814e-03 5.00496025e+01] [ 5.61019044e-02 -1.63436247e-03 9.98423710e-01 3.16163038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.96, Y:50.06, Z:31.62 [[ 9.87860753e-01 -1.44978422e-01 -5.57887896e-02 5.61963239e+02] [ 1.44862349e-01 9.89432764e-01 -6.14050308e-03 5.00558125e+01] [ 5.60894967e-02 -2.01573312e-03 9.98423710e-01 3.16207416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.02, Y:50.06, Z:31.63 [[ 9.86861772e-01 -1.51629334e-01 -5.57887896e-02 5.62024617e+02] [ 1.51523853e-01 9.88434528e-01 -6.14050308e-03 5.00612211e+01] [ 5.60746463e-02 -2.39350460e-03 9.98423710e-01 3.16254913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.09, Y:50.07, Z:31.63 [[ 9.86219352e-01 -1.55752934e-01 -5.57890096e-02 5.62085081e+02] [ 1.55654141e-01 9.87792543e-01 -6.13850299e-03 5.00677403e+01] [ 5.60640575e-02 -2.62987992e-03 9.98423710e-01 3.16295976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.15, Y:50.08, Z:31.63 [[ 9.85510892e-01 -1.60174418e-01 -5.57892304e-02 5.62146316e+02] [ 1.60082794e-01 9.87084516e-01 -6.13649552e-03 5.00754719e+01] [ 5.60515951e-02 -2.88331272e-03 9.98423710e-01 3.16335590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.21, Y:50.08, Z:31.64 [[ 9.85229239e-01 -1.61897675e-01 -5.57896813e-02 5.62208373e+02] [ 1.61809036e-01 9.86803035e-01 -6.13239350e-03 5.00830678e+01] [ 5.60462471e-02 -2.98546115e-03 9.98423710e-01 3.16366920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.27, Y:50.09, Z:31.64 [[ 9.85266693e-01 -1.61669430e-01 -5.57901306e-02 5.62269720e+02] [ 1.61580656e-01 9.86840481e-01 -6.12830337e-03 5.00911521e+01] [ 5.60467187e-02 -2.97659272e-03 9.98423710e-01 3.16389867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.33, Y:50.10, Z:31.64 [[ 9.85628651e-01 -1.59447717e-01 -5.57905749e-02 5.62331696e+02] [ 1.59355624e-01 9.87202248e-01 -6.12425629e-03 5.00999836e+01] [ 5.60530796e-02 -2.85429942e-03 9.98423710e-01 3.16420815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.39, Y:50.11, Z:31.64 [[ 9.86133197e-01 -1.56296768e-01 -5.57910300e-02 5.62393015e+02] [ 1.56199881e-01 9.87706506e-01 -6.12010764e-03 5.01085891e+01] [ 5.60617163e-02 -2.67931090e-03 9.98423710e-01 3.16448367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.45, Y:50.12, Z:31.65 [[ 9.87235318e-01 -1.49176863e-01 -5.57914852e-02 5.62453608e+02] [ 1.49068859e-01 9.88807904e-01 -6.11595534e-03 5.01197587e+01] [ 5.60794205e-02 -2.27888592e-03 9.98423710e-01 3.16476111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.52, Y:50.13, Z:31.65 [[ 9.88124013e-01 -1.43171951e-01 -5.57918207e-02 5.62515180e+02] [ 1.43054561e-01 9.89695926e-01 -6.11289302e-03 5.01294033e+01] [ 5.60921324e-02 -1.94097804e-03 9.98423710e-01 3.16515223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.58, Y:50.14, Z:31.66 [[ 9.89498911e-01 -1.33338397e-01 -5.57922636e-02 5.62576050e+02] [ 1.33205609e-01 9.91069598e-01 -6.10884798e-03 5.01406373e+01] [ 5.61085602e-02 -1.38714402e-03 9.98423710e-01 3.16555084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.64, Y:50.15, Z:31.66 [[ 9.90363322e-01 -1.26758289e-01 -5.57927050e-02 5.62636597e+02] [ 1.26615290e-01 9.91933112e-01 -6.10481362e-03 5.01507694e+01] [ 5.61164673e-02 -1.01822605e-03 9.98423710e-01 3.16594965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.69, Y:50.16, Z:31.66 [[ 9.91382304e-01 -1.18525430e-01 -5.57929274e-02 5.62694877e+02] [ 1.18369508e-01 9.92950863e-01 -6.10278024e-03 5.01618304e+01] [ 5.61229701e-02 -5.53993065e-04 9.98423710e-01 3.16611227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5850998929999 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:562.75, Y:50.17, Z:31.66 [[ 9.91814825e-01 -1.14849913e-01 -5.57929274e-02 5.62753314e+02] [ 1.14688179e-01 9.93382795e-01 -6.10278024e-03 5.01697707e+01] [ 5.61246380e-02 -3.45961312e-04 9.98423710e-01 3.16633650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.81, Y:50.18, Z:31.67 [[ 9.92066353e-01 -1.12657419e-01 -5.57911878e-02 5.62812336e+02] [ 1.12491328e-01 9.93633868e-01 -6.11864246e-03 5.01777810e+01] [ 5.61253242e-02 -2.05925474e-04 9.98423710e-01 3.16704167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.87, Y:50.18, Z:31.67 [[ 9.92051218e-01 -1.12790745e-01 -5.57909301e-02 5.62872259e+02] [ 1.12624731e-01 9.93618741e-01 -6.12099130e-03 5.01849426e+01] [ 5.61253049e-02 -2.11101638e-04 9.98423710e-01 3.16737174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.93, Y:50.19, Z:31.68 [[ 9.91611392e-01 -1.16594255e-01 -5.57909301e-02 5.62933368e+02] [ 1.16434254e-01 9.93179540e-01 -6.12099130e-03 5.01902699e+01] [ 5.61240827e-02 -4.26330614e-04 9.98423710e-01 3.16766025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.99, Y:50.20, Z:31.68 [[ 9.91044340e-01 -1.21319671e-01 -5.57911554e-02 5.62994783e+02] [ 1.21167263e-01 9.92613244e-01 -6.11893691e-03 5.01957749e+01] [ 5.61213872e-02 -6.95923793e-04 9.98423710e-01 3.16791333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.06, Y:50.20, Z:31.68 [[ 9.89857141e-01 -1.30652833e-01 -5.57913775e-02 5.63055867e+02] [ 1.30515329e-01 9.91427422e-01 -6.11691182e-03 5.01991769e+01] [ 5.61122934e-02 -1.22676115e-03 9.98423710e-01 3.16818007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.12, Y:50.20, Z:31.68 [[ 9.89056657e-01 -1.36580479e-01 -5.57915985e-02 5.63118278e+02] [ 1.36452499e-01 9.90627742e-01 -6.11489530e-03 5.02038443e+01] [ 5.61038806e-02 -1.56492512e-03 9.98423710e-01 3.16849117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.18, Y:50.21, Z:31.69 [[ 9.88691629e-01 -1.39198094e-01 -5.57920511e-02 5.63180265e+02] [ 1.39074505e-01 9.90263066e-01 -6.11076282e-03 5.02095976e+01] [ 5.60994142e-02 -1.71759184e-03 9.98423710e-01 3.16880352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.24, Y:50.21, Z:31.69 [[ 9.87725248e-01 -1.45897332e-01 -5.57925020e-02 5.63242044e+02] [ 1.45784632e-01 9.89297503e-01 -6.10664373e-03 5.02146749e+01] [ 5.60863259e-02 -2.10200316e-03 9.98423710e-01 3.16915962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.30, Y:50.22, Z:31.70 [[ 9.86739861e-01 -1.52419138e-01 -5.57929538e-02 5.63302995e+02] [ 1.52317059e-01 9.88312842e-01 -6.10251251e-03 5.02197002e+01] [ 5.60710324e-02 -2.47662630e-03 9.98423710e-01 3.16951703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.37, Y:50.23, Z:31.70 [[ 9.86094805e-01 -1.56537999e-01 -5.57932875e-02 5.63365182e+02] [ 1.56442662e-01 9.87668209e-01 -6.09945994e-03 5.02261849e+01] [ 5.60600536e-02 -2.71380466e-03 9.98423710e-01 3.16994586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.43, Y:50.23, Z:31.70 [[ 9.85178149e-01 -1.62206884e-01 -5.57937384e-02 5.63425726e+02] [ 1.62120831e-01 9.86752088e-01 -6.09533270e-03 5.02335154e+01] [ 5.60432928e-02 -3.04033866e-03 9.98423710e-01 3.17030610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.49, Y:50.24, Z:31.71 [[ 9.84666738e-01 -1.65282901e-01 -5.57940717e-02 5.63486166e+02] [ 1.65201937e-01 9.86240946e-01 -6.09228042e-03 5.02413994e+01] [ 5.60333479e-02 -3.21842281e-03 9.98423711e-01 3.17054123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.55, Y:50.25, Z:31.71 [[ 9.84038510e-01 -1.68982693e-01 -5.57948029e-02 5.63547305e+02] [ 1.68908024e-01 9.85613030e-01 -6.08557661e-03 5.02499473e+01] [ 5.60204419e-02 -3.43574819e-03 9.98423711e-01 3.17088433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.61, Y:50.26, Z:31.71 [[ 9.83529002e-01 -1.71923217e-01 -5.57952521e-02 5.63607471e+02] [ 1.71853488e-01 9.85103748e-01 -6.08145507e-03 5.02591409e+01] [ 5.60096553e-02 -3.60732124e-03 9.98423711e-01 3.17108995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.67, Y:50.27, Z:31.71 [[ 9.83309274e-01 -1.73175415e-01 -5.57955842e-02 5.63668880e+02] [ 1.73107863e-01 9.84884115e-01 -6.07840661e-03 5.02673240e+01] [ 5.60048152e-02 -3.68170076e-03 9.98423711e-01 3.17141917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.73, Y:50.28, Z:31.72 [[ 9.83607454e-01 -1.71473554e-01 -5.57960265e-02 5.63730853e+02] [ 1.71403506e-01 9.85182186e-01 -6.07434445e-03 5.02777198e+01] [ 5.60108408e-02 -3.58886409e-03 9.98423711e-01 3.17178472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.79, Y:50.29, Z:31.72 [[ 9.84937471e-01 -1.63660952e-01 -5.57966926e-02 5.63791738e+02] [ 1.63578754e-01 9.86511616e-01 -6.06821933e-03 5.02908784e+01] [ 5.60372159e-02 -3.15033684e-03 9.98423711e-01 3.17233542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.85, Y:50.30, Z:31.73 [[ 9.86178387e-01 -1.56009198e-01 -5.57971299e-02 5.63853214e+02] [ 1.55915008e-01 9.87751859e-01 -6.06419619e-03 5.03021325e+01] [ 5.60597892e-02 -2.71923071e-03 9.98423711e-01 3.17278957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.91, Y:50.32, Z:31.73 [[ 9.88020612e-01 -1.43881554e-01 -5.57975621e-02 5.63914597e+02] [ 1.43768264e-01 9.89592825e-01 -6.06021679e-03 5.03151924e+01] [ 5.60888205e-02 -2.03429955e-03 9.98423711e-01 3.17318758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.98, Y:50.33, Z:31.74 [[ 9.89473778e-01 -1.33522296e-01 -5.57982086e-02 5.63975969e+02] [ 1.33392876e-01 9.91044745e-01 -6.05425782e-03 5.03268417e+01] [ 5.61068999e-02 -1.45255417e-03 9.98423711e-01 3.17350593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.04, Y:50.34, Z:31.74 [[ 9.90249643e-01 -1.27640728e-01 -5.57986404e-02 5.64037100e+02] [ 1.27502200e-01 9.91819834e-01 -6.05027625e-03 5.03355953e+01] [ 5.61144599e-02 -1.12316551e-03 9.98423711e-01 3.17376076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.10, Y:50.35, Z:31.74 [[ 9.91319051e-01 -1.19050423e-01 -5.57990654e-02 5.64098302e+02] [ 1.18898508e-01 9.92888003e-01 -6.04635336e-03 5.03451400e+01] [ 5.61220436e-02 -6.40560361e-04 9.98423711e-01 3.17403611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.16, Y:50.35, Z:31.74 [[ 9.91965555e-01 -1.13537456e-01 -5.57994884e-02 5.64159074e+02] [ 1.13377041e-01 9.93533661e-01 -6.04244777e-03 5.03530681e+01] [ 5.61247141e-02 -3.32480818e-04 9.98423711e-01 3.17437953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.22, Y:50.36, Z:31.75 [[ 9.92744709e-01 -1.06509796e-01 -5.57996960e-02 5.64219547e+02] [ 1.06338388e-01 9.94311651e-01 -6.04052943e-03 5.03607351e+01] [ 5.61256635e-02 6.30539246e-05 9.98423711e-01 3.17476095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.28, Y:50.37, Z:31.75 [[ 9.93153785e-01 -1.02625190e-01 -5.57999005e-02 5.64279682e+02] [ 1.02447758e-01 9.94720057e-01 -6.03864004e-03 5.03667607e+01] [ 5.61249968e-02 2.80723497e-04 9.98423711e-01 3.17481764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.34, Y:50.37, Z:31.75 [[ 9.93247273e-01 -1.01716399e-01 -5.57999005e-02 5.64340728e+02] [ 1.01537535e-01 9.94813381e-01 -6.03864004e-03 5.03725694e+01] [ 5.61247164e-02 3.32078406e-04 9.98423711e-01 3.17534392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.40, Y:50.38, Z:31.76 [[ 9.93023528e-01 -1.03877903e-01 -5.58001196e-02 5.64400565e+02] [ 1.03702561e-01 9.94590035e-01 -6.03661463e-03 5.03760031e+01] [ 5.61253138e-02 2.07885050e-04 9.98423711e-01 3.17570430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.46, Y:50.38, Z:31.76 [[ 9.92348416e-01 -1.10140622e-01 -5.58002274e-02 5.64461028e+02] [ 1.09975223e-01 9.93916003e-01 -6.03561821e-03 5.03777586e+01] [ 5.61255058e-02 -1.47206273e-04 9.98423711e-01 3.17589210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.52, Y:50.38, Z:31.76 [[ 9.91836655e-01 -1.14657681e-01 -5.58002274e-02 5.64522737e+02] [ 1.14499421e-01 9.93404980e-01 -6.03561821e-03 5.03804247e+01] [ 5.61242538e-02 -4.02746331e-04 9.98423711e-01 3.17620746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.58, Y:50.38, Z:31.77 [[ 9.91150839e-01 -1.20442205e-01 -5.58004431e-02 5.64584145e+02] [ 1.20293210e-01 9.92720071e-01 -6.03362338e-03 5.03804410e+01] [ 5.61209227e-02 -7.32183523e-04 9.98423711e-01 3.17654987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.65, Y:50.38, Z:31.77 [[ 9.90779651e-01 -1.23458371e-01 -5.58006667e-02 5.64645604e+02] [ 1.23314269e-01 9.92349339e-01 -6.03155522e-03 5.03834286e+01] [ 5.61184007e-02 -9.05076240e-04 9.98423711e-01 3.17683725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.71, Y:50.39, Z:31.77 [[ 9.90237551e-01 -1.27733480e-01 -5.58009980e-02 5.64706701e+02] [ 1.27596327e-01 9.91807862e-01 -6.02848812e-03 5.03851074e+01] [ 5.61139083e-02 -1.15036708e-03 9.98423711e-01 3.17711326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5650998929999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:564.77, Y:50.39, Z:31.77 [[ 9.89603387e-01 -1.32557012e-01 -5.58012119e-02 5.64767963e+02] [ 1.32427624e-01 9.91174357e-01 -6.02650759e-03 5.03866169e+01] [ 5.61075862e-02 -1.42576958e-03 9.98423711e-01 3.17729687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6250998929999 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:564.83, Y:50.39, Z:31.78 [[ 9.88995224e-01 -1.37020614e-01 -5.58014248e-02 5.64829010e+02] [ 1.36898426e-01 9.90566770e-01 -6.02453589e-03 5.03903383e+01] [ 5.61005227e-02 -1.68089000e-03 9.98423711e-01 3.17759584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6850998929999 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:564.89, Y:50.39, Z:31.78 [[ 9.87766876e-01 -1.45611728e-01 -5.58016362e-02 5.64890723e+02] [ 1.45503315e-01 9.89339433e-01 -6.02257737e-03 5.03931911e+01] [ 5.60837170e-02 -2.17042059e-03 9.98423711e-01 3.17783530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.95, Y:50.40, Z:31.78 [[ 9.86432402e-01 -1.54393145e-01 -5.58020839e-02 5.64952884e+02] [ 1.54298960e-01 9.88005875e-01 -6.01842609e-03 5.03967373e+01] [ 5.60619905e-02 -2.67343299e-03 9.98423711e-01 3.17817020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.02, Y:50.40, Z:31.78 [[ 9.85385343e-01 -1.60940373e-01 -5.58025256e-02 5.65015294e+02] [ 1.60856870e-01 9.86959419e-01 -6.01432757e-03 5.04014332e+01] [ 5.60427764e-02 -3.04978937e-03 9.98423711e-01 3.17841978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.08, Y:50.41, Z:31.79 [[ 9.85067824e-01 -1.62872378e-01 -5.58029628e-02 5.65077193e+02] [ 1.62792192e-01 9.86642072e-01 -6.01026881e-03 5.04078540e+01] [ 5.60364576e-02 -3.16376421e-03 9.98423711e-01 3.17876701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.14, Y:50.41, Z:31.79 [[ 9.84944031e-01 -1.63619178e-01 -5.58033997e-02 5.65138498e+02] [ 1.63540414e-01 9.86518352e-01 -6.00620957e-03 5.04145282e+01] [ 5.60338089e-02 -3.21033084e-03 9.98423711e-01 3.17910586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.20, Y:50.42, Z:31.79 [[ 9.84956460e-01 -1.63544192e-01 -5.58038435e-02 5.65199991e+02] [ 1.63465541e-01 9.86530786e-01 -6.00208336e-03 5.04220355e+01] [ 5.60338154e-02 -3.21021469e-03 9.98423711e-01 3.17947826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.26, Y:50.43, Z:31.80 [[ 9.85195920e-01 -1.62095282e-01 -5.58042901e-02 5.65259933e+02] [ 1.62014550e-01 9.86770141e-01 -5.99792830e-03 5.04322121e+01] [ 5.60382430e-02 -3.13197247e-03 9.98423711e-01 3.17972077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.32, Y:50.44, Z:31.80 [[ 9.85333318e-01 -1.61257858e-01 -5.58046200e-02 5.65321380e+02] [ 1.61175962e-01 9.86907478e-01 -5.99485671e-03 5.04410991e+01] [ 5.60407146e-02 -3.08743125e-03 9.98423711e-01 3.18007011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.38, Y:50.45, Z:31.80 [[ 9.85500532e-01 -1.60232636e-01 -5.58050599e-02 5.65383326e+02] [ 1.60149334e-01 9.87074618e-01 -5.99075976e-03 5.04494377e+01] [ 5.60436734e-02 -3.03324621e-03 9.98423711e-01 3.18043251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.44, Y:50.46, Z:31.81 [[ 9.86095172e-01 -1.56531330e-01 -5.58055029e-02 5.65443965e+02] [ 1.56442351e-01 9.87668948e-01 -5.98662986e-03 5.04608146e+01] [ 5.60544575e-02 -2.82695727e-03 9.98423711e-01 3.18080349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.51, Y:50.47, Z:31.81 [[ 9.87141481e-01 -1.49791205e-01 -5.58058300e-02 5.65505041e+02] [ 1.49691649e-01 9.88714624e-01 -5.98357955e-03 5.04738515e+01] [ 5.60723277e-02 -2.44702713e-03 9.98423711e-01 3.18117263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.57, Y:50.48, Z:31.82 [[ 9.87996051e-01 -1.44046745e-01 -5.58062609e-02 5.65566486e+02] [ 1.43938267e-01 9.89568603e-01 -5.97955744e-03 5.04833562e+01] [ 5.60854594e-02 -2.12487736e-03 9.98423711e-01 3.18151215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.63, Y:50.49, Z:31.82 [[ 9.89376098e-01 -1.34240643e-01 -5.58066896e-02 5.65627355e+02] [ 1.34116799e-01 9.90947515e-01 -5.97555393e-03 5.04942817e+01] [ 5.61036626e-02 -1.57254436e-03 9.98423711e-01 3.18190411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.69, Y:50.50, Z:31.82 [[ 9.90312049e-01 -1.27151919e-01 -5.58071198e-02 5.65688127e+02] [ 1.27017051e-01 9.91882558e-01 -5.97153346e-03 5.05048849e+01] [ 5.61134007e-02 -1.17477425e-03 9.98423711e-01 3.18231102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.75, Y:50.52, Z:31.83 [[ 9.91519745e-01 -1.17363215e-01 -5.58074406e-02 5.65749829e+02] [ 1.17213009e-01 9.93088862e-01 -5.96853435e-03 5.05154549e+01] [ 5.61222340e-02 -6.23438351e-04 9.98423711e-01 3.18266303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.81, Y:50.52, Z:31.83 [[ 9.92030121e-01 -1.12967784e-01 -5.58078724e-02 5.65811402e+02] [ 1.12810853e-01 9.93598579e-01 -5.96449376e-03 5.05231478e+01] [ 5.61244184e-02 -3.78776221e-04 9.98423711e-01 3.18294384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.87, Y:50.53, Z:31.83 [[ 9.92292598e-01 -1.10638298e-01 -5.58083137e-02 5.65872604e+02] [ 1.10477917e-01 9.93860707e-01 -5.96036187e-03 5.05317284e+01] [ 5.61251344e-02 -2.51163292e-04 9.98423711e-01 3.18313920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.93, Y:50.54, Z:31.83 [[ 9.92055734e-01 -1.12742309e-01 -5.58085302e-02 5.65933097e+02] [ 1.12585368e-01 9.93624191e-01 -5.95833356e-03 5.05397686e+01] [ 5.61244620e-02 -3.72224944e-04 9.98423711e-01 3.18343214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.99, Y:50.55, Z:31.84 [[ 9.91580849e-01 -1.16845211e-01 -5.58087477e-02 5.65994378e+02] [ 1.16694874e-01 9.93149953e-01 -5.95629568e-03 5.05463946e+01] [ 5.61224198e-02 -6.06446035e-04 9.98423711e-01 3.18383280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.06, Y:50.55, Z:31.84 [[ 9.91204314e-01 -1.19997265e-01 -5.58091805e-02 5.66055230e+02] [ 1.19852146e-01 9.92773909e-01 -5.95223775e-03 5.05527505e+01] [ 5.61201505e-02 -7.88966300e-04 9.98423711e-01 3.18424755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.12, Y:50.56, Z:31.85 [[ 9.90102283e-01 -1.28774101e-01 -5.58095006e-02 5.66116776e+02] [ 1.28643062e-01 9.91673116e-01 -5.94923476e-03 5.05625122e+01] [ 5.61108888e-02 -1.28915416e-03 9.98423711e-01 3.18509921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.18, Y:50.56, Z:31.85 [[ 9.89828503e-01 -1.30861657e-01 -5.58100560e-02 5.66178257e+02] [ 1.30734225e-01 9.91399632e-01 -5.94402059e-03 5.05640656e+01] [ 5.61079134e-02 -1.41272342e-03 9.98423711e-01 3.18494313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.24, Y:50.57, Z:31.85 [[ 9.88879127e-01 -1.37852359e-01 -5.58103847e-02 5.66240567e+02] [ 1.37736206e-01 9.90451131e-01 -5.94093272e-03 5.05689975e+01] [ 5.60964302e-02 -1.81224629e-03 9.98423711e-01 3.18540431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0650998929999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:566.30, Y:50.58, Z:31.86 [[ 9.87652779e-01 -1.46380126e-01 -5.58108127e-02 5.66300990e+02] [ 1.46277769e-01 9.89225741e-01 -5.93690858e-03 5.05779027e+01] [ 5.60785380e-02 -2.30027692e-03 9.98423711e-01 3.18599050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.36, Y:50.58, Z:31.86 [[ 9.87355670e-01 -1.48370800e-01 -5.58111704e-02 5.66363495e+02] [ 1.48271803e-01 9.88928847e-01 -5.93354451e-03 5.05811191e+01] [ 5.60736412e-02 -2.41670407e-03 9.98423711e-01 3.18612247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.42, Y:50.59, Z:31.86 [[ 9.86774472e-01 -1.52188040e-01 -5.58116700e-02 5.66424469e+02] [ 1.52095394e-01 9.88348036e-01 -5.92884131e-03 5.05876623e+01] [ 5.60636532e-02 -2.63826867e-03 9.98423711e-01 3.18634984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.49, Y:50.60, Z:31.87 [[ 9.86643941e-01 -1.53031875e-01 -5.58119933e-02 5.66487184e+02] [ 1.52940746e-01 9.88217594e-01 -5.92579653e-03 5.05957180e+01] [ 5.60612295e-02 -2.68927667e-03 9.98423711e-01 3.18681631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.55, Y:50.61, Z:31.87 [[ 9.86800934e-01 -1.52016006e-01 -5.58126423e-02 5.66548687e+02] [ 1.51923603e-01 9.88374512e-01 -5.91967748e-03 5.06051540e+01] [ 5.60636788e-02 -2.63771443e-03 9.98423711e-01 3.18722325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.61, Y:50.62, Z:31.88 [[ 9.87198413e-01 -1.49412832e-01 -5.58130744e-02 5.66609811e+02] [ 1.49316508e-01 9.88771756e-01 -5.91560102e-03 5.06153263e+01] [ 5.60702583e-02 -2.49394145e-03 9.98423711e-01 3.18757643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.67, Y:50.62, Z:31.88 [[ 9.87556412e-01 -1.47027834e-01 -5.58135137e-02 5.66671445e+02] [ 1.46927944e-01 9.89129533e-01 -5.91145297e-03 5.06242205e+01] [ 5.60759429e-02 -2.36267155e-03 9.98423711e-01 3.18787655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.73, Y:50.63, Z:31.88 [[ 9.88177913e-01 -1.42790770e-01 -5.58140557e-02 5.66733174e+02] [ 1.42684424e-01 9.89750610e-01 -5.90633067e-03 5.06332623e+01] [ 5.60853652e-02 -2.12729086e-03 9.98423711e-01 3.18847909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.79, Y:50.64, Z:31.89 [[ 9.88960447e-01 -1.37266083e-01 -5.58144881e-02 5.66794959e+02] [ 1.37151180e-01 9.90532542e-01 -5.90224227e-03 5.06426101e+01] [ 5.60962445e-02 -1.81793874e-03 9.98423711e-01 3.18895967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.86, Y:50.65, Z:31.89 [[ 9.89531536e-01 -1.33086571e-01 -5.58149132e-02 5.66857911e+02] [ 1.32965253e-01 9.91103149e-01 -5.89821954e-03 5.06501103e+01] [ 5.61033100e-02 -1.58496982e-03 9.98423711e-01 3.18935284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.92, Y:50.66, Z:31.90 [[ 9.90391587e-01 -1.26527186e-01 -5.58155527e-02 5.66919460e+02] [ 1.26395799e-01 9.91962391e-01 -5.89216185e-03 5.06564694e+01] [ 5.61124477e-02 -1.21930385e-03 9.98423711e-01 3.18967130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.98, Y:50.66, Z:31.90 [[ 9.91001545e-01 -1.21657364e-01 -5.58159839e-02 5.66981488e+02] [ 1.21518487e-01 9.92571704e-01 -5.88807379e-03 5.06624808e+01] [ 5.61176938e-02 -9.47583682e-04 9.98423711e-01 3.18998706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.04, Y:50.67, Z:31.90 [[ 9.92039932e-01 -1.12877372e-01 -5.58164118e-02 5.67042153e+02] [ 1.12724825e-01 9.93608822e-01 -5.88401533e-03 5.06684895e+01] [ 5.61238513e-02 -4.54717106e-04 9.98423711e-01 3.19021145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.10, Y:50.67, Z:31.91 [[ 9.92328159e-01 -1.10314628e-01 -5.58167276e-02 5.67104246e+02] [ 1.10158198e-01 9.93896667e-01 -5.88101730e-03 5.06744488e+01] [ 5.61248218e-02 -3.12771076e-04 9.98423711e-01 3.19054978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.17, Y:50.67, Z:31.90 [[ 9.93659829e-01 -9.75940083e-02 -5.58171463e-02 5.67167076e+02] [ 9.74177222e-02 9.95226229e-01 -5.87704148e-03 5.06715647e+01] [ 5.61242520e-02 4.02200786e-04 9.98423711e-01 3.19009925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.23, Y:50.68, Z:31.91 [[ 9.93378134e-01 -1.00420510e-01 -5.58176023e-02 5.67226622e+02] [ 1.00248924e-01 9.94945056e-01 -5.87270695e-03 5.06805506e+01] [ 5.61251877e-02 2.38164097e-04 9.98423711e-01 3.19115944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.29, Y:50.68, Z:31.92 [[ 9.93502318e-01 -9.91843097e-02 -5.58177135e-02 5.67287001e+02] [ 9.90108339e-02 9.95069032e-01 -5.87164973e-03 5.06808174e+01] [ 5.61248537e-02 3.06939259e-04 9.98423711e-01 3.19154115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.35, Y:50.68, Z:31.92 [[ 9.93466411e-01 -9.95433182e-02 -5.58177135e-02 5.67346387e+02] [ 9.93704085e-02 9.95033188e-01 -5.87164973e-03 5.06821275e+01] [ 5.61249609e-02 2.86657795e-04 9.98423711e-01 3.19189535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.41, Y:50.68, Z:31.92 [[ 9.93354944e-01 -1.00649694e-01 -5.58175038e-02 5.67406322e+02] [ 1.00478417e-01 9.94921900e-01 -5.87364233e-03 5.06796291e+01] [ 5.61252373e-02 2.26157200e-04 9.98423711e-01 3.19223792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.47, Y:50.68, Z:31.92 [[ 9.93128866e-01 -1.02856623e-01 -5.58172897e-02 5.67466160e+02] [ 1.02688715e-01 9.94696187e-01 -5.87567668e-03 5.06760948e+01] [ 5.61255975e-02 1.03498390e-04 9.98423711e-01 3.19243244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.52, Y:50.67, Z:31.93 [[ 9.92827233e-01 -1.05729294e-01 -5.58157939e-02 5.67523774e+02] [ 1.05565123e-01 9.94394949e-01 -5.88985149e-03 5.06707965e+01] [ 5.61256734e-02 -4.45962006e-05 9.98423711e-01 3.19261779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.58, Y:50.67, Z:31.93 [[ 9.92621920e-01 -1.07640382e-01 -5.58146242e-02 5.67582976e+02] [ 1.07478607e-01 9.94189885e-01 -5.90091510e-03 5.06698028e+01] [ 5.61255116e-02 -1.41500383e-04 9.98423711e-01 3.19294596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.64, Y:50.67, Z:31.93 [[ 9.92550794e-01 -1.08295046e-01 -5.58131151e-02 5.67641073e+02] [ 1.08133505e-01 9.94118784e-01 -5.91515487e-03 5.06658046e+01] [ 5.61254481e-02 -1.64176068e-04 9.98423711e-01 3.19316357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.70, Y:50.66, Z:31.93 [[ 9.92770961e-01 -1.06258172e-01 -5.58123720e-02 5.67699330e+02] [ 1.06093020e-01 9.94338574e-01 -5.92215804e-03 5.06622999e+01] [ 5.61256721e-02 -4.19565783e-05 9.98423711e-01 3.19332152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.76, Y:50.66, Z:31.94 [[ 9.93024111e-01 -1.03866658e-01 -5.58106864e-02 5.67757513e+02] [ 1.03696840e-01 9.94591225e-01 -5.93800045e-03 5.06620888e+01] [ 5.61255793e-02 1.09185800e-04 9.98423711e-01 3.19362839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.82, Y:50.66, Z:31.94 [[ 9.93228532e-01 -1.01894256e-01 -5.58089991e-02 5.67815467e+02] [ 1.01720438e-01 9.94795207e-01 -5.95381706e-03 5.06592862e+01] [ 5.61251846e-02 2.36585164e-04 9.98423712e-01 3.19394623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.87, Y:50.66, Z:31.94 [[ 9.93422176e-01 -9.99896167e-02 -5.58073191e-02 5.67873409e+02] [ 9.98119124e-02 9.94988415e-01 -5.96952319e-03 5.06592370e+01] [ 5.61245263e-02 3.60021478e-04 9.98423712e-01 3.19431467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.93, Y:50.65, Z:31.95 [[ 9.93189104e-01 -1.02279748e-01 -5.58055333e-02 5.67931417e+02] [ 1.02104720e-01 9.94755644e-01 -5.98617107e-03 5.06549500e+01] [ 5.61251333e-02 2.47391541e-04 9.98423712e-01 3.19455178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.99, Y:50.65, Z:31.95 [[ 9.92786199e-01 -1.06119695e-01 -5.58047761e-02 5.67989543e+02] [ 1.05950330e-01 9.94353362e-01 -5.99322148e-03 5.06541564e+01] [ 5.61256656e-02 3.74531534e-05 9.98423712e-01 3.19474732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.05, Y:50.65, Z:31.95 [[ 9.92124748e-01 -1.12136074e-01 -5.58030977e-02 5.68046965e+02] [ 1.11975335e-01 9.93692819e-01 -6.00880882e-03 5.06498970e+01] [ 5.61249417e-02 -2.87082645e-04 9.98423712e-01 3.19517936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.11, Y:50.65, Z:31.96 [[ 9.91656743e-01 -1.16202435e-01 -5.58023146e-02 5.68105617e+02] [ 1.16047718e-01 9.93225420e-01 -6.01607200e-03 5.06497086e+01] [ 5.61233596e-02 -5.09852887e-04 9.98423712e-01 3.19557733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.16, Y:50.65, Z:31.96 [[ 9.90859327e-01 -1.22817282e-01 -5.58006221e-02 5.68164188e+02] [ 1.22672155e-01 9.92428920e-01 -6.03173038e-03 5.06469843e+01] [ 5.61189518e-02 -8.68586233e-04 9.98423712e-01 3.19589391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.22, Y:50.65, Z:31.96 [[ 9.90280990e-01 -1.27397170e-01 -5.57989490e-02 5.68222161e+02] [ 1.27258431e-01 9.91851160e-01 -6.04716868e-03 5.06476525e+01] [ 5.61146444e-02 -1.11249053e-03 9.98423712e-01 3.19622493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.28, Y:50.65, Z:31.97 [[ 9.89422292e-01 -1.33903659e-01 -5.57972935e-02 5.68280590e+02] [ 1.33774385e-01 9.90993270e-01 -6.06240553e-03 5.06475791e+01] [ 5.61065206e-02 -1.46596944e-03 9.98423712e-01 3.19654635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.34, Y:50.65, Z:31.97 [[ 9.88433251e-01 -1.41019485e-01 -5.57961779e-02 5.68338191e+02] [ 1.40900941e-01 9.90005075e-01 -6.07265524e-03 5.06487043e+01] [ 5.60948620e-02 -1.85931961e-03 9.98423712e-01 3.19699556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.40, Y:50.65, Z:31.97 [[ 9.87015297e-01 -1.50624689e-01 -5.57943254e-02 5.68395437e+02] [ 1.50520477e-01 9.88588136e-01 -6.08962888e-03 5.06520607e+01] [ 5.60748566e-02 -2.38763162e-03 9.98423713e-01 3.19718668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.45, Y:50.66, Z:31.97 [[ 9.86182915e-01 -1.55981848e-01 -5.57935607e-02 5.68452903e+02] [ 1.55885784e-01 9.87756272e-01 -6.09662674e-03 5.06576757e+01] [ 5.60614027e-02 -2.68503381e-03 9.98423713e-01 3.19742378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.51, Y:50.67, Z:31.98 [[ 9.85460574e-01 -1.60482802e-01 -5.57918233e-02 5.68510043e+02] [ 1.60393026e-01 9.87034303e-01 -6.11248526e-03 5.06651207e+01] [ 5.60493921e-02 -2.92500613e-03 9.98423713e-01 3.19771655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.57, Y:50.68, Z:31.98 [[ 9.85496910e-01 -1.60260119e-01 -5.57900950e-02 5.68567038e+02] [ 1.60169099e-01 9.87070567e-01 -6.12821926e-03 5.06750325e+01] [ 5.60508699e-02 -2.89650811e-03 9.98423713e-01 3.19808711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.62, Y:50.69, Z:31.98 [[ 9.85994702e-01 -1.57169050e-01 -5.57883210e-02 5.68623799e+02] [ 1.57072187e-01 9.87568010e-01 -6.14432671e-03 5.06856022e+01] [ 5.60604592e-02 -2.70452002e-03 9.98423713e-01 3.19848879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.68, Y:50.70, Z:31.99 [[ 9.86982502e-01 -1.50842320e-01 -5.57865220e-02 5.68680778e+02] [ 1.50734450e-01 9.88555093e-01 -6.16061714e-03 5.06996699e+01] [ 5.60773323e-02 -2.32852940e-03 9.98423713e-01 3.19892491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.74, Y:50.71, Z:31.99 [[ 9.87684310e-01 -1.46177190e-01 -5.57847061e-02 5.68737137e+02] [ 1.46060966e-01 9.89256306e-01 -6.17701701e-03 5.07106873e+01] [ 5.60883112e-02 -2.04702525e-03 9.98423713e-01 3.19926222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.79, Y:50.72, Z:32.00 [[ 9.88676392e-01 -1.39309439e-01 -5.57841490e-02 5.68793422e+02] [ 1.39182009e-01 9.90247520e-01 -6.18204404e-03 5.07245097e+01] [ 5.61013323e-02 -1.65210891e-03 9.98423713e-01 3.19967831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.85, Y:50.74, Z:32.00 [[ 9.89486823e-01 -1.33431693e-01 -5.57836069e-02 5.68850228e+02] [ 1.33294654e-01 9.91057141e-01 -6.18693198e-03 5.07356625e+01] [ 5.61102747e-02 -1.31376888e-03 9.98423713e-01 3.20001652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.91, Y:50.75, Z:32.00 [[ 9.90261785e-01 -1.27553868e-01 -5.57817827e-02 5.68907494e+02] [ 1.27406583e-01 9.91831176e-01 -6.20333520e-03 5.07466073e+01] [ 5.61173705e-02 -9.64040527e-04 9.98423713e-01 3.20028497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.96, Y:50.76, Z:32.00 [[ 9.90927410e-01 -1.22276190e-01 -5.57799398e-02 5.68964095e+02] [ 1.22119615e-01 9.92495901e-01 -6.21986222e-03 5.07569354e+01] [ 5.61219027e-02 -6.48392788e-04 9.98423713e-01 3.20043707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.02, Y:50.77, Z:32.01 [[ 9.91611468e-01 -1.16599462e-01 -5.57786827e-02 5.69020906e+02] [ 1.16433275e-01 9.93178970e-01 -6.23111565e-03 5.07682768e+01] [ 5.61247593e-02 -3.15648940e-04 9.98423714e-01 3.20080902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.08, Y:50.78, Z:32.01 [[ 9.91820622e-01 -1.14807635e-01 -5.57768904e-02 5.69077862e+02] [ 1.14637715e-01 9.93387723e-01 -6.24711775e-03 5.07769917e+01] [ 5.61252950e-02 -1.98115068e-04 9.98423714e-01 3.20110609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.14, Y:50.79, Z:32.02 [[ 9.91499195e-01 -1.17552046e-01 -5.57751087e-02 5.69135008e+02] [ 1.17385572e-01 9.93066666e-01 -6.26298513e-03 5.07889585e+01] [ 5.61246279e-02 -3.37448319e-04 9.98423714e-01 3.20192446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.19, Y:50.79, Z:32.02 [[ 9.90882129e-01 -1.22645509e-01 -5.57735264e-02 5.69193734e+02] [ 1.22486300e-01 9.92450354e-01 -6.27704400e-03 5.07936252e+01] [ 5.61223073e-02 -6.11682170e-04 9.98423714e-01 3.20184440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.25, Y:50.80, Z:32.02 [[ 9.89875406e-01 -1.30522165e-01 -5.57731616e-02 5.69251033e+02] [ 1.30375251e-01 9.91444831e-01 -6.28028393e-03 5.07995964e+01] [ 5.61157290e-02 -1.05474132e-03 9.98423714e-01 3.20225699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.31, Y:50.80, Z:32.03 [[ 9.87937199e-01 -1.44463318e-01 -5.57713311e-02 5.69307860e+02] [ 1.44337628e-01 9.89508466e-01 -6.29649807e-03 5.08044059e+01] [ 5.60958172e-02 -1.82935696e-03 9.98423714e-01 3.20254218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.37, Y:50.81, Z:32.03 [[ 9.85934136e-01 -1.57554832e-01 -5.57705430e-02 5.69365893e+02] [ 1.57449602e-01 9.87506906e-01 -6.30347103e-03 5.08100158e+01] [ 5.60669386e-02 -2.56624250e-03 9.98423714e-01 3.20276962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.42, Y:50.82, Z:32.03 [[ 9.84661816e-01 -1.65320683e-01 -5.57689881e-02 5.69423988e+02] [ 1.65227076e-01 9.86235320e-01 -6.31719713e-03 5.08167977e+01] [ 5.60457092e-02 -2.99424404e-03 9.98423714e-01 3.20301655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.48, Y:50.83, Z:32.04 [[ 9.83136553e-01 -1.74162300e-01 -5.57674830e-02 5.69481016e+02] [ 1.74082088e-01 9.84710796e-01 -6.33045647e-03 5.08254324e+01] [ 5.60173695e-02 -3.48441672e-03 9.98423714e-01 3.20359950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.54, Y:50.83, Z:32.04 [[ 9.82747712e-01 -1.76343824e-01 -5.57655001e-02 5.69539872e+02] [ 1.76266121e-01 9.84322081e-01 -6.34787611e-03 5.08346429e+01] [ 5.60106219e-02 -3.59120769e-03 9.98423714e-01 3.20378383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.60, Y:50.85, Z:32.04 [[ 9.83093899e-01 -1.74403615e-01 -5.57652667e-02 5.69598842e+02] [ 1.74322689e-01 9.84668106e-01 -6.34992632e-03 5.08485069e+01] [ 5.60177296e-02 -3.47857738e-03 9.98423714e-01 3.20422059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.66, Y:50.86, Z:32.05 [[ 9.83811095e-01 -1.70311373e-01 -5.57652667e-02 5.69658584e+02] [ 1.70223897e-01 9.85384952e-01 -6.34992632e-03 5.08622848e+01] [ 5.60317193e-02 -3.24545303e-03 9.98423714e-01 3.20458737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.72, Y:50.87, Z:32.05 [[ 9.84120289e-01 -1.68515474e-01 -5.57655032e-02 5.69719379e+02] [ 1.68425243e-01 9.85693990e-01 -6.34784841e-03 5.08735328e+01] [ 5.60374320e-02 -3.14527202e-03 9.98423714e-01 3.20476431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.78, Y:50.89, Z:32.05 [[ 9.84170394e-01 -1.68222524e-01 -5.57657377e-02 5.69778690e+02] [ 1.68131942e-01 9.85744075e-01 -6.34578715e-03 5.08867874e+01] [ 5.60382499e-02 -3.13066592e-03 9.98423714e-01 3.20489450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.84, Y:50.90, Z:32.05 [[ 9.84041651e-01 -1.68973861e-01 -5.57661512e-02 5.69838940e+02] [ 1.68884685e-01 9.85615412e-01 -6.34215162e-03 5.08990358e+01] [ 5.60356359e-02 -3.17710752e-03 9.98423714e-01 3.20524249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.90, Y:50.91, Z:32.06 [[ 9.84364335e-01 -1.67083713e-01 -5.57663826e-02 5.69900065e+02] [ 1.66991630e-01 9.85937928e-01 -6.34011638e-03 5.09135567e+01] [ 5.60415219e-02 -3.07153468e-03 9.98423714e-01 3.20580965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.96, Y:50.93, Z:32.06 [[ 9.84987618e-01 -1.63369061e-01 -5.57668512e-02 5.69961010e+02] [ 1.63271275e-01 9.86560868e-01 -6.33599159e-03 5.09261680e+01] [ 5.60524982e-02 -2.86425166e-03 9.98423714e-01 3.20626759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.02, Y:50.94, Z:32.07 [[ 9.85873976e-01 -1.57931978e-01 -5.57673163e-02 5.70022490e+02] [ 1.57825744e-01 9.87446678e-01 -6.33189566e-03 5.09384498e+01] [ 5.60672600e-02 -2.55906704e-03 9.98423714e-01 3.20668412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.08, Y:50.95, Z:32.07 [[ 9.87369174e-01 -1.48297232e-01 -5.57677741e-02 5.70083795e+02] [ 1.48175874e-01 9.88940781e-01 -6.32786139e-03 5.09526044e+01] [ 5.60894304e-02 -2.01550337e-03 9.98423714e-01 3.20706487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.14, Y:50.97, Z:32.07 [[ 9.88882908e-01 -1.37842298e-01 -5.57682327e-02 5.70144866e+02] [ 1.37704546e-01 9.90453163e-01 -6.32381638e-03 5.09661450e+01] [ 5.61075119e-02 -1.42602523e-03 9.98423714e-01 3.20742676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.21, Y:50.98, Z:32.08 [[ 9.89810335e-01 -1.31016620e-01 -5.57686914e-02 5.70205745e+02] [ 1.30868266e-01 9.91379623e-01 -6.31976917e-03 5.09768180e+01] [ 5.61159390e-02 -1.04297909e-03 9.98423714e-01 3.20773255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.27, Y:50.99, Z:32.08 [[ 9.90923972e-01 -1.22308969e-01 -5.57691505e-02 5.70265585e+02] [ 1.22147052e-01 9.92491919e-01 -6.31571459e-03 5.09875866e+01] [ 5.61228998e-02 -5.53644332e-04 9.98423714e-01 3.20798313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.33, Y:51.00, Z:32.08 [[ 9.91409720e-01 -1.18307039e-01 -5.57692630e-02 5.70327089e+02] [ 1.18138848e-01 9.92977007e-01 -6.31472143e-03 5.09975494e+01] [ 5.61246719e-02 -3.28040285e-04 9.98423714e-01 3.20840412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.39, Y:51.01, Z:32.09 [[ 9.91474139e-01 -1.17765734e-01 -5.57697327e-02 5.70388075e+02] [ 1.17596921e-01 9.93041359e-01 -6.31057074e-03 5.10077576e+01] [ 5.61248201e-02 -3.01581134e-04 9.98423714e-01 3.20852161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.45, Y:51.02, Z:32.09 [[ 9.90293690e-01 -1.27311111e-01 -5.57699639e-02 5.70448962e+02] [ 1.27157517e-01 9.91862474e-01 -6.30852684e-03 5.10161846e+01] [ 5.61192799e-02 -8.44275828e-04 9.98423714e-01 3.20892169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.51, Y:51.02, Z:32.09 [[ 9.89799994e-01 -1.31094080e-01 -5.57701957e-02 5.70510843e+02] [ 1.30946597e-01 9.91369365e-01 -6.30647698e-03 5.10228943e+01] [ 5.61156052e-02 -1.06076647e-03 9.98423714e-01 3.20928142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.57, Y:51.03, Z:32.10 [[ 9.88639766e-01 -1.39574522e-01 -5.57706608e-02 5.70571779e+02] [ 1.39440731e-01 9.90210363e-01 -6.30236127e-03 5.10283468e+01] [ 5.61043353e-02 -1.54593671e-03 9.98423714e-01 3.20953475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.63, Y:51.03, Z:32.10 [[ 9.86582151e-01 -1.53444629e-01 -5.57710049e-02 5.70633326e+02] [ 1.53333080e-01 9.88154485e-01 -6.29931416e-03 5.10329517e+01] [ 5.60769646e-02 -2.33674902e-03 9.98423714e-01 3.20992631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.70, Y:51.04, Z:32.10 [[ 9.85353532e-01 -1.61145777e-01 -5.57714576e-02 5.70695611e+02] [ 1.61046738e-01 9.86926703e-01 -6.29530346e-03 5.10384809e+01] [ 5.60568024e-02 -2.77871183e-03 9.98423715e-01 3.21039984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.76, Y:51.04, Z:32.11 [[ 9.84059430e-01 -1.68868384e-01 -5.57719239e-02 5.70757223e+02] [ 1.68781919e-01 9.85633342e-01 -6.29117021e-03 5.10438843e+01] [ 5.60330475e-02 -3.22240698e-03 9.98423715e-01 3.21084562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.82, Y:51.05, Z:32.11 [[ 9.83774061e-01 -1.70522838e-01 -5.57723881e-02 5.70818856e+02] [ 1.70439252e-01 9.85348128e-01 -6.28705214e-03 5.10505772e+01] [ 5.60273042e-02 -3.32076531e-03 9.98423715e-01 3.21115831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.88, Y:51.06, Z:32.11 [[ 9.83277300e-01 -1.73364148e-01 -5.57729627e-02 5.70881254e+02] [ 1.73285399e-01 9.84851617e-01 -6.28195070e-03 5.10574577e+01] [ 5.60171575e-02 -3.48774055e-03 9.98423715e-01 3.21149575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.94, Y:51.06, Z:32.12 [[ 9.83220394e-01 -1.73686381e-01 -5.57736382e-02 5.70942583e+02] [ 1.73608486e-01 9.84794753e-01 -6.27594795e-03 5.10643740e+01] [ 5.60156329e-02 -3.51213689e-03 9.98423715e-01 3.21184958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.00, Y:51.08, Z:32.13 [[ 9.82903411e-01 -1.75471176e-01 -5.57740995e-02 5.71002798e+02] [ 1.75396372e-01 9.84477921e-01 -6.27184531e-03 5.10786762e+01] [ 5.60088976e-02 -3.61795656e-03 9.98423715e-01 3.21292391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.06, Y:51.08, Z:32.13 [[ 9.84780745e-01 -1.64608866e-01 -5.57746034e-02 5.71064345e+02] [ 1.64516936e-01 9.86354347e-01 -6.26736080e-03 5.10812174e+01] [ 5.60451857e-02 -3.00389065e-03 9.98423715e-01 3.21255211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.13, Y:51.09, Z:32.13 [[ 9.85869999e-01 -1.57954110e-01 -5.57749486e-02 5.71126108e+02] [ 1.57851728e-01 9.87442956e-01 -6.26428735e-03 5.10902692e+01] [ 5.60640501e-02 -2.62839903e-03 9.98423715e-01 3.21293653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.19, Y:51.10, Z:32.13 [[ 9.87826975e-01 -1.45213537e-01 -5.57754104e-02 5.71187672e+02] [ 1.45091089e-01 9.89398497e-01 -6.26017353e-03 5.11013148e+01] [ 5.60931691e-02 -1.90854673e-03 9.98423715e-01 3.21336985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.25, Y:51.11, Z:32.14 [[ 9.89047014e-01 -1.36656617e-01 -5.57760928e-02 5.71249386e+02] [ 1.36520912e-01 9.90617447e-01 -6.25408725e-03 5.11111333e+01] [ 5.61074331e-02 -1.42901672e-03 9.98423715e-01 3.21385590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.31, Y:51.12, Z:32.14 [[ 9.90499511e-01 -1.25696839e-01 -5.57765525e-02 5.71310023e+02] [ 1.25543984e-01 9.92068367e-01 -6.24998489e-03 5.11194801e+01] [ 5.61197567e-02 -8.11803648e-04 9.98423715e-01 3.21430966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.37, Y:51.13, Z:32.14 [[ 9.91490038e-01 -1.17628411e-01 -5.57768910e-02 5.71371321e+02] [ 1.17462959e-01 9.93057616e-01 -6.24696264e-03 5.11277633e+01] [ 5.61244867e-02 -3.57917419e-04 9.98423715e-01 3.21449742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2250998929999 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:571.43, Y:51.14, Z:32.15 [[ 9.92050894e-01 -1.12800318e-01 -5.57773401e-02 5.71431622e+02] [ 1.12627462e-01 9.93617673e-01 -6.24294983e-03 5.11363928e+01] [ 5.61255576e-02 -8.87363081e-05 9.98423715e-01 3.21515573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.49, Y:51.14, Z:32.15 [[ 9.92495410e-01 -1.08819665e-01 -5.57776104e-02 5.71491307e+02] [ 1.08640661e-01 9.94061498e-01 -6.24053393e-03 5.11388799e+01] [ 5.61254678e-02 1.33984820e-04 9.98423715e-01 3.21527644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.55, Y:51.14, Z:32.16 [[ 9.92536046e-01 -1.08448470e-01 -5.57774752e-02 5.71551700e+02] [ 1.08268812e-01 9.94102060e-01 -6.24174253e-03 5.11433154e+01] [ 5.61254104e-02 1.56193477e-04 9.98423715e-01 3.21569813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.61, Y:51.15, Z:32.16 [[ 9.92074156e-01 -1.12595478e-01 -5.57774752e-02 5.71611726e+02] [ 1.12422367e-01 9.93640907e-01 -6.24174253e-03 5.11460508e+01] [ 5.61255730e-02 -7.83643067e-05 9.98423715e-01 3.21600273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.67, Y:51.15, Z:32.16 [[ 9.91685174e-01 -1.15971497e-01 -5.57774752e-02 5.71671677e+02] [ 1.15803719e-01 9.93252505e-01 -6.24174253e-03 5.11492814e+01] [ 5.61249812e-02 -2.69395558e-04 9.98423715e-01 3.21639493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.73, Y:51.15, Z:32.17 [[ 9.91112142e-01 -1.20770784e-01 -5.57775864e-02 5.71733442e+02] [ 1.20610652e-01 9.92680273e-01 -6.24074796e-03 5.11518330e+01] [ 5.61230098e-02 -5.42089959e-04 9.98423715e-01 3.21684777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.79, Y:51.16, Z:32.17 [[ 9.90862286e-01 -1.22803768e-01 -5.57778158e-02 5.71793168e+02] [ 1.22646968e-01 9.92430753e-01 -6.23869782e-03 5.11560625e+01] [ 5.61217553e-02 -6.59289600e-04 9.98423715e-01 3.21712994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.85, Y:51.16, Z:32.17 [[ 9.90769130e-01 -1.23553042e-01 -5.57779286e-02 5.71853466e+02] [ 1.23397485e-01 9.92337721e-01 -6.23768901e-03 5.11574545e+01] [ 5.61212280e-02 -7.02746370e-04 9.98423715e-01 3.21748342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.91, Y:51.16, Z:32.18 [[ 9.90866138e-01 -1.22772629e-01 -5.57779286e-02 5.71913858e+02] [ 1.22615836e-01 9.92434606e-01 -6.23768901e-03 5.11599364e+01] [ 5.61217641e-02 -6.58542517e-04 9.98423715e-01 3.21783611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.97, Y:51.16, Z:32.18 [[ 9.90939357e-01 -1.22180249e-01 -5.57779286e-02 5.71972929e+02] [ 1.22022519e-01 9.92507731e-01 -6.23768901e-03 5.11647664e+01] [ 5.61221477e-02 -6.24991815e-04 9.98423715e-01 3.21812099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.03, Y:51.17, Z:32.18 [[ 9.91177124e-01 -1.20236206e-01 -5.57778152e-02 5.72033184e+02] [ 1.20075342e-01 9.92745179e-01 -6.23870263e-03 5.11670525e+01] [ 5.61232751e-02 -5.13880921e-04 9.98423715e-01 3.21838841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.09, Y:51.17, Z:32.19 [[ 9.91555121e-01 -1.17078082e-01 -5.57778152e-02 5.72093355e+02] [ 1.16912224e-01 9.93122656e-01 -6.23870263e-03 5.11699233e+01] [ 5.61246273e-02 -3.35090881e-04 9.98423715e-01 3.21859529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.15, Y:51.17, Z:32.19 [[ 9.91967066e-01 -1.13534962e-01 -5.57777042e-02 5.72152849e+02] [ 1.13363450e-01 9.93533993e-01 -6.23969525e-03 5.11739030e+01] [ 5.61254687e-02 -1.33580757e-04 9.98423715e-01 3.21901329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.21, Y:51.17, Z:32.19 [[ 9.91711991e-01 -1.15741959e-01 -5.57774725e-02 5.72211935e+02] [ 1.15573817e-01 9.93279283e-01 -6.24176534e-03 5.11688827e+01] [ 5.61250420e-02 -2.56381874e-04 9.98423715e-01 3.21923338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.27, Y:51.17, Z:32.19 [[ 9.91333174e-01 -1.18943161e-01 -5.57769038e-02 5.72269561e+02] [ 1.18779794e-01 9.92900971e-01 -6.24684326e-03 5.11724522e+01] [ 5.61239612e-02 -4.32466212e-04 9.98423715e-01 3.21943835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.33, Y:51.18, Z:32.20 [[ 9.91068027e-01 -1.21132956e-01 -5.57760945e-02 5.72327283e+02] [ 1.20972647e-01 9.92636139e-01 -6.25406067e-03 5.11771556e+01] [ 5.61229400e-02 -5.49182247e-04 9.98423715e-01 3.21981034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.38, Y:51.18, Z:32.20 [[ 9.90540993e-01 -1.25370536e-01 -5.57742697e-02 5.72384585e+02] [ 1.25216021e-01 9.92109687e-01 -6.27029215e-03 5.11794524e+01] [ 5.61203032e-02 -7.72850729e-04 9.98423715e-01 3.21997651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.44, Y:51.18, Z:32.21 [[ 9.89681588e-01 -1.31983605e-01 -5.57734849e-02 5.72442928e+02] [ 1.31839178e-01 9.91251243e-01 -6.27726549e-03 5.11820347e+01] [ 5.61140324e-02 -1.14063634e-03 9.98423715e-01 3.22054835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.50, Y:51.19, Z:32.21 [[ 9.89001888e-01 -1.36984534e-01 -5.57718890e-02 5.72501437e+02] [ 1.36847246e-01 9.90572183e-01 -6.29141282e-03 5.11866780e+01] [ 5.61079081e-02 -1.41001027e-03 9.98423715e-01 3.22102951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.56, Y:51.19, Z:32.21 [[ 9.88929787e-01 -1.37504728e-01 -5.57702950e-02 5.72560826e+02] [ 1.37367472e-01 9.90500085e-01 -6.30551109e-03 5.11915699e+01] [ 5.61075195e-02 -1.42531669e-03 9.98423715e-01 3.22137709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.62, Y:51.20, Z:32.22 [[ 9.89109501e-01 -1.36206073e-01 -5.57700653e-02 5.72619009e+02] [ 1.36066640e-01 9.90679607e-01 -6.30754263e-03 5.11968420e+01] [ 5.61093920e-02 -1.34959504e-03 9.98423715e-01 3.22170669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.68, Y:51.20, Z:32.22 [[ 9.89790524e-01 -1.31166295e-01 -5.57684580e-02 5.72676905e+02] [ 1.31018068e-01 9.91359825e-01 -6.32172179e-03 5.12042938e+01] [ 5.61158055e-02 -1.04949529e-03 9.98423715e-01 3.22224935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.73, Y:51.21, Z:32.23 [[ 9.90020026e-01 -1.29423374e-01 -5.57668309e-02 5.72734997e+02] [ 1.29271578e-01 9.91588984e-01 -6.33604269e-03 5.12110211e+01] [ 5.61178072e-02 -9.36257068e-04 9.98423715e-01 3.22264086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.79, Y:51.22, Z:32.23 [[ 9.90238741e-01 -1.27739879e-01 -5.57652130e-02 5.72793010e+02] [ 1.27584615e-01 9.91807360e-01 -6.35025049e-03 5.12166120e+01] [ 5.61195289e-02 -8.26519200e-04 9.98423715e-01 3.22296415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.85, Y:51.22, Z:32.23 [[ 9.90028672e-01 -1.29358604e-01 -5.57636049e-02 5.72851140e+02] [ 1.29205112e-01 9.91597466e-01 -6.36434052e-03 5.12204052e+01] [ 5.61183315e-02 -9.04063193e-04 9.98423715e-01 3.22307777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.91, Y:51.23, Z:32.23 [[ 9.89506830e-01 -1.33291846e-01 -5.57630407e-02 5.72908651e+02] [ 1.33144311e-01 9.91076195e-01 -6.36927948e-03 5.12256294e+01] [ 5.61143953e-02 -1.12208610e-03 9.98423715e-01 3.22324480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.97, Y:51.23, Z:32.24 [[ 9.89299257e-01 -1.34824165e-01 -5.57622136e-02 5.72966216e+02] [ 1.34678654e-01 9.90868811e-01 -6.37651289e-03 5.12315829e+01] [ 5.61127463e-02 -1.20170038e-03 9.98423715e-01 3.22357166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.02, Y:51.24, Z:32.24 [[ 9.89361476e-01 -1.34367563e-01 -5.57604559e-02 5.73023921e+02] [ 1.34220463e-01 9.90930881e-01 -6.39184682e-03 5.12377397e+01] [ 5.61136145e-02 -1.16034720e-03 9.98423716e-01 3.22425693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.08, Y:51.24, Z:32.25 [[ 9.89383582e-01 -1.34204932e-01 -5.57598751e-02 5.73082421e+02] [ 1.34057289e-01 9.90952937e-01 -6.39690913e-03 5.12449527e+01] [ 5.61139087e-02 -1.14602081e-03 9.98423716e-01 3.22483797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.14, Y:51.25, Z:32.25 [[ 9.89249907e-01 -1.35187423e-01 -5.57582470e-02 5.73140084e+02] [ 1.35040540e-01 9.90819333e-01 -6.41106933e-03 5.12519144e+01] [ 5.61130450e-02 -1.18747405e-03 9.98423716e-01 3.22524945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.20, Y:51.26, Z:32.26 [[ 9.89156856e-01 -1.35866835e-01 -5.57576756e-02 5.73198876e+02] [ 1.35720751e-01 9.90726356e-01 -6.41603514e-03 5.12585503e+01] [ 5.61123251e-02 -1.22100843e-03 9.98423716e-01 3.22554599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.26, Y:51.27, Z:32.26 [[ 9.89134247e-01 -1.36031994e-01 -5.57560519e-02 5.73257889e+02] [ 1.35885379e-01 9.90703698e-01 -6.43011364e-03 5.12665436e+01] [ 5.61124280e-02 -1.21618664e-03 9.98423716e-01 3.22589759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.32, Y:51.27, Z:32.26 [[ 9.88905273e-01 -1.37686783e-01 -5.57558149e-02 5.73316772e+02] [ 1.37542678e-01 9.90474956e-01 -6.43216859e-03 5.12740720e+01] [ 5.61103629e-02 -1.30799863e-03 9.98423716e-01 3.22616945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.38, Y:51.28, Z:32.26 [[ 9.88229716e-01 -1.42454711e-01 -5.57555797e-02 5.73375799e+02] [ 1.42318063e-01 9.89800066e-01 -6.43420614e-03 5.12804565e+01] [ 5.61034595e-02 -1.57655241e-03 9.98423716e-01 3.22642228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.44, Y:51.29, Z:32.27 [[ 9.87739771e-01 -1.45813194e-01 -5.57553422e-02 5.73435071e+02] [ 1.45681769e-01 9.89310566e-01 -6.43626397e-03 5.12867336e+01] [ 5.60978414e-02 -1.76518298e-03 9.98423716e-01 3.22668562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.49, Y:51.29, Z:32.27 [[ 9.87286805e-01 -1.48849360e-01 -5.57551047e-02 5.73492689e+02] [ 1.48722650e-01 9.88857989e-01 -6.43832069e-03 5.12946620e+01] [ 5.60922206e-02 -1.93557784e-03 9.98423716e-01 3.22692650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.55, Y:51.30, Z:32.27 [[ 9.87184242e-01 -1.49528189e-01 -5.57547543e-02 5.73551570e+02] [ 1.49402388e-01 9.88755498e-01 -6.44135349e-03 5.13030319e+01] [ 5.60909838e-02 -1.97109079e-03 9.98423716e-01 3.22726478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.61, Y:51.31, Z:32.28 [[ 9.87166481e-01 -1.49645491e-01 -5.57545198e-02 5.73610650e+02] [ 1.49519762e-01 9.88737743e-01 -6.44338273e-03 5.13122938e+01] [ 5.60908212e-02 -1.97571109e-03 9.98423716e-01 3.22765488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.67, Y:51.32, Z:32.28 [[ 9.87128968e-01 -1.49892829e-01 -5.57542822e-02 5.73670839e+02] [ 1.49767378e-01 9.88700252e-01 -6.44543763e-03 5.13213235e+01] [ 5.60903978e-02 -1.98769448e-03 9.98423716e-01 3.22804766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.73, Y:51.33, Z:32.29 [[ 9.86822998e-01 -1.51894141e-01 -5.57542822e-02 5.73730031e+02] [ 1.51771876e-01 9.88394534e-01 -6.44543763e-03 5.13309951e+01] [ 5.60862520e-02 -2.10142593e-03 9.98423716e-01 3.22850667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.79, Y:51.34, Z:32.29 [[ 9.86639565e-01 -1.53081118e-01 -5.57542822e-02 5.73790945e+02] [ 1.52960744e-01 9.88211246e-01 -6.44543762e-03 5.13402086e+01] [ 5.60836835e-02 -2.16889272e-03 9.98423716e-01 3.22880519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.85, Y:51.35, Z:32.29 [[ 9.86733621e-01 -1.52473585e-01 -5.57545179e-02 5.73850386e+02] [ 1.52352358e-01 9.88305237e-01 -6.44339889e-03 5.13494970e+01] [ 5.60849301e-02 -2.13641394e-03 9.98423716e-01 3.22904571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.91, Y:51.36, Z:32.29 [[ 9.87192815e-01 -1.49471623e-01 -5.57546337e-02 5.73909276e+02] [ 1.49345673e-01 9.88764060e-01 -6.44239603e-03 5.13611289e+01] [ 5.60911334e-02 -1.96682624e-03 9.98423716e-01 3.22934171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.97, Y:51.37, Z:32.30 [[ 9.87518587e-01 -1.47303963e-01 -5.57546620e-02 5.73969905e+02] [ 1.47174578e-01 9.89089552e-01 -6.44215128e-03 5.13724482e+01] [ 5.60953081e-02 -1.84392471e-03 9.98423716e-01 3.22999289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.03, Y:51.38, Z:32.30 [[ 9.87528275e-01 -1.47238914e-01 -5.57548998e-02 5.74030027e+02] [ 1.47109541e-01 9.89099241e-01 -6.44009243e-03 5.13818301e+01] [ 5.60953613e-02 -1.84230436e-03 9.98423716e-01 3.23035681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.09, Y:51.39, Z:32.31 [[ 9.87194232e-01 -1.49462078e-01 -5.57551386e-02 5.74091566e+02] [ 1.49336359e-01 9.88765495e-01 -6.43802484e-03 5.13926654e+01] [ 5.60909977e-02 -1.97068842e-03 9.98423716e-01 3.23058576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.15, Y:51.40, Z:32.31 [[ 9.86654755e-01 -1.52982700e-01 -5.57556149e-02 5.74151826e+02] [ 1.52862820e-01 9.88226474e-01 -6.43389685e-03 5.14010308e+01] [ 5.60834496e-02 -2.17492559e-03 9.98423716e-01 3.23077547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.21, Y:51.41, Z:32.31 [[ 9.85542381e-01 -1.59992003e-01 -5.57563752e-02 5.74212977e+02] [ 1.59883670e-01 9.87114939e-01 -6.42730171e-03 5.14097511e+01] [ 5.60662677e-02 -2.58015566e-03 9.98423716e-01 3.23110664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.27, Y:51.42, Z:32.32 [[ 9.84427999e-01 -1.66711397e-01 -5.57568472e-02 5.74274924e+02] [ 1.66614025e-01 9.86001272e-01 -6.42320433e-03 5.14182427e+01] [ 5.60471436e-02 -2.96669058e-03 9.98423716e-01 3.23150477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.34, Y:51.43, Z:32.32 [[ 9.83893468e-01 -1.69837466e-01 -5.57573130e-02 5.74335941e+02] [ 1.69745321e-01 9.85467057e-01 -6.41915794e-03 5.14270565e+01] [ 5.60372087e-02 -3.14877542e-03 9.98423716e-01 3.23195532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.40, Y:51.44, Z:32.32 [[ 9.83491965e-01 -1.72147103e-01 -5.57577818e-02 5.74397230e+02] [ 1.72058883e-01 9.85065778e-01 -6.41508333e-03 5.14368997e+01] [ 5.60294208e-02 -3.28443877e-03 9.98423716e-01 3.23232037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.46, Y:51.45, Z:32.33 [[ 9.83236302e-01 -1.73601247e-01 -5.57582486e-02 5.74458423e+02] [ 1.73515584e-01 9.84810256e-01 -6.41102347e-03 5.14477310e+01] [ 5.60242568e-02 -3.37137404e-03 9.98423716e-01 3.23263629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.52, Y:51.46, Z:32.33 [[ 9.83013077e-01 -1.74860673e-01 -5.57587193e-02 5.74520969e+02] [ 1.74777258e-01 9.84587153e-01 -6.40692771e-03 5.14581990e+01] [ 5.60196383e-02 -3.44726233e-03 9.98423716e-01 3.23302683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.58, Y:51.47, Z:32.33 [[ 9.82519394e-01 -1.77613418e-01 -5.57594249e-02 5.74582368e+02] [ 1.77534759e-01 9.84093715e-01 -6.40078022e-03 5.14685957e+01] [ 5.60093641e-02 -3.61034538e-03 9.98423716e-01 3.23336229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.64, Y:51.48, Z:32.34 [[ 9.82362824e-01 -1.78477216e-01 -5.57598920e-02 5.74644390e+02] [ 1.78400172e-01 9.83937224e-01 -6.39670939e-03 5.14768195e+01] [ 5.60059002e-02 -3.66368480e-03 9.98423716e-01 3.23372649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.71, Y:51.49, Z:32.34 [[ 9.81999673e-01 -1.80464470e-01 -5.57603554e-02 5.74705775e+02] [ 1.80390840e-01 9.83574237e-01 -6.39266666e-03 5.14872400e+01] [ 5.59980982e-02 -3.78106077e-03 9.98423716e-01 3.23394451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.77, Y:51.50, Z:32.34 [[ 9.81934071e-01 -1.80820902e-01 -5.57609275e-02 5.74767051e+02] [ 1.80748126e-01 9.83508674e-01 -6.38767295e-03 5.14973837e+01] [ 5.59963807e-02 -3.80640945e-03 9.98423716e-01 3.23430815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.83, Y:51.51, Z:32.35 [[ 9.81983558e-01 -1.80551816e-01 -5.57614048e-02 5.74827613e+02] [ 1.80478844e-01 9.83558152e-01 -6.38350332e-03 5.15066437e+01] [ 5.59971374e-02 -3.79525859e-03 9.98423716e-01 3.23451747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.89, Y:51.52, Z:32.35 [[ 9.82193193e-01 -1.79407798e-01 -5.57617570e-02 5.74887786e+02] [ 1.79333166e-01 9.83767709e-01 -6.38042547e-03 5.15182679e+01] [ 5.60013140e-02 -3.73312197e-03 9.98423716e-01 3.23476309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.95, Y:51.53, Z:32.35 [[ 9.82357114e-01 -1.78507950e-01 -5.57621025e-02 5.74949032e+02] [ 1.78432046e-01 9.83931570e-01 -6.37740436e-03 5.15286720e+01] [ 5.60045104e-02 -3.68485748e-03 9.98423716e-01 3.23531471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.01, Y:51.54, Z:32.36 [[ 9.82717195e-01 -1.76514731e-01 -5.57625724e-02 5.75008691e+02] [ 1.76435865e-01 9.84291505e-01 -6.37329327e-03 5.15403833e+01] [ 5.60116064e-02 -3.57537283e-03 9.98423716e-01 3.23574642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.07, Y:51.55, Z:32.36 [[ 9.82977940e-01 -1.75056605e-01 -5.57633795e-02 5.75069428e+02] [ 1.74975804e-01 9.84552152e-01 -6.36622395e-03 5.15522002e+01] [ 5.60164048e-02 -3.49938444e-03 9.98423716e-01 3.23616058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.13, Y:51.56, Z:32.36 [[ 9.83029371e-01 -1.74767413e-01 -5.57638488e-02 5.75131569e+02] [ 1.74686381e-01 9.84603571e-01 -6.36211053e-03 5.15618743e+01] [ 5.60171742e-02 -3.48704343e-03 9.98423716e-01 3.23642581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.19, Y:51.57, Z:32.37 [[ 9.82566493e-01 -1.77351067e-01 -5.57645512e-02 5.75193486e+02] [ 1.77274522e-01 9.84140918e-01 -6.35594784e-03 5.15714255e+01] [ 5.60074107e-02 -3.64049277e-03 9.98423716e-01 3.23664952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.25, Y:51.58, Z:32.37 [[ 9.81780422e-01 -1.81652046e-01 -5.57650216e-02 5.75254866e+02] [ 1.81582629e-01 9.83355177e-01 -6.35181736e-03 5.15794697e+01] [ 5.59906433e-02 -3.88986933e-03 9.98423716e-01 3.23681186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.32, Y:51.59, Z:32.37 [[ 9.81226907e-01 -1.84618230e-01 -5.57661768e-02 5.75317493e+02] [ 1.84554147e-01 9.82801888e-01 -6.34165929e-03 5.15869699e+01] [ 5.59778897e-02 -4.06927247e-03 9.98423716e-01 3.23718582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.38, Y:51.59, Z:32.37 [[ 9.80680410e-01 -1.87499306e-01 -5.57668691e-02 5.75379666e+02] [ 1.87440193e-01 9.82255585e-01 -6.33556556e-03 5.15942122e+01] [ 5.59652328e-02 -4.23978770e-03 9.98423716e-01 3.23749305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.44, Y:51.60, Z:32.38 [[ 9.80638914e-01 -1.87716005e-01 -5.57675698e-02 5.75442195e+02] [ 1.87657589e-01 9.82214115e-01 -6.32939195e-03 5.16030443e+01] [ 5.59638224e-02 -4.25835966e-03 9.98423716e-01 3.23784351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.50, Y:51.61, Z:32.38 [[ 9.80522111e-01 -1.88324963e-01 -5.57682621e-02 5.75504719e+02] [ 1.88267871e-01 9.82097360e-01 -6.32328627e-03 5.16109484e+01] [ 5.59606956e-02 -4.29924998e-03 9.98423716e-01 3.23821270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.57, Y:51.62, Z:32.38 [[ 9.80257854e-01 -1.89695445e-01 -5.57689701e-02 5.75567348e+02] [ 1.89640909e-01 9.81833194e-01 -6.31703603e-03 5.16176951e+01] [ 5.59541390e-02 -4.38375397e-03 9.98423716e-01 3.23847794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.63, Y:51.62, Z:32.39 [[ 9.80134708e-01 -1.90330500e-01 -5.57696678e-02 5.75628566e+02] [ 1.90277333e-01 9.81710095e-01 -6.31087013e-03 5.16238187e+01] [ 5.59507969e-02 -4.42620077e-03 9.98423716e-01 3.23874958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.69, Y:51.63, Z:32.39 [[ 9.80217211e-01 -1.89904974e-01 -5.57702400e-02 5.75690890e+02] [ 1.89851410e-01 9.81792585e-01 -6.30580908e-03 5.16303359e+01] [ 5.59523126e-02 -4.40699609e-03 9.98423716e-01 3.23906867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.75, Y:51.64, Z:32.39 [[ 9.80855019e-01 -1.86582516e-01 -5.57709249e-02 5.75753425e+02] [ 1.86523956e-01 9.82430215e-01 -6.29974602e-03 5.16367181e+01] [ 5.59664642e-02 -4.22347605e-03 9.98423716e-01 3.23931755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.82, Y:51.64, Z:32.40 [[ 9.81474763e-01 -1.83294344e-01 -5.57716082e-02 5.75815139e+02] [ 1.83230848e-01 9.83049768e-01 -6.29369055e-03 5.16432518e+01] [ 5.59798644e-02 -4.04198061e-03 9.98423716e-01 3.23989322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.88, Y:51.65, Z:32.40 [[ 9.83248685e-01 -1.73526655e-01 -5.57720668e-02 5.75877225e+02] [ 1.73447731e-01 9.84822992e-01 -6.28962404e-03 5.16509904e+01] [ 5.60170311e-02 -3.48927390e-03 9.98423716e-01 3.24031231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.94, Y:51.66, Z:32.41 [[ 9.85406413e-01 -1.60821643e-01 -5.57727557e-02 5.75940027e+02] [ 1.60722752e-01 9.86979592e-01 -6.28350936e-03 5.16590116e+01] [ 5.60570960e-02 -2.77214039e-03 9.98423716e-01 3.24057253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.00, Y:51.67, Z:32.41 [[ 9.87469398e-01 -1.47626254e-01 -5.57734417e-02 5.76002322e+02] [ 1.47506673e-01 9.89041139e-01 -6.27741491e-03 5.16669096e+01] [ 5.60889396e-02 -2.02819971e-03 9.98423716e-01 3.24095593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.07, Y:51.67, Z:32.41 [[ 9.88656763e-01 -1.39452692e-01 -5.57741177e-02 5.76065165e+02] [ 1.39320452e-01 9.90227490e-01 -6.27140319e-03 5.16743997e+01] [ 5.61036286e-02 -1.57021008e-03 9.98423716e-01 3.24138230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.13, Y:51.68, Z:32.42 [[ 9.90041506e-01 -1.29255516e-01 -5.57748042e-02 5.76127529e+02] [ 1.29107438e-01 9.91610819e-01 -6.26529161e-03 5.16812331e+01] [ 5.61167227e-02 -9.98043360e-04 9.98423716e-01 3.24176670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.19, Y:51.69, Z:32.42 [[ 9.90810632e-01 -1.23220879e-01 -5.57754971e-02 5.76189584e+02] [ 1.23063590e-01 9.92379049e-01 -6.25911712e-03 5.16873222e+01] [ 5.61216887e-02 -6.62333095e-04 9.98423716e-01 3.24208259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.25, Y:51.69, Z:32.42 [[ 9.90924023e-01 -1.22305450e-01 -5.57759591e-02 5.76251452e+02] [ 1.22146944e-01 9.92492317e-01 -6.25499747e-03 5.16934696e+01] [ 5.61222311e-02 -6.14635672e-04 9.98423716e-01 3.24239721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.31, Y:51.70, Z:32.43 [[ 9.90436131e-01 -1.26195332e-01 -5.57764130e-02 5.76312981e+02] [ 1.26043213e-01 9.92005058e-01 -6.25094754e-03 5.16976644e+01] [ 5.61193242e-02 -8.39073981e-04 9.98423716e-01 3.24283003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.37, Y:51.70, Z:32.43 [[ 9.89787698e-01 -1.31184041e-01 -5.57768740e-02 5.76373459e+02] [ 1.31040060e-01 9.91357393e-01 -6.24683138e-03 5.17019424e+01] [ 5.61143009e-02 -1.12596809e-03 9.98423716e-01 3.24325510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.43, Y:51.70, Z:32.44 [[ 9.88448378e-01 -1.40920925e-01 -5.57772145e-02 5.76434775e+02] [ 1.40792574e-01 9.90019427e-01 -6.24378978e-03 5.17047489e+01] [ 5.61004065e-02 -1.68135374e-03 9.98423716e-01 3.24365450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.50, Y:51.71, Z:32.44 [[ 9.87390792e-01 -1.48149550e-01 -5.57775477e-02 5.76496603e+02] [ 1.48032867e-01 9.88962751e-01 -6.24081138e-03 5.17080580e+01] [ 5.60864904e-02 -2.09479060e-03 9.98423716e-01 3.24395520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.56, Y:51.71, Z:32.44 [[ 9.86486386e-01 -1.54056561e-01 -5.57780088e-02 5.76558982e+02] [ 1.53949520e-01 9.88059031e-01 -6.23668755e-03 5.17119010e+01] [ 5.60727680e-02 -2.43459034e-03 9.98423716e-01 3.24440318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.62, Y:51.72, Z:32.45 [[ 9.85866092e-01 -1.57977249e-01 -5.57784679e-02 5.76621915e+02] [ 1.57876694e-01 9.87439165e-01 -6.23257883e-03 5.17173479e+01] [ 5.60624494e-02 -2.66163197e-03 9.98423716e-01 3.24488301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.68, Y:51.72, Z:32.45 [[ 9.85439844e-01 -1.60614448e-01 -5.57791483e-02 5.76684113e+02] [ 1.60518446e-01 9.87013201e-01 -6.22648375e-03 5.17230493e+01] [ 5.60548190e-02 -2.81775702e-03 9.98423716e-01 3.24534532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.75, Y:51.73, Z:32.46 [[ 9.85131014e-01 -1.62497762e-01 -5.57795941e-02 5.76746401e+02] [ 1.62404994e-01 9.86704565e-01 -6.22248722e-03 5.17286848e+01] [ 5.60491204e-02 -2.92891949e-03 9.98423716e-01 3.24565906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.81, Y:51.74, Z:32.46 [[ 9.85081801e-01 -1.62795676e-01 -5.57800450e-02 5.76808260e+02] [ 1.62703612e-01 9.86655394e-01 -6.21844263e-03 5.17353076e+01] [ 5.60480178e-02 -2.94994012e-03 9.98423716e-01 3.24593690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.87, Y:51.74, Z:32.46 [[ 9.85351636e-01 -1.61154241e-01 -5.57804945e-02 5.76869766e+02] [ 1.61059782e-01 9.86925087e-01 -6.21440788e-03 5.17441849e+01] [ 5.60526476e-02 -2.86061733e-03 9.98423716e-01 3.24623370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.93, Y:51.75, Z:32.47 [[ 9.85631076e-01 -1.59436096e-01 -5.57809475e-02 5.76931330e+02] [ 1.59339125e-01 9.87204373e-01 -6.21033944e-03 5.17529273e+01] [ 5.60573476e-02 -2.76698381e-03 9.98423716e-01 3.24664771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.99, Y:51.76, Z:32.47 [[ 9.86126544e-01 -1.56342172e-01 -5.57814057e-02 5.76992143e+02] [ 1.56240497e-01 9.87699544e-01 -6.20622116e-03 5.17636086e+01] [ 5.60655631e-02 -2.59519510e-03 9.98423716e-01 3.24694525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.05, Y:51.78, Z:32.47 [[ 9.86756144e-01 -1.52317751e-01 -5.57818558e-02 5.77053232e+02] [ 1.52209887e-01 9.88328733e-01 -6.20217300e-03 5.17755446e+01] [ 5.60755118e-02 -2.37051763e-03 9.98423716e-01 3.24734789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.12, Y:51.79, Z:32.48 [[ 9.87564493e-01 -1.46985400e-01 -5.57823005e-02 5.77115400e+02] [ 1.46869269e-01 9.89136492e-01 -6.19817081e-03 5.17886921e+01] [ 5.60873496e-02 -2.07161229e-03 9.98423716e-01 3.24794398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.18, Y:51.80, Z:32.48 [[ 9.88090368e-01 -1.43407400e-01 -5.57829873e-02 5.77175367e+02] [ 1.43285925e-01 9.89661964e-01 -6.19198339e-03 5.17992361e+01] [ 5.60942770e-02 -1.87467777e-03 9.98423717e-01 3.24830507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.24, Y:51.81, Z:32.49 [[ 9.88487237e-01 -1.40645458e-01 -5.57838538e-02 5.77236799e+02] [ 1.40520032e-01 9.90058522e-01 -6.18416738e-03 5.18109180e+01] [ 5.60990549e-02 -1.72577837e-03 9.98423717e-01 3.24884008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.30, Y:51.82, Z:32.49 [[ 9.88322130e-01 -1.41800760e-01 -5.57845205e-02 5.77298404e+02] [ 1.41677510e-01 9.89893587e-01 -6.17814699e-03 5.18216619e+01] [ 5.60968051e-02 -1.79741256e-03 9.98423717e-01 3.24919492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.36, Y:51.83, Z:32.49 [[ 9.88005841e-01 -1.43987835e-01 -5.57849641e-02 5.77359811e+02] [ 1.43868289e-01 9.89577584e-01 -6.17413956e-03 5.18303218e+01] [ 5.60925510e-02 -1.92560137e-03 9.98423717e-01 3.24945413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.42, Y:51.84, Z:32.50 [[ 9.87261394e-01 -1.49006473e-01 -5.57854008e-02 5.77421007e+02] [ 1.48895138e-01 9.88833741e-01 -6.17019117e-03 5.18430719e+01] [ 5.60818849e-02 -2.21458343e-03 9.98423717e-01 3.24991367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.48, Y:51.85, Z:32.50 [[ 9.87090097e-01 -1.50136863e-01 -5.57858754e-02 5.77482256e+02] [ 1.50027570e-01 9.88662586e-01 -6.16589725e-03 5.18495897e+01] [ 5.60791363e-02 -2.28312323e-03 9.98423717e-01 3.25033633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.54, Y:51.86, Z:32.51 [[ 9.86756668e-01 -1.52312711e-01 -5.57863444e-02 5.77544357e+02] [ 1.52207125e-01 9.88329411e-01 -6.16165075e-03 5.18582670e+01] [ 5.60737826e-02 -2.41102914e-03 9.98423717e-01 3.25070501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.61, Y:51.87, Z:32.51 [[ 9.86296316e-01 -1.55265537e-01 -5.57870072e-02 5.77605310e+02] [ 1.55164999e-01 9.87869390e-01 -6.15564405e-03 5.18671600e+01] [ 5.60660361e-02 -2.58490186e-03 9.98423717e-01 3.25117358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.67, Y:51.88, Z:32.52 [[ 9.86009248e-01 -1.57078081e-01 -5.57874528e-02 5.77666734e+02] [ 1.56980662e-01 9.87582518e-01 -6.15160279e-03 5.18750642e+01] [ 5.60609951e-02 -2.69201405e-03 9.98423717e-01 3.25162545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.73, Y:51.88, Z:32.52 [[ 9.85662330e-01 -1.59240324e-01 -5.57879027e-02 5.77728659e+02] [ 1.59146586e-01 9.87235824e-01 -6.14752028e-03 5.18831887e+01] [ 5.60547492e-02 -2.81907510e-03 9.98423717e-01 3.25205165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.79, Y:51.89, Z:32.52 [[ 9.85366925e-01 -1.61058011e-01 -5.57883465e-02 5.77791011e+02] [ 1.60967404e-01 9.86940602e-01 -6.14349009e-03 5.18914522e+01] [ 5.60492426e-02 -2.92651334e-03 9.98423717e-01 3.25238756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.85, Y:51.90, Z:32.53 [[ 9.85283642e-01 -1.61566490e-01 -5.57890126e-02 5.77853047e+02] [ 1.61477037e-01 9.86857385e-01 -6.13743528e-03 5.18984450e+01] [ 5.60474030e-02 -2.96152984e-03 9.98423717e-01 3.25264864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.92, Y:51.91, Z:32.53 [[ 9.85363937e-01 -1.61075911e-01 -5.57894497e-02 5.77915269e+02] [ 1.60985899e-01 9.86937648e-01 -6.13345978e-03 5.19055393e+01] [ 5.60486609e-02 -2.93762461e-03 9.98423717e-01 3.25268382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.98, Y:51.91, Z:32.53 [[ 9.85647510e-01 -1.59331335e-01 -5.57898808e-02 5.77977177e+02] [ 1.59238758e-01 9.87221073e-01 -6.12953592e-03 5.19137849e+01] [ 5.60535731e-02 -2.84234950e-03 9.98423717e-01 3.25312996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.04, Y:51.92, Z:32.53 [[ 9.86285113e-01 -1.55335496e-01 -5.57903195e-02 5.78038647e+02] [ 1.55236768e-01 9.87858301e-01 -6.12554030e-03 5.19226157e+01] [ 5.60644441e-02 -2.61917968e-03 9.98423717e-01 3.25345894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.10, Y:51.93, Z:32.54 [[ 9.86539579e-01 -1.53710934e-01 -5.57907553e-02 5.78100695e+02] [ 1.53609840e-01 9.88112617e-01 -6.12156844e-03 5.19312922e+01] [ 5.60685012e-02 -2.53083942e-03 9.98423717e-01 3.25377323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.16, Y:51.94, Z:32.54 [[ 9.86537734e-01 -1.53722537e-01 -5.57914079e-02 5.78161838e+02] [ 1.53621797e-01 9.88110795e-01 -6.11561514e-03 5.19391410e+01] [ 5.60682002e-02 -2.53749121e-03 9.98423717e-01 3.25408514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.22, Y:51.95, Z:32.54 [[ 9.86488262e-01 -1.54039540e-01 -5.57918373e-02 5.78222238e+02] [ 1.53939526e-01 9.88061369e-01 -6.11169479e-03 5.19450908e+01] [ 5.60672018e-02 -2.55945383e-03 9.98423717e-01 3.25433423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.28, Y:51.95, Z:32.55 [[ 9.86560939e-01 -1.53573269e-01 -5.57921546e-02 5.78284543e+02] [ 1.53472676e-01 9.88134009e-01 -6.10879702e-03 5.19509920e+01] [ 5.60682733e-02 -2.53587072e-03 9.98423717e-01 3.25464715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.35, Y:51.96, Z:32.55 [[ 9.86507832e-01 -1.53913892e-01 -5.57925798e-02 5.78346782e+02] [ 1.53814061e-01 9.88080950e-01 -6.10491147e-03 5.19575072e+01] [ 5.60672159e-02 -2.55914031e-03 9.98423717e-01 3.25503000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.41, Y:51.96, Z:32.55 [[ 9.86210883e-01 -1.55805032e-01 -5.57932480e-02 5.78408465e+02] [ 1.55708562e-01 9.87784211e-01 -6.09879787e-03 5.19627755e+01] [ 5.60619129e-02 -2.67278562e-03 9.98423717e-01 3.25526606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.47, Y:51.97, Z:32.56 [[ 9.86024299e-01 -1.56980931e-01 -5.57948813e-02 5.78470365e+02] [ 1.56887183e-01 9.87597792e-01 -6.08381935e-03 5.19676772e+01] [ 5.60579452e-02 -2.75470805e-03 9.98423717e-01 3.25575169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.53, Y:51.97, Z:32.56 [[ 9.86068017e-01 -1.56705927e-01 -5.57953252e-02 5.78532204e+02] [ 1.56611970e-01 9.87641497e-01 -6.07974548e-03 5.19737915e+01] [ 5.60585107e-02 -2.74317323e-03 9.98423717e-01 3.25608451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.59, Y:51.98, Z:32.57 [[ 9.86263281e-01 -1.55471865e-01 -5.57964157e-02 5.78593952e+02] [ 1.55376505e-01 9.87836677e-01 -6.06972118e-03 5.19794839e+01] [ 5.60614167e-02 -2.68310894e-03 9.98423717e-01 3.25660957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.66, Y:51.99, Z:32.57 [[ 9.86333359e-01 -1.55026502e-01 -5.57968438e-02 5.78656230e+02] [ 1.54930654e-01 9.87906726e-01 -6.06578262e-03 5.19852191e+01] [ 5.60624344e-02 -2.66175777e-03 9.98423717e-01 3.25696151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.72, Y:51.99, Z:32.57 [[ 9.86179935e-01 -1.55999278e-01 -5.57974997e-02 5.78718051e+02] [ 1.55905323e-01 9.87753416e-01 -6.05974355e-03 5.19898640e+01] [ 5.60594865e-02 -2.72312969e-03 9.98423717e-01 3.25709573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.78, Y:51.99, Z:32.57 [[ 9.86047609e-01 -1.56833361e-01 -5.57979412e-02 5.78779025e+02] [ 1.56740966e-01 9.87621182e-01 -6.05567515e-03 5.19941010e+01] [ 5.60569605e-02 -2.77463923e-03 9.98423717e-01 3.25713786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.84, Y:52.00, Z:32.58 [[ 9.86122055e-01 -1.56364081e-01 -5.57993487e-02 5.78841192e+02] [ 1.56271671e-01 9.87695627e-01 -6.04267855e-03 5.19998439e+01] [ 5.60576305e-02 -2.76103886e-03 9.98423717e-01 3.25768013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.90, Y:52.01, Z:32.58 [[ 9.86258105e-01 -1.55503488e-01 -5.57997795e-02 5.78902463e+02] [ 1.55409929e-01 9.87831609e-01 -6.03869733e-03 5.20054153e+01] [ 5.60598245e-02 -2.71612562e-03 9.98423717e-01 3.25814938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.96, Y:52.01, Z:32.59 [[ 9.86268464e-01 -1.55437655e-01 -5.58001034e-02 5.78964322e+02] [ 1.55344161e-01 9.87841972e-01 -6.03570304e-03 5.20110872e+01] [ 5.60598597e-02 -2.71539668e-03 9.98423717e-01 3.25853460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.03, Y:52.02, Z:32.59 [[ 9.86334735e-01 -1.55016418e-01 -5.58005391e-02 5.79026884e+02] [ 1.54922479e-01 9.87908217e-01 -6.03167240e-03 5.20156297e+01] [ 5.60608193e-02 -2.69550985e-03 9.98423717e-01 3.25884502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.09, Y:52.02, Z:32.59 [[ 9.86322738e-01 -1.55092497e-01 -5.58011957e-02 5.79088392e+02] [ 1.54999022e-01 9.87896247e-01 -6.02559181e-03 5.20203910e+01] [ 5.60603159e-02 -2.70595257e-03 9.98423717e-01 3.25908372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.15, Y:52.03, Z:32.59 [[ 9.86254720e-01 -1.55524254e-01 -5.58017344e-02 5.79150181e+02] [ 1.55431751e-01 9.87828286e-01 -6.02059919e-03 5.20251713e+01] [ 5.60588808e-02 -2.73551690e-03 9.98423717e-01 3.25928292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.21, Y:52.03, Z:32.59 [[ 9.86469377e-01 -1.54156695e-01 -5.58021670e-02 5.79211023e+02] [ 1.54062236e-01 9.88042827e-01 -6.01658672e-03 5.20301535e+01] [ 5.60624280e-02 -2.66182809e-03 9.98423717e-01 3.25945709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.27, Y:52.04, Z:32.60 [[ 9.86817714e-01 -1.51910770e-01 -5.58024867e-02 5.79272836e+02] [ 1.51812897e-01 9.88390955e-01 -6.01362030e-03 5.20364026e+01] [ 5.60682068e-02 -2.53719014e-03 9.98423717e-01 3.25974730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.34, Y:52.04, Z:32.60 [[ 9.87700231e-01 -1.46062618e-01 -5.58029122e-02 5.79335724e+02] [ 1.45955651e-01 9.89272880e-01 -6.00966903e-03 5.20445354e+01] [ 5.60820957e-02 -2.20899886e-03 9.98423717e-01 3.26015663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.40, Y:52.05, Z:32.61 [[ 9.88716363e-01 -1.39017690e-01 -5.58035434e-02 5.79398446e+02] [ 1.38899845e-01 9.90288235e-01 -6.00380197e-03 5.20527693e+01] [ 5.60962272e-02 -1.81504628e-03 9.98423717e-01 3.26053646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.46, Y:52.06, Z:32.61 [[ 9.89182583e-01 -1.35660279e-01 -5.58041704e-02 5.79461385e+02] [ 1.35537427e-01 9.90754072e-01 -5.99796842e-03 5.20602553e+01] [ 5.61018951e-02 -1.63046778e-03 9.98423717e-01 3.26097540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.52, Y:52.07, Z:32.61 [[ 9.89294102e-01 -1.34844357e-01 -5.58048328e-02 5.79522974e+02] [ 1.34720556e-01 9.90865516e-01 -5.99179937e-03 5.20672958e+01] [ 5.61030448e-02 -1.59040636e-03 9.98423717e-01 3.26123616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.58, Y:52.07, Z:32.62 [[ 9.88985391e-01 -1.37089997e-01 -5.58052749e-02 5.79584608e+02] [ 1.36969997e-01 9.90557100e-01 -5.98767887e-03 5.20737228e+01] [ 5.60991622e-02 -1.72192140e-03 9.98423717e-01 3.26151584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.65, Y:52.08, Z:32.62 [[ 9.88680862e-01 -1.39269029e-01 -5.58058209e-02 5.79646358e+02] [ 1.39152780e-01 9.90252853e-01 -5.98258585e-03 5.20797610e+01] [ 5.60950623e-02 -1.85066699e-03 9.98423717e-01 3.26187476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.71, Y:52.09, Z:32.62 [[ 9.88238072e-01 -1.42376877e-01 -5.58062562e-02 5.79708484e+02] [ 1.42265800e-01 9.89810436e-01 -5.97852295e-03 5.20867938e+01] [ 5.60888182e-02 -2.03111769e-03 9.98423717e-01 3.26226390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.77, Y:52.09, Z:32.63 [[ 9.87880617e-01 -1.44836030e-01 -5.58069073e-02 5.79771459e+02] [ 1.44729210e-01 9.89453276e-01 -5.97243916e-03 5.20938556e+01] [ 5.60833516e-02 -2.17683270e-03 9.98423717e-01 3.26274327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.83, Y:52.10, Z:32.63 [[ 9.87744611e-01 -1.45760417e-01 -5.58075644e-02 5.79831953e+02] [ 1.45655415e-01 9.89317393e-01 -5.96629235e-03 5.21001400e+01] [ 5.60810434e-02 -2.23550086e-03 9.98423717e-01 3.26311258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.89, Y:52.11, Z:32.64 [[ 9.87664878e-01 -1.46299586e-01 -5.58078871e-02 5.79893989e+02] [ 1.46195613e-01 9.89237728e-01 -5.96327259e-03 5.21079854e+01] [ 5.60796917e-02 -2.26915339e-03 9.98423717e-01 3.26354646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.96, Y:52.12, Z:32.64 [[ 9.87807874e-01 -1.45330695e-01 -5.58085371e-02 5.79955875e+02] [ 1.45225523e-01 9.89380644e-01 -5.95718276e-03 5.21152197e+01] [ 5.60816479e-02 -2.22027194e-03 9.98423717e-01 3.26387414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.02, Y:52.12, Z:32.64 [[ 9.88001632e-01 -1.44007408e-01 -5.58089722e-02 5.80017398e+02] [ 1.43900360e-01 9.89574276e-01 -5.95310440e-03 5.21226146e+01] [ 5.60844144e-02 -2.14925429e-03 9.98423717e-01 3.26406684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.08, Y:52.13, Z:32.64 [[ 9.88096820e-01 -1.43352661e-01 -5.58094000e-02 5.80078359e+02] [ 1.43244797e-01 9.89669408e-01 -5.94909098e-03 5.21299061e+01] [ 5.60856739e-02 -2.11612827e-03 9.98423717e-01 3.26426345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.14, Y:52.14, Z:32.65 [[ 9.88189542e-01 -1.42711762e-01 -5.58102379e-02 5.80140750e+02] [ 1.42603322e-01 9.89762090e-01 -5.94121999e-03 5.21370763e+01] [ 5.60867397e-02 -2.08767385e-03 9.98423717e-01 3.26465607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.20, Y:52.14, Z:32.65 [[ 9.88504936e-01 -1.40510285e-01 -5.58108616e-02 5.80202436e+02] [ 1.40398673e-01 9.90077262e-01 -5.93535522e-03 5.21443345e+01] [ 5.60910435e-02 -1.96864296e-03 9.98423717e-01 3.26496692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.26, Y:52.15, Z:32.65 [[ 9.88895416e-01 -1.37735098e-01 -5.58112801e-02 5.80263319e+02] [ 1.37619294e-01 9.90467439e-01 -5.93141726e-03 5.21524261e+01] [ 5.60962200e-02 -1.81515765e-03 9.98423717e-01 3.26518375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.33, Y:52.16, Z:32.66 [[ 9.89184772e-01 -1.35641269e-01 -5.58115893e-02 5.80325502e+02] [ 1.35522302e-01 9.90756559e-01 -5.92850695e-03 5.21604221e+01] [ 5.60998483e-02 -1.69932628e-03 9.98423717e-01 3.26585072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.39, Y:52.17, Z:32.66 [[ 9.89529945e-01 -1.33099515e-01 -5.58122395e-02 5.80386368e+02] [ 1.32976856e-01 9.91101448e-01 -5.92237941e-03 5.21683389e+01] [ 5.61038572e-02 -1.56136437e-03 9.98423717e-01 3.26629055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.45, Y:52.18, Z:32.67 [[ 9.89995509e-01 -1.29591093e-01 -5.58125584e-02 5.80447999e+02] [ 1.29463034e-01 9.91566581e-01 -5.91937214e-03 5.21762846e+01] [ 5.61089656e-02 -1.36551130e-03 9.98423717e-01 3.26682127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.51, Y:52.18, Z:32.67 [[ 9.90184432e-01 -1.28139384e-01 -5.58129887e-02 5.80510505e+02] [ 1.28009250e-01 9.91755333e-01 -5.91531264e-03 5.21831573e+01] [ 5.61108137e-02 -1.28732831e-03 9.98423717e-01 3.26719799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.57, Y:52.19, Z:32.67 [[ 9.90708040e-01 -1.24025878e-01 -5.58136305e-02 5.80570984e+02] [ 1.23889562e-01 9.92278417e-01 -5.90925006e-03 5.21901898e+01] [ 5.61155609e-02 -1.06038470e-03 9.98423717e-01 3.26744494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.63, Y:52.20, Z:32.68 [[ 9.91005917e-01 -1.21622681e-01 -5.58139457e-02 5.80632572e+02] [ 1.21482725e-01 9.92575974e-01 -5.90627128e-03 5.21967188e+01] [ 5.61179181e-02 -9.27280432e-04 9.98423717e-01 3.26787661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.70, Y:52.20, Z:32.68 [[ 9.91256302e-01 -1.19564627e-01 -5.58143731e-02 5.80695460e+02] [ 1.19421638e-01 9.92826085e-01 -5.90222978e-03 5.22020280e+01] [ 5.61196635e-02 -8.14821420e-04 9.98423717e-01 3.26822958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.76, Y:52.21, Z:32.69 [[ 9.91358113e-01 -1.18717202e-01 -5.58150324e-02 5.80758711e+02] [ 1.18573223e-01 9.92927806e-01 -5.89598869e-03 5.22070771e+01] [ 5.61202529e-02 -7.73132052e-04 9.98423717e-01 3.26859606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.82, Y:52.22, Z:32.69 [[ 9.90696316e-01 -1.24118569e-01 -5.58156866e-02 5.80819385e+02] [ 1.23983496e-01 9.92266800e-01 -5.88978890e-03 5.22206624e+01] [ 5.61150849e-02 -1.08523177e-03 9.98423717e-01 3.26944585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.88, Y:52.22, Z:32.69 [[ 9.91551688e-01 -1.17088892e-01 -5.58161329e-02 5.80881108e+02] [ 1.16942922e-01 9.93121198e-01 -5.88555665e-03 5.22171587e+01] [ 5.61213180e-02 -6.91468033e-04 9.98423717e-01 3.26924555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.94, Y:52.23, Z:32.70 [[ 9.90851918e-01 -1.22869893e-01 -5.58163557e-02 5.80942253e+02] [ 1.22733199e-01 9.92422262e-01 -5.88344279e-03 5.22275747e+01] [ 5.61162920e-02 -1.02089930e-03 9.98423717e-01 3.26977972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.00, Y:52.22, Z:32.70 [[ 9.91167978e-01 -1.20293501e-01 -5.58167848e-02 5.81004912e+02] [ 1.20152953e-01 9.92737982e-01 -5.87936954e-03 5.22206989e+01] [ 5.61186922e-02 -8.79108725e-04 9.98423717e-01 3.26998621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.07, Y:52.22, Z:32.70 [[ 9.90440345e-01 -1.26144254e-01 -5.58171140e-02 5.81066481e+02] [ 1.26013156e-01 9.92011166e-01 -5.87624206e-03 5.22203391e+01] [ 5.61124545e-02 -1.21362347e-03 9.98423717e-01 3.27030235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.13, Y:52.22, Z:32.71 [[ 9.89862132e-01 -1.30603720e-01 -5.58178112e-02 5.81128693e+02] [ 1.30480071e-01 9.91433557e-01 -5.86961165e-03 5.22211116e+01] [ 5.61062443e-02 -1.47300570e-03 9.98423717e-01 3.27066820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.19, Y:52.22, Z:32.71 [[ 9.89134364e-01 -1.36005648e-01 -5.58182283e-02 5.81191151e+02] [ 1.35890804e-01 9.90706457e-01 -5.86564322e-03 5.22199870e+01] [ 5.60972398e-02 -1.78327462e-03 9.98423717e-01 3.27108618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.25, Y:52.22, Z:32.71 [[ 9.88619533e-01 -1.39698593e-01 -5.58186576e-02 5.81253653e+02] [ 1.39589851e-01 9.90192060e-01 -5.86155451e-03 5.22186906e+01] [ 5.60900425e-02 -1.99687081e-03 9.98423717e-01 3.27145056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.32, Y:52.22, Z:32.72 [[ 9.88460277e-01 -1.40820846e-01 -5.58190825e-02 5.81315790e+02] [ 1.40714118e-01 9.90032942e-01 -5.85750536e-03 5.22193116e+01] [ 5.60875894e-02 -2.06462159e-03 9.98423718e-01 3.27176447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.38, Y:52.22, Z:32.72 [[ 9.88430709e-01 -1.41028071e-01 -5.58195071e-02 5.81378615e+02] [ 1.40921901e-01 9.90003412e-01 -5.85345618e-03 5.22199008e+01] [ 5.60870041e-02 -2.08045523e-03 9.98423718e-01 3.27207452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.44, Y:52.22, Z:32.73 [[ 9.88461083e-01 -1.40814846e-01 -5.58199416e-02 5.81439680e+02] [ 1.40708570e-01 9.90033779e-01 -5.84930992e-03 5.22187938e+01] [ 5.60872974e-02 -2.07252895e-03 9.98423718e-01 3.27259355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.50, Y:52.22, Z:32.73 [[ 9.88359614e-01 -1.41525018e-01 -5.58206298e-02 5.81501885e+02] [ 1.41420243e-01 9.89932410e-01 -5.84273528e-03 5.22182211e+01] [ 5.60855438e-02 -2.11944347e-03 9.98423718e-01 3.27261591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.56, Y:52.23, Z:32.74 [[ 9.87094600e-01 -1.50094171e-01 -5.58210560e-02 5.81561067e+02] [ 1.50003275e-01 9.88668260e-01 -5.83865998e-03 5.22347128e+01] [ 5.60648552e-02 -2.61003151e-03 9.98423718e-01 3.27364904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.62, Y:52.24, Z:32.74 [[ 9.87702857e-01 -1.46037843e-01 -5.58212790e-02 5.81623478e+02] [ 1.45940603e-01 9.89276137e-01 -5.83652730e-03 5.22363030e+01] [ 5.60750131e-02 -2.38183646e-03 9.98423718e-01 3.27435106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.69, Y:52.24, Z:32.75 [[ 9.88385471e-01 -1.41343894e-01 -5.58217229e-02 5.81685402e+02] [ 1.41239421e-01 9.89958287e-01 -5.83227860e-03 5.22383360e+01] [ 5.60855342e-02 -2.11968838e-03 9.98423718e-01 3.27472599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.75, Y:52.22, Z:32.74 [[ 9.90182770e-01 -1.28148230e-01 -5.58221627e-02 5.81749178e+02] [ 1.28023025e-01 9.91754072e-01 -5.82806607e-03 5.22217569e+01] [ 5.61087135e-02 -1.37567154e-03 9.98423718e-01 3.27424581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.81, Y:52.23, Z:32.75 [[ 9.89099656e-01 -1.36256125e-01 -5.58223805e-02 5.81808627e+02] [ 1.36143915e-01 9.90671940e-01 -5.82597940e-03 5.22331097e+01] [ 5.60954914e-02 -1.83740322e-03 9.98423718e-01 3.27538053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.87, Y:52.23, Z:32.76 [[ 9.88933223e-01 -1.37458831e-01 -5.58224901e-02 5.81870673e+02] [ 1.37348593e-01 9.90505646e-01 -5.82492961e-03 5.22318126e+01] [ 5.60931796e-02 -1.90667403e-03 9.98423718e-01 3.27560511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.93, Y:52.23, Z:32.76 [[ 9.88573152e-01 -1.40024809e-01 -5.58227122e-02 5.81931910e+02] [ 1.39918771e-01 9.90145864e-01 -5.82280044e-03 5.22271001e+01] [ 5.60879641e-02 -2.05438112e-03 9.98423718e-01 3.27574488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.99, Y:52.22, Z:32.76 [[ 9.88845465e-01 -1.38088635e-01 -5.58227122e-02 5.81992144e+02] [ 1.37979518e-01 9.90417966e-01 -5.82280044e-03 5.22163126e+01] [ 5.60918796e-02 -1.94454113e-03 9.98423718e-01 3.27568422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.05, Y:52.22, Z:32.76 [[ 9.87016965e-01 -1.50603360e-01 -5.58223861e-02 5.82051413e+02] [ 1.50513994e-01 9.88590712e-01 -5.82592467e-03 5.22231318e+01] [ 5.60628963e-02 -2.65176381e-03 9.98423718e-01 3.27631551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.11, Y:52.21, Z:32.76 [[ 9.86905114e-01 -1.51334672e-01 -5.58221640e-02 5.82110520e+02] [ 1.51246352e-01 9.88478920e-01 -5.82805177e-03 5.22132261e+01] [ 5.60610187e-02 -2.69116459e-03 9.98423718e-01 3.27625768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.17, Y:52.21, Z:32.77 [[ 9.86014469e-01 -1.57033161e-01 -5.58216154e-02 5.82167274e+02] [ 1.56953638e-01 9.87588744e-01 -5.83330146e-03 5.22134594e+01] [ 5.60448209e-02 -3.00968599e-03 9.98423718e-01 3.27659488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.23, Y:52.21, Z:32.77 [[ 9.84838011e-01 -1.64250187e-01 -5.58208637e-02 5.82225006e+02] [ 1.64181790e-01 9.86412808e-01 -5.84048628e-03 5.22137033e+01] [ 5.60217159e-02 -3.41283640e-03 9.98423718e-01 3.27680950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.28, Y:52.21, Z:32.77 [[ 9.83351176e-01 -1.72929724e-01 -5.58191390e-02 5.82283359e+02] [ 1.72874290e-01 9.84926483e-01 -5.85692353e-03 5.22126742e+01] [ 5.59905844e-02 -3.89028136e-03 9.98423718e-01 3.27701324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.34, Y:52.21, Z:32.77 [[ 9.82327435e-01 -1.78653935e-01 -5.58173943e-02 5.82341397e+02] [ 1.78606740e-01 9.83903011e-01 -5.87350420e-03 5.22148303e+01] [ 5.59682269e-02 -4.19965848e-03 9.98423718e-01 3.27699803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.40, Y:52.22, Z:32.77 [[ 9.82154979e-01 -1.79600143e-01 -5.58156351e-02 5.82398054e+02] [ 1.79553524e-01 9.83730572e-01 -5.89017445e-03 5.22204274e+01] [ 5.59654228e-02 -4.23682980e-03 9.98423718e-01 3.27720684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.46, Y:52.23, Z:32.78 [[ 9.82103489e-01 -1.79881727e-01 -5.58148778e-02 5.82456058e+02] [ 1.79835154e-01 9.83679083e-01 -5.89734150e-03 5.22266412e+01] [ 5.59647518e-02 -4.24567749e-03 9.98423718e-01 3.27753491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.51, Y:52.23, Z:32.78 [[ 9.81756592e-01 -1.81766010e-01 -5.58131822e-02 5.82514027e+02] [ 1.81721557e-01 9.83332247e-01 -5.91334598e-03 5.22327936e+01] [ 5.59577471e-02 -4.33699197e-03 9.98423718e-01 3.27784969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.57, Y:52.24, Z:32.78 [[ 9.81146557e-01 -1.85031133e-01 -5.58114055e-02 5.82571997e+02] [ 1.84990978e-01 9.82722327e-01 -5.93006695e-03 5.22392423e+01] [ 5.59443614e-02 -4.50634170e-03 9.98423718e-01 3.27811087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.63, Y:52.25, Z:32.78 [[ 9.80968204e-01 -1.85974920e-01 -5.58096120e-02 5.82628176e+02] [ 1.85935328e-01 9.82543988e-01 -5.94689877e-03 5.22450967e+01] [ 5.59413728e-02 -4.54325993e-03 9.98423718e-01 3.27834014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.69, Y:52.25, Z:32.79 [[ 9.80791499e-01 -1.86904810e-01 -5.58088403e-02 5.82685856e+02] [ 1.86866304e-01 9.82367311e-01 -5.95413203e-03 5.22518842e+01] [ 5.59376363e-02 -4.58902962e-03 9.98423719e-01 3.27869469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.74, Y:52.26, Z:32.79 [[ 9.80788975e-01 -1.86918583e-01 -5.58070821e-02 5.82742801e+02] [ 1.86879171e-01 9.82364763e-01 -5.97056573e-03 5.22603086e+01] [ 5.59389207e-02 -4.57331619e-03 9.98423719e-01 3.27917752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.80, Y:52.27, Z:32.80 [[ 9.80783062e-01 -1.86950139e-01 -5.58052951e-02 5.82799613e+02] [ 1.86909835e-01 9.82358828e-01 -5.98722221e-03 5.22681010e+01] [ 5.59401363e-02 -4.55839238e-03 9.98423719e-01 3.27964301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.86, Y:52.27, Z:32.80 [[ 9.80986721e-01 -1.85878679e-01 -5.58047463e-02 5.82856277e+02] [ 1.85836365e-01 9.82562434e-01 -5.99233325e-03 5.22749362e+01] [ 5.59454943e-02 -4.49215185e-03 9.98423719e-01 3.28005953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.91, Y:52.28, Z:32.80 [[ 9.80970673e-01 -1.85963725e-01 -5.58035108e-02 5.82914192e+02] [ 1.85920899e-01 9.82546372e-01 -6.00381668e-03 5.22837935e+01] [ 5.59460292e-02 -4.48547079e-03 9.98423719e-01 3.28044905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.97, Y:52.29, Z:32.81 [[ 9.81037113e-01 -1.85613386e-01 -5.58019207e-02 5.82972872e+02] [ 1.85569164e-01 9.82612773e-01 -6.01855914e-03 5.22917854e+01] [ 5.59488052e-02 -4.45068588e-03 9.98423719e-01 3.28071387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.03, Y:52.30, Z:32.81 [[ 9.81237897e-01 -1.84549483e-01 -5.58003420e-02 5.83031298e+02] [ 1.84502727e-01 9.82813484e-01 -6.03316101e-03 5.23001940e+01] [ 5.59547453e-02 -4.37534906e-03 9.98423719e-01 3.28085306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.09, Y:52.31, Z:32.81 [[ 9.81416048e-01 -1.83600216e-01 -5.57987579e-02 5.83090296e+02] [ 1.83551110e-01 9.82991564e-01 -6.04777641e-03 5.23083114e+01] [ 5.59600813e-02 -4.30653914e-03 9.98423719e-01 3.28116210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.15, Y:52.32, Z:32.82 [[ 9.82008023e-01 -1.80407225e-01 -5.57985310e-02 5.83146906e+02] [ 1.80352876e-01 9.83583367e-01 -6.04986892e-03 5.23176394e+01] [ 5.59739471e-02 -4.12240574e-03 9.98423719e-01 3.28157735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.20, Y:52.33, Z:32.82 [[ 9.82796058e-01 -1.76063894e-01 -5.57979723e-02 5.83203628e+02] [ 1.76002290e-01 9.84371135e-01 -6.05501753e-03 5.23269379e+01] [ 5.59919833e-02 -3.86972355e-03 9.98423719e-01 3.28194705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.26, Y:52.34, Z:32.82 [[ 9.83486680e-01 -1.72164540e-01 -5.57971475e-02 5.83261668e+02] [ 1.72096261e-01 9.85061481e-01 -6.06260887e-03 5.23352115e+01] [ 5.60073870e-02 -3.63998537e-03 9.98423719e-01 3.28233258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.32, Y:52.34, Z:32.83 [[ 9.83576986e-01 -1.71648364e-01 -5.57956194e-02 5.83319345e+02] [ 1.71578466e-01 9.85151716e-01 -6.07663944e-03 5.23425373e+01] [ 5.60101955e-02 -3.59648408e-03 9.98423719e-01 3.28264737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.38, Y:52.35, Z:32.83 [[ 9.83167640e-01 -1.73977872e-01 -5.57950836e-02 5.83378092e+02] [ 1.73911426e-01 9.84742520e-01 -6.08155516e-03 5.23497806e+01] [ 5.60018473e-02 -3.72421435e-03 9.98423719e-01 3.28290540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.44, Y:52.35, Z:32.83 [[ 9.82283133e-01 -1.78904390e-01 -5.57948610e-02 5.83436153e+02] [ 1.78845725e-01 9.83858321e-01 -6.08359699e-03 5.23548033e+01] [ 5.59826205e-02 -4.00285766e-03 9.98423719e-01 3.28311178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.49, Y:52.36, Z:32.83 [[ 9.81816986e-01 -1.81445244e-01 -5.57945318e-02 5.83493655e+02] [ 1.81390484e-01 9.83392315e-01 -6.08661495e-03 5.23604848e+01] [ 5.59723011e-02 -4.14465519e-03 9.98423719e-01 3.28338015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.55, Y:52.37, Z:32.84 [[ 9.81251054e-01 -1.84481435e-01 -5.57939951e-02 5.83551517e+02] [ 1.84431271e-01 9.82826536e-01 -6.09153057e-03 5.23661343e+01] [ 5.59595932e-02 -4.31283662e-03 9.98423719e-01 3.28359872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.61, Y:52.37, Z:32.84 [[ 9.80994438e-01 -1.85841695e-01 -5.57922736e-02 5.83607704e+02] [ 1.85792826e-01 9.82569960e-01 -6.10725744e-03 5.23718510e+01] [ 5.59547951e-02 -4.37461862e-03 9.98423719e-01 3.28379639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.67, Y:52.38, Z:32.84 [[ 9.80763286e-01 -1.87057964e-01 -5.57915324e-02 5.83665361e+02] [ 1.87010667e-01 9.82338857e-01 -6.11402108e-03 5.23775290e+01] [ 5.59498664e-02 -4.43720427e-03 9.98423720e-01 3.28409378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.72, Y:52.38, Z:32.85 [[ 9.80480579e-01 -1.88534689e-01 -5.57898351e-02 5.83723232e+02] [ 1.88488891e-01 9.82056194e-01 -6.12946976e-03 5.23834701e+01] [ 5.59443707e-02 -4.50593809e-03 9.98423720e-01 3.28455154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.78, Y:52.39, Z:32.85 [[ 9.80193914e-01 -1.90019945e-01 -5.57880943e-02 5.83782543e+02] [ 1.89975641e-01 9.81769572e-01 -6.14527261e-03 5.23892101e+01] [ 5.59387778e-02 -4.57482015e-03 9.98423720e-01 3.28477375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.84, Y:52.39, Z:32.85 [[ 9.79875479e-01 -1.91655313e-01 -5.57878671e-02 5.83840050e+02] [ 1.91613521e-01 9.81451206e-01 -6.14733433e-03 5.23948426e+01] [ 5.59312387e-02 -4.66608748e-03 9.98423720e-01 3.28481922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.90, Y:52.40, Z:32.85 [[ 9.79692583e-01 -1.92588211e-01 -5.57873083e-02 5.83898969e+02] [ 1.92547634e-01 9.81268341e-01 -6.15240130e-03 5.24014637e+01] [ 5.59271995e-02 -4.71425229e-03 9.98423720e-01 3.28519684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.96, Y:52.41, Z:32.85 [[ 9.79673923e-01 -1.92683176e-01 -5.57870807e-02 5.83957685e+02] [ 1.92642634e-01 9.81249682e-01 -6.15446500e-03 5.24080547e+01] [ 5.59269170e-02 -4.71760132e-03 9.98423720e-01 3.28549904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.02, Y:52.42, Z:32.86 [[ 9.80048651e-01 -1.90768505e-01 -5.57854846e-02 5.84017255e+02] [ 1.90724068e-01 9.81624304e-01 -6.16889836e-03 5.24154720e+01] [ 5.59372190e-02 -4.59381406e-03 9.98423720e-01 3.28587056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.08, Y:52.42, Z:32.86 [[ 9.80315169e-01 -1.89394233e-01 -5.57852555e-02 5.84076753e+02] [ 1.89347471e-01 9.81890755e-01 -6.17096964e-03 5.24229109e+01] [ 5.59437727e-02 -4.51330188e-03 9.98423720e-01 3.28620696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.14, Y:52.43, Z:32.86 [[ 9.80428876e-01 -1.88804796e-01 -5.57850219e-02 5.84135313e+02] [ 1.88756967e-01 9.82004430e-01 -6.17308092e-03 5.24296429e+01] [ 5.59466459e-02 -4.47754474e-03 9.98423720e-01 3.28649773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.19, Y:52.44, Z:32.87 [[ 9.80189222e-01 -1.90045151e-01 -5.57846772e-02 5.84192515e+02] [ 1.89999139e-01 9.81764830e-01 -6.17619419e-03 5.24353159e+01] [ 5.59411899e-02 -4.54520166e-03 9.98423720e-01 3.28676109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.25, Y:52.44, Z:32.87 [[ 9.79950130e-01 -1.91274428e-01 -5.57838311e-02 5.84251134e+02] [ 1.91229961e-01 9.81525783e-01 -6.18382624e-03 5.24416079e+01] [ 5.59360763e-02 -4.60769851e-03 9.98423720e-01 3.28713006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.31, Y:52.45, Z:32.88 [[ 9.79162086e-01 -1.95268913e-01 -5.57822557e-02 5.84309505e+02] [ 1.95230070e-01 9.80737888e-01 -6.19800565e-03 5.24468691e+01] [ 5.59180494e-02 -4.82152154e-03 9.98423720e-01 3.28752143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.37, Y:52.45, Z:32.88 [[ 9.78544182e-01 -1.98342628e-01 -5.57806853e-02 5.84368876e+02] [ 1.98307936e-01 9.80120080e-01 -6.21210655e-03 5.24514509e+01] [ 5.59038953e-02 -4.98293185e-03 9.98423720e-01 3.28788753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.43, Y:52.46, Z:32.88 [[ 9.78498994e-01 -1.98565505e-01 -5.57804523e-02 5.84428269e+02] [ 1.98531054e-01 9.80074897e-01 -6.21419769e-03 5.24571672e+01] [ 5.59029464e-02 -4.99356581e-03 9.98423720e-01 3.28823550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.49, Y:52.46, Z:32.89 [[ 9.79228194e-01 -1.94937713e-01 -5.57802185e-02 5.84486523e+02] [ 1.94897303e-01 9.80803955e-01 -6.21629574e-03 5.24637171e+01] [ 5.59212494e-02 -4.78424209e-03 9.98423720e-01 3.28851216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.55, Y:52.47, Z:32.89 [[ 9.80661369e-01 -1.87595002e-01 -5.57798735e-02 5.84545153e+02] [ 1.87542611e-01 9.82236778e-01 -6.21938982e-03 5.24709189e+01] [ 5.59557697e-02 -4.36198778e-03 9.98423720e-01 3.28886553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.60, Y:52.48, Z:32.89 [[ 9.81686253e-01 -1.82156207e-01 -5.57782772e-02 5.84603708e+02] [ 1.82094276e-01 9.83261316e-01 -6.23367369e-03 5.24779837e+01] [ 5.59801246e-02 -4.03739324e-03 9.98423720e-01 3.28916901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.66, Y:52.48, Z:32.90 [[ 9.83416916e-01 -1.72569213e-01 -5.57766633e-02 5.84662365e+02] [ 1.72491104e-01 9.84991259e-01 -6.24808109e-03 5.24848246e+01] [ 5.60177522e-02 -3.47650957e-03 9.98423720e-01 3.28960359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.72, Y:52.49, Z:32.90 [[ 9.84677382e-01 -1.65225906e-01 -5.57750178e-02 5.84719718e+02] [ 1.65135223e-01 9.86251051e-01 -6.26273556e-03 5.24913800e+01] [ 5.60429361e-02 -3.04364595e-03 9.98423720e-01 3.28983934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.78, Y:52.50, Z:32.90 [[ 9.86596338e-01 -1.53352135e-01 -5.57744421e-02 5.84776915e+02] [ 1.53242213e-01 9.88168780e-01 -6.26785814e-03 5.24970780e+01] [ 5.60757519e-02 -2.36315303e-03 9.98423720e-01 3.29026927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.84, Y:52.50, Z:32.90 [[ 9.88275425e-01 -1.42130576e-01 -5.57726024e-02 5.84835077e+02] [ 1.42001871e-01 9.89846441e-01 -6.28418580e-03 5.25015581e+01] [ 5.60994870e-02 -1.70930751e-03 9.98423721e-01 3.29038120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.89, Y:52.51, Z:32.91 [[ 9.89248501e-01 -1.35192442e-01 -5.57710219e-02 5.84893069e+02] [ 1.35051928e-01 9.90818505e-01 -6.29818137e-03 5.25057596e+01] [ 5.61104271e-02 -1.30151754e-03 9.98423721e-01 3.29075380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.95, Y:52.51, Z:32.91 [[ 9.90460101e-01 -1.26010252e-01 -5.57692020e-02 5.84950612e+02] [ 1.25854276e-01 9.92028644e-01 -6.31425527e-03 5.25071162e+01] [ 5.61203068e-02 -7.64774618e-04 9.98423721e-01 3.29111432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.01, Y:52.51, Z:32.91 [[ 9.91100358e-01 -1.20872158e-01 -5.57673868e-02 5.85009064e+02] [ 1.20707149e-01 9.92667977e-01 -6.33024661e-03 5.25091304e+01] [ 5.61236496e-02 -4.57612592e-04 9.98423721e-01 3.29145472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.07, Y:52.51, Z:32.92 [[ 9.91772586e-01 -1.15227326e-01 -5.57655859e-02 5.85068426e+02] [ 1.15052505e-01 9.93339141e-01 -6.34607230e-03 5.25068735e+01] [ 5.61253801e-02 -1.22109802e-04 9.98423721e-01 3.29187403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.13, Y:52.50, Z:32.92 [[ 9.91862716e-01 -1.14449698e-01 -5.57639654e-02 5.85126257e+02] [ 1.14272850e-01 9.93429043e-01 -6.36027978e-03 5.25015706e+01] [ 5.61254749e-02 -6.37828992e-05 9.98423721e-01 3.29210550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.18, Y:52.50, Z:32.92 [[ 9.91458228e-01 -1.17902931e-01 -5.57627164e-02 5.85184556e+02] [ 1.17730924e-01 9.93025094e-01 -6.37121148e-03 5.24984209e+01] [ 5.61249612e-02 -2.48206074e-04 9.98423721e-01 3.29240661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.24, Y:52.49, Z:32.93 [[ 9.90358408e-01 -1.26810686e-01 -5.57608594e-02 5.85242825e+02] [ 1.26651858e-01 9.91926665e-01 -6.38742258e-03 5.24878718e+01] [ 5.61206768e-02 -7.36378785e-04 9.98423721e-01 3.29261359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.30, Y:52.47, Z:32.93 [[ 9.88700116e-01 -1.39150625e-01 -5.57600610e-02 5.85301265e+02] [ 1.39010973e-01 9.90270196e-01 -6.39438475e-03 5.24747282e+01] [ 5.61073092e-02 -1.42913139e-03 9.98423721e-01 3.29282749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.36, Y:52.47, Z:32.93 [[ 9.87395529e-01 -1.48125020e-01 -5.57588445e-02 5.85360328e+02] [ 1.47999037e-01 9.88966764e-01 -6.40497540e-03 5.24687315e+01] [ 5.60923812e-02 -1.92801124e-03 9.98423721e-01 3.29324432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.42, Y:52.46, Z:32.93 [[ 9.85620200e-01 -1.59511703e-01 -5.57569615e-02 5.85418691e+02] [ 1.59402941e-01 9.87192721e-01 -6.42132548e-03 5.24572249e+01] [ 5.60671432e-02 -2.55883556e-03 9.98423722e-01 3.29347781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.48, Y:52.45, Z:32.94 [[ 9.84577464e-01 -1.65826622e-01 -5.57561505e-02 5.85477067e+02] [ 1.65727546e-01 9.86150626e-01 -6.42836007e-03 5.24521823e+01] [ 5.60499559e-02 -2.91111151e-03 9.98423722e-01 3.29388491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.54, Y:52.44, Z:32.94 [[ 9.83288327e-01 -1.73307629e-01 -5.57542150e-02 5.85537140e+02] [ 1.73219571e-01 9.84862143e-01 -6.44510297e-03 5.24381908e+01] [ 5.60272012e-02 -3.32032668e-03 9.98423722e-01 3.29424111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.60, Y:52.44, Z:32.95 [[ 9.82963421e-01 -1.75141317e-01 -5.57533139e-02 5.85595950e+02] [ 1.75055754e-01 9.84537375e-01 -6.45288932e-03 5.24354418e+01] [ 5.60213888e-02 -3.41698422e-03 9.98423722e-01 3.29454050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.65, Y:52.43, Z:32.95 [[ 9.83024030e-01 -1.74801421e-01 -5.57514078e-02 5.85654608e+02] [ 1.74714386e-01 9.84597903e-01 -6.46931508e-03 5.24285282e+01] [ 5.60235647e-02 -3.38108080e-03 9.98423722e-01 3.29490552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.71, Y:52.43, Z:32.95 [[ 9.83372819e-01 -1.72829088e-01 -5.57494844e-02 5.85712601e+02] [ 1.72737961e-01 9.84946461e-01 -6.48584787e-03 5.24270765e+01] [ 5.60312006e-02 -3.25204577e-03 9.98423722e-01 3.29510989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.77, Y:52.42, Z:32.96 [[ 9.83967352e-01 -1.69411893e-01 -5.57481867e-02 5.85771904e+02] [ 1.69314671e-01 9.85540629e-01 -6.49698317e-03 5.24212337e+01] [ 5.60427692e-02 -3.04616659e-03 9.98423722e-01 3.29556284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.83, Y:52.41, Z:32.96 [[ 9.84689268e-01 -1.65164771e-01 -5.57462501e-02 5.85830545e+02] [ 1.65059826e-01 9.86262048e-01 -6.51355757e-03 5.24146824e+01] [ 5.60562211e-02 -2.78763610e-03 9.98423722e-01 3.29593698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.89, Y:52.41, Z:32.96 [[ 9.85105449e-01 -1.62664756e-01 -5.57443311e-02 5.85889186e+02] [ 1.62554894e-01 9.86677894e-01 -6.52993944e-03 5.24132079e+01] [ 5.60638903e-02 -2.62883492e-03 9.98423722e-01 3.29633111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.95, Y:52.41, Z:32.96 [[ 9.85613266e-01 -1.59559612e-01 -5.57424359e-02 5.85949556e+02] [ 1.59443884e-01 9.87185290e-01 -6.54607807e-03 5.24068922e+01] [ 5.60726024e-02 -2.43588912e-03 9.98423723e-01 3.29644151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.01, Y:52.40, Z:32.97 [[ 9.85701088e-01 -1.59016757e-01 -5.57407972e-02 5.86008777e+02] [ 1.58899377e-01 9.87272989e-01 -6.56000263e-03 5.24040993e+01] [ 5.60745338e-02 -2.39097624e-03 9.98423723e-01 3.29696805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.07, Y:52.40, Z:32.97 [[ 9.85533300e-01 -1.60053943e-01 -5.57391280e-02 5.86068556e+02] [ 1.59937419e-01 9.87105264e-01 -6.57415473e-03 5.23965205e+01] [ 5.60726061e-02 -2.43572385e-03 9.98423723e-01 3.29744865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.13, Y:52.40, Z:32.98 [[ 9.85510673e-01 -1.60193799e-01 -5.57374286e-02 5.86126193e+02] [ 1.60076687e-01 9.87082593e-01 -6.58853176e-03 5.23983965e+01] [ 5.60728875e-02 -2.42919453e-03 9.98423723e-01 3.29774615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.19, Y:52.39, Z:32.98 [[ 9.85653404e-01 -1.59313907e-01 -5.57355021e-02 5.86185216e+02] [ 1.59194474e-01 9.87225150e-01 -6.60478880e-03 5.23897526e+01] [ 5.60757241e-02 -2.36275135e-03 9.98423723e-01 3.29804413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.24, Y:52.39, Z:32.98 [[ 9.85977046e-01 -1.57299186e-01 -5.57335664e-02 5.86243920e+02] [ 1.57175621e-01 9.87548472e-01 -6.62108229e-03 5.23860673e+01] [ 5.60810892e-02 -2.23172276e-03 9.98423723e-01 3.29847269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.30, Y:52.38, Z:32.99 [[ 9.86675849e-01 -1.52855334e-01 -5.57316336e-02 5.86301974e+02] [ 1.52723775e-01 9.88246626e-01 -6.63731150e-03 5.23757848e+01] [ 5.60911474e-02 -1.96267050e-03 9.98423723e-01 3.29893791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.36, Y:52.39, Z:32.99 [[ 9.85028593e-01 -1.63134144e-01 -5.57308033e-02 5.86358830e+02] [ 1.63018575e-01 9.86600627e-01 -6.64427587e-03 5.23903035e+01] [ 5.60679538e-02 -2.54035446e-03 9.98423723e-01 3.29925596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.42, Y:52.38, Z:33.00 [[ 9.84869950e-01 -1.64089819e-01 -5.57289269e-02 5.86418828e+02] [ 1.63974889e-01 9.86442031e-01 -6.65997715e-03 5.23769296e+01] [ 5.60661903e-02 -2.57893324e-03 9.98423723e-01 3.29966657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.48, Y:52.36, Z:33.00 [[ 9.83942642e-01 -1.69562311e-01 -5.57270147e-02 5.86477356e+02] [ 1.69455221e-01 9.85515276e-01 -6.67593910e-03 5.23627396e+01] [ 5.60518120e-02 -2.87449243e-03 9.98423724e-01 3.29999903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.54, Y:52.35, Z:33.00 [[ 9.83135829e-01 -1.74179602e-01 -5.57261915e-02 5.86536976e+02] [ 1.74079508e-01 9.84708924e-01 -6.68280364e-03 5.23540738e+01] [ 5.60380862e-02 -3.13068431e-03 9.98423724e-01 3.30022283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3450998929999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:586.60, Y:52.34, Z:33.01 [[ 9.82115696e-01 -1.79843154e-01 -5.57243164e-02 5.86597262e+02] [ 1.79751247e-01 9.83689291e-01 -6.69840269e-03 5.23394428e+01] [ 5.60200752e-02 -3.43790893e-03 9.98423724e-01 3.30059082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.66, Y:52.32, Z:33.01 [[ 9.80477413e-01 -1.88571097e-01 -5.57223932e-02 5.86657056e+02] [ 1.88492286e-01 9.82051717e-01 -6.71436332e-03 5.23230223e+01] [ 5.59884068e-02 -3.91995971e-03 9.98423724e-01 3.30116753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.72, Y:52.31, Z:33.02 [[ 9.79754668e-01 -1.92291493e-01 -5.57204889e-02 5.86717026e+02] [ 1.92217767e-01 9.81329219e-01 -6.73012963e-03 5.23142203e+01] [ 5.59742906e-02 -4.11659203e-03 9.98423724e-01 3.30157838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.78, Y:52.29, Z:33.02 [[ 9.79430795e-01 -1.93934858e-01 -5.57188351e-02 5.86778098e+02] [ 1.93863001e-01 9.81005432e-01 -6.74379448e-03 5.22904795e+01] [ 5.59683367e-02 -4.19674059e-03 9.98423724e-01 3.30157994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.84, Y:52.29, Z:33.02 [[ 9.77471378e-01 -2.03580898e-01 -5.57182561e-02 5.86837130e+02] [ 2.03524296e-01 9.79046637e-01 -6.74857446e-03 5.22894463e+01] [ 5.59246521e-02 -4.74348049e-03 9.98423724e-01 3.30184557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.90, Y:52.28, Z:33.02 [[ 9.75153674e-01 -2.14408454e-01 -5.57164880e-02 5.86896269e+02] [ 2.14368502e-01 9.76729443e-01 -6.76314082e-03 5.22801958e+01] [ 5.58700089e-02 -5.34875842e-03 9.98423724e-01 3.30224302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.96, Y:52.27, Z:33.03 [[ 9.72965196e-01 -2.24130785e-01 -5.57146195e-02 5.86956323e+02] [ 2.24105692e-01 9.74541272e-01 -6.77849873e-03 5.22692923e+01] [ 5.58154664e-02 -5.89072001e-03 9.98423724e-01 3.30260037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.01, Y:52.27, Z:33.03 [[ 9.71259733e-01 -2.31410074e-01 -5.57127382e-02 5.87013384e+02] [ 2.31395910e-01 9.72835945e-01 -6.79392606e-03 5.22696304e+01] [ 5.57715372e-02 -6.29303297e-03 9.98423724e-01 3.30280983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.07, Y:52.27, Z:33.03 [[ 9.69118185e-01 -2.40221100e-01 -5.57114641e-02 5.87072450e+02] [ 2.40220661e-01 9.70694460e-01 -6.80435783e-03 5.22677191e+01] [ 5.57133599e-02 -6.78881781e-03 9.98423724e-01 3.30312313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.13, Y:52.27, Z:33.03 [[ 9.68118477e-01 -2.44219272e-01 -5.57096183e-02 5.87130500e+02] [ 2.44224484e-01 9.69694744e-01 -6.81943692e-03 5.22699236e+01] [ 5.56867619e-02 -7.00362990e-03 9.98423725e-01 3.30340330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.19, Y:52.27, Z:33.04 [[ 9.66917089e-01 -2.48933698e-01 -5.57077835e-02 5.87189104e+02] [ 2.48945744e-01 9.68493318e-01 -6.83439265e-03 5.22720258e+01] [ 5.56539267e-02 -7.25992457e-03 9.98423725e-01 3.30371413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.25, Y:52.28, Z:33.04 [[ 9.66586033e-01 -2.50216486e-01 -5.57059351e-02 5.87247058e+02] [ 2.50229773e-01 9.68162252e-01 -6.84942485e-03 5.22770864e+01] [ 5.56462226e-02 -7.31872511e-03 9.98423725e-01 3.30408193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.31, Y:52.28, Z:33.05 [[ 9.67005448e-01 -2.48591068e-01 -5.57040747e-02 5.87306437e+02] [ 2.48600849e-01 9.68581693e-01 -6.86452192e-03 5.22825709e+01] [ 5.56604058e-02 -7.21005018e-03 9.98423725e-01 3.30541249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.37, Y:52.29, Z:33.05 [[ 9.68723705e-01 -2.41808785e-01 -5.57036346e-02 5.87365895e+02] [ 2.41807319e-01 9.70299979e-01 -6.86809185e-03 5.22857802e+01] [ 5.57100004e-02 -6.81626315e-03 9.98423725e-01 3.30467081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.42, Y:52.29, Z:33.05 [[ 9.70038219e-01 -2.36480473e-01 -5.57031315e-02 5.87423141e+02] [ 2.36470112e-01 9.71614460e-01 -6.87216900e-03 5.22915317e+01] [ 5.57471019e-02 -6.50585916e-03 9.98423725e-01 3.30493716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.48, Y:52.29, Z:33.05 [[ 9.72330190e-01 -2.26873028e-01 -5.57012614e-02 5.87481315e+02] [ 2.26846218e-01 9.73906237e-01 -6.88729366e-03 5.22949689e+01] [ 5.58103471e-02 -5.93889693e-03 9.98423725e-01 3.30528627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.54, Y:52.30, Z:33.06 [[ 9.73891827e-01 -2.20073364e-01 -5.56994065e-02 5.87540406e+02] [ 2.20034694e-01 9.75467627e-01 -6.90226278e-03 5.22994176e+01] [ 5.58519721e-02 -5.53374457e-03 9.98423725e-01 3.30568217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.60, Y:52.30, Z:33.06 [[ 9.75113257e-01 -2.14597060e-01 -5.56977379e-02 5.87598585e+02] [ 2.14548774e-01 9.76688792e-01 -6.91570103e-03 5.23042971e+01] [ 5.58834455e-02 -5.20628964e-03 9.98423725e-01 3.30599159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.66, Y:52.31, Z:33.06 [[ 9.76072504e-01 -2.10191439e-01 -5.56958383e-02 5.87656667e+02] [ 2.10135175e-01 9.77647774e-01 -6.93096616e-03 5.23051928e+01] [ 5.59077421e-02 -4.93852923e-03 9.98423725e-01 3.30620550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.71, Y:52.31, Z:33.06 [[ 9.75907976e-01 -2.10954519e-01 -5.56939180e-02 5.87713767e+02] [ 2.10898615e-01 9.77483259e-01 -6.94636253e-03 5.23052533e+01] [ 5.59052391e-02 -4.96675958e-03 9.98423725e-01 3.30644518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.77, Y:52.30, Z:33.08 [[ 9.75538201e-01 -2.12658296e-01 -5.56926215e-02 5.87773507e+02] [ 2.12604556e-01 9.77113559e-01 -6.95674175e-03 5.23005752e+01] [ 5.58974244e-02 -5.05393772e-03 9.98423726e-01 3.30760224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.83, Y:52.30, Z:33.07 [[ 9.75116882e-01 -2.14582307e-01 -5.56911101e-02 5.87833737e+02] [ 2.14530990e-01 9.76692321e-01 -6.96882024e-03 5.23007166e+01] [ 5.58884651e-02 -5.15205474e-03 9.98423726e-01 3.30702494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.89, Y:52.30, Z:33.08 [[ 9.75380525e-01 -2.13380816e-01 -5.56907519e-02 5.87893100e+02] [ 2.13327396e-01 9.76955893e-01 -6.97168182e-03 5.23000189e+01] [ 5.58950314e-02 -5.08032041e-03 9.98423726e-01 3.30788877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.95, Y:52.30, Z:33.08 [[ 9.76914763e-01 -2.06243234e-01 -5.56890863e-02 5.87951743e+02] [ 2.06177545e-01 9.78489668e-01 -6.98496087e-03 5.23044542e+01] [ 5.59317965e-02 -4.65812771e-03 9.98423726e-01 3.30790419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.01, Y:52.31, Z:33.08 [[ 9.78411027e-01 -1.99024565e-01 -5.56873813e-02 5.88009783e+02] [ 1.98946482e-01 9.79985366e-01 -6.99852736e-03 5.23101718e+01] [ 5.59656976e-02 -4.23137224e-03 9.98423726e-01 3.30833221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.07, Y:52.32, Z:33.09 [[ 9.79576106e-01 -1.93209172e-01 -5.56854438e-02 5.88066737e+02] [ 1.93120868e-01 9.81149905e-01 -7.01391024e-03 5.23163718e+01] [ 5.59909196e-02 -3.88336235e-03 9.98423726e-01 3.30864022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.12, Y:52.33, Z:33.09 [[ 9.79185955e-01 -1.95177074e-01 -5.56846089e-02 5.88123421e+02] [ 1.95091557e-01 9.80759908e-01 -7.02053240e-03 5.23283472e+01] [ 5.59834788e-02 -3.98919035e-03 9.98423726e-01 3.30892285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.18, Y:52.33, Z:33.09 [[ 9.77419948e-01 -2.03837384e-01 -5.56827345e-02 5.88181972e+02] [ 2.03764964e-01 9.78994557e-01 -7.03536748e-03 5.23339079e+01] [ 5.59471649e-02 -4.46968189e-03 9.98423726e-01 3.30916066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.24, Y:52.34, Z:33.10 [[ 9.75807830e-01 -2.11420682e-01 -5.56810058e-02 5.88239455e+02] [ 2.11359718e-01 9.77382924e-01 -7.04902305e-03 5.23411444e+01] [ 5.59119735e-02 -4.89022977e-03 9.98423726e-01 3.30958831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.30, Y:52.35, Z:33.10 [[ 9.74107734e-01 -2.19120896e-01 -5.56790429e-02 5.88297422e+02] [ 2.19071497e-01 9.75683233e-01 -7.06449313e-03 5.23489893e+01] [ 5.58730867e-02 -5.31611391e-03 9.98423726e-01 3.30982513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.35, Y:52.36, Z:33.10 [[ 9.73934011e-01 -2.19892263e-01 -5.56770605e-02 5.88354640e+02] [ 2.19843229e-01 9.75509522e-01 -7.08008277e-03 5.23604382e+01] [ 5.58703581e-02 -5.34469135e-03 9.98423726e-01 3.30984365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.41, Y:52.37, Z:33.10 [[ 9.73861243e-01 -2.20214818e-01 -5.56750667e-02 5.88411654e+02] [ 2.20165420e-01 9.75436742e-01 -7.09572684e-03 5.23691604e+01] [ 5.58700899e-02 -5.34747108e-03 9.98423726e-01 3.30985392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.47, Y:52.38, Z:33.10 [[ 9.73854406e-01 -2.20245281e-01 -5.56741534e-02 5.88469160e+02] [ 2.20195527e-01 9.75429894e-01 -7.10288576e-03 5.23768680e+01] [ 5.58706106e-02 -5.34202295e-03 9.98423727e-01 3.31019204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.53, Y:52.38, Z:33.11 [[ 9.73615228e-01 -2.21300692e-01 -5.56721882e-02 5.88526649e+02] [ 2.21251775e-01 9.75190742e-01 -7.11825587e-03 5.23824262e+01] [ 5.58662774e-02 -5.38712811e-03 9.98423727e-01 3.31074057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.58, Y:52.39, Z:33.11 [[ 9.74250224e-01 -2.18488744e-01 -5.56701789e-02 5.88583491e+02] [ 2.18434390e-01 9.75825560e-01 -7.13393498e-03 5.23888219e+01] [ 5.58830680e-02 -5.21004384e-03 9.98423727e-01 3.31125675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.64, Y:52.39, Z:33.12 [[ 9.75153439e-01 -2.14421832e-01 -5.56690935e-02 5.88640776e+02] [ 2.14360426e-01 9.76728516e-01 -7.14239505e-03 5.23948681e+01] [ 5.59050765e-02 -4.96831952e-03 9.98423727e-01 3.31160687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.70, Y:52.40, Z:33.12 [[ 9.77319591e-01 -2.04322287e-01 -5.56670487e-02 5.88697848e+02] [ 2.04243690e-01 9.78893903e-01 -7.15829639e-03 5.24018292e+01] [ 5.59547341e-02 -4.37370015e-03 9.98423727e-01 3.31170391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.76, Y:52.41, Z:33.12 [[ 9.78856982e-01 -1.96825663e-01 -5.56656706e-02 5.88755671e+02] [ 1.96734397e-01 9.80430611e-01 -7.16899745e-03 5.24092919e+01] [ 5.59873701e-02 -3.93392892e-03 9.98423727e-01 3.31199410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.81, Y:52.42, Z:33.12 [[ 9.80776122e-01 -1.87028764e-01 -5.56636238e-02 5.88812449e+02] [ 1.86920872e-01 9.82348698e-01 -7.18485463e-03 5.24153775e+01] [ 5.60248629e-02 -3.35795925e-03 9.98423727e-01 3.31229517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.87, Y:52.42, Z:33.13 [[ 9.82283699e-01 -1.78942585e-01 -5.56622422e-02 5.88869708e+02] [ 1.78821137e-01 9.83855287e-01 -7.19554208e-03 5.24225371e+01] [ 5.60511802e-02 -2.88552175e-03 9.98423727e-01 3.31263157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.93, Y:52.43, Z:33.13 [[ 9.83019105e-01 -1.74858164e-01 -5.56602348e-02 5.88927681e+02] [ 1.74729310e-01 9.84590102e-01 -7.21103669e-03 5.24292484e+01] [ 5.60634249e-02 -2.63688757e-03 9.98423727e-01 3.31296695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.99, Y:52.44, Z:33.13 [[ 9.83579980e-01 -1.71675813e-01 -5.56582328e-02 5.88985108e+02] [ 1.71541004e-01 9.85150477e-01 -7.22645639e-03 5.24363722e+01] [ 5.60723424e-02 -2.43987131e-03 9.98423727e-01 3.31337294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.04, Y:52.44, Z:33.14 [[ 9.84057640e-01 -1.68916985e-01 -5.56562104e-02 5.89043298e+02] [ 1.68776895e-01 9.85627675e-01 -7.24199870e-03 5.24418757e+01] [ 5.60795979e-02 -2.26693823e-03 9.98423728e-01 3.31384184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.10, Y:52.45, Z:33.14 [[ 9.84638887e-01 -1.65495857e-01 -5.56541378e-02 5.89100979e+02] [ 1.65349414e-01 9.86208342e-01 -7.25789239e-03 5.24482249e+01] [ 5.60877260e-02 -2.05597599e-03 9.98423728e-01 3.31424029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.16, Y:52.46, Z:33.14 [[ 9.85996177e-01 -1.57208094e-01 -5.56520880e-02 5.89159690e+02] [ 1.57047571e-01 9.87564254e-01 -7.27357588e-03 5.24554628e+01] [ 5.61034777e-02 -1.56830720e-03 9.98423728e-01 3.31444079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.22, Y:52.46, Z:33.14 [[ 9.86819777e-01 -1.51953198e-01 -5.56502863e-02 5.89216743e+02] [ 1.51783548e-01 9.88386893e-01 -7.28733422e-03 5.24640256e+01] [ 5.61113473e-02 -1.25551236e-03 9.98423728e-01 3.31449052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.27, Y:52.47, Z:33.15 [[ 9.87820216e-01 -1.45307735e-01 -5.56496524e-02 5.89274510e+02] [ 1.45127269e-01 9.89386123e-01 -7.29217210e-03 5.24710558e+01] [ 5.61186028e-02 -8.72927057e-04 9.98423728e-01 3.31474202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.33, Y:52.48, Z:33.15 [[ 9.88595002e-01 -1.39940209e-01 -5.56476354e-02 5.89332822e+02] [ 1.39750376e-01 9.90159801e-01 -7.30753172e-03 5.24766673e+01] [ 5.61226691e-02 -5.52588623e-04 9.98423728e-01 3.31521998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.39, Y:52.48, Z:33.16 [[ 9.89059254e-01 -1.36621118e-01 -5.56458613e-02 5.89390860e+02] [ 1.36425274e-01 9.90623313e-01 -7.32101651e-03 5.24833370e+01] [ 5.61242929e-02 -3.50582760e-04 9.98423728e-01 3.31566168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.45, Y:52.49, Z:33.16 [[ 9.89889876e-01 -1.30467634e-01 -5.56437689e-02 5.89448845e+02] [ 1.30261175e-01 9.91452569e-01 -7.33688563e-03 5.24906609e+01] [ 5.61253837e-02 1.44860656e-05 9.98423728e-01 3.31595119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.51, Y:52.50, Z:33.16 [[ 9.90286451e-01 -1.27423490e-01 -5.56417037e-02 5.89506564e+02] [ 1.27211349e-01 9.91848382e-01 -7.35251474e-03 5.24991826e+01] [ 5.61250168e-02 2.02839533e-04 9.98423728e-01 3.31627935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4050998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.56, Y:52.51, Z:33.17 [[ 9.90590213e-01 -1.25041052e-01 -5.56396080e-02 5.89564076e+02] [ 1.24824266e-01 9.92151506e-01 -7.36833965e-03 5.25063356e+01] [ 5.61242658e-02 3.53831912e-04 9.98423728e-01 3.31652977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.62, Y:52.51, Z:33.17 [[ 9.90738360e-01 -1.23862053e-01 -5.56389636e-02 5.89621232e+02] [ 1.23643136e-01 9.92299355e-01 -7.37320191e-03 5.25141826e+01] [ 5.61237677e-02 4.25538002e-04 9.98423729e-01 3.31694512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5250998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.68, Y:52.52, Z:33.17 [[ 9.90779232e-01 -1.23535662e-01 -5.56368083e-02 5.89678696e+02] [ 1.23315319e-01 9.92340027e-01 -7.38943017e-03 5.25213615e+01] [ 5.61234900e-02 4.60423164e-04 9.98423729e-01 3.31728839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.73, Y:52.53, Z:33.18 [[ 9.90904539e-01 -1.22527463e-01 -5.56346650e-02 5.89734679e+02] [ 1.22304629e-01 9.92464980e-01 -7.40553167e-03 5.25288042e+01] [ 5.61228377e-02 5.33797867e-04 9.98423729e-01 3.31761451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.79, Y:52.54, Z:33.18 [[ 9.90994030e-01 -1.21801965e-01 -5.56337425e-02 5.89791880e+02] [ 1.21577599e-01 9.92554252e-01 -7.41245562e-03 5.25356991e+01] [ 5.61223593e-02 5.81882410e-04 9.98423729e-01 3.31798878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.85, Y:52.54, Z:33.18 [[ 9.91057318e-01 -1.21286909e-01 -5.56316298e-02 5.89848962e+02] [ 1.21060845e-01 9.92617294e-01 -7.42827825e-03 5.25435020e+01] [ 5.61218707e-02 6.27037438e-04 9.98423729e-01 3.31830506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.91, Y:52.55, Z:33.19 [[ 9.91111500e-01 -1.20844331e-01 -5.56295052e-02 5.89906810e+02] [ 1.20616680e-01 9.92671245e-01 -7.44415518e-03 5.25506735e+01] [ 5.61213941e-02 6.68141602e-04 9.98423729e-01 3.31857891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.97, Y:52.56, Z:33.19 [[ 9.91393426e-01 -1.18510196e-01 -5.56274114e-02 5.89965205e+02] [ 1.18277996e-01 9.92952500e-01 -7.45976878e-03 5.25573951e+01] [ 5.61194358e-02 8.16067004e-04 9.98423729e-01 3.31898361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.02, Y:52.56, Z:33.19 [[ 9.91639576e-01 -1.16433480e-01 -5.56255032e-02 5.90023010e+02] [ 1.16197219e-01 9.93198040e-01 -7.47397062e-03 5.25644150e+01] [ 5.61173611e-02 9.47956278e-04 9.98423729e-01 3.31912082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.08, Y:52.57, Z:33.20 [[ 9.91781693e-01 -1.15216978e-01 -5.56248335e-02 5.90080634e+02] [ 1.14978526e-01 9.93339823e-01 -7.47895167e-03 5.25717191e+01] [ 5.61160644e-02 1.02182597e-03 9.98423729e-01 3.31967083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.14, Y:52.58, Z:33.20 [[ 9.91717756e-01 -1.15767045e-01 -5.56226891e-02 5.90138841e+02] [ 1.15528565e-01 9.93275882e-01 -7.49486599e-03 5.25789787e+01] [ 5.61163341e-02 1.00678222e-03 9.98423729e-01 3.32012989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.20, Y:52.59, Z:33.21 [[ 9.91595086e-01 -1.16814002e-01 -5.56208163e-02 5.90196875e+02] [ 1.16576390e-01 9.93153344e-01 -7.50873857e-03 5.25859311e+01] [ 5.61171255e-02 9.61554313e-04 9.98423730e-01 3.32074812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.25, Y:52.59, Z:33.21 [[ 9.91555209e-01 -1.17152895e-01 -5.56189401e-02 5.90253958e+02] [ 1.16915037e-01 9.93113430e-01 -7.52261068e-03 5.25936473e+01] [ 5.61172120e-02 9.56393361e-04 9.98423730e-01 3.32117500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.31, Y:52.60, Z:33.21 [[ 9.91584616e-01 -1.16904776e-01 -5.56167436e-02 5.90311234e+02] [ 1.16665620e-01 9.93142638e-01 -7.53881468e-03 5.26030764e+01] [ 5.61166829e-02 9.86810793e-04 9.98423730e-01 3.32135656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.37, Y:52.61, Z:33.22 [[ 9.91710563e-01 -1.15831826e-01 -5.56160688e-02 5.90369162e+02] [ 1.15590705e-01 9.93268282e-01 -7.54379025e-03 5.26115480e+01] [ 5.61154881e-02 1.05255589e-03 9.98423730e-01 3.32163195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.43, Y:52.62, Z:33.22 [[ 9.91995873e-01 -1.13363379e-01 -5.56141436e-02 5.90427204e+02] [ 1.13117588e-01 9.93552862e-01 -7.55795630e-03 5.26200924e+01] [ 5.61123870e-02 1.20652369e-03 9.98423730e-01 3.32187967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.49, Y:52.63, Z:33.22 [[ 9.92379659e-01 -1.09954053e-01 -5.56122228e-02 5.90485482e+02] [ 1.09702123e-01 9.93935666e-01 -7.57206313e-03 5.26288452e+01] [ 5.61075508e-02 1.41358251e-03 9.98423730e-01 3.32220126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.54, Y:52.64, Z:33.23 [[ 9.92490862e-01 -1.08946699e-01 -5.56102932e-02 5.90543286e+02] [ 1.08692398e-01 9.94046484e-01 -7.58620857e-03 5.26370961e+01] [ 5.61057088e-02 1.48482657e-03 9.98423730e-01 3.32258316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.60, Y:52.65, Z:33.23 [[ 9.92543114e-01 -1.08470624e-01 -5.56083772e-02 5.90599822e+02] [ 1.08214792e-01 9.94098484e-01 -7.60022729e-03 5.26458571e+01] [ 5.61046048e-02 1.52590430e-03 9.98423730e-01 3.32301991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.66, Y:52.67, Z:33.23 [[ 9.91361043e-01 -1.18790243e-01 -5.56071933e-02 5.90656724e+02] [ 1.18550120e-01 9.92918916e-01 -7.60887917e-03 5.26688936e+01] [ 5.61172947e-02 9.50906933e-04 9.98423730e-01 3.32338648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.71, Y:52.68, Z:33.24 [[ 9.91511929e-01 -1.17524324e-01 -5.56069044e-02 5.90713672e+02] [ 1.17282094e-01 9.93069476e-01 -7.61098980e-03 5.26784874e+01] [ 5.61159959e-02 1.02469298e-03 9.98423730e-01 3.32356679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.77, Y:52.69, Z:33.24 [[ 9.91524075e-01 -1.17422140e-01 -5.56062046e-02 5.90771640e+02] [ 1.17179463e-01 9.93081552e-01 -7.61609914e-03 5.26868503e+01] [ 5.61157946e-02 1.03564045e-03 9.98423730e-01 3.32393491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7250998929999 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:590.83, Y:52.68, Z:33.24 [[ 9.93311851e-01 -1.01191578e-01 -5.56042461e-02 5.90831309e+02] [ 1.00922665e-01 9.94865012e-01 -7.63037168e-03 5.26789001e+01] [ 5.60908483e-02 1.96760990e-03 9.98423730e-01 3.32423643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7850998929998 meters Centerline goodness : 0.999387 with order 1 Centerline is valid? [True, True] Translation: X:590.89, Y:52.69, Z:33.24 [[ 9.93351833e-01 -1.00798636e-01 -5.56036954e-02 5.90889698e+02] [ 1.00528884e-01 9.94904850e-01 -7.63438209e-03 5.26873231e+01] [ 5.60899215e-02 1.99384998e-03 9.98423730e-01 3.32447957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8450998929999 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:590.95, Y:52.69, Z:33.25 [[ 9.93263179e-01 -1.01669573e-01 -5.56017584e-02 5.90947166e+02] [ 1.01400396e-01 9.94816295e-01 -7.64846358e-03 5.26946637e+01] [ 5.60911513e-02 1.95889692e-03 9.98423730e-01 3.32480198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9050998929998 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:591.00, Y:52.70, Z:33.25 [[ 9.93126392e-01 -1.02997525e-01 -5.56010790e-02 5.91004134e+02] [ 1.02730149e-01 9.94679819e-01 -7.65339947e-03 5.27019273e+01] [ 5.60935524e-02 1.88888585e-03 9.98423730e-01 3.32523410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9650998929999 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:591.06, Y:52.71, Z:33.26 [[ 9.93119188e-01 -1.03067322e-01 -5.56004109e-02 5.91062575e+02] [ 1.02799784e-01 9.94672587e-01 -7.65824991e-03 5.27096252e+01] [ 5.60935199e-02 1.88984467e-03 9.98423730e-01 3.32582515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0250998929998 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:591.12, Y:52.72, Z:33.26 [[ 9.93372027e-01 -1.00602286e-01 -5.55985286e-02 5.91120089e+02] [ 1.00330131e-01 9.94924624e-01 -7.67189140e-03 5.27181638e+01] [ 5.60881549e-02 2.04283467e-03 9.98423731e-01 3.32613894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0850998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.18, Y:52.75, Z:33.26 [[ 9.92770170e-01 -1.06378721e-01 -5.55963870e-02 5.91175334e+02] [ 1.06114735e-01 9.94324176e-01 -7.68737954e-03 5.27483991e+01] [ 5.60986053e-02 1.73220521e-03 9.98423731e-01 3.32622005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1450998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.23, Y:52.75, Z:33.26 [[ 9.93272682e-01 -1.01580680e-01 -5.55944640e-02 5.91234505e+02] [ 1.01308412e-01 9.94825259e-01 -7.70126128e-03 5.27518389e+01] [ 5.60890765e-02 2.01726557e-03 9.98423731e-01 3.32641477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2050998929999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:591.30, Y:52.74, Z:33.27 [[ 9.93868639e-01 -9.55750028e-02 -5.55926873e-02 5.91295258e+02] [ 9.52926410e-02 9.95419412e-01 -7.71406546e-03 5.27422718e+01] [ 5.60753120e-02 2.36919374e-03 9.98423731e-01 3.32728682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2650998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.35, Y:52.77, Z:33.27 [[ 9.92864686e-01 -1.05495896e-01 -5.55907546e-02 5.91352662e+02] [ 1.05228258e-01 9.94418067e-01 -7.72796832e-03 5.27661394e+01] [ 5.60957197e-02 1.82310858e-03 9.98423731e-01 3.32676265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.41, Y:52.77, Z:33.27 [[ 9.92894794e-01 -1.05212294e-01 -5.55904759e-02 5.91409774e+02] [ 1.04944101e-01 9.94448080e-01 -7.72997297e-03 5.27727423e+01] [ 5.60951302e-02 1.84115742e-03 9.98423731e-01 3.32714745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3850998929998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.47, Y:52.78, Z:33.27 [[ 9.92636390e-01 -1.07624132e-01 -5.55881604e-02 5.91466185e+02] [ 1.07358784e-01 9.94190164e-01 -7.74658829e-03 5.27779227e+01] [ 5.60989222e-02 1.72166815e-03 9.98423731e-01 3.32726560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4450998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.52, Y:52.79, Z:33.27 [[ 9.91925366e-01 -1.13991827e-01 -5.55871521e-02 5.91523958e+02] [ 1.13736050e-01 9.93480744e-01 -7.75381713e-03 5.27883979e+01] [ 5.61086370e-02 1.36894481e-03 9.98423731e-01 3.32732300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5050998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.58, Y:52.79, Z:33.28 [[ 9.91255784e-01 -1.19675610e-01 -5.55852459e-02 5.91581504e+02] [ 1.19427987e-01 9.92812481e-01 -7.76745839e-03 5.27934467e+01] [ 5.61153012e-02 1.06110402e-03 9.98423731e-01 3.32785675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.64, Y:52.80, Z:33.28 [[ 9.91309983e-01 -1.19226855e-01 -5.55830395e-02 5.91638426e+02] [ 1.18977645e-01 9.92866427e-01 -7.78321486e-03 5.28014969e+01] [ 5.61145021e-02 1.10243945e-03 9.98423731e-01 3.32817042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.70, Y:52.81, Z:33.28 [[ 9.90798239e-01 -1.23407664e-01 -5.55823580e-02 5.91696986e+02] [ 1.23164748e-01 9.92355677e-01 -7.78807866e-03 5.28090725e+01] [ 5.61185771e-02 8.70627483e-04 9.98423731e-01 3.32841598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6850998929999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:591.76, Y:52.82, Z:33.29 [[ 9.90214335e-01 -1.28009335e-01 -5.55804037e-02 5.91755416e+02] [ 1.27772877e-01 9.91772767e-01 -7.80200105e-03 5.28173208e+01] [ 5.61218597e-02 6.23985203e-04 9.98423731e-01 3.32880518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7450998929999 meters Centerline goodness : 0.995131 with order 1 Centerline is valid? [True, True] Translation: X:591.82, Y:52.81, Z:33.30 [[ 9.91727075e-01 -1.15708458e-01 -5.55784360e-02 5.91816086e+02] [ 1.15451890e-01 9.93282322e-01 -7.81599301e-03 5.28062223e+01] [ 5.61094545e-02 1.33469641e-03 9.98423732e-01 3.33019379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8050998929999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:591.87, Y:52.83, Z:33.29 [[ 9.90153819e-01 -1.28478493e-01 -5.55760072e-02 5.91871233e+02] [ 1.28241020e-01 9.91712096e-01 -7.83322533e-03 5.28345842e+01] [ 5.61217996e-02 6.28974106e-04 9.98423732e-01 3.32945842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8650998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.93, Y:52.83, Z:33.30 [[ 9.91117949e-01 -1.20816480e-01 -5.55750730e-02 5.91930197e+02] [ 1.20566591e-01 9.92674284e-01 -7.83984785e-03 5.28347546e+01] [ 5.61151286e-02 1.06971683e-03 9.98423732e-01 3.33008977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9250998929999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:591.99, Y:52.85, Z:33.30 [[ 9.90802520e-01 -1.23377460e-01 -5.55730858e-02 5.91986944e+02] [ 1.23130805e-01 9.92359371e-01 -7.85390910e-03 5.28457289e+01] [ 5.61174678e-02 9.38914129e-04 9.98423732e-01 3.33008661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9850998929999 meters Centerline goodness : 0.997188 with order 1 Centerline is valid? [True, True] Translation: X:592.05, Y:52.85, Z:33.31 [[ 9.91228333e-01 -1.19909473e-01 -5.55707655e-02 5.92046020e+02] [ 1.19656454e-01 9.92784162e-01 -7.87029200e-03 5.28503919e+01] [ 5.61134984e-02 1.15185569e-03 9.98423732e-01 3.33054249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0450998929999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:592.10, Y:52.87, Z:33.30 [[ 9.89976597e-01 -1.29840196e-01 -5.55685248e-02 5.92101401e+02] [ 1.29601901e-01 9.91534748e-01 -7.88608125e-03 5.28714943e+01] [ 5.61220536e-02 6.05249454e-04 9.98423732e-01 3.33006055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1050998929999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:592.16, Y:52.87, Z:33.32 [[ 9.90554548e-01 -1.25355182e-01 -5.55676631e-02 5.92161283e+02] [ 1.25109491e-01 9.92111551e-01 -7.89214803e-03 5.28659334e+01] [ 5.61186421e-02 8.65561084e-04 9.98423732e-01 3.33163023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1650998929998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:592.22, Y:52.88, Z:33.31 [[ 9.89161720e-01 -1.35910042e-01 -5.55657378e-02 5.92218064e+02] [ 1.35680207e-01 9.90721142e-01 -7.90568035e-03 5.28845536e+01] [ 5.61246126e-02 2.80825562e-04 9.98423732e-01 3.33073025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2250998929999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.28, Y:52.89, Z:33.31 [[ 9.88515136e-01 -1.40535910e-01 -5.55651345e-02 5.92275428e+02] [ 1.40313134e-01 9.90075582e-01 -7.90991809e-03 5.28945687e+01] [ 5.61253104e-02 2.25555656e-05 9.98423732e-01 3.33093660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2850998929998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:592.33, Y:52.90, Z:33.31 [[ 9.88866617e-01 -1.38042001e-01 -5.55627570e-02 5.92333066e+02] [ 1.37814354e-01 9.90426359e-01 -7.92658401e-03 5.29028460e+01] [ 5.61250206e-02 1.80988860e-04 9.98423732e-01 3.33097265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3450998929999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:592.39, Y:52.90, Z:33.33 [[ 9.90753783e-01 -1.23773196e-01 -5.55620185e-02 5.92392923e+02] [ 1.23522799e-01 9.92310035e-01 -7.93175678e-03 5.28986457e+01] [ 5.61164874e-02 9.95242014e-04 9.98423732e-01 3.33280346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4050998929998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:592.45, Y:52.92, Z:33.32 [[ 9.90041016e-01 -1.29350993e-01 -5.55617395e-02 5.92451489e+02] [ 1.29109255e-01 9.91598637e-01 -7.93371111e-03 5.29171599e+01] [ 5.61211785e-02 6.81164634e-04 9.98423732e-01 3.33185413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4650998929999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:592.51, Y:52.91, Z:33.34 [[ 9.91230158e-01 -1.19898641e-01 -5.55615929e-02 5.92509271e+02] [ 1.19641994e-01 9.92785391e-01 -7.93473744e-03 5.29129880e+01] [ 5.61121020e-02 1.21765127e-03 9.98423732e-01 3.33358021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5204.59 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%| | 0/19684 [00:00