+ python -m lidar_slam --result /working/result.json --no-model /working/9728eb7f-2b66-49fc-a60f-784f8e062227 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/9728eb7f-2b66-49fc-a60f-784f8e062227 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 0.004391418 Adjusted end_distance from 9.223372036854776e+18 to 378.224391418 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004391418 meters Centerline goodness : 0.218170 with order 1 Centerline is valid? [0, False] SLAMing on 0.06439141799999999 meters Centerline goodness : 0.226613 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.00 [[ 9.99983660e-01 3.28616208e-03 4.67771430e-03 1.75209212e-02] [-3.31379851e-03 9.99977029e-01 5.91266632e-03 6.22096164e-03] [-4.65817687e-03 -5.92807071e-03 9.99971579e-01 -9.83195543e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12439141799999998 meters Centerline goodness : 0.228645 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.00 [[ 9.99971443e-01 6.28533472e-03 4.19612024e-03 1.87773405e-02] [-6.32123329e-03 9.99943061e-01 8.59744962e-03 1.02393649e-02] [-4.14184347e-03 -8.62372876e-03 9.99954237e-01 -9.75874944e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18439141799999997 meters Centerline goodness : 0.252243 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 0.99996293 0.00800096 0.00318167 0.02432944] [-0.00803095 0.99992237 0.00952721 0.0154857 ] [-0.00310519 -0.00955241 0.99994955 -0.00501204] [ 0. 0. 0. 1. ]] SLAMing on 0.24439141799999997 meters Centerline goodness : 0.258121 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.01 [[ 0.99996338 0.0082279 0.00235268 0.0277072 ] [-0.00824982 0.99992121 0.00946164 0.02000057] [-0.00227465 -0.0094807 0.99995247 -0.00686147] [ 0. 0. 0. 1. ]] SLAMing on 0.3043914179999999 meters Centerline goodness : 0.257895 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99997492 0.00688154 0.00167642 0.02990074] [-0.00689404 0.99994759 0.00756892 0.02670509] [-0.00162424 -0.00758029 0.99996995 -0.00705466] [ 0. 0. 0. 1. ]] SLAMing on 0.3643914179999999 meters Centerline goodness : 0.261979 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 9.99996357e-01 2.53685891e-03 9.22038107e-04 3.23442083e-02] [-2.53967169e-03 9.99992086e-01 3.06235639e-03 3.10649913e-02] [-9.14262044e-04 -3.06468690e-03 9.99994886e-01 -7.64142889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4243914179999999 meters Centerline goodness : 0.218750 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 9.99996723e-01 -2.56003923e-03 -1.41009411e-05 3.47026500e-02] [ 2.56002665e-03 9.99996379e-01 -8.29578091e-04 3.49810730e-02] [ 1.62246425e-05 8.29539274e-04 9.99999656e-01 -7.23708533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4843914179999999 meters Centerline goodness : 0.220698 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.01 [[ 9.99994616e-01 -3.26408563e-03 -3.38460546e-04 3.63029747e-02] [ 3.26375340e-03 9.99994196e-01 -9.77542023e-04 3.67110586e-02] [ 3.41649362e-04 9.76432108e-04 9.99999465e-01 -7.26714016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5443914179999999 meters Centerline goodness : 0.906967 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.01 [[ 9.99997125e-01 -2.39687531e-03 -7.62706121e-05 3.75900806e-02] [ 2.39688612e-03 9.99997117e-01 1.41957326e-04 4.16789274e-02] [ 7.59301382e-05 -1.42139730e-04 9.99999987e-01 -6.92479854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6043914179999998 meters Centerline goodness : 0.905072 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:-0.01 [[ 9.99999566e-01 -8.30429890e-04 -4.21228570e-04 4.01002849e-02] [ 8.31165889e-04 9.99998123e-01 1.75011166e-03 4.93742576e-02] [ 4.19774435e-04 -1.75046101e-03 9.99998380e-01 -6.54924991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6643914179999999 meters Centerline goodness : 0.119574 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.05, Z:-0.01 [[ 9.99994547e-01 -2.99386201e-03 -1.39410749e-03 4.56005000e-02] [ 2.99500330e-03 9.99995181e-01 8.17288417e-04 5.37919688e-02] [ 1.39165393e-03 -8.21459317e-04 9.99998694e-01 -8.81246704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7243914179999998 meters Centerline goodness : 0.896624 with order 1 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:-0.01 [[ 9.99988101e-01 -4.19233924e-03 -2.49422864e-03 9.73562328e-02] [ 4.19469980e-03 9.99990759e-01 9.41931786e-04 5.89702117e-02] [ 2.49025669e-03 -9.52383118e-04 9.99996446e-01 -1.02452800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7843914179999999 meters Centerline goodness : 0.117303 with order 1 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:-0.01 [[ 0.99993222 -0.01128308 -0.0028704 0.09853671] [ 0.01126903 0.99992466 -0.00486665 0.06466599] [ 0.00292509 0.00483397 0.99998404 -0.00883825] [ 0. 0. 0. 1. ]] SLAMing on 0.8443914179999998 meters Centerline goodness : 0.895192 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:-0.01 [[ 0.99979658 -0.0201403 -0.00108161 0.16791129] [ 0.02013634 0.99979091 -0.00355823 0.07143586] [ 0.00115305 0.00353573 0.99999308 -0.01055926] [ 0. 0. 0. 1. ]] SLAMing on 0.9043914179999999 meters Centerline goodness : 0.898743 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:0.08, Z:-0.01 [[ 0.99949363 -0.03153389 0.00425513 0.20695712] [ 0.03154476 0.99949918 -0.00251325 0.07868101] [-0.00417375 0.0026462 0.99998779 -0.01466982] [ 0. 0. 0. 1. ]] SLAMing on 0.9643914179999998 meters Centerline goodness : 0.110693 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:0.08, Z:-0.01 [[ 0.99939967 -0.03442735 0.00387941 0.20949798] [ 0.03444075 0.99940082 -0.00344144 0.0832692 ] [-0.0037586 0.00357299 0.99998655 -0.0143557 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0243914179999998 meters Centerline goodness : 0.906362 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:0.09, Z:-0.02 [[ 9.99251159e-01 -3.76786722e-02 8.79991637e-03 2.31625526e-01] [ 3.76790379e-02 9.99289885e-01 1.24280104e-04 9.20719684e-02] [-8.79835013e-03 2.07385345e-04 9.99961272e-01 -1.97071620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0843914179999998 meters Centerline goodness : 0.910173 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:0.11, Z:-0.02 [[ 0.99946657 -0.03026382 0.01227493 0.27214582] [ 0.03028661 0.99953985 -0.00167545 0.10721125] [-0.01221858 0.00204633 0.99992326 -0.02256844] [ 0. 0. 0. 1. ]] SLAMing on 1.1443914179999999 meters Centerline goodness : 0.121428 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:0.11, Z:-0.03 [[ 0.99959246 -0.02611285 0.01153437 0.27795789] [ 0.02608785 0.99965698 0.00231296 0.11387844] [-0.01159081 -0.00201111 0.9999308 -0.02611486] [ 0. 0. 0. 1. ]] SLAMing on 1.2043914179999997 meters Centerline goodness : 0.110485 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:0.12, Z:-0.03 [[ 0.99967809 -0.02288608 0.01095205 0.28043107] [ 0.02282481 0.9997233 0.00568765 0.11636216] [-0.01107918 -0.00543584 0.99992385 -0.02725782] [ 0. 0. 0. 1. ]] SLAMing on 1.2643914179999998 meters SLAMing on 1.3243914179999998 meters SLAMing on 1.3843914179999999 meters SLAMing on 1.4443914179999997 meters Centerline goodness : 0.714619 with order 2 Centerline is valid? [False, False] Translation: X:0.40, Y:0.13, Z:-0.04 [[ 0.99853223 -0.05277884 0.01215611 0.39784421] [ 0.05245877 0.99830269 0.02529468 0.12851442] [-0.0134705 -0.02461986 0.99960613 -0.04341477] [ 0. 0. 0. 1. ]] SLAMing on 1.5043914179999998 meters Centerline goodness : 0.116851 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:0.14, Z:-0.04 [[ 0.99857907 -0.05065228 0.01655856 0.43316347] [ 0.0503509 0.99856688 0.01813766 0.14124848] [-0.01745354 -0.01727815 0.99969837 -0.04218957] [ 0. 0. 0. 1. ]] SLAMing on 1.5643914179999998 meters Centerline goodness : 0.110961 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:0.15, Z:-0.04 [[ 0.9986399 -0.04738057 0.0217587 0.45031893] [ 0.04719837 0.99884666 0.00881228 0.15109995] [-0.02215113 -0.00777332 0.99972441 -0.04187264] [ 0. 0. 0. 1. ]] SLAMing on 1.6243914179999996 meters Centerline goodness : 0.852146 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:0.16, Z:-0.04 [[ 0.99867541 -0.04775075 0.01916476 0.47804661] [ 0.04765929 0.99885011 0.00520113 0.16162166] [-0.01939108 -0.00428086 0.99980281 -0.04063408] [ 0. 0. 0. 1. ]] SLAMing on 1.6843914179999997 meters SLAMing on 1.7443914179999997 meters Centerline goodness : 0.948826 with order 2 Centerline is valid? [False, False] Translation: X:0.60, Y:0.18, Z:-0.06 [[ 0.99833867 -0.05750106 0.00367909 0.60142725] [ 0.0572773 0.99733919 0.04509819 0.17623391] [-0.0062625 -0.04481254 0.99897578 -0.05771263] [ 0. 0. 0. 1. ]] SLAMing on 1.8043914179999998 meters Centerline goodness : 0.952241 with order 1 Centerline is valid? [False, True] Translation: X:0.62, Y:0.19, Z:-0.05 [[ 0.99803473 -0.06205706 0.00869487 0.61978413] [ 0.06182955 0.99778932 0.02436342 0.1917712 ] [-0.01018757 -0.02377794 0.99966536 -0.05185135] [ 0. 0. 0. 1. ]] SLAMing on 1.8643914179999996 meters Centerline goodness : 0.179038 with order 1 Centerline is valid? [True, False] Translation: X:0.63, Y:0.20, Z:-0.05 [[ 0.99796234 -0.06312934 0.00926571 0.63163341] [ 0.06301708 0.99794096 0.01194483 0.19870724] [-0.0100007 -0.01133659 0.99988573 -0.04702739] [ 0. 0. 0. 1. ]] SLAMing on 1.9243914179999997 meters Centerline goodness : 0.165348 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:0.20, Z:-0.05 [[ 0.99771365 -0.06703567 0.00858458 0.63501187] [ 0.0669696 0.9977248 0.00776561 0.20325761] [-0.00908562 -0.00717295 0.999933 -0.04771954] [ 0. 0. 0. 1. ]] SLAMing on 1.9843914179999997 meters Centerline goodness : 0.165560 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:0.20, Z:-0.05 [[ 0.99788173 -0.06462742 0.0074394 0.63613163] [ 0.06453853 0.99784749 0.01162629 0.20443278] [-0.00817477 -0.01112153 0.99990474 -0.04634577] [ 0. 0. 0. 1. ]] SLAMing on 2.0443914179999996 meters Centerline goodness : 0.966696 with order 1 Centerline is valid? [False, True] Translation: X:0.64, Y:0.20, Z:-0.04 [[ 0.9982817 -0.05835526 -0.0053201 0.63521409] [ 0.05845802 0.99805165 0.02180738 0.19761203] [ 0.00403716 -0.02208091 0.99974804 -0.0434723 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1043914179999996 meters Centerline goodness : 0.970324 with order 1 Centerline is valid? [True, True] Translation: X:0.69, Y:0.22, Z:-0.03 [[ 9.97948604e-01 -6.39906935e-02 -1.94308326e-03 6.93267168e-01] [ 6.39902358e-02 9.97950481e-01 -2.96901352e-04 2.18563774e-01] [ 1.95809980e-03 1.71953934e-04 9.99998068e-01 -2.77518230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1643914179999997 meters Centerline goodness : 0.973221 with order 1 Centerline is valid? [True, True] Translation: X:0.75, Y:0.23, Z:-0.04 [[ 9.98167280e-01 -6.04839311e-02 -1.94308572e-03 7.52552192e-01] [ 6.04834668e-02 9.98169155e-01 -2.96885281e-04 2.25729532e-01] [ 1.95748502e-03 1.78816613e-04 9.99998068e-01 -3.69816371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2243914179999997 meters Centerline goodness : 0.975551 with order 1 Centerline is valid? [True, True] Translation: X:0.81, Y:0.23, Z:-0.03 [[ 9.97923144e-01 -6.43865100e-02 -1.94308210e-03 8.13810094e-01] [ 6.43860530e-02 9.97925021e-01 -2.96908955e-04 2.34410927e-01] [ 1.95816718e-03 1.71184931e-04 9.99998068e-01 -2.79886594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.284391418 meters Centerline goodness : 0.977136 with order 1 Centerline is valid? [True, True] Translation: X:0.87, Y:0.24, Z:-0.02 [[ 9.97702391e-01 -6.77212148e-02 -1.94310495e-03 8.74270621e-01] [ 6.77207644e-02 9.97704270e-01 -2.96759340e-04 2.44463860e-01] [ 1.95874101e-03 1.64488951e-04 9.99998068e-01 -2.42624303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.344391418 meters Centerline goodness : 0.979835 with order 1 Centerline is valid? [True, True] Translation: X:0.93, Y:0.26, Z:-0.02 [[ 9.97198793e-01 -7.47715977e-02 -1.94311060e-03 9.34729563e-01] [ 7.47711606e-02 9.97200675e-01 -2.96722325e-04 2.55228954e-01] [ 1.95985760e-03 1.50602509e-04 9.99998068e-01 -1.69217697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4043914179999994 meters Centerline goodness : 0.982736 with order 1 Centerline is valid? [True, True] Translation: X:1.00, Y:0.26, Z:-0.02 [[ 9.96940226e-01 -7.81435199e-02 -1.94311949e-03 9.97768151e-01] [ 7.81430893e-02 9.96942109e-01 -2.96664074e-04 2.61010162e-01] [ 1.96036002e-03 1.43914989e-04 9.99998068e-01 -2.02577907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4643914179999995 meters Centerline goodness : 0.985205 with order 1 Centerline is valid? [True, True] Translation: X:1.06, Y:0.27, Z:-0.03 [[ 9.96886811e-01 -7.88220195e-02 -1.94321014e-03 1.05657090e+00] [ 7.88215913e-02 9.96888694e-01 -2.96069107e-04 2.70216061e-01] [ 1.96050099e-03 1.41980472e-04 9.99998068e-01 -2.52484135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5243914179999996 meters Centerline goodness : 0.986502 with order 1 Centerline is valid? [True, True] Translation: X:1.12, Y:0.28, Z:-0.02 [[ 9.96864624e-01 -7.91021156e-02 -1.94323239e-03 1.11656671e+00] [ 7.91016882e-02 9.96866508e-01 -2.95923046e-04 2.79609192e-01] [ 1.96055142e-03 1.41282254e-04 9.99998068e-01 -2.15919860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5843914179999996 meters Centerline goodness : 0.989238 with order 1 Centerline is valid? [True, True] Translation: X:1.18, Y:0.30, Z:-0.01 [[ 9.96462835e-01 -8.40121520e-02 -1.94324798e-03 1.17601771e+00] [ 8.40117341e-02 9.96464721e-01 -2.95820619e-04 2.95908549e-01] [ 1.96123058e-03 1.31518621e-04 9.99998068e-01 -1.48419273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6443914179999997 meters Centerline goodness : 0.990781 with order 1 Centerline is valid? [True, True] Translation: X:1.24, Y:0.30, Z:-0.02 [[ 9.97909072e-01 -6.46042388e-02 -1.94325929e-03 1.23513723e+00] [ 6.46037844e-02 9.97910950e-01 -2.95746326e-04 3.04278741e-01] [ 1.95830618e-03 1.69586038e-04 9.99998068e-01 -1.87171178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7043914179999997 meters Centerline goodness : 0.992699 with order 1 Centerline is valid? [True, True] Translation: X:1.30, Y:0.32, Z:-0.02 [[ 9.97696574e-01 -6.78068591e-02 -1.94325929e-03 1.29511310e+00] [ 6.78064108e-02 9.97698453e-01 -2.95746326e-04 3.17044512e-01] [ 1.95884041e-03 1.63299659e-04 9.99998068e-01 -1.51410178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7643914179999998 meters Centerline goodness : 0.994203 with order 1 Centerline is valid? [True, True] Translation: X:1.36, Y:0.32, Z:-0.01 [[ 9.97779339e-01 -6.65778810e-02 -1.94326747e-03 1.35660999e+00] [ 6.65774304e-02 9.97781218e-01 -2.95692536e-04 3.20074318e-01] [ 1.95864236e-03 1.65658148e-04 9.99998068e-01 -8.72785058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8243914179999994 meters Centerline goodness : 0.994665 with order 1 Centerline is valid? [True, True] Translation: X:1.42, Y:0.33, Z:-0.01 [[ 9.97213874e-01 -7.45701955e-02 -1.94327745e-03 1.41533144e+00] [ 7.45697601e-02 9.97215756e-01 -2.95626911e-04 3.34954072e-01] [ 1.95991185e-03 1.49893523e-04 9.99998068e-01 -1.03889068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8843914179999994 meters Centerline goodness : 0.995919 with order 1 Centerline is valid? [True, True] Translation: X:1.48, Y:0.33, Z:-0.01 [[ 9.97319313e-01 -7.31465129e-02 -1.94328289e-03 1.47634961e+00] [ 7.31460749e-02 9.97321194e-01 -2.95591199e-04 3.34285776e-01] [ 1.95969867e-03 1.52655296e-04 9.99998068e-01 -1.40895653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9443914179999995 meters Centerline goodness : 0.997027 with order 1 Centerline is valid? [True, True] Translation: X:1.54, Y:0.35, Z:-0.01 [[ 9.96623026e-01 -8.20900024e-02 -1.94328289e-03 1.53600139e+00] [ 8.20895814e-02 9.96624911e-01 -2.95591199e-04 3.50581798e-01] [ 1.96098921e-03 1.35069717e-04 9.99998068e-01 -6.94806225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0043914179999995 meters Centerline goodness : 0.997938 with order 1 Centerline is valid? [True, True] Translation: X:1.60, Y:0.36, Z:-0.01 [[ 9.96614065e-01 -8.21987222e-02 -1.94329437e-03 1.59772285e+00] [ 8.21983015e-02 9.96615950e-01 -2.95515692e-04 3.59976565e-01] [ 1.96100917e-03 1.34779598e-04 9.99998068e-01 -7.40153374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0643914179999996 meters Centerline goodness : 0.998166 with order 1 Centerline is valid? [True, True] Translation: X:1.66, Y:0.37, Z:-0.01 [[ 9.96673139e-01 -8.14793111e-02 -1.94331643e-03 1.66027182e+00] [ 8.14788893e-02 9.96675024e-01 -2.95370543e-04 3.70296948e-01] [ 1.96092154e-03 1.36048622e-04 9.99998068e-01 -5.07580979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1243914179999996 meters Centerline goodness : 0.998307 with order 1 Centerline is valid? [True, True] Translation: X:1.72, Y:0.37, Z:0.02 [[ 9.96280254e-01 -8.61503258e-02 -1.94340417e-03 1.72129195e+00] [ 8.61499140e-02 9.96282141e-01 -2.94792120e-04 3.72676227e-01] [ 1.96157530e-03 1.26271466e-04 9.99998068e-01 1.57366688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1843914179999997 meters Centerline goodness : 0.998470 with order 1 Centerline is valid? [True, True] Translation: X:1.78, Y:0.38, Z:0.02 [[ 9.96127621e-01 -8.78975918e-02 -1.94340939e-03 1.78332924e+00] [ 8.78971833e-02 9.96129509e-01 -2.94757723e-04 3.77499005e-01] [ 1.96179593e-03 1.22796099e-04 9.99998068e-01 1.65433445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2443914179999993 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:1.84, Y:0.38, Z:0.01 [[ 9.95684250e-01 -9.27852244e-02 -1.94347843e-03 1.84471056e+00] [ 9.27848261e-02 9.95686140e-01 -2.94301784e-04 3.81628423e-01] [ 1.96240139e-03 1.12706343e-04 9.99998068e-01 9.38673867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3043914179999994 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:1.91, Y:0.39, Z:0.02 [[ 9.95004602e-01 -9.98101466e-02 -1.94354607e-03 1.90687766e+00] [ 9.98097625e-02 9.95006495e-01 -2.93854420e-04 3.86475333e-01] [ 1.96317061e-03 9.84016283e-05 9.99998068e-01 1.51453329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3643914179999994 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:1.97, Y:0.39, Z:0.00 [[ 9.94068400e-01 -1.08739315e-01 -1.94361930e-03 1.96886320e+00] [ 1.08738948e-01 9.94070297e-01 -2.93369255e-04 3.91305751e-01] [ 1.96399499e-03 8.02819867e-05 9.99998068e-01 4.61574965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4243914179999995 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:2.03, Y:0.40, Z:0.00 [[ 9.93281848e-01 -1.15703899e-01 -1.94369530e-03 2.03160685e+00] [ 1.15703547e-01 9.93283748e-01 -2.92864844e-04 3.95544845e-01] [ 1.96452656e-03 6.60048934e-05 9.99998068e-01 4.43885187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4843914179999995 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:2.09, Y:0.40, Z:0.02 [[ 9.92716768e-01 -1.20455967e-01 -1.94376165e-03 2.09442446e+00] [ 1.20455625e-01 9.92718670e-01 -2.92423803e-04 4.00479462e-01] [ 1.96483267e-03 5.61569882e-05 9.99998068e-01 1.82224605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5443914179999996 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:2.16, Y:0.41, Z:0.02 [[ 9.92934319e-01 -1.18649314e-01 -1.94384972e-03 2.15622598e+00] [ 1.18648970e-01 9.92936220e-01 -2.91837216e-04 4.08947303e-01] [ 1.96474508e-03 5.91394206e-05 9.99998068e-01 2.13421149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6043914179999996 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:2.22, Y:0.42, Z:0.02 [[ 9.93302708e-01 -1.15524681e-01 -1.94392439e-03 2.21790663e+00] [ 1.15524332e-01 9.93304608e-01 -2.91338967e-04 4.18898932e-01] [ 1.96456590e-03 6.48172170e-05 9.99998068e-01 2.14391480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6643914179999992 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:2.28, Y:0.43, Z:0.01 [[ 9.93680047e-01 -1.12232728e-01 -1.94397695e-03 2.27960005e+00] [ 1.12232373e-01 9.93681946e-01 -2.90987859e-04 4.30572072e-01] [ 1.96435316e-03 7.09716827e-05 9.99998068e-01 1.36217023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7243914179999993 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:2.34, Y:0.44, Z:0.02 [[ 9.94753930e-01 -1.02278249e-01 -1.94405976e-03 2.33992401e+00] [ 1.02277876e-01 9.94755825e-01 -2.90433519e-04 4.38923384e-01] [ 1.96356981e-03 9.00755802e-05 9.99998068e-01 2.04570669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7843914179999993 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:2.40, Y:0.45, Z:0.02 [[ 9.96114641e-01 -8.80445481e-02 -1.94410074e-03 2.40062125e+00] [ 8.80441488e-02 9.96116531e-01 -2.90158947e-04 4.51051119e-01] [ 1.96209780e-03 1.17864880e-04 9.99998068e-01 2.03332277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8443914179999994 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:2.46, Y:0.46, Z:0.02 [[ 9.97285110e-01 -7.36113450e-02 -1.94417484e-03 2.46078316e+00] [ 7.36109194e-02 9.97286994e-01 -2.89661605e-04 4.62644493e-01] [ 1.96022267e-03 1.45762708e-04 9.99998068e-01 2.22894235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9043914179999994 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:2.52, Y:0.47, Z:0.02 [[ 9.97865934e-01 -6.52671251e-02 -1.94423752e-03 2.52318955e+00] [ 6.52666845e-02 9.97867815e-01 -2.89240298e-04 4.72887497e-01] [ 1.95896993e-03 1.61729103e-04 9.99998068e-01 2.35794782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9643914179999995 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:2.58, Y:0.48, Z:0.03 [[ 9.98383684e-01 -5.67999954e-02 -1.94426635e-03 2.58474534e+00] [ 5.67995393e-02 9.98385561e-01 -2.89046391e-04 4.81771595e-01] [ 1.95754528e-03 1.78145768e-04 9.99998068e-01 2.75413766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0243914179999996 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:2.65, Y:0.49, Z:0.03 [[ 9.98652423e-01 -5.18609516e-02 -1.94433677e-03 2.64688829e+00] [ 5.18604872e-02 9.98654298e-01 -2.88571882e-04 4.85324381e-01] [ 1.95668589e-03 1.87348757e-04 9.99998068e-01 2.76749514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.084391417999999 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:2.71, Y:0.49, Z:0.03 [[ 9.98685614e-01 -5.12178106e-02 -1.94440542e-03 2.70973994e+00] [ 5.12173458e-02 9.98687489e-01 -2.88108573e-04 4.88738505e-01] [ 1.95660966e-03 1.88142602e-04 9.99998068e-01 2.58659483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144391418 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:2.77, Y:0.49, Z:0.03 [[ 9.98622625e-01 -5.24316012e-02 -1.94443881e-03 2.77366412e+00] [ 5.24311391e-02 9.98624500e-01 -2.87883061e-04 4.89025119e-01] [ 1.95685841e-03 1.85537396e-04 9.99998068e-01 2.68247849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.204391417999999 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:2.84, Y:0.49, Z:0.03 [[ 9.98642901e-01 -5.20439685e-02 -1.94447338e-03 2.83740369e+00] [ 5.20435062e-02 9.98644777e-01 -2.87649368e-04 4.87370085e-01] [ 1.95680860e-03 1.86061787e-04 9.99998068e-01 2.90206627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.264391418 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:2.90, Y:0.49, Z:0.03 [[ 9.98752915e-01 -4.98882197e-02 -1.94450833e-03 2.90010243e+00] [ 4.98877538e-02 9.98754789e-01 -2.87412917e-04 4.89136146e-01] [ 1.95642553e-03 1.90047336e-04 9.99998068e-01 2.95832757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.324391417999999 meters Centerline goodness : 0.999336 with order 1 Centerline is valid? [True, True] Translation: X:2.96, Y:0.48, Z:0.03 [[ 9.98884021e-01 -4.71903789e-02 -1.94454665e-03 2.96424359e+00] [ 4.71899085e-02 9.98885894e-01 -2.87153404e-04 4.84545536e-01] [ 1.95593110e-03 1.95069968e-04 9.99998068e-01 2.76517111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.384391417999999 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:3.03, Y:0.48, Z:0.03 [[ 9.99043333e-01 -4.36879530e-02 -1.94458578e-03 3.02924545e+00] [ 4.36874764e-02 9.99045205e-01 -2.86888203e-04 4.76438668e-01] [ 1.95526266e-03 2.01659701e-04 9.99998068e-01 2.51756764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4443914179999995 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:3.09, Y:0.48, Z:0.02 [[ 9.99155549e-01 -4.10415336e-02 -1.94462482e-03 3.09341650e+00] [ 4.10410526e-02 9.99157420e-01 -2.86623316e-04 4.76681615e-01] [ 1.95474978e-03 2.06571827e-04 9.99998068e-01 2.47410948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.504391417999999 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:3.16, Y:0.47, Z:0.02 [[ 9.99251235e-01 -3.86417949e-02 -1.94466422e-03 3.15831266e+00] [ 3.86413099e-02 9.99253105e-01 -2.86355782e-04 4.70378298e-01] [ 1.95427706e-03 2.10996996e-04 9.99998068e-01 2.49769650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.564391418 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:3.22, Y:0.46, Z:0.02 [[ 9.99139647e-01 -4.14268578e-02 -1.94470408e-03 3.22318477e+00] [ 4.14263786e-02 9.99141518e-01 -2.86084775e-04 4.59244006e-01] [ 1.95488618e-03 2.05276593e-04 9.99998068e-01 2.23399834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624391417999999 meters Centerline goodness : 0.999431 with order 1 Centerline is valid? [True, True] Translation: X:3.29, Y:0.46, Z:0.02 [[ 9.99044520e-01 -4.36608003e-02 -1.94473014e-03 3.28619767e+00] [ 4.36603256e-02 9.99046392e-01 -2.85907571e-04 4.56414932e-01] [ 1.95535858e-03 2.00726841e-04 9.99998068e-01 2.30166531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684391418 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:3.35, Y:0.45, Z:0.02 [[ 9.99065943e-01 -4.31677955e-02 -1.94476223e-03 3.34996851e+00] [ 4.31673203e-02 9.99067816e-01 -2.85689126e-04 4.48439127e-01] [ 1.95528192e-03 2.01472102e-04 9.99998068e-01 2.30785186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744391417999999 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:3.41, Y:0.44, Z:0.02 [[ 9.99195369e-01 -4.00603505e-02 -1.94479231e-03 3.41387875e+00] [ 4.00598699e-02 9.99197240e-01 -2.85484151e-04 4.38985617e-01] [ 1.95466771e-03 2.07346314e-04 9.99998068e-01 2.18945132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804391417999999 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:3.48, Y:0.44, Z:0.02 [[ 9.99258043e-01 -3.84653276e-02 -1.94481833e-03 3.47706233e+00] [ 3.84648444e-02 9.99259913e-01 -2.85306844e-04 4.36969842e-01] [ 1.95435341e-03 2.10288025e-04 9.99998068e-01 2.39710066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864391417999999 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:3.54, Y:0.43, Z:0.03 [[ 9.99209358e-01 -3.97099128e-02 -1.94484450e-03 3.54035504e+00] [ 3.97094322e-02 9.99211229e-01 -2.85128292e-04 4.29098218e-01] [ 1.95463288e-03 2.07674186e-04 9.99998068e-01 2.76110044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924391417999999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:3.60, Y:0.42, Z:0.02 [[ 9.98916526e-01 -4.64972142e-02 -1.94486357e-03 3.60317985e+00] [ 4.64967466e-02 9.98918401e-01 -2.84998155e-04 4.19405283e-01] [ 1.95601163e-03 1.94259539e-04 9.99998068e-01 2.35541210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9843914179999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.67, Y:0.42, Z:0.02 [[ 9.98611087e-01 -5.26508810e-02 -1.94488221e-03 3.66641118e+00] [ 5.26504252e-02 9.98612964e-01 -2.84870920e-04 4.19406195e-01] [ 1.95718329e-03 1.82076384e-04 9.99998068e-01 2.34767920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044391417999999 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:3.73, Y:0.42, Z:0.02 [[ 9.98256666e-01 -5.89902226e-02 -1.94490657e-03 3.72921422e+00] [ 5.89897790e-02 9.98258546e-01 -2.84704505e-04 4.20562396e-01] [ 1.95831439e-03 1.69478561e-04 9.99998068e-01 1.97589870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104391418 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:3.79, Y:0.42, Z:0.02 [[ 9.97834245e-01 -6.57498110e-02 -1.94493288e-03 3.79124355e+00] [ 6.57493805e-02 9.97836128e-01 -2.84524658e-04 4.21646693e-01] [ 1.95943174e-03 1.56030315e-04 9.99998068e-01 2.11547223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164391417999999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:3.85, Y:0.42, Z:0.02 [[ 9.97291428e-01 -7.35256789e-02 -1.94495214e-03 3.85396442e+00] [ 7.35252634e-02 9.97293314e-01 -2.84392963e-04 4.19691550e-01] [ 1.96059795e-03 1.40619546e-04 9.99998068e-01 2.15229775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224391417999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:3.92, Y:0.42, Z:0.02 [[ 9.97077700e-01 -7.63693521e-02 -1.94497766e-03 3.91566862e+00] [ 7.63689423e-02 9.97079588e-01 -2.84218286e-04 4.24361643e-01] [ 1.96100309e-03 1.34851828e-04 9.99998068e-01 2.21467710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284391417999999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:3.98, Y:0.43, Z:0.02 [[ 9.97305221e-01 -7.33383479e-02 -1.94500294e-03 3.97688192e+00] [ 7.33379327e-02 9.97307108e-01 -2.84045159e-04 4.30945409e-01] [ 1.96059666e-03 1.40637225e-04 9.99998068e-01 1.57952858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344391417999999 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:4.04, Y:0.44, Z:0.01 [[ 9.97539131e-01 -7.00849429e-02 -1.94502162e-03 4.03815030e+00] [ 7.00845218e-02 9.97541016e-01 -2.83917193e-04 4.39425598e-01] [ 1.96013717e-03 1.46902599e-04 9.99998068e-01 1.39408137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4043914179999994 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:4.10, Y:0.45, Z:0.02 [[ 9.97820806e-01 -6.59534376e-02 -1.94503983e-03 4.09906393e+00] [ 6.59530089e-02 9.97822690e-01 -2.83792443e-04 4.50314018e-01] [ 1.95952196e-03 1.54892775e-04 9.99998068e-01 1.80289509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464391417999999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:4.16, Y:0.46, Z:0.02 [[ 9.98038293e-01 -6.25762112e-02 -1.94506507e-03 4.16090383e+00] [ 6.25757765e-02 9.98040175e-01 -2.83619310e-04 4.59154623e-01] [ 1.95900091e-03 1.61348975e-04 9.99998068e-01 2.34750316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5243914179999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.22, Y:0.47, Z:0.03 [[ 9.98309054e-01 -5.80968987e-02 -1.94509117e-03 4.22135400e+00] [ 5.80964559e-02 9.98310934e-01 -2.83440203e-04 4.68763932e-01] [ 1.95827278e-03 1.69958017e-04 9.99998068e-01 2.82004418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584391417999999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:4.28, Y:0.48, Z:0.03 [[ 9.98382199e-01 -5.68260693e-02 -1.94511030e-03 4.28169243e+00] [ 5.68256244e-02 9.98384078e-01 -2.83308862e-04 4.80068346e-01] [ 1.95806648e-03 1.72318418e-04 9.99998068e-01 2.56606863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644391417999999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:4.34, Y:0.49, Z:0.02 [[ 9.97964982e-01 -6.37346979e-02 -1.94515227e-03 4.34365548e+00] [ 6.37342665e-02 9.97966865e-01 -2.83020450e-04 4.89093327e-01] [ 1.95923573e-03 1.58471645e-04 9.99998068e-01 2.48538031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704391417999999 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:4.40, Y:0.50, Z:0.02 [[ 9.97516837e-01 -7.04015363e-02 -1.94517811e-03 4.40473340e+00] [ 7.04011178e-02 9.97518723e-01 -2.82842706e-04 4.98499164e-01] [ 1.96026415e-03 1.45197648e-04 9.99998068e-01 2.36006287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764391417999999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:4.47, Y:0.51, Z:0.03 [[ 9.96931441e-01 -7.82554714e-02 -1.94520417e-03 4.46556458e+00] [ 7.82550682e-02 9.96933330e-01 -2.82663370e-04 5.11104631e-01] [ 1.96135883e-03 1.29573915e-04 9.99998068e-01 2.56976449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824391417999999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:4.53, Y:0.52, Z:0.03 [[ 9.96832760e-01 -7.95026056e-02 -1.94523001e-03 4.52591848e+00] [ 7.95022051e-02 9.96834650e-01 -2.82485406e-04 5.22582558e-01] [ 1.96153101e-03 1.26940631e-04 9.99998068e-01 2.63722058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884391417999999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:4.59, Y:0.54, Z:0.03 [[ 9.97356517e-01 -7.26374212e-02 -1.94524906e-03 4.58604273e+00] [ 7.26370079e-02 9.97358404e-01 -2.82354213e-04 5.37036155e-01] [ 1.96061998e-03 1.40310743e-04 9.99998068e-01 2.53047190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9443914179999995 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:4.65, Y:0.55, Z:0.03 [[ 9.97950148e-01 -6.39665390e-02 -1.94526746e-03 4.64662070e+00] [ 6.39661096e-02 9.97952032e-01 -2.82227375e-04 5.52556466e-01] [ 1.95933672e-03 1.57217660e-04 9.99998068e-01 2.53669973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004391417999999 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:4.71, Y:0.57, Z:0.03 [[ 9.98791660e-01 -4.91063694e-02 -1.94529350e-03 4.70671821e+00] [ 4.91059124e-02 9.98793537e-01 -2.82047740e-04 5.68994885e-01] [ 1.95679692e-03 1.86181518e-04 9.99998068e-01 2.67667652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064391417999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:4.77, Y:0.58, Z:0.03 [[ 9.99296728e-01 -3.74468353e-02 -1.94531891e-03 4.76780048e+00] [ 3.74463567e-02 9.99298599e-01 -2.81872431e-04 5.79099140e-01] [ 1.95450969e-03 2.08829093e-04 9.99998068e-01 2.98606594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124391417999999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:4.83, Y:0.59, Z:0.03 [[ 9.99462301e-01 -3.27310801e-02 -1.94534512e-03 4.82857290e+00] [ 3.27305930e-02 9.99464171e-01 -2.81691391e-04 5.87610699e-01] [ 1.95352281e-03 2.17867626e-04 9.99998068e-01 3.04129393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.89, Y:0.59, Z:0.03 [[ 9.99509027e-01 -3.12717086e-02 -1.94536421e-03 4.88920758e+00] [ 3.12712191e-02 9.99510896e-01 -2.81559510e-04 5.94391295e-01] [ 1.95321757e-03 2.20587362e-04 9.99998068e-01 3.06823035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.95, Y:0.60, Z:0.03 [[ 9.99412914e-01 -3.42058966e-02 -1.94540386e-03 4.95045997e+00] [ 3.42054131e-02 9.99414784e-01 -2.81285260e-04 5.98293465e-01] [ 1.95388700e-03 2.14576778e-04 9.99998068e-01 3.13410308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304391417999999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:5.01, Y:0.60, Z:0.03 [[ 9.99126834e-01 -4.17346979e-02 -1.94542197e-03 5.01263168e+00] [ 4.17342287e-02 9.99128708e-01 -2.81159995e-04 5.99807197e-01] [ 1.95546106e-03 1.99723810e-04 9.99998068e-01 3.21175275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.07, Y:0.60, Z:0.04 [[ 9.98853814e-01 -4.78254437e-02 -1.94544729e-03 5.07483468e+00] [ 4.78249863e-02 9.98855691e-01 -2.80984675e-04 6.01534166e-01] [ 1.95665931e-03 1.87621624e-04 9.99998068e-01 3.53173415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424391417999999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:5.14, Y:0.60, Z:0.04 [[ 9.98964095e-01 -4.54637380e-02 -1.94547294e-03 5.13801232e+00] [ 4.54632765e-02 9.98965971e-01 -2.80806974e-04 6.01333928e-01] [ 1.95622780e-03 1.92068511e-04 9.99998068e-01 3.52434395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.484391417999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:5.20, Y:0.61, Z:0.04 [[ 9.99208405e-01 -3.97338435e-02 -1.94549853e-03 5.20005423e+00] [ 3.97333716e-02 9.99210278e-01 -2.80629581e-04 6.06279584e-01] [ 1.95511261e-03 2.03106220e-04 9.99998068e-01 3.74235352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544391417999999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:5.26, Y:0.61, Z:0.04 [[ 9.99570506e-01 -2.92406983e-02 -1.94552367e-03 5.26171091e+00] [ 2.92402071e-02 9.99572374e-01 -2.80455154e-04 6.07008669e-01] [ 1.95289242e-03 2.23447185e-04 9.99998068e-01 3.53498208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.32, Y:0.61, Z:0.04 [[ 9.99729727e-01 -2.31665444e-02 -1.94553624e-03 5.32362865e+00] [ 2.31660420e-02 9.99731592e-01 -2.80367893e-04 6.08637733e-01] [ 1.95150920e-03 2.35221742e-04 9.99998068e-01 3.82509686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664391417999999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:5.39, Y:0.60, Z:0.04 [[ 9.99813859e-01 -1.91953687e-02 -1.94554858e-03 5.38509498e+00] [ 1.91948590e-02 9.99815722e-01 -2.80282245e-04 6.03207436e-01] [ 1.95057018e-03 2.42885543e-04 9.99998068e-01 3.76840185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724391417999999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:5.45, Y:0.60, Z:0.04 [[ 9.99823686e-01 -1.86765044e-02 -1.94554858e-03 5.44696489e+00] [ 1.86759938e-02 9.99825549e-01 -2.80282245e-04 6.02836307e-01] [ 1.95044387e-03 2.43897774e-04 9.99998068e-01 3.80450289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784391417999999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:5.51, Y:0.60, Z:0.04 [[ 9.99831555e-01 -1.82503626e-02 -1.94556094e-03 5.50860629e+00] [ 1.82498513e-02 9.99833418e-01 -2.80196419e-04 5.98318800e-01] [ 1.95035054e-03 2.44643023e-04 9.99998068e-01 3.78186247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.57, Y:0.59, Z:0.04 [[ 9.99813804e-01 -1.91982365e-02 -1.94556094e-03 5.57008328e+00] [ 1.91977270e-02 9.99815667e-01 -2.80196419e-04 5.90100343e-01] [ 1.95058159e-03 2.42793900e-04 9.99998068e-01 3.58925183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.904391417999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:5.63, Y:0.59, Z:0.04 [[ 9.99806059e-01 -1.95974075e-02 -1.94555481e-03 5.63073588e+00] [ 1.95968987e-02 9.99807923e-01 -2.80239002e-04 5.93155222e-01] [ 1.95067307e-03 2.42057812e-04 9.99998068e-01 3.59951202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.69, Y:0.59, Z:0.04 [[ 9.99757511e-01 -2.19347655e-02 -1.94555481e-03 5.69151999e+00] [ 2.19342611e-02 9.99759376e-01 -2.80239002e-04 5.85480007e-01] [ 1.95123364e-03 2.37496740e-04 9.99998068e-01 4.13665375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.024391417999999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:5.75, Y:0.58, Z:0.04 [[ 9.99709750e-01 -2.40131227e-02 -1.94555395e-03 5.75273314e+00] [ 2.40126221e-02 9.99711616e-01 -2.80244983e-04 5.76542134e-01] [ 1.95172244e-03 2.33445790e-04 9.99998068e-01 4.01173180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084391417999999 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:5.81, Y:0.58, Z:0.04 [[ 9.99702392e-01 -2.43175322e-02 -1.94554175e-03 5.81355625e+00] [ 2.43170320e-02 9.99704258e-01 -2.80329670e-04 5.75160571e-01] [ 1.95178329e-03 2.32936441e-04 9.99998068e-01 3.78451153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144391417999999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:5.87, Y:0.57, Z:0.04 [[ 9.99725328e-01 -2.33555919e-02 -1.94552956e-03 5.87384440e+00] [ 2.33550898e-02 9.99727193e-01 -2.80414217e-04 5.68942383e-01] [ 1.95154805e-03 2.34899177e-04 9.99998068e-01 3.70989033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.93, Y:0.57, Z:0.04 [[ 9.99767281e-01 -2.14848497e-02 -1.94550760e-03 5.93338868e+00] [ 2.14843438e-02 9.99769145e-01 -2.80566494e-04 5.67552911e-01] [ 1.95108640e-03 2.38703247e-04 9.99998068e-01 4.12410469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264391417999999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:5.99, Y:0.56, Z:0.04 [[ 9.99813759e-01 -1.92005661e-02 -1.94542370e-03 5.99370007e+00] [ 1.92000549e-02 9.99815622e-01 -2.81147067e-04 5.60831838e-01] [ 1.95046319e-03 2.43742464e-04 9.99998068e-01 4.36683178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3243914179999985 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:6.05, Y:0.56, Z:0.04 [[ 9.99798487e-01 -1.99800243e-02 -1.94534035e-03 6.05385190e+00] [ 1.99795134e-02 9.99800350e-01 -2.81722612e-04 5.56380391e-01] [ 1.95058078e-03 2.42798888e-04 9.99998068e-01 4.18325173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.11, Y:0.55, Z:0.04 [[ 9.99769357e-01 -2.13880373e-02 -1.94525889e-03 6.11393884e+00] [ 2.13875279e-02 9.99771221e-01 -2.82283939e-04 5.51729024e-01] [ 1.95085136e-03 2.40614554e-04 9.99998068e-01 4.38905954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.444391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.17, Y:0.55, Z:0.04 [[ 9.99759319e-01 -2.18522535e-02 -1.94517835e-03 6.17220607e+00] [ 2.18517439e-02 9.99761182e-01 -2.82837826e-04 5.52868675e-01] [ 1.95089445e-03 2.40264213e-04 9.99998068e-01 4.22908855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.23, Y:0.55, Z:0.04 [[ 9.99718756e-01 -2.36352392e-02 -1.94515025e-03 6.23160626e+00] [ 2.36347326e-02 9.99720621e-01 -2.83031000e-04 5.50078445e-01] [ 1.95129632e-03 2.36978293e-04 9.99998068e-01 3.91463983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564391417999999 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:6.29, Y:0.55, Z:0.04 [[ 9.99599615e-01 -2.82281005e-02 -1.94507193e-03 6.29016247e+00] [ 2.82276014e-02 9.99601482e-01 -2.83568162e-04 5.48212230e-01] [ 1.95230138e-03 2.28549911e-04 9.99998068e-01 3.94018562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624391417999999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:6.35, Y:0.55, Z:0.04 [[ 9.99508130e-01 -3.13004009e-02 -1.94497631e-03 6.34778227e+00] [ 3.12999063e-02 9.99509997e-01 -2.84222513e-04 5.51836947e-01] [ 1.95291955e-03 2.23205136e-04 9.99998068e-01 3.98892395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684391417999999 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:6.41, Y:0.55, Z:0.04 [[ 9.99432382e-01 -3.36322789e-02 -1.94494708e-03 6.40673289e+00] [ 3.36317882e-02 9.99434251e-01 -2.84422434e-04 5.53114248e-01] [ 1.95341250e-03 2.18848942e-04 9.99998068e-01 3.90968569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.744391417999998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:6.46, Y:0.55, Z:0.04 [[ 9.99389926e-01 -3.48710971e-02 -1.94486032e-03 6.46468241e+00] [ 3.48706077e-02 9.99391795e-01 -2.85014446e-04 5.54848241e-01] [ 1.95361621e-03 2.17022105e-04 9.99998068e-01 4.16405022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804391417999999 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:6.52, Y:0.56, Z:0.04 [[ 9.99380046e-01 -3.51531254e-02 -1.94476199e-03 6.52172000e+00] [ 3.51526352e-02 9.99381914e-01 -2.85683777e-04 5.60249189e-01] [ 1.95360264e-03 2.17143158e-04 9.99998068e-01 3.72530507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8643914179999985 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:6.58, Y:0.56, Z:0.04 [[ 9.99266330e-01 -3.82494483e-02 -1.94471987e-03 6.57997709e+00] [ 3.82489633e-02 9.99268200e-01 -2.85970223e-04 5.64940074e-01] [ 1.95423493e-03 2.11376897e-04 9.99998068e-01 4.20577009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.64, Y:0.57, Z:0.04 [[ 9.99104164e-01 -4.22739492e-02 -1.94468897e-03 6.63634556e+00] [ 4.22734714e-02 9.99106036e-01 -2.86180216e-04 5.72746721e-01] [ 1.95504846e-03 2.03715092e-04 9.99998068e-01 4.31758485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.984391417999999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:6.69, Y:0.58, Z:0.04 [[ 9.98813877e-01 -4.86524199e-02 -1.94461816e-03 6.69393244e+00] [ 4.86519531e-02 9.98815751e-01 -2.86660560e-04 5.79799488e-01] [ 1.95626198e-03 1.91711074e-04 9.99998068e-01 4.23124239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.75, Y:0.59, Z:0.04 [[ 9.98525102e-01 -5.42571647e-02 -1.94452280e-03 6.75183870e+00] [ 5.42567072e-02 9.98526979e-01 -2.87305996e-04 5.88338410e-01] [ 1.95724688e-03 1.81378845e-04 9.99998068e-01 4.14746623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.81, Y:0.60, Z:0.04 [[ 9.98416665e-01 -5.62172853e-02 -1.94443312e-03 6.80910115e+00] [ 5.62168303e-02 9.98418542e-01 -2.87911634e-04 5.96873898e-01] [ 1.95754369e-03 1.78145907e-04 9.99998068e-01 4.03663216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164391418 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:6.87, Y:0.61, Z:0.04 [[ 9.98333849e-01 -5.76692745e-02 -1.94433797e-03 6.86685338e+00] [ 5.76688210e-02 9.98335727e-01 -2.88552758e-04 6.06036106e-01] [ 1.95774269e-03 1.75944307e-04 9.99998068e-01 3.90663832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224391418 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:6.92, Y:0.62, Z:0.04 [[ 9.98347482e-01 -5.74327845e-02 -1.94423810e-03 6.92443092e+00] [ 5.74323293e-02 9.98349360e-01 -2.89224116e-04 6.17308766e-01] [ 1.95763981e-03 1.77084045e-04 9.99998068e-01 4.23395048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.98, Y:0.63, Z:0.05 [[ 9.98424338e-01 -5.60808460e-02 -1.94415166e-03 6.98150690e+00] [ 5.60803871e-02 9.98426215e-01 -2.89803991e-04 6.26134985e-01] [ 1.95734444e-03 1.80318580e-04 9.99998068e-01 4.55179303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344391417999999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:7.04, Y:0.63, Z:0.04 [[ 9.98513778e-01 -5.44651828e-02 -1.94412159e-03 7.03857381e+00] [ 5.44647205e-02 9.98515653e-01 -2.90005606e-04 6.34391822e-01] [ 1.95703105e-03 1.83688554e-04 9.99998068e-01 4.36301318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404391418 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:7.10, Y:0.65, Z:0.04 [[ 9.98592407e-01 -5.30040201e-02 -1.94402524e-03 7.09522417e+00] [ 5.30035538e-02 9.98594281e-01 -2.90650042e-04 6.45293895e-01] [ 1.95669811e-03 1.87200679e-04 9.99998068e-01 4.20468646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.15, Y:0.66, Z:0.04 [[ 9.98735906e-01 -5.02275856e-02 -1.94393027e-03 7.15219234e+00] [ 5.02271128e-02 9.98737780e-01 -2.91283863e-04 6.58730372e-01] [ 1.95610708e-03 1.93277649e-04 9.99998068e-01 4.30643168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.21, Y:0.67, Z:0.04 [[ 9.98820055e-01 -4.85254461e-02 -1.94383008e-03 7.20905781e+00] [ 4.85249689e-02 9.98821927e-01 -2.91950883e-04 6.69058570e-01] [ 1.95570716e-03 1.97282102e-04 9.99998068e-01 4.31534310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.27, Y:0.68, Z:0.04 [[ 9.98731856e-01 -5.03080740e-02 -1.94373158e-03 7.26669868e+00] [ 5.03075989e-02 9.98733728e-01 -2.92605199e-04 6.78502278e-01] [ 1.95599070e-03 1.94449665e-04 9.99998068e-01 4.26577474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644391418 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:7.32, Y:0.69, Z:0.04 [[ 9.98514138e-01 -5.44586009e-02 -1.94363782e-03 7.32374770e+00] [ 5.44581323e-02 9.98516012e-01 -2.93226701e-04 6.89432024e-01] [ 1.95672220e-03 1.86944121e-04 9.99998068e-01 4.23814466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704391418 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:7.38, Y:0.69, Z:0.04 [[ 9.98372173e-01 -5.70019976e-02 -1.94354811e-03 7.38071349e+00] [ 5.70015327e-02 9.98374048e-01 -2.93820154e-04 6.94953805e-01] [ 1.95713632e-03 1.82556644e-04 9.99998068e-01 4.09421418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764391417999999 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:7.44, Y:0.70, Z:0.04 [[ 9.98409779e-01 -5.63394633e-02 -1.94350627e-03 7.43849224e+00] [ 5.63389966e-02 9.98411654e-01 -2.94096642e-04 7.03467054e-01] [ 1.95698855e-03 1.84133771e-04 9.99998068e-01 4.09310624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.50, Y:0.71, Z:0.04 [[ 9.98472275e-01 -5.52208254e-02 -1.94340442e-03 7.49508011e+00] [ 5.52203553e-02 9.98474149e-01 -2.94768118e-04 7.12512661e-01] [ 1.95671641e-03 1.87002311e-04 9.99998068e-01 4.48263787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884391418 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:7.55, Y:0.72, Z:0.04 [[ 9.98667139e-01 -5.15768260e-02 -1.94336102e-03 7.55216922e+00] [ 5.15763485e-02 9.98669011e-01 -2.95053938e-04 7.22463418e-01] [ 1.95599238e-03 1.94429207e-04 9.99998068e-01 4.41712702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.61, Y:0.73, Z:0.05 [[ 9.98917459e-01 -4.64772487e-02 -1.94326196e-03 7.60901071e+00] [ 4.64767604e-02 9.98919328e-01 -2.95704957e-04 7.31457411e-01] [ 1.95490548e-03 2.05068324e-04 9.99998068e-01 4.56565798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.67, Y:0.74, Z:0.04 [[ 9.99096003e-01 -4.24664660e-02 -1.94316406e-03 7.66678500e+00] [ 4.24659690e-02 9.99097870e-01 -2.96346890e-04 7.40642151e-01] [ 1.95399588e-03 2.13560649e-04 9.99998068e-01 4.15696226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.72, Y:0.75, Z:0.04 [[ 9.99151127e-01 -4.11491125e-02 -1.94306337e-03 7.72404973e+00] [ 4.11486118e-02 9.99152993e-01 -2.97005605e-04 7.49060108e-01] [ 1.95363910e-03 2.16799125e-04 9.99998068e-01 4.35697877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.78, Y:0.76, Z:0.05 [[ 9.99021556e-01 -4.41832021e-02 -1.94296153e-03 7.78149376e+00] [ 4.41827057e-02 9.99023423e-01 -2.97670347e-04 7.56042636e-01] [ 1.95421611e-03 2.11533796e-04 9.99998068e-01 4.59024938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184391417999999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:7.84, Y:0.76, Z:0.04 [[ 9.98559347e-01 -5.36232752e-02 -1.94285845e-03 7.83929769e+00] [ 5.36227952e-02 9.98561218e-01 -2.98341634e-04 7.60309634e-01] [ 1.95606116e-03 1.93730327e-04 9.99998068e-01 4.46080336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.90, Y:0.76, Z:0.04 [[ 9.97881085e-01 -6.50351092e-02 -1.94275921e-03 7.89665217e+00] [ 6.50346494e-02 9.97882962e-01 -2.98986485e-04 7.64084055e-01] [ 1.95809093e-03 1.72006294e-04 9.99998068e-01 4.18031072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.96, Y:0.77, Z:0.04 [[ 9.97484156e-01 -7.08631456e-02 -1.94265997e-03 7.95507707e+00] [ 7.08626955e-02 9.97486034e-01 -2.99629909e-04 7.68906063e-01] [ 1.95900891e-03 1.61213965e-04 9.99998068e-01 3.89758379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.01, Y:0.77, Z:0.04 [[ 9.97211962e-01 -7.45957733e-02 -1.94255975e-03 8.01245542e+00] [ 7.45953290e-02 9.97213842e-01 -3.00278239e-04 7.74559892e-01] [ 1.95954696e-03 1.54535168e-04 9.99998068e-01 3.85927771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424391417999999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:8.07, Y:0.78, Z:0.04 [[ 9.96988850e-01 -7.75207075e-02 -1.94245891e-03 8.06956152e+00] [ 7.75202675e-02 9.96990731e-01 -3.00929180e-04 7.82436410e-01] [ 1.95994177e-03 1.49443103e-04 9.99998068e-01 3.79628209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484391418 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:8.13, Y:0.79, Z:0.04 [[ 9.96979397e-01 -7.76421933e-02 -1.94235377e-03 8.12583444e+00] [ 7.76417522e-02 9.96981277e-01 -3.01606287e-04 7.90245938e-01] [ 1.95990771e-03 1.49887505e-04 9.99998068e-01 3.92797381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.18, Y:0.80, Z:0.04 [[ 9.96803168e-01 -7.98728511e-02 -1.94230965e-03 8.18366173e+00] [ 7.98724136e-02 9.96805049e-01 -3.01890131e-04 7.97106608e-01] [ 1.96021689e-03 1.45788079e-04 9.99998068e-01 4.10388589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604391417999999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:8.24, Y:0.80, Z:0.04 [[ 9.96228627e-01 -8.67453182e-02 -1.94220995e-03 8.24138110e+00] [ 8.67448925e-02 9.96230512e-01 -3.02530184e-04 8.04269129e-01] [ 1.96113189e-03 1.32912436e-04 9.99998068e-01 3.79447750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664391418 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:8.30, Y:0.81, Z:0.04 [[ 9.95678566e-01 -9.28462251e-02 -1.94210769e-03 8.29908105e+00] [ 9.28458097e-02 9.95680453e-01 -3.03185199e-04 8.11102085e-01] [ 1.96186827e-03 1.21558443e-04 9.99998068e-01 3.77597360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.36, Y:0.82, Z:0.04 [[ 9.94847940e-01 -1.01359775e-01 -1.94200492e-03 8.35655998e+00] [ 1.01359374e-01 9.94849830e-01 -3.03842103e-04 8.17852188e-01] [ 1.96280063e-03 1.05436287e-04 9.99998068e-01 4.05708458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784391418 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:8.41, Y:0.83, Z:0.04 [[ 9.94323182e-01 -1.06384395e-01 -1.94190231e-03 8.41274869e+00] [ 1.06384003e-01 9.94325073e-01 -3.04496470e-04 8.28217642e-01] [ 1.96327583e-03 9.61805585e-05 9.99998068e-01 3.79405179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844391417999999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:8.47, Y:0.84, Z:0.04 [[ 9.94279145e-01 -1.06795180e-01 -1.94185813e-03 8.46913987e+00] [ 1.06794788e-01 9.94281037e-01 -3.04777969e-04 8.38414557e-01] [ 1.96330153e-03 9.56540513e-05 9.99998068e-01 3.78082858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904391418 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:8.53, Y:0.85, Z:0.03 [[ 9.94404407e-01 -1.05622467e-01 -1.94181488e-03 8.52595683e+00] [ 1.05622072e-01 9.94406298e-01 -3.05053230e-04 8.49121302e-01] [ 1.96317343e-03 9.82477641e-05 9.99998068e-01 3.41595916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.58, Y:0.86, Z:0.03 [[ 9.94649152e-01 -1.03292278e-01 -1.94171642e-03 8.58178564e+00] [ 1.03291877e-01 9.94651042e-01 -3.05678718e-04 8.62324906e-01] [ 1.96290451e-03 1.03479544e-04 9.99998068e-01 3.39181302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024391417999999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:8.64, Y:0.87, Z:0.03 [[ 9.94967881e-01 -1.00175576e-01 -1.94167420e-03 8.63887901e+00] [ 1.00175169e-01 9.94969769e-01 -3.05946626e-04 8.74408599e-01] [ 1.96255551e-03 1.09899524e-04 9.99998068e-01 3.46170879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084391418 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:8.70, Y:0.89, Z:0.04 [[ 9.95137878e-01 -9.84725066e-02 -1.94156924e-03 8.69539353e+00] [ 9.84720952e-02 9.95139765e-01 -3.06611290e-04 8.86175357e-01] [ 1.96232554e-03 1.13930117e-04 9.99998068e-01 3.50175487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144391418 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:8.75, Y:0.90, Z:0.04 [[ 9.95367033e-01 -9.61285665e-02 -1.94146260e-03 8.75312154e+00] [ 9.61281493e-02 9.95368919e-01 -3.07285022e-04 8.99386216e-01] [ 1.96201040e-03 1.19232173e-04 9.99998068e-01 3.66363802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204391418 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:8.81, Y:0.91, Z:0.03 [[ 9.95535788e-01 -9.43648519e-02 -1.94136987e-03 8.81102056e+00] [ 9.43644302e-02 9.95537674e-01 -3.07869778e-04 9.11561538e-01] [ 1.96175893e-03 1.23299120e-04 9.99998068e-01 3.41382365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264391417999999 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:8.87, Y:0.92, Z:0.04 [[ 9.95508035e-01 -9.46571865e-02 -1.94127527e-03 8.86737406e+00] [ 9.46567642e-02 9.95509921e-01 -3.08465107e-04 9.23787909e-01] [ 1.96175723e-03 1.23324657e-04 9.99998068e-01 3.71729412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324391418 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:8.93, Y:0.94, Z:0.04 [[ 9.95192810e-01 -9.79157977e-02 -1.94122628e-03 8.92512158e+00] [ 9.79153810e-02 9.95194696e-01 -3.08773147e-04 9.36931473e-01] [ 1.96213186e-03 1.17212905e-04 9.99998068e-01 3.73855779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.98, Y:0.95, Z:0.04 [[ 9.95102493e-01 -9.88294501e-02 -1.94113025e-03 8.98226996e+00] [ 9.88290339e-02 9.95104380e-01 -3.09375657e-04 9.47430843e-01] [ 1.96220264e-03 1.16020461e-04 9.99998068e-01 3.65908483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444391417999999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:9.04, Y:0.96, Z:0.03 [[ 9.94498017e-01 -1.04737412e-01 -1.94109649e-03 9.03857318e+00] [ 1.04737007e-01 9.94499906e-01 -3.09587358e-04 9.62061539e-01] [ 1.96284565e-03 1.04579378e-04 9.99998068e-01 3.44539186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504391417999999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:9.10, Y:0.97, Z:0.03 [[ 9.94242323e-01 -1.07137457e-01 -1.94098925e-03 9.09611112e+00] [ 1.07137055e-01 9.94244213e-01 -3.10258202e-04 9.74506134e-01] [ 1.96305761e-03 1.00519962e-04 9.99998068e-01 3.32774330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564391418 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:9.15, Y:0.99, Z:0.03 [[ 9.93862228e-01 -1.10607887e-01 -1.94089734e-03 9.15389798e+00] [ 1.10607491e-01 9.93864119e-01 -3.10832126e-04 9.88007876e-01] [ 1.96336871e-03 9.42465245e-05 9.99998068e-01 3.38575063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.21, Y:1.00, Z:0.04 [[ 9.93904716e-01 -1.10225445e-01 -1.94079734e-03 9.21095401e+00] [ 1.10225047e-01 9.93906606e-01 -3.11455294e-04 1.00004789e+00] [ 1.96330159e-03 9.56324081e-05 9.99998068e-01 3.54217983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684391417999999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:9.27, Y:1.01, Z:0.03 [[ 9.94029184e-01 -1.09097272e-01 -1.94068491e-03 9.26701839e+00] [ 1.09096869e-01 9.94031074e-01 -3.12154235e-04 1.01289364e+00] [ 1.96315628e-03 9.85677711e-05 9.99998068e-01 3.28853734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.32, Y:1.02, Z:0.03 [[ 9.93932656e-01 -1.09973223e-01 -1.94065061e-03 9.32476722e+00] [ 1.09972822e-01 9.93934546e-01 -3.12367334e-04 1.02348481e+00] [ 1.96323173e-03 9.70532694e-05 9.99998068e-01 3.47290739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.38, Y:1.04, Z:0.03 [[ 9.93759831e-01 -1.11524136e-01 -1.94054853e-03 9.38206532e+00] [ 1.11523737e-01 9.93761721e-01 -3.13000219e-04 1.03677347e+00] [ 1.96334993e-03 9.46298201e-05 9.99998068e-01 3.27552541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864391417999999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:9.44, Y:1.05, Z:0.03 [[ 9.93510645e-01 -1.13722611e-01 -1.94044476e-03 9.43868332e+00] [ 1.13722215e-01 9.93512536e-01 -3.13642211e-04 1.04738264e+00] [ 1.96352441e-03 9.09351996e-05 9.99998068e-01 2.98454544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.50, Y:1.06, Z:0.03 [[ 9.93132586e-01 -1.16978213e-01 -1.94040854e-03 9.49536835e+00] [ 1.16977822e-01 9.93134478e-01 -3.13866181e-04 1.06010000e+00] [ 1.96380212e-03 8.47259672e-05 9.99998068e-01 3.12503840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984391418 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:9.55, Y:1.07, Z:0.03 [[ 9.92598707e-01 -1.21425044e-01 -1.94029220e-03 9.55268880e+00] [ 1.21424660e-01 9.92600601e-01 -3.14583717e-04 1.07180113e+00] [ 1.96413355e-03 7.66560687e-05 9.99998068e-01 2.88514301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044391418 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:9.61, Y:1.08, Z:0.03 [[ 9.92015196e-01 -1.26103477e-01 -1.94017522e-03 9.60945338e+00] [ 1.26103102e-01 9.92017091e-01 -3.15303518e-04 1.08394586e+00] [ 1.96444785e-03 6.81237678e-05 9.99998068e-01 2.68775370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.67, Y:1.09, Z:0.03 [[ 9.91713601e-01 -1.28453763e-01 -1.94005958e-03 9.66691184e+00] [ 1.28453391e-01 9.91715497e-01 -3.16013446e-04 1.09457119e+00] [ 1.96458027e-03 6.41876003e-05 9.99998068e-01 2.67653489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164391418 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:9.72, Y:1.11, Z:0.03 [[ 9.91397626e-01 -1.30870106e-01 -1.93994124e-03 9.72414251e+00] [ 1.30869736e-01 9.91399522e-01 -3.16738297e-04 1.10595664e+00] [ 1.96470839e-03 6.01339971e-05 9.99998068e-01 2.57683996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224391418 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:9.78, Y:1.12, Z:0.02 [[ 9.91350596e-01 -1.31225885e-01 -1.93982262e-03 9.78183982e+00] [ 1.31225515e-01 9.91352492e-01 -3.17463103e-04 1.11871104e+00] [ 1.96470736e-03 6.01630150e-05 9.99998068e-01 2.40560289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284391417999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.84, Y:1.13, Z:0.03 [[ 9.91969542e-01 -1.26462109e-01 -1.93971872e-03 9.83857655e+00] [ 1.26461728e-01 9.91971436e-01 -3.18096659e-04 1.13170586e+00] [ 1.96437274e-03 7.02420147e-05 9.99998068e-01 2.84263534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.89, Y:1.15, Z:0.03 [[ 9.92348265e-01 -1.23455089e-01 -1.93968243e-03 9.89493302e+00] [ 1.23454702e-01 9.92350158e-01 -3.18317786e-04 1.14724025e+00] [ 1.96414212e-03 7.64191864e-05 9.99998068e-01 2.73371288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404391418 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:9.95, Y:1.16, Z:0.03 [[ 9.92506673e-01 -1.22175048e-01 -1.93956374e-03 9.95214639e+00] [ 1.22174657e-01 9.92508565e-01 -3.19039341e-04 1.15762060e+00] [ 1.96401227e-03 7.96831392e-05 9.99998068e-01 2.62289175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.01, Y:1.17, Z:0.03 [[ 9.92674012e-01 -1.20807877e-01 -1.93950880e-03 1.00075956e+01] [ 1.20807484e-01 9.92675904e-01 -3.19373001e-04 1.16910838e+00] [ 1.96388643e-03 8.27261007e-05 9.99998068e-01 2.63376409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.06, Y:1.18, Z:0.03 [[ 9.92128204e-01 -1.25211286e-01 -1.93943052e-03 1.00642234e+01] [ 1.25210900e-01 9.92130096e-01 -3.19847633e-04 1.18294381e+00] [ 1.96421593e-03 7.44920171e-05 9.99998068e-01 2.84450274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584391418 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:10.12, Y:1.19, Z:0.03 [[ 9.92015976e-01 -1.26097351e-01 -1.93930994e-03 1.01204355e+01] [ 1.26096965e-01 9.92017869e-01 -3.20577106e-04 1.19324155e+00] [ 1.96425404e-03 7.34765139e-05 9.99998068e-01 2.51158618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644391418 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:10.18, Y:1.21, Z:0.02 [[ 9.92055696e-01 -1.25784483e-01 -1.93925808e-03 1.01767220e+01] [ 1.25784096e-01 9.92057588e-01 -3.20890494e-04 1.20523187e+00] [ 1.96421874e-03 7.44134182e-05 9.99998068e-01 2.49389541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704391417999998 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:10.23, Y:1.22, Z:0.03 [[ 9.92151235e-01 -1.25028666e-01 -1.93920863e-03 1.02341780e+01] [ 1.25028277e-01 9.92153127e-01 -3.21189089e-04 1.21550726e+00] [ 1.96414975e-03 7.62122387e-05 9.99998068e-01 2.53781491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764391417999999 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:10.29, Y:1.23, Z:0.03 [[ 9.91382828e-01 -1.30982171e-01 -1.93909121e-03 1.02912930e+01] [ 1.30981792e-01 9.91384722e-01 -3.21896417e-04 1.22607581e+00] [ 1.96454809e-03 6.51369388e-05 9.99998068e-01 2.78407053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.35, Y:1.24, Z:0.03 [[ 9.90521383e-01 -1.37344929e-01 -1.93897072e-03 1.03479207e+01] [ 1.37344560e-01 9.90523280e-01 -3.22620560e-04 1.24122114e+00] [ 1.96490593e-03 5.32554826e-05 9.99998068e-01 2.90986478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884391418 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:10.41, Y:1.25, Z:0.03 [[ 9.90059871e-01 -1.40633183e-01 -1.93884811e-03 1.04051322e+01] [ 1.40632819e-01 9.90061769e-01 -3.23355735e-04 1.25346688e+00] [ 1.96505393e-03 4.74758620e-05 9.99998068e-01 2.63780355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944391417999999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:10.46, Y:1.27, Z:0.03 [[ 9.89696959e-01 -1.43164835e-01 -1.93872584e-03 1.04617944e+01] [ 1.43164475e-01 9.89698857e-01 -3.24087135e-04 1.26613468e+00] [ 1.96515263e-03 4.31913841e-05 9.99998068e-01 2.69885786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004391417999999 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:10.52, Y:1.28, Z:0.03 [[ 9.89492782e-01 -1.44569280e-01 -1.93860290e-03 1.05184046e+01] [ 1.44568921e-01 9.89494680e-01 -3.24820889e-04 1.27974569e+00] [ 1.96519638e-03 4.11461950e-05 9.99998068e-01 2.67282859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064391418 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:10.57, Y:1.30, Z:0.03 [[ 9.89467092e-01 -1.44745001e-01 -1.93847937e-03 1.05742891e+01] [ 1.44744641e-01 9.89468990e-01 -3.25556412e-04 1.29752000e+00] [ 1.96518789e-03 4.15428554e-05 9.99998068e-01 2.69248600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124391417999998 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:10.63, Y:1.31, Z:0.02 [[ 9.89769928e-01 -1.42659498e-01 -1.93835123e-03 1.06305706e+01] [ 1.42659132e-01 9.89771825e-01 -3.26317585e-04 1.30884082e+00] [ 1.96507774e-03 4.64558282e-05 9.99998068e-01 2.36594037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184391417999999 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:10.69, Y:1.32, Z:0.03 [[ 9.90639576e-01 -1.36489830e-01 -1.93831205e-03 1.06879286e+01] [ 1.36489452e-01 9.90641470e-01 -3.26550181e-04 1.32402551e+00] [ 1.96474307e-03 5.89343830e-05 9.99998068e-01 2.60920437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.74, Y:1.34, Z:0.03 [[ 9.91347682e-01 -1.31247922e-01 -1.93820438e-03 1.07443510e+01] [ 1.31247533e-01 9.91349574e-01 -3.27187977e-04 1.34018414e+00] [ 1.96438083e-03 6.99724989e-05 9.99998068e-01 3.04034508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.80, Y:1.35, Z:0.03 [[ 9.91448206e-01 -1.30486392e-01 -1.93808112e-03 1.08023114e+01] [ 1.30486000e-01 9.91450098e-01 -3.27916508e-04 1.35251329e+00] [ 1.96429935e-03 7.22197821e-05 9.99998068e-01 3.23288124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.86, Y:1.37, Z:0.03 [[ 9.91141993e-01 -1.32792299e-01 -1.93797310e-03 1.08584230e+01] [ 1.32791910e-01 9.91143885e-01 -3.28553652e-04 1.36791734e+00] [ 1.96443958e-03 6.82961713e-05 9.99998068e-01 3.19990362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424391417999999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:10.92, Y:1.38, Z:0.03 [[ 9.90336738e-01 -1.38670075e-01 -1.93793537e-03 1.09157085e+01] [ 1.38669697e-01 9.90338632e-01 -3.28776010e-04 1.38056087e+00] [ 1.96480366e-03 5.68660503e-05 9.99998068e-01 3.14219252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484391418 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:10.97, Y:1.39, Z:0.03 [[ 9.89732113e-01 -1.42921622e-01 -1.93782769e-03 1.09726461e+01] [ 1.42921251e-01 9.89734008e-01 -3.29409509e-04 1.39271783e+00] [ 1.96501370e-03 4.90704121e-05 9.99998068e-01 3.16113487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544391417999998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:11.03, Y:1.41, Z:0.04 [[ 9.89171961e-01 -1.46748346e-01 -1.93770269e-03 1.10303765e+01] [ 1.46747981e-01 9.89173858e-01 -3.30143165e-04 1.40574553e+00] [ 1.96517281e-03 4.22144051e-05 9.99998068e-01 3.54370166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604391417999999 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:11.09, Y:1.42, Z:0.04 [[ 9.89087988e-01 -1.47313267e-01 -1.93759433e-03 1.10874475e+01] [ 1.47312901e-01 9.89089885e-01 -3.30777907e-04 1.41848692e+00] [ 1.96518292e-03 4.17358123e-05 9.99998068e-01 3.74711600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.14, Y:1.43, Z:0.04 [[ 9.89189879e-01 -1.46627518e-01 -1.93747277e-03 1.11430888e+01] [ 1.46627149e-01 9.89191776e-01 -3.31488357e-04 1.43021242e+00] [ 1.96513745e-03 4.38188177e-05 9.99998068e-01 3.90051967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724391418 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:11.20, Y:1.45, Z:0.04 [[ 9.89463068e-01 -1.44772524e-01 -1.93742081e-03 1.11990358e+01] [ 1.44772151e-01 9.89464964e-01 -3.31791775e-04 1.44516156e+00] [ 1.96504434e-03 4.78111290e-05 9.99998068e-01 3.51061200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784391417999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.26, Y:1.46, Z:0.04 [[ 9.90183751e-01 -1.39758313e-01 -1.93731163e-03 1.12561687e+01] [ 1.39757930e-01 9.90185645e-01 -3.32428079e-04 1.46210742e+00] [ 1.96475775e-03 5.84102207e-05 9.99998068e-01 3.71970600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844391417999999 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:11.31, Y:1.48, Z:0.04 [[ 9.90587033e-01 -1.36870656e-01 -1.93720143e-03 1.13127807e+01] [ 1.36870267e-01 9.90588925e-01 -3.33068998e-04 1.47588149e+00] [ 1.96455766e-03 6.47885546e-05 9.99998068e-01 3.84642464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904391418 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:11.37, Y:1.49, Z:0.05 [[ 9.90929084e-01 -1.34371864e-01 -1.93707536e-03 1.13683941e+01] [ 1.34371468e-01 9.90930975e-01 -3.33800610e-04 1.49186226e+00] [ 1.96436138e-03 7.04850732e-05 9.99998068e-01 4.75004060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964391417999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:11.42, Y:1.51, Z:0.05 [[ 9.90252604e-01 -1.39269627e-01 -1.93703692e-03 1.14246706e+01] [ 1.39269240e-01 9.90254496e-01 -3.34023526e-04 1.50812922e+00] [ 1.96467885e-03 6.09980064e-05 9.99998068e-01 4.78224210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.48, Y:1.52, Z:0.05 [[ 9.89456285e-01 -1.44818881e-01 -1.93691414e-03 1.14815615e+01] [ 1.44818503e-01 9.89458180e-01 -3.34733999e-04 1.52143486e+00] [ 1.96497134e-03 5.07036543e-05 9.99998068e-01 4.80794032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084391418 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:11.54, Y:1.54, Z:0.04 [[ 9.88611387e-01 -1.50478483e-01 -1.93679322e-03 1.15377818e+01] [ 1.50478114e-01 9.88613284e-01 -3.35432199e-04 1.53715442e+00] [ 1.96521483e-03 4.01671009e-05 9.99998068e-01 4.37660646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144391418 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:11.59, Y:1.55, Z:0.04 [[ 9.88339159e-01 -1.52256222e-01 -1.93667025e-03 1.15946248e+01] [ 1.52255855e-01 9.88341055e-01 -3.36140659e-04 1.55183132e+00] [ 1.96527023e-03 3.73515913e-05 9.99998068e-01 4.43443867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204391417999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.65, Y:1.57, Z:0.05 [[ 9.88567671e-01 -1.50765410e-01 -1.93656331e-03 1.16504681e+01] [ 1.50765039e-01 9.88569567e-01 -3.36755646e-04 1.56929844e+00] [ 1.96519865e-03 4.09397011e-05 9.99998068e-01 4.56264379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.71, Y:1.59, Z:0.05 [[ 9.89434283e-01 -1.44969137e-01 -1.93644000e-03 1.17056544e+01] [ 1.44968754e-01 9.89436176e-01 -3.37463239e-04 1.58727859e+00] [ 1.96490554e-03 5.31744049e-05 9.99998068e-01 4.50667874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324391418 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:11.76, Y:1.60, Z:0.04 [[ 9.90143061e-01 -1.40046313e-01 -1.93631904e-03 1.17615134e+01] [ 1.40045920e-01 9.90144952e-01 -3.38155844e-04 1.60161603e+00] [ 1.96459400e-03 6.36490818e-05 9.99998068e-01 4.21243736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384391417999998 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:11.82, Y:1.62, Z:0.04 [[ 9.90883358e-01 -1.34708658e-01 -1.93619664e-03 1.18174683e+01] [ 1.34708253e-01 9.90885247e-01 -3.38855253e-04 1.61791921e+00] [ 1.96419542e-03 7.49443647e-05 9.99998068e-01 4.29251684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444391417999999 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:11.87, Y:1.63, Z:0.04 [[ 9.90994335e-01 -1.33889801e-01 -1.93615915e-03 1.18731854e+01] [ 1.33889394e-01 9.90996224e-01 -3.39069295e-04 1.63006230e+00] [ 1.96412433e-03 7.67845759e-05 9.99998068e-01 4.17841212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504391417999999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:11.93, Y:1.64, Z:0.04 [[ 9.90351993e-01 -1.38561109e-01 -1.93610770e-03 1.19302051e+01] [ 1.38560710e-01 9.90353884e-01 -3.39362821e-04 1.64205749e+00] [ 1.96445427e-03 6.78201887e-05 9.99998068e-01 4.31652734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564391418 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:11.99, Y:1.65, Z:0.05 [[ 9.89730149e-01 -1.42935241e-01 -1.93598702e-03 1.19873434e+01] [ 1.42934849e-01 9.89732041e-01 -3.40049869e-04 1.65125544e+00] [ 1.96471350e-03 5.98375946e-05 9.99998068e-01 4.52036053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624391417999998 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:12.04, Y:1.66, Z:0.05 [[ 9.89095994e-01 -1.47259523e-01 -1.93595006e-03 1.20446975e+01] [ 1.47259139e-01 9.89097887e-01 -3.40260200e-04 1.65952480e+00] [ 1.96495067e-03 5.14636610e-05 9.99998068e-01 4.51609598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684391417999999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:12.10, Y:1.67, Z:0.04 [[ 9.88937285e-01 -1.48321607e-01 -1.93582848e-03 1.21020580e+01] [ 1.48321223e-01 9.88939178e-01 -3.40950487e-04 1.66823241e+00] [ 1.96498695e-03 5.00542005e-05 9.99998068e-01 4.26373446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744391418 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:12.16, Y:1.68, Z:0.04 [[ 9.88607942e-01 -1.50501129e-01 -1.93579143e-03 1.21606044e+01] [ 1.50500749e-01 9.88609836e-01 -3.41160692e-04 1.67533990e+00] [ 1.96508752e-03 4.59361090e-05 9.99998068e-01 4.11967908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804391417999998 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:12.22, Y:1.68, Z:0.04 [[ 9.87921974e-01 -1.54940073e-01 -1.93568085e-03 1.22187057e+01] [ 1.54939700e-01 9.87923870e-01 -3.41786970e-04 1.68354357e+00] [ 1.96526181e-03 3.77450472e-05 9.99998068e-01 3.86358762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.28, Y:1.69, Z:0.04 [[ 9.86999439e-01 -1.60712043e-01 -1.93557126e-03 1.22764570e+01] [ 1.60711680e-01 9.87001337e-01 -3.42406469e-04 1.69187271e+00] [ 1.96544026e-03 2.68860838e-05 9.99998068e-01 4.18156476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924391417999999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:12.33, Y:1.70, Z:0.04 [[ 9.85035887e-01 -1.72338492e-01 -1.93546037e-03 1.23331914e+01] [ 1.72338150e-01 9.85037788e-01 -3.43032127e-04 1.70005270e+00] [ 1.96561924e-03 4.34529498e-06 9.99998068e-01 4.09418629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.39, Y:1.71, Z:0.04 [[ 9.83375371e-01 -1.81574047e-01 -1.93539354e-03 1.23898637e+01] [ 1.81573723e-01 9.83377275e-01 -3.43408769e-04 1.71108819e+00] [ 1.96557615e-03 -1.37168844e-05 9.99998068e-01 4.24471133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044391417999998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:12.45, Y:1.72, Z:0.04 [[ 9.80817974e-01 -1.94916282e-01 -1.93527004e-03 1.24479471e+01] [ 1.94915982e-01 9.80819882e-01 -3.44103372e-04 1.71831253e+00] [ 1.96522268e-03 -3.97122876e-05 9.99998068e-01 3.88648131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104391417999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.51, Y:1.73, Z:0.04 [[ 9.79160871e-01 -2.03076942e-01 -1.93514866e-03 1.25050000e+01] [ 2.03076657e-01 9.79162781e-01 -3.44784639e-04 1.73025584e+00] [ 1.96484335e-03 -5.53838916e-05 9.99998068e-01 4.14270569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164391418 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:12.56, Y:1.75, Z:0.04 [[ 9.78172558e-01 -2.07785231e-01 -1.93502976e-03 1.25607207e+01] [ 2.07784954e-01 9.78174470e-01 -3.45450621e-04 1.74647461e+00] [ 1.96457625e-03 -6.41597512e-05 9.99998068e-01 4.37258085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224391417999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.62, Y:1.76, Z:0.05 [[ 9.78043722e-01 -2.08390820e-01 -1.93499351e-03 1.26173161e+01] [ 2.08390543e-01 9.78045634e-01 -3.45653564e-04 1.76117947e+00] [ 1.96454298e-03 -6.51700494e-05 9.99998068e-01 4.79592043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284391417999998 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:12.67, Y:1.78, Z:0.05 [[ 9.78562898e-01 -2.05939094e-01 -1.93493983e-03 1.26727767e+01] [ 2.05938812e-01 9.78564809e-01 -3.45953809e-04 1.77944503e+00] [ 1.96470944e-03 -5.99416479e-05 9.99998068e-01 4.50013902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344391417999999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:12.73, Y:1.80, Z:0.04 [[ 9.79151919e-01 -2.03120104e-01 -1.93482735e-03 1.27279534e+01] [ 2.03119816e-01 9.79153829e-01 -3.46581729e-04 1.80068399e+00] [ 1.96489132e-03 -5.36456094e-05 9.99998068e-01 4.47165396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.78, Y:1.82, Z:0.05 [[ 9.79209554e-01 -2.02842071e-01 -1.93470993e-03 1.27832501e+01] [ 2.02841781e-01 9.79211464e-01 -3.47235971e-04 1.81959230e+00] [ 1.96492420e-03 -5.24232265e-05 9.99998068e-01 4.78651445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464391417999998 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:12.84, Y:1.84, Z:0.04 [[ 9.79101977e-01 -2.03360704e-01 -1.93458839e-03 1.28379991e+01] [ 2.03360414e-01 9.79103887e-01 -3.47911797e-04 1.84145206e+00] [ 1.96491460e-03 -5.27775661e-05 9.99998068e-01 4.47763118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524391417999999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:12.89, Y:1.86, Z:0.05 [[ 9.78942430e-01 -2.04127355e-01 -1.93455122e-03 1.28947650e+01] [ 2.04127065e-01 9.78944340e-01 -3.48118335e-04 1.85527189e+00] [ 1.96487844e-03 -5.41064546e-05 9.99998068e-01 4.60768435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584391418 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:12.95, Y:1.88, Z:0.04 [[ 9.78454622e-01 -2.06452923e-01 -1.93451448e-03 1.29493077e+01] [ 2.06452637e-01 9.78456533e-01 -3.48322411e-04 1.87746433e+00] [ 1.96475051e-03 -5.85679426e-05 9.99998068e-01 4.49871167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644391417999998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:13.01, Y:1.90, Z:0.04 [[ 9.78261494e-01 -2.07366117e-01 -1.93439819e-03 1.30051329e+01] [ 2.07365832e-01 9.78263405e-01 -3.48966990e-04 1.89634170e+00] [ 1.96471489e-03 -5.97471227e-05 9.99998068e-01 4.48794256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704391417999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:13.06, Y:1.92, Z:0.05 [[ 9.78701888e-01 -2.05277553e-01 -1.93428349e-03 1.30632068e+01] [ 2.05277263e-01 9.78703797e-01 -3.49601618e-04 1.92129532e+00] [ 1.96485596e-03 -5.49086577e-05 9.99998068e-01 5.29200580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764391417999999 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:13.12, Y:1.94, Z:0.05 [[ 9.79542862e-01 -2.01226342e-01 -1.93429870e-03 1.31221881e+01] [ 2.01226044e-01 9.79544770e-01 -3.49517467e-04 1.94079566e+00] [ 1.96506429e-03 -4.68639360e-05 9.99998068e-01 5.31469656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824391418 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:13.18, Y:1.97, Z:0.06 [[ 9.80911215e-01 -1.94446516e-01 -1.93431357e-03 1.31799590e+01] [ 1.94446205e-01 9.80913121e-01 -3.49435136e-04 1.96536055e+00] [ 1.96534001e-03 -3.33550896e-05 9.99998068e-01 5.71469921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884391417999998 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:13.24, Y:1.99, Z:0.06 [[ 9.82330028e-01 -1.87146933e-01 -1.93433560e-03 1.32388773e+01] [ 1.87146608e-01 9.82331932e-01 -3.49313125e-04 1.99108095e+00] [ 1.96553251e-03 -1.88635755e-05 9.99998068e-01 5.52914982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944391417999999 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:13.30, Y:2.01, Z:0.06 [[ 9.83067241e-01 -1.83234982e-01 -1.93436509e-03 1.32991098e+01] [ 1.83234649e-01 9.83069144e-01 -3.49149747e-04 2.00894067e+00] [ 1.96559108e-03 -1.12050312e-05 9.99998068e-01 5.50063427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004391417999999 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:13.36, Y:2.03, Z:0.06 [[ 9.84117809e-01 -1.77506044e-01 -1.93439449e-03 1.33588271e+01] [ 1.77505701e-01 9.84119710e-01 -3.48986813e-04 2.03271955e+00] [ 1.96562301e-03 7.80874198e-08 9.99998068e-01 5.56977858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064391417999998 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:13.42, Y:2.05, Z:0.05 [[ 9.84723173e-01 -1.74116429e-01 -1.93443812e-03 1.34197845e+01] [ 1.74116080e-01 9.84725073e-01 -3.48744810e-04 2.05159180e+00] [ 1.96561192e-03 6.60031478e-06 9.99998068e-01 5.39559225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124391417999998 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:13.48, Y:2.07, Z:0.06 [[ 9.85427126e-01 -1.70087143e-01 -1.93448352e-03 1.34785132e+01] [ 1.70086786e-01 9.85429025e-01 -3.48492802e-04 2.07330921e+00] [ 1.96557035e-03 1.43841756e-05 9.99998068e-01 5.76252340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184391417999999 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:13.54, Y:2.09, Z:0.06 [[ 9.85970712e-01 -1.66907200e-01 -1.93452068e-03 1.35395692e+01] [ 1.66906838e-01 9.85972609e-01 -3.48286381e-04 2.09029991e+00] [ 1.96551591e-03 2.05154419e-05 9.99998068e-01 5.62006891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244391418 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:13.60, Y:2.11, Z:0.06 [[ 9.86270296e-01 -1.65127711e-01 -1.93456658e-03 1.35994007e+01] [ 1.65127346e-01 9.86272193e-01 -3.48031234e-04 2.10605417e+00] [ 1.96547883e-03 2.38030234e-05 9.99998068e-01 5.68995810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304391417999998 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:13.66, Y:2.12, Z:0.06 [[ 9.86459903e-01 -1.63991209e-01 -1.93460417e-03 1.36590972e+01] [ 1.63990842e-01 9.86461800e-01 -3.47822181e-04 2.12466203e+00] [ 1.96545289e-03 2.58552680e-05 9.99998068e-01 5.89732175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364391417999999 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:13.72, Y:2.14, Z:0.06 [[ 9.86392190e-01 -1.64398010e-01 -1.93464061e-03 1.37206498e+01] [ 1.64397644e-01 9.86394086e-01 -3.47619355e-04 2.14099385e+00] [ 1.96546599e-03 2.48386580e-05 9.99998068e-01 5.93537825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424391417999999 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:13.78, Y:2.16, Z:0.06 [[ 9.86252975e-01 -1.65231132e-01 -1.93475436e-03 1.37816588e+01] [ 1.65230769e-01 9.86254872e-01 -3.46985079e-04 2.15695208e+00] [ 1.96549366e-03 2.25341147e-05 9.99998068e-01 5.84299489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484391417999998 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:13.84, Y:2.17, Z:0.06 [[ 9.85940867e-01 -1.67083399e-01 -1.93486654e-03 1.38419482e+01] [ 1.67083041e-01 9.85942766e-01 -3.46358434e-04 2.17057817e+00] [ 1.96553841e-03 1.82055499e-05 9.99998068e-01 5.71074835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544391417999998 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:13.90, Y:2.18, Z:0.06 [[ 9.85583415e-01 -1.69179161e-01 -1.93496979e-03 1.39035169e+01] [ 1.69178808e-01 9.85585314e-01 -3.45780637e-04 2.18428327e+00] [ 1.96557669e-03 1.34397783e-05 9.99998068e-01 5.58459711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604391417999999 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:13.96, Y:2.20, Z:0.06 [[ 9.86002291e-01 -1.66720535e-01 -1.93508072e-03 1.39643623e+01] [ 1.66720179e-01 9.86004190e-01 -3.45158731e-04 2.20010538e+00] [ 1.96554275e-03 1.77102954e-05 9.99998068e-01 5.62751963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664391418 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:14.02, Y:2.21, Z:0.06 [[ 9.86329700e-01 -1.64772503e-01 -1.93519289e-03 1.40247730e+01] [ 1.64772144e-01 9.86331598e-01 -3.44528701e-04 2.21351843e+00] [ 1.96551075e-03 2.09530091e-05 9.99998068e-01 5.96358895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724391417999998 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:14.09, Y:2.23, Z:0.06 [[ 9.86520117e-01 -1.63628586e-01 -1.93529622e-03 1.40866593e+01] [ 1.63628226e-01 9.86522015e-01 -3.43947269e-04 2.22592650e+00] [ 1.96549193e-03 2.26418117e-05 9.99998068e-01 6.11188943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784391417999998 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:14.15, Y:2.24, Z:0.06 [[ 9.86291183e-01 -1.65002899e-01 -1.93540828e-03 1.41487653e+01] [ 1.65002543e-01 9.86293082e-01 -3.43315564e-04 2.23853492e+00] [ 1.96552786e-03 1.92618266e-05 9.99998068e-01 5.96051884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844391417999999 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:14.21, Y:2.25, Z:0.06 [[ 9.85843940e-01 -1.67654343e-01 -1.93551858e-03 1.42093567e+01] [ 1.67653994e-01 9.85845840e-01 -3.42692562e-04 2.24970401e+00] [ 1.96557684e-03 1.33439660e-05 9.99998068e-01 5.89243977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904391417999998 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:14.27, Y:2.26, Z:0.06 [[ 9.85133687e-01 -1.71778557e-01 -1.93561975e-03 1.42721548e+01] [ 1.71778217e-01 9.85135588e-01 -3.42120208e-04 2.25925129e+00] [ 1.96561681e-03 4.53683332e-06 9.99998068e-01 5.54762841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964391417999998 meters Centerline goodness : 0.998714 with order 1 Centerline is valid? [True, True] Translation: X:14.33, Y:2.27, Z:0.05 [[ 9.84480038e-01 -1.75485919e-01 -1.93572746e-03 1.43339688e+01] [ 1.75485587e-01 9.84481941e-01 -3.41509681e-04 2.27062081e+00] [ 1.96561887e-03 -3.48280619e-06 9.99998068e-01 5.41875127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024391417999997 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:14.40, Y:2.28, Z:0.06 [[ 9.83460822e-01 -1.81110639e-01 -1.93583319e-03 1.43955196e+01] [ 1.81110319e-01 9.83462727e-01 -3.40909308e-04 2.28415246e+00] [ 1.96556209e-03 -1.53284171e-05 9.99998068e-01 5.60895225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084391418 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:14.46, Y:2.30, Z:0.05 [[ 9.82826767e-01 -1.84520455e-01 -1.93593732e-03 1.44581548e+01] [ 1.84520143e-01 9.82828673e-01 -3.40316958e-04 2.29508988e+00] [ 1.96549014e-03 -2.27468140e-05 9.99998068e-01 5.43321245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144391417999998 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:14.52, Y:2.31, Z:0.06 [[ 9.81818748e-01 -1.89810951e-01 -1.93604028e-03 1.45196277e+01] [ 1.89810650e-01 9.81820657e-01 -3.39730191e-04 2.30667890e+00] [ 1.96532885e-03 -3.39275928e-05 9.99998068e-01 5.57733977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204391418 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:14.58, Y:2.32, Z:0.06 [[ 9.80999558e-01 -1.94000307e-01 -1.93613521e-03 1.45815428e+01] [ 1.94000015e-01 9.81001467e-01 -3.39188308e-04 2.32078558e+00] [ 1.96515412e-03 -4.28666794e-05 9.99998068e-01 5.69994638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264391418 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:14.64, Y:2.33, Z:0.06 [[ 9.80821500e-01 -1.94898529e-01 -1.93623428e-03 1.46443170e+01] [ 1.94898240e-01 9.80823410e-01 -3.38621827e-04 2.33067670e+00] [ 1.96510081e-03 -4.52410846e-05 9.99998068e-01 5.64877217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324391417999998 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:14.71, Y:2.34, Z:0.06 [[ 9.78942640e-01 -2.04126329e-01 -1.93630474e-03 1.47064798e+01] [ 2.04126059e-01 9.78944553e-01 -3.38218464e-04 2.34299190e+00] [ 1.96457427e-03 -6.41537778e-05 9.99998068e-01 5.82190336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384391418 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:14.77, Y:2.36, Z:0.06 [[ 9.78212340e-01 -2.07597853e-01 -1.93634337e-03 1.47681470e+01] [ 2.07597591e-01 9.78214254e-01 -3.37997159e-04 2.35511655e+00] [ 1.96432617e-03 -7.13472255e-05 9.99998068e-01 5.58511165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444391418 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:14.83, Y:2.37, Z:0.06 [[ 9.77747900e-01 -2.09774391e-01 -1.93644958e-03 1.48305381e+01] [ 2.09774134e-01 9.77749814e-01 -3.37387568e-04 2.36674451e+00] [ 1.96413848e-03 -7.63370465e-05 9.99998068e-01 5.84858205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504391417999997 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:14.89, Y:2.38, Z:0.06 [[ 9.76959898e-01 -2.13414167e-01 -1.93655966e-03 1.48923012e+01] [ 2.13413918e-01 9.76961814e-01 -3.36754501e-04 2.37850441e+00] [ 1.96381302e-03 -8.42931415e-05 9.99998068e-01 5.73952777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564391418 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:14.95, Y:2.39, Z:0.06 [[ 9.76732405e-01 -2.14452929e-01 -1.93667072e-03 1.49527462e+01] [ 2.14452683e-01 9.76734321e-01 -3.36114588e-04 2.39218774e+00] [ 1.96369352e-03 -8.70302232e-05 9.99998068e-01 5.65355924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624391418 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:15.01, Y:2.41, Z:0.06 [[ 9.76924791e-01 -2.13574814e-01 -1.93677283e-03 1.50135533e+01] [ 2.13574568e-01 9.76926707e-01 -3.35525182e-04 2.40825932e+00] [ 1.96374483e-03 -8.58625513e-05 9.99998068e-01 5.52676586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684391417999997 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:15.08, Y:2.42, Z:0.06 [[ 9.76875108e-01 -2.13801947e-01 -1.93688112e-03 1.50758495e+01] [ 2.13801702e-01 9.76877024e-01 -3.34898853e-04 2.41999863e+00] [ 1.96369670e-03 -8.69541284e-05 9.99998068e-01 5.77243036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744391418 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:15.14, Y:2.43, Z:0.06 [[ 9.77114820e-01 -2.12703728e-01 -1.93698809e-03 1.51375230e+01] [ 2.12703482e-01 9.77116737e-01 -3.34279014e-04 2.43481541e+00] [ 1.96376588e-03 -8.53751341e-05 9.99998068e-01 6.02763303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804391417999998 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:15.20, Y:2.45, Z:0.06 [[ 9.77330657e-01 -2.11709787e-01 -1.93709308e-03 1.51992694e+01] [ 2.11709540e-01 9.77332573e-01 -3.33669556e-04 2.44866843e+00] [ 1.96382527e-03 -8.39955981e-05 9.99998068e-01 6.11046946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864391417999997 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:15.26, Y:2.46, Z:0.06 [[ 9.77180039e-01 -2.12403906e-01 -1.93719604e-03 1.52617677e+01] [ 2.12403662e-01 9.77181955e-01 -3.33070696e-04 2.46024432e+00] [ 1.96373853e-03 -8.59974978e-05 9.99998068e-01 5.77292199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924391418 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:15.32, Y:2.47, Z:0.06 [[ 9.76822859e-01 -2.14040533e-01 -1.93730169e-03 1.53227486e+01] [ 2.14040294e-01 9.76824776e-01 -3.32455037e-04 2.47095386e+00] [ 1.96356314e-03 -8.99109440e-05 9.99998068e-01 5.84237036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984391417999998 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:15.38, Y:2.49, Z:0.06 [[ 9.76419755e-01 -2.15871972e-01 -1.93739881e-03 1.53846544e+01] [ 2.15871737e-01 9.76421673e-01 -3.31888133e-04 2.48597612e+00] [ 1.96336353e-03 -9.41675164e-05 9.99998068e-01 5.80267313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044391418 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:15.45, Y:2.50, Z:0.06 [[ 9.76207127e-01 -2.16831482e-01 -1.93750132e-03 1.54465918e+01] [ 2.16831251e-01 9.76209045e-01 -3.31288618e-04 2.49774765e+00] [ 1.96324011e-03 -9.67045235e-05 9.99998068e-01 5.76343428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104391418 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:15.51, Y:2.51, Z:0.06 [[ 9.76333433e-01 -2.16262050e-01 -1.93760316e-03 1.55091314e+01] [ 2.16261818e-01 9.76335350e-01 -3.30691878e-04 2.50904964e+00] [ 1.96326657e-03 -9.61640464e-05 9.99998068e-01 5.76256967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164391417999997 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:15.57, Y:2.52, Z:0.06 [[ 9.76731037e-01 -2.14459150e-01 -1.93771177e-03 1.55702856e+01] [ 2.14458916e-01 9.76732954e-01 -3.30054271e-04 2.52451126e+00] [ 1.96341010e-03 -9.31853146e-05 9.99998068e-01 6.08502844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224391418 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:15.63, Y:2.54, Z:0.06 [[ 9.77096889e-01 -2.12786075e-01 -1.93781898e-03 1.56320488e+01] [ 2.12785840e-01 9.77098807e-01 -3.29423566e-04 2.53642689e+00] [ 1.96353736e-03 -9.04616986e-05 9.99998068e-01 6.08703573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284391418 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:15.69, Y:2.55, Z:0.06 [[ 9.77342480e-01 -2.11655193e-01 -1.93792975e-03 1.56945964e+01] [ 2.11654957e-01 9.77344397e-01 -3.28770688e-04 2.54588630e+00] [ 1.96361080e-03 -8.88508771e-05 9.99998068e-01 5.92738671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344391417999997 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:15.76, Y:2.56, Z:0.06 [[ 9.77540807e-01 -2.10737313e-01 -1.93803930e-03 1.57563052e+01] [ 2.10737075e-01 9.77542724e-01 -3.28123637e-04 2.55834138e+00] [ 1.96366411e-03 -8.76624883e-05 9.99998068e-01 6.04443984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404391418 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:15.82, Y:2.57, Z:0.06 [[ 9.77881130e-01 -2.09152432e-01 -1.93814713e-03 1.58178153e+01] [ 2.09152193e-01 9.77883047e-01 -3.27485435e-04 2.57133900e+00] [ 1.96377560e-03 -8.51258972e-05 9.99998068e-01 6.08728707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464391417999998 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:15.88, Y:2.58, Z:0.06 [[ 9.78229377e-01 -2.07517541e-01 -1.93825354e-03 1.58801474e+01] [ 2.07517300e-01 9.78231293e-01 -3.26854408e-04 2.58111544e+00] [ 1.96388829e-03 -8.24825584e-05 9.99998068e-01 6.00916391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524391417999997 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:15.94, Y:2.59, Z:0.06 [[ 9.78430927e-01 -2.06565157e-01 -1.93836069e-03 1.59415386e+01] [ 2.06564916e-01 9.78432843e-01 -3.26217771e-04 2.59270724e+00] [ 1.96394098e-03 -8.12157562e-05 9.99998068e-01 6.04586425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584391418 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:16.00, Y:2.61, Z:0.06 [[ 9.78417628e-01 -2.06628136e-01 -1.93845917e-03 1.60032702e+01] [ 2.06627896e-01 9.78419545e-01 -3.25631486e-04 2.60562792e+00] [ 1.96391097e-03 -8.19361534e-05 9.99998068e-01 6.06755504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644391417999998 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:16.07, Y:2.61, Z:0.06 [[ 9.78028120e-01 -2.08463999e-01 -1.93856246e-03 1.60663053e+01] [ 2.08463763e-01 9.78030037e-01 -3.25015426e-04 2.61388513e+00] [ 1.96372633e-03 -8.62457997e-05 9.99998068e-01 5.83005716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704391417999997 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:16.13, Y:2.62, Z:0.06 [[ 9.77113490e-01 -2.12709826e-01 -1.93866410e-03 1.61289139e+01] [ 2.12709600e-01 9.77115408e-01 -3.24408044e-04 2.62230998e+00] [ 1.96330334e-03 -9.53889898e-05 9.99998068e-01 6.08014677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764391418 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:16.19, Y:2.63, Z:0.06 [[ 9.76273128e-01 -2.16534111e-01 -1.93876864e-03 1.61902929e+01] [ 2.16533893e-01 9.76275047e-01 -3.23782071e-04 2.63355515e+00] [ 1.96288131e-03 -1.03709386e-04 9.99998068e-01 5.74660037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824391417999998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:16.25, Y:2.64, Z:0.06 [[ 9.75635225e-01 -2.19390402e-01 -1.93886486e-03 1.62529909e+01] [ 2.19390192e-01 9.75637145e-01 -3.23204867e-04 2.64318225e+00] [ 1.96253662e-03 -1.10037880e-04 9.99998068e-01 5.91376475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884391418 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:16.32, Y:2.65, Z:0.06 [[ 9.75164196e-01 -2.21474674e-01 -1.93896761e-03 1.63155587e+01] [ 2.21474469e-01 9.75166117e-01 -3.22587225e-04 2.64899083e+00] [ 1.96226042e-03 -1.14856311e-04 9.99998068e-01 5.57155437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944391418 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:16.38, Y:2.66, Z:0.06 [[ 9.74685765e-01 -2.23570792e-01 -1.93906971e-03 1.63783268e+01] [ 2.23570593e-01 9.74687687e-01 -3.21972357e-04 2.65848412e+00] [ 1.96197098e-03 -1.19697090e-04 9.99998068e-01 5.97082585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004391417999997 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:16.44, Y:2.67, Z:0.06 [[ 9.74737341e-01 -2.23345819e-01 -1.93917004e-03 1.64407938e+01] [ 2.23345620e-01 9.74739263e-01 -3.21366959e-04 2.66866542e+00] [ 1.96196114e-03 -1.19856759e-04 9.99998068e-01 6.16283683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064391418 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:16.50, Y:2.68, Z:0.06 [[ 9.75217357e-01 -2.21240472e-01 -1.93927785e-03 1.65039911e+01] [ 2.21240270e-01 9.75219278e-01 -3.20715060e-04 2.67620956e+00] [ 1.96217629e-03 -1.16279463e-04 9.99998068e-01 5.75451962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124391418 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:16.57, Y:2.68, Z:0.06 [[ 9.75767677e-01 -2.18800549e-01 -1.93938350e-03 1.65653935e+01] [ 2.18800343e-01 9.75769597e-01 -3.20074891e-04 2.68466047e+00] [ 1.96242402e-03 -1.12019043e-04 9.99998068e-01 5.64943835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184391417999997 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:16.63, Y:2.70, Z:0.06 [[ 9.77224388e-01 -2.12199751e-01 -1.93948061e-03 1.66275908e+01] [ 2.12199534e-01 9.77226307e-01 -3.19485415e-04 2.69750568e+00] [ 1.96310620e-03 -9.93479413e-05 9.99998068e-01 6.20903708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244391418 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:16.69, Y:2.71, Z:0.06 [[ 9.80081502e-01 -1.98586220e-01 -1.93958761e-03 1.66886064e+01] [ 1.98585977e-01 9.80083419e-01 -3.18834456e-04 2.70788362e+00] [ 1.96427379e-03 -7.26911478e-05 9.99998068e-01 6.09853369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304391417999998 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:16.75, Y:2.72, Z:0.06 [[ 9.82411452e-01 -1.86718976e-01 -1.93968583e-03 1.67508724e+01] [ 1.86718712e-01 9.82413366e-01 -3.18235813e-04 2.71932293e+00] [ 1.96499395e-03 -4.95371321e-05 9.99998068e-01 6.07642882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364391417999997 meters Centerline goodness : 0.999399 with order 1 Centerline is valid? [True, True] Translation: X:16.81, Y:2.73, Z:0.06 [[ 9.83577395e-01 -1.80476442e-01 -1.93979057e-03 1.68122931e+01] [ 1.80476167e-01 9.83579307e-01 -3.17596064e-04 2.73109594e+00] [ 1.96525647e-03 -3.77056581e-05 9.99998068e-01 6.25578655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424391418 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:16.87, Y:2.75, Z:0.06 [[ 9.86775558e-01 -1.62080952e-01 -1.93985477e-03 1.68737932e+01] [ 1.62080641e-01 9.86777465e-01 -3.17203443e-04 2.74677774e+00] [ 1.96561761e-03 -1.40430072e-06 9.99998068e-01 6.38552782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484391417999998 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:16.94, Y:2.76, Z:0.06 [[ 9.88554000e-01 -1.50854979e-01 -1.93995891e-03 1.69359248e+01] [ 1.50854649e-01 9.88555904e-01 -3.16565280e-04 2.75771399e+00] [ 1.96551328e-03 2.02900546e-05 9.99998068e-01 6.12724768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544391417999996 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:17.00, Y:2.77, Z:0.06 [[ 9.90060605e-01 -1.40628000e-01 -1.94006079e-03 1.69980404e+01] [ 1.40627651e-01 9.90062505e-01 -3.15939679e-04 2.76927300e+00] [ 1.96521141e-03 3.99732376e-05 9.99998068e-01 6.11386231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604391418 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:17.06, Y:2.78, Z:0.06 [[ 9.90513477e-01 -1.37401917e-01 -1.94016213e-03 1.70602648e+01] [ 1.37401563e-01 9.90515376e-01 -3.15316140e-04 2.77898769e+00] [ 1.96508546e-03 4.57435776e-05 9.99998068e-01 6.03631060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664391417999997 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:17.12, Y:2.79, Z:0.06 [[ 9.90456574e-01 -1.37811502e-01 -1.94026414e-03 1.71224311e+01] [ 1.37811150e-01 9.90458474e-01 -3.14687131e-04 2.78678758e+00] [ 1.96511857e-03 4.42939048e-05 9.99998068e-01 5.99133249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724391418 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:17.18, Y:2.79, Z:0.06 [[ 9.90549420e-01 -1.37142558e-01 -1.94035794e-03 1.71849339e+01] [ 1.37142206e-01 9.90551320e-01 -3.14107725e-04 2.79314507e+00] [ 1.96510165e-03 4.50342562e-05 9.99998068e-01 5.83863865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784391418 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:17.25, Y:2.80, Z:0.06 [[ 9.90659656e-01 -1.36343981e-01 -1.94046071e-03 1.72474240e+01] [ 1.36343628e-01 9.90661555e-01 -3.13471578e-04 2.80249424e+00] [ 1.96507978e-03 4.59741928e-05 9.99998068e-01 5.95967263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844391417999997 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:17.31, Y:2.81, Z:0.06 [[ 9.91059033e-01 -1.33409999e-01 -1.94056640e-03 1.73100203e+01] [ 1.33409642e-01 9.91060931e-01 -3.12815895e-04 2.81053896e+00] [ 1.96495231e-03 5.11287501e-05 9.99998068e-01 5.96411232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904391418 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:17.37, Y:2.81, Z:0.06 [[ 9.91436104e-01 -1.30578270e-01 -1.94066808e-03 1.73725262e+01] [ 1.30577909e-01 9.91438002e-01 -3.12183820e-04 2.81357552e+00] [ 1.96481651e-03 5.61019294e-05 9.99998068e-01 5.74380127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964391417999998 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:17.44, Y:2.82, Z:0.06 [[ 9.91225943e-01 -1.32164150e-01 -1.94076198e-03 1.74358140e+01] [ 1.32163793e-01 9.91227842e-01 -3.11598956e-04 2.82065785e+00] [ 1.96491952e-03 5.23665045e-05 9.99998068e-01 5.82070811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024391417999997 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:17.50, Y:2.83, Z:0.06 [[ 9.90988986e-01 -1.33929322e-01 -1.94086385e-03 1.74981819e+01] [ 1.33928970e-01 9.90990885e-01 -3.10963126e-04 2.82815919e+00] [ 1.96502547e-03 4.82231355e-05 9.99998068e-01 5.80899136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084391418 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:17.56, Y:2.83, Z:0.06 [[ 9.90454302e-01 -1.37827821e-01 -1.94096248e-03 1.75621181e+01] [ 1.37827477e-01 9.90456203e-01 -3.10346302e-04 2.83055100e+00] [ 1.96521268e-03 3.98658679e-05 9.99998068e-01 5.55293048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144391417999998 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:17.63, Y:2.84, Z:0.06 [[ 9.89827294e-01 -1.42260887e-01 -1.94100583e-03 1.76255282e+01] [ 1.42260552e-01 9.89829197e-01 -3.10074946e-04 2.83644763e+00] [ 1.96537578e-03 3.07920835e-05 9.99998068e-01 5.79438969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204391417999997 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:17.69, Y:2.84, Z:0.06 [[ 9.88759223e-01 -1.49503949e-01 -1.94110562e-03 1.76872019e+01] [ 1.49503630e-01 9.88761128e-01 -3.09449007e-04 2.84144349e+00] [ 1.96555363e-03 1.57682244e-05 9.99998068e-01 5.75593938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264391418 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:17.75, Y:2.85, Z:0.06 [[ 9.88017983e-01 -1.54326593e-01 -1.94119573e-03 1.77500211e+01] [ 1.54326284e-01 9.88019890e-01 -3.08882680e-04 2.84672624e+00] [ 1.96560880e-03 5.60411950e-06 9.99998068e-01 5.73602610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324391417999998 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:17.81, Y:2.85, Z:0.06 [[ 9.86739576e-01 -1.62299847e-01 -1.94126609e-03 1.78122147e+01] [ 1.62299554e-01 9.86741486e-01 -3.08439843e-04 2.85032578e+00] [ 1.96558752e-03 -1.07168212e-05 9.99998068e-01 5.55785841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384391417999996 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:17.87, Y:2.86, Z:0.06 [[ 9.86091393e-01 -1.66192645e-01 -1.94132982e-03 1.78743323e+01] [ 1.66192361e-01 9.86093304e-01 -3.08038230e-04 2.85888151e+00] [ 1.96552602e-03 -1.88803379e-05 9.99998068e-01 5.56334325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444391418 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:17.94, Y:2.87, Z:0.05 [[ 9.85283883e-01 -1.70914896e-01 -1.94142917e-03 1.79359591e+01] [ 1.70914622e-01 9.85285795e-01 -3.07410786e-04 2.86541975e+00] [ 1.96540366e-03 -2.89317389e-05 9.99998068e-01 5.36578264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504391417999997 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:18.00, Y:2.87, Z:0.05 [[ 9.84523389e-01 -1.75242479e-01 -1.94149027e-03 1.79985699e+01] [ 1.75242214e-01 9.84525303e-01 -3.07024406e-04 2.87314050e+00] [ 1.96525001e-03 -3.79583443e-05 9.99998068e-01 5.36779570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564391418 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:18.06, Y:2.88, Z:0.05 [[ 9.84123864e-01 -1.77472392e-01 -1.94158871e-03 1.80602715e+01] [ 1.77472133e-01 9.84125779e-01 -3.06400585e-04 2.88242754e+00] [ 1.96514515e-03 -4.30417628e-05 9.99998068e-01 5.16771939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624391418 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:18.12, Y:2.89, Z:0.05 [[ 9.83622341e-01 -1.80231295e-01 -1.94167939e-03 1.81234389e+01] [ 1.80231042e-01 9.83624257e-01 -3.05824856e-04 2.88951411e+00] [ 1.96500216e-03 -4.91347394e-05 9.99998068e-01 5.07030926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684391417999997 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:18.19, Y:2.90, Z:0.05 [[ 9.82480776e-01 -1.86353843e-01 -1.94172478e-03 1.81850575e+01] [ 1.86353602e-01 9.82482693e-01 -3.05536406e-04 2.90167779e+00] [ 1.96464888e-03 -6.16637618e-05 9.99998068e-01 5.26814749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744391418 meters Centerline goodness : 0.998662 with order 1 Centerline is valid? [True, True] Translation: X:18.25, Y:2.91, Z:0.05 [[ 9.82119370e-01 -1.88249229e-01 -1.94176393e-03 1.82476154e+01] [ 1.88248993e-01 9.82121288e-01 -3.05287418e-04 2.91293108e+00] [ 1.96451781e-03 -6.57064174e-05 9.99998068e-01 5.28726959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804391417999998 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:18.31, Y:2.92, Z:0.05 [[ 9.81765788e-01 -1.90084633e-01 -1.94185735e-03 1.83102378e+01] [ 1.90084401e-01 9.81767706e-01 -3.04691995e-04 2.92353263e+00] [ 1.96437010e-03 -6.99806160e-05 9.99998068e-01 5.10633211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864391417999997 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:18.37, Y:2.94, Z:0.05 [[ 9.81244772e-01 -1.92756130e-01 -1.94195685e-03 1.83717965e+01] [ 1.92755905e-01 9.81246691e-01 -3.04056535e-04 2.93778170e+00] [ 1.96414749e-03 -7.59697658e-05 9.99998068e-01 5.35788737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924391418 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:18.43, Y:2.95, Z:0.05 [[ 9.81617471e-01 -1.90849076e-01 -1.94206269e-03 1.84321779e+01] [ 1.90848849e-01 9.81619389e-01 -3.03378976e-04 2.95068722e+00] [ 1.96426599e-03 -7.28383260e-05 9.99998068e-01 5.26811191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984391417999998 meters Centerline goodness : 0.999194 with order 1 Centerline is valid? [True, True] Translation: X:18.49, Y:2.96, Z:0.05 [[ 9.81749799e-01 -1.90167189e-01 -1.94215998e-03 1.84935091e+01] [ 1.90166962e-01 9.81751718e-01 -3.02754872e-04 2.96457736e+00] [ 1.96429294e-03 -7.21051282e-05 9.99998068e-01 5.33175787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044391417999996 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:18.55, Y:2.98, Z:0.05 [[ 9.81732215e-01 -1.90257946e-01 -1.94225415e-03 1.85541385e+01] [ 1.90257720e-01 9.81734133e-01 -3.02149579e-04 2.97944948e+00] [ 1.96426355e-03 -7.28988708e-05 9.99998068e-01 5.15882470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104391418 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:18.62, Y:3.00, Z:0.05 [[ 9.81033775e-01 -1.93827138e-01 -1.94234065e-03 1.86151127e+01] [ 1.93826920e-01 9.81035695e-01 -3.01592458e-04 2.99721448e+00] [ 1.96396231e-03 -8.06055190e-05 9.99998068e-01 5.16375463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164391417999997 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:18.68, Y:3.01, Z:0.05 [[ 9.80444879e-01 -1.96784316e-01 -1.94243885e-03 1.86764563e+01] [ 1.96784105e-01 9.80446799e-01 -3.00958639e-04 3.01259279e+00] [ 1.96368190e-03 -8.71677344e-05 9.99998068e-01 4.95793355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224391417999996 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:18.74, Y:3.03, Z:0.05 [[ 9.79930259e-01 -1.99331167e-01 -1.94253532e-03 1.87367406e+01] [ 1.99330962e-01 9.79932180e-01 -3.00334689e-04 3.02791137e+00] [ 1.96341894e-03 -9.29003852e-05 9.99998068e-01 5.03735829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284391418 meters Centerline goodness : 0.999399 with order 1 Centerline is valid? [True, True] Translation: X:18.80, Y:3.04, Z:0.05 [[ 9.79127928e-01 -2.03235644e-01 -1.94262402e-03 1.87983908e+01] [ 2.03235448e-01 9.79129850e-01 -2.99759852e-04 3.04364831e+00] [ 1.96300306e-03 -1.01306822e-04 9.99998068e-01 5.23077611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344391417999997 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:18.86, Y:3.06, Z:0.05 [[ 9.78406113e-01 -2.06682616e-01 -1.94272028e-03 1.88594908e+01] [ 2.06682428e-01 9.78408036e-01 -2.99134707e-04 3.05707550e+00] [ 1.96259908e-03 -1.08850918e-04 9.99998068e-01 5.26889289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404391418 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:18.92, Y:3.07, Z:0.05 [[ 9.77552059e-01 -2.10685069e-01 -1.94280879e-03 1.89215688e+01] [ 2.10684890e-01 9.77553982e-01 -2.98558796e-04 3.07037589e+00] [ 1.96210235e-03 -1.17463689e-04 9.99998068e-01 5.41286423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464391417999998 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:18.98, Y:3.09, Z:0.05 [[ 9.76228020e-01 -2.16737347e-01 -1.94290269e-03 1.89827845e+01] [ 2.16737181e-01 9.76229945e-01 -2.97946421e-04 3.08573297e+00] [ 1.96129591e-03 -1.30235609e-04 9.99998068e-01 5.36464865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524391417999997 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:19.04, Y:3.10, Z:0.05 [[ 9.74780553e-01 -2.23157115e-01 -1.94299613e-03 1.90444451e+01] [ 2.23156963e-01 9.74782479e-01 -2.97335855e-04 3.09994600e+00] [ 1.96035119e-03 -1.43755907e-04 9.99998068e-01 5.24690560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584391418 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:19.11, Y:3.11, Z:0.05 [[ 9.74186458e-01 -2.25736502e-01 -1.94308882e-03 1.91060916e+01] [ 2.25736357e-01 9.74188385e-01 -2.96728902e-04 3.11240687e+00] [ 1.95991710e-03 -1.49556512e-04 9.99998068e-01 5.27509081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644391417999998 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:19.17, Y:3.12, Z:0.05 [[ 9.74291785e-01 -2.25281473e-01 -1.94318131e-03 1.91677787e+01] [ 2.25281328e-01 9.74293711e-01 -2.96121920e-04 3.12323375e+00] [ 1.95994012e-03 -1.49253313e-04 9.99998068e-01 5.00345483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704391417999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:19.23, Y:3.13, Z:0.05 [[ 9.74550287e-01 -2.24160572e-01 -1.94326127e-03 1.92291655e+01] [ 2.24160426e-01 9.74552213e-01 -2.95596271e-04 3.13448249e+00] [ 1.96007060e-03 -1.47528843e-04 9.99998068e-01 4.92918776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764391418 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:19.29, Y:3.15, Z:0.05 [[ 9.74727367e-01 -2.23389311e-01 -1.94334543e-03 1.92913967e+01] [ 2.23389164e-01 9.74729293e-01 -2.95041960e-04 3.14514414e+00] [ 1.96014494e-03 -1.46536838e-04 9.99998068e-01 5.05014510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824391417999998 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:19.35, Y:3.15, Z:0.05 [[ 9.75007277e-01 -2.22164427e-01 -1.94343380e-03 1.93539429e+01] [ 2.22164278e-01 9.75009203e-01 -2.94458707e-04 3.15320237e+00] [ 1.96028409e-03 -1.44662186e-04 9.99998068e-01 4.88681641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884391417999996 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:19.42, Y:3.16, Z:0.05 [[ 9.74751532e-01 -2.23283840e-01 -1.94353018e-03 1.94160785e+01] [ 2.23283695e-01 9.74753459e-01 -2.93821188e-04 3.16220249e+00] [ 1.96006829e-03 -1.47555947e-04 9.99998068e-01 5.07787764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944391418 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:19.48, Y:3.17, Z:0.05 [[ 9.74562801e-01 -2.24106156e-01 -1.94362472e-03 1.94772657e+01] [ 2.24106015e-01 9.74564728e-01 -2.93194437e-04 3.17053251e+00] [ 1.95989478e-03 -1.49841599e-04 9.99998068e-01 5.06288960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004391417999997 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:19.54, Y:3.18, Z:0.05 [[ 9.74129760e-01 -2.25981043e-01 -1.94371162e-03 1.95398744e+01] [ 2.25980907e-01 9.74131687e-01 -2.92617234e-04 3.17569015e+00] [ 1.95955703e-03 -1.54194558e-04 9.99998068e-01 5.09385807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064391417999996 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:19.60, Y:3.18, Z:0.05 [[ 9.73646297e-01 -2.28055058e-01 -1.94380430e-03 1.96024386e+01] [ 2.28054926e-01 9.73648225e-01 -2.92000273e-04 3.18209259e+00] [ 1.95917375e-03 -1.58989162e-04 9.99998068e-01 5.05216466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124391418 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:19.66, Y:3.19, Z:0.05 [[ 9.72961346e-01 -2.30959824e-01 -1.94389676e-03 1.96648954e+01] [ 2.30959700e-01 9.72963274e-01 -2.91383453e-04 3.18824002e+00] [ 1.95863803e-03 -1.65456975e-04 9.99998068e-01 5.05541792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184391417999997 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:19.73, Y:3.20, Z:0.05 [[ 9.72857766e-01 -2.31395738e-01 -1.94398792e-03 1.97276831e+01] [ 2.31395615e-01 9.72859694e-01 -2.90773992e-04 3.19636418e+00] [ 1.95851136e-03 -1.66948544e-04 9.99998068e-01 5.12293017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244391418 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:19.79, Y:3.20, Z:0.05 [[ 9.72748323e-01 -2.31855386e-01 -1.94408174e-03 1.97910255e+01] [ 2.31855266e-01 9.72750251e-01 -2.90145335e-04 3.20217213e+00] [ 1.95837776e-03 -1.68507202e-04 9.99998068e-01 5.22128248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304391417999998 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:19.85, Y:3.21, Z:0.05 [[ 9.72540505e-01 -2.32725561e-01 -1.94417397e-03 1.98537658e+01] [ 2.32725443e-01 9.72542433e-01 -2.89526035e-04 3.20893042e+00] [ 1.95817179e-03 -1.70882953e-04 9.99998068e-01 5.28257399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364391417999997 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:19.92, Y:3.21, Z:0.05 [[ 9.72574433e-01 -2.32583733e-01 -1.94426634e-03 1.99172690e+01] [ 2.32583616e-01 9.72576361e-01 -2.88904389e-04 3.21242658e+00] [ 1.95814195e-03 -1.71223475e-04 9.99998068e-01 5.04061993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424391418 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:19.98, Y:3.22, Z:0.05 [[ 9.71976717e-01 -2.35069099e-01 -1.94436255e-03 1.99795993e+01] [ 2.35068989e-01 9.71978645e-01 -2.88255416e-04 3.21963936e+00] [ 1.95763882e-03 -1.76881787e-04 9.99998068e-01 5.23983549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484391417999998 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:20.04, Y:3.22, Z:0.05 [[ 9.72410348e-01 -2.33268804e-01 -1.94445702e-03 2.00422965e+01] [ 2.33268692e-01 9.72412276e-01 -2.87616777e-04 3.22484449e+00] [ 1.95790590e-03 -1.73899415e-04 9.99998068e-01 4.86368195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544391417999996 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:20.10, Y:3.23, Z:0.05 [[ 9.72087126e-01 -2.34612102e-01 -1.94455804e-03 2.01047721e+01] [ 2.34611994e-01 9.72089055e-01 -2.86932131e-04 3.22916492e+00] [ 1.95760134e-03 -1.77293609e-04 9.99998068e-01 4.91545784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604391418 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:20.17, Y:3.24, Z:0.05 [[ 9.71671592e-01 -2.36327181e-01 -1.94465090e-03 2.01679181e+01] [ 2.36327077e-01 9.71673521e-01 -2.86301393e-04 3.23578426e+00] [ 1.95722659e-03 -1.81382733e-04 9.99998068e-01 4.94659618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664391417999997 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:20.23, Y:3.24, Z:0.05 [[ 9.71335108e-01 -2.37706387e-01 -1.94474493e-03 2.02306307e+01] [ 2.37706288e-01 9.71337037e-01 -2.85661288e-04 3.24112974e+00] [ 1.95690629e-03 -1.84805260e-04 9.99998068e-01 5.19516717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724391417999996 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:20.29, Y:3.25, Z:0.05 [[ 9.70971907e-01 -2.39185644e-01 -1.94483816e-03 2.02923904e+01] [ 2.39185549e-01 9.70973837e-01 -2.85025150e-04 3.24580686e+00] [ 1.95656089e-03 -1.88425768e-04 9.99998068e-01 5.08770933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784391418 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:20.36, Y:3.25, Z:0.05 [[ 9.69935980e-01 -2.43352446e-01 -1.94492377e-03 2.03555026e+01] [ 2.43352360e-01 9.69937909e-01 -2.84439774e-04 3.24742140e+00] [ 1.95567441e-03 -1.97413417e-04 9.99998068e-01 4.99207087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844391417999997 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:20.42, Y:3.25, Z:0.05 [[ 9.69047270e-01 -2.46867587e-01 -1.94501393e-03 2.04186047e+01] [ 2.46867509e-01 9.69049200e-01 -2.83821914e-04 3.25079654e+00] [ 1.95488062e-03 -2.05123891e-04 9.99998068e-01 5.25431962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904391417999996 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:20.48, Y:3.26, Z:0.05 [[ 9.68922717e-01 -2.47355990e-01 -1.94510414e-03 2.04821514e+01] [ 2.47355914e-01 9.68924647e-01 -2.83202318e-04 3.25555523e+00] [ 1.95471113e-03 -2.06731854e-04 9.99998068e-01 5.09862859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964391417999998 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:20.55, Y:3.26, Z:0.05 [[ 9.70421519e-01 -2.41408972e-01 -1.94519397e-03 2.05458588e+01] [ 2.41408885e-01 9.70423449e-01 -2.82583979e-04 3.25891173e+00] [ 1.95588015e-03 -1.95361533e-04 9.99998068e-01 4.90311549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024391417999997 meters Centerline goodness : 0.999450 with order 1 Centerline is valid? [True, True] Translation: X:20.61, Y:3.27, Z:0.05 [[ 9.71480753e-01 -2.37110442e-01 -1.94528920e-03 2.06073405e+01] [ 2.37110348e-01 9.71482683e-01 -2.81926894e-04 3.26846525e+00] [ 1.95666258e-03 -1.87361647e-04 9.99998068e-01 5.21947341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084391418 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:20.67, Y:3.27, Z:0.05 [[ 9.73280626e-01 -2.29610625e-01 -1.94534762e-03 2.06704113e+01] [ 2.29610517e-01 9.73282555e-01 -2.81523174e-04 3.27425717e+00] [ 1.95801361e-03 -1.72671223e-04 9.99998068e-01 4.98364442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144391417999998 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:20.73, Y:3.28, Z:0.05 [[ 9.73997691e-01 -2.26549581e-01 -1.94544219e-03 2.07327378e+01] [ 2.26549469e-01 9.73999620e-01 -2.80868151e-04 3.28303859e+00] [ 1.95849051e-03 -1.67173963e-04 9.99998068e-01 5.11456703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204391417999997 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:20.79, Y:3.29, Z:0.05 [[ 9.76645586e-01 -2.14847888e-01 -1.94553629e-03 2.07949865e+01] [ 2.14847753e-01 9.76647513e-01 -2.80214813e-04 3.29397698e+00] [ 1.96030674e-03 -1.44323541e-04 9.99998068e-01 5.23134792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264391418 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:20.86, Y:3.30, Z:0.05 [[ 9.78952594e-01 -2.04078499e-01 -1.94562990e-03 2.08564666e+01] [ 2.04078345e-01 9.78954519e-01 -2.79563340e-04 3.30482901e+00] [ 1.96173605e-03 -1.23381673e-04 9.99998068e-01 5.32898459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324391417999998 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:20.92, Y:3.31, Z:0.05 [[ 9.79948754e-01 -1.99240190e-01 -1.94571570e-03 2.09186466e+01] [ 1.99240027e-01 9.79950679e-01 -2.78964882e-04 3.31310287e+00] [ 1.96228644e-03 -1.14293161e-04 9.99998068e-01 5.35473247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384391417999996 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:20.98, Y:3.32, Z:0.06 [[ 9.80737726e-01 -1.95319552e-01 -1.94580568e-03 2.09794818e+01] [ 1.95319383e-01 9.80739650e-01 -2.78335845e-04 3.32436853e+00] [ 1.96269321e-03 -1.07079101e-04 9.99998068e-01 5.50107286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444391418 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:21.04, Y:3.33, Z:0.05 [[ 9.81242696e-01 -1.92766662e-01 -1.94588827e-03 2.10404854e+01] [ 1.92766489e-01 9.81244620e-01 -2.77757274e-04 3.33416567e+00] [ 1.96293473e-03 -1.02554753e-04 9.99998068e-01 5.45814478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504391417999997 meters Centerline goodness : 0.998962 with order 1 Centerline is valid? [True, True] Translation: X:21.10, Y:3.34, Z:0.05 [[ 9.81438805e-01 -1.91765702e-01 -1.94596850e-03 2.11025060e+01] [ 1.91765529e-01 9.81440729e-01 -2.77194031e-04 3.34303940e+00] [ 1.96300905e-03 -1.01120698e-04 9.99998068e-01 5.26187566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564391417999996 meters Centerline goodness : 0.999366 with order 1 Centerline is valid? [True, True] Translation: X:21.16, Y:3.35, Z:0.06 [[ 9.81002450e-01 -1.93985583e-01 -1.94605262e-03 2.11646832e+01] [ 1.93985415e-01 9.81004374e-01 -2.76602204e-04 3.35214584e+00] [ 1.96274297e-03 -1.06158386e-04 9.99998068e-01 5.69747961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624391418 meters Centerline goodness : 0.999346 with order 1 Centerline is valid? [True, True] Translation: X:21.23, Y:3.36, Z:0.06 [[ 9.80284326e-01 -1.97582519e-01 -1.94613536e-03 2.12269394e+01] [ 1.97582359e-01 9.80286252e-01 -2.76018822e-04 3.35977818e+00] [ 1.96230623e-03 -1.13945090e-04 9.99998068e-01 5.88695575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684391417999997 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:21.29, Y:3.36, Z:0.06 [[ 9.78929890e-01 -2.04187372e-01 -1.94622216e-03 2.12902788e+01] [ 2.04187226e-01 9.78931816e-01 -2.75405401e-04 3.36486742e+00] [ 1.96145310e-03 -1.27791125e-04 9.99998068e-01 5.53209980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744391417999996 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:21.35, Y:3.37, Z:0.05 [[ 9.77890342e-01 -2.09109281e-01 -1.94630903e-03 2.13515985e+01] [ 2.09109147e-01 9.77892269e-01 -2.74790101e-04 3.37328763e+00] [ 1.96074172e-03 -1.38276435e-04 9.99998068e-01 5.42649500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804391417999998 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:21.41, Y:3.38, Z:0.06 [[ 9.76716028e-01 -2.14527416e-01 -1.94638567e-03 2.14146860e+01] [ 2.14527293e-01 9.76717956e-01 -2.74246210e-04 3.38086279e+00] [ 1.95990316e-03 -1.49692180e-04 9.99998068e-01 5.66954191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864391417999997 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:21.48, Y:3.39, Z:0.06 [[ 9.76416637e-01 -2.15885994e-01 -1.94647495e-03 2.14765859e+01] [ 2.15885875e-01 9.76418565e-01 -2.73611075e-04 3.38878521e+00] [ 1.95964307e-03 -1.53058041e-04 9.99998068e-01 5.59166884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924391418 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:21.54, Y:3.40, Z:0.06 [[ 9.76981698e-01 -2.13314257e-01 -1.94655710e-03 2.15387496e+01] [ 2.13314134e-01 9.76983626e-01 -2.73025363e-04 3.39939219e+00] [ 1.95999461e-03 -1.48487359e-04 9.99998068e-01 6.12638638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984391417999998 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:21.60, Y:3.41, Z:0.06 [[ 9.77854727e-01 -2.09275758e-01 -1.94664516e-03 2.16013091e+01] [ 2.09275628e-01 9.77856655e-01 -2.72396055e-04 3.40985661e+00] [ 1.96054581e-03 -1.41021617e-04 9.99998068e-01 6.27514923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044391417999996 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:21.66, Y:3.42, Z:0.06 [[ 9.78771770e-01 -2.04943974e-01 -1.94673356e-03 2.16636667e+01] [ 2.04943837e-01 9.78773697e-01 -2.71762808e-04 3.42049756e+00] [ 1.96110775e-03 -1.32977280e-04 9.99998068e-01 6.41525795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104391418 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:21.73, Y:3.43, Z:0.06 [[ 9.79050889e-01 -2.03606402e-01 -1.94682126e-03 2.17256328e+01] [ 2.03606263e-01 9.79052816e-01 -2.71133087e-04 3.42971023e+00] [ 1.96124527e-03 -1.30931912e-04 9.99998068e-01 6.46216806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164391417999997 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:21.79, Y:3.44, Z:0.06 [[ 9.79236756e-01 -2.02710593e-01 -1.94691021e-03 2.17870516e+01] [ 2.02710455e-01 9.79238683e-01 -2.70492822e-04 3.43775388e+00] [ 1.96132156e-03 -1.29782541e-04 9.99998068e-01 6.19856881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224391417999996 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:21.85, Y:3.45, Z:0.06 [[ 9.79795619e-01 -1.99991883e-01 -1.94698658e-03 2.18486500e+01] [ 1.99991740e-01 9.79797546e-01 -2.69942044e-04 3.44877322e+00] [ 1.96163889e-03 -1.24893202e-04 9.99998068e-01 5.98062828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284391418 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:21.91, Y:3.46, Z:0.06 [[ 9.80456589e-01 -1.96725915e-01 -1.94706152e-03 2.19095588e+01] [ 1.96725766e-01 9.80458515e-01 -2.69400442e-04 3.45944667e+00] [ 1.96201109e-03 -1.18901730e-04 9.99998068e-01 6.34143414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344391417999997 meters Centerline goodness : 0.999450 with order 1 Centerline is valid? [True, True] Translation: X:21.97, Y:3.47, Z:0.06 [[ 9.80972676e-01 -1.94136081e-01 -1.94713784e-03 2.19713954e+01] [ 1.94135929e-01 9.80974602e-01 -2.68847632e-04 3.46784881e+00] [ 1.96228580e-03 -1.14277233e-04 9.99998068e-01 6.02363046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404391417999996 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:22.03, Y:3.48, Z:0.07 [[ 9.81140588e-01 -1.93285684e-01 -1.94721824e-03 2.20318547e+01] [ 1.93285531e-01 9.81142513e-01 -2.68264092e-04 3.47835133e+00] [ 1.96235020e-03 -1.13164322e-04 9.99998068e-01 6.70749455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464391417999998 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:22.09, Y:3.49, Z:0.07 [[ 9.81448608e-01 -1.91715515e-01 -1.94725647e-03 2.20947105e+01] [ 1.91715360e-01 9.81450533e-01 -2.67986283e-04 3.48778709e+00] [ 1.96251303e-03 -1.10304210e-04 9.99998068e-01 6.83339954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524391417999997 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:22.16, Y:3.50, Z:0.07 [[ 9.81166881e-01 -1.93152168e-01 -1.94734198e-03 2.21566425e+01] [ 1.93152016e-01 9.81168807e-01 -2.67363480e-04 3.49591700e+00] [ 1.96231304e-03 -1.13804838e-04 9.99998068e-01 6.86203607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584391417999996 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:22.22, Y:3.50, Z:0.07 [[ 9.80741067e-01 -1.95302756e-01 -1.94741610e-03 2.22181074e+01] [ 1.95302610e-01 9.80742994e-01 -2.66822464e-04 3.50460310e+00] [ 1.96202586e-03 -1.18651699e-04 9.99998068e-01 7.35931349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644391417999998 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:22.28, Y:3.51, Z:0.08 [[ 9.80150758e-01 -1.98244040e-01 -1.94749225e-03 2.22788885e+01] [ 1.98243901e-01 9.80152684e-01 -2.66265525e-04 3.51180506e+00] [ 1.96162531e-03 -1.25098105e-04 9.99998068e-01 7.70068155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704391417999997 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:22.34, Y:3.52, Z:0.08 [[ 9.80061373e-01 -1.98685462e-01 -1.94756158e-03 2.23419403e+01] [ 1.98685325e-01 9.80063300e-01 -2.65757441e-04 3.51797503e+00] [ 1.96153577e-03 -1.26493303e-04 9.99998068e-01 7.60091487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764391418 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:22.40, Y:3.52, Z:0.08 [[ 9.79752262e-01 -2.00204175e-01 -1.94764690e-03 2.24038612e+01] [ 2.00204042e-01 9.79754189e-01 -2.65130711e-04 3.52460478e+00] [ 1.96129548e-03 -1.30164367e-04 9.99998068e-01 7.66690447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824391417999998 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:22.47, Y:3.53, Z:0.08 [[ 9.79702082e-01 -2.00449585e-01 -1.94772532e-03 2.24651254e+01] [ 2.00449454e-01 9.79704010e-01 -2.64553342e-04 3.53331520e+00] [ 1.96122391e-03 -1.31237016e-04 9.99998068e-01 8.20961829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884391417999996 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:22.53, Y:3.54, Z:0.08 [[ 9.79547755e-01 -2.01202392e-01 -1.94779722e-03 2.25275300e+01] [ 2.01202263e-01 9.79549682e-01 -2.64022941e-04 3.53783394e+00] [ 1.96108619e-03 -1.33278128e-04 9.99998068e-01 8.46504581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944391418 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:22.59, Y:3.54, Z:0.08 [[ 9.79260953e-01 -2.02593662e-01 -1.94787150e-03 2.25893050e+01] [ 2.02593537e-01 9.79262881e-01 -2.63473749e-04 3.54306542e+00] [ 1.96085637e-03 -1.36616623e-04 9.99998068e-01 8.31037722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004391417999997 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:22.65, Y:3.55, Z:0.08 [[ 9.79646866e-01 -2.00719264e-01 -1.94794601e-03 2.26507849e+01] [ 2.00719136e-01 9.79648794e-01 -2.62921706e-04 3.54986675e+00] [ 1.96107641e-03 -1.33419615e-04 9.99998068e-01 8.16023529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064391417999996 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:22.71, Y:3.56, Z:0.08 [[ 9.80128194e-01 -1.98355560e-01 -1.94802197e-03 2.27138588e+01] [ 1.98355429e-01 9.80130122e-01 -2.62357720e-04 3.55706367e+00] [ 1.96135512e-03 -1.29256535e-04 9.99998068e-01 7.96933517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124391418 meters Centerline goodness : 0.999493 with order 1 Centerline is valid? [True, True] Translation: X:22.78, Y:3.57, Z:0.08 [[ 9.80865497e-01 -1.94676866e-01 -1.94810874e-03 2.27760834e+01] [ 1.94676729e-01 9.80867424e-01 -2.61711803e-04 3.56722464e+00] [ 1.96178564e-03 -1.22547360e-04 9.99998068e-01 8.43801155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184391417999997 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:22.84, Y:3.58, Z:0.09 [[ 9.81805842e-01 -1.89877573e-01 -1.94819489e-03 2.28367180e+01] [ 1.89877428e-01 9.81807769e-01 -2.61068911e-04 3.57583559e+00] [ 1.96232401e-03 -1.13599253e-04 9.99998068e-01 8.82735353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244391417999996 meters Centerline goodness : 0.998737 with order 1 Centerline is valid? [True, True] Translation: X:22.90, Y:3.58, Z:0.09 [[ 9.82647532e-01 -1.85472457e-01 -1.94826326e-03 2.28997517e+01] [ 1.85472304e-01 9.82649458e-01 -2.60557752e-04 3.58403959e+00] [ 1.96278612e-03 -1.05312442e-04 9.99998068e-01 8.72605968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304391417999998 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:22.96, Y:3.59, Z:0.09 [[ 9.83122394e-01 -1.82938684e-01 -1.94834646e-03 2.29611244e+01] [ 1.82938527e-01 9.83124320e-01 -2.59934104e-04 3.59387117e+00] [ 1.96301879e-03 -1.00880594e-04 9.99998068e-01 8.71655585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364391417999997 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:23.02, Y:3.60, Z:0.09 [[ 9.82673565e-01 -1.85334478e-01 -1.94842288e-03 2.30232562e+01] [ 1.85334327e-01 9.82675491e-01 -2.59359995e-04 3.60252635e+00] [ 1.96273576e-03 -1.06243431e-04 9.99998068e-01 8.98962579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424391417999995 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:23.09, Y:3.61, Z:0.09 [[ 9.82170961e-01 -1.87979806e-01 -1.94850525e-03 2.30854951e+01] [ 1.87979661e-01 9.82172887e-01 -2.58739661e-04 3.61075993e+00] [ 1.96240686e-03 -1.12152775e-04 9.99998068e-01 9.08322599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484391417999998 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:23.15, Y:3.62, Z:0.09 [[ 9.81994674e-01 -1.88898555e-01 -1.94858928e-03 2.31473314e+01] [ 1.88898413e-01 9.81996600e-01 -2.58105269e-04 3.62119759e+00] [ 1.96226376e-03 -1.14627424e-04 9.99998068e-01 8.99163362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544391417999996 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:23.21, Y:3.63, Z:0.09 [[ 9.81703852e-01 -1.90404173e-01 -1.94867454e-03 2.32089091e+01] [ 1.90404036e-01 9.81705779e-01 -2.57460000e-04 3.63008049e+00] [ 1.96204651e-03 -1.18286023e-04 9.99998068e-01 8.84128886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604391418 meters Centerline goodness : 0.998673 with order 1 Centerline is valid? [True, True] Translation: X:23.27, Y:3.64, Z:0.08 [[ 9.81323923e-01 -1.92352699e-01 -1.94872689e-03 2.32713880e+01] [ 1.92352566e-01 9.81325850e-01 -2.57063129e-04 3.63743758e+00] [ 1.96178286e-03 -1.22580419e-04 9.99998068e-01 8.32378513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664391417999997 meters Centerline goodness : 0.998695 with order 1 Centerline is valid? [True, True] Translation: X:23.33, Y:3.65, Z:0.09 [[ 9.80723899e-01 -1.95388934e-01 -1.94881122e-03 2.33326304e+01] [ 1.95388808e-01 9.80725827e-01 -2.56422239e-04 3.64955373e+00] [ 1.96135156e-03 -1.29296483e-04 9.99998068e-01 9.27568511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724391417999996 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:23.39, Y:3.66, Z:0.09 [[ 9.80749984e-01 -1.95257957e-01 -1.94888917e-03 2.33936241e+01] [ 1.95257832e-01 9.80751912e-01 -2.55828386e-04 3.65933692e+00] [ 1.96132931e-03 -1.29632190e-04 9.99998068e-01 9.33318520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784391418 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:23.46, Y:3.67, Z:0.09 [[ 9.80580436e-01 -1.96107650e-01 -1.94896318e-03 2.34558944e+01] [ 1.96107528e-01 9.80582364e-01 -2.55263298e-04 3.66790739e+00] [ 1.96117801e-03 -1.31900155e-04 9.99998068e-01 9.06431172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844391417999997 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:23.52, Y:3.68, Z:0.09 [[ 9.80268864e-01 -1.97659189e-01 -1.94904405e-03 2.35177181e+01] [ 1.97659071e-01 9.80270793e-01 -2.54644330e-04 3.67924273e+00] [ 1.96092375e-03 -1.35626328e-04 9.99998068e-01 9.21029641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904391417999996 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:23.58, Y:3.69, Z:0.09 [[ 9.79831203e-01 -1.99817452e-01 -1.94912681e-03 2.35788988e+01] [ 1.99817340e-01 9.79833132e-01 -2.54009319e-04 3.68692557e+00] [ 1.96057452e-03 -1.40583077e-04 9.99998068e-01 9.05023027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964391417999998 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:23.64, Y:3.69, Z:0.09 [[ 9.79335854e-01 -2.02231269e-01 -1.94920289e-03 2.36411675e+01] [ 2.02231163e-01 9.79337783e-01 -2.53424135e-04 3.69489839e+00] [ 1.96017832e-03 -1.46002226e-04 9.99998068e-01 9.12591492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024391417999997 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:23.70, Y:3.71, Z:0.09 [[ 9.78804775e-01 -2.04786260e-01 -1.94927755e-03 2.37028174e+01] [ 2.04786160e-01 9.78806705e-01 -2.52848572e-04 3.70657313e+00] [ 1.95974584e-03 -1.51695674e-04 9.99998068e-01 9.18531458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084391417999996 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:23.77, Y:3.72, Z:0.10 [[ 9.78672954e-01 -2.05415309e-01 -1.94935659e-03 2.37655144e+01] [ 2.05415212e-01 9.78674883e-01 -2.52237672e-04 3.71524246e+00] [ 1.95959982e-03 -1.53569310e-04 9.99998068e-01 9.54381112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144391417999998 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:23.83, Y:3.72, Z:0.10 [[ 9.78744346e-01 -2.05074876e-01 -1.94943791e-03 2.38281186e+01] [ 2.05074779e-01 9.78746276e-01 -2.51607639e-04 3.72281133e+00] [ 1.95960350e-03 -1.53520994e-04 9.99998068e-01 9.57991401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204391417999997 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:23.89, Y:3.73, Z:0.10 [[ 9.79515771e-01 -2.01358023e-01 -1.94952117e-03 2.38905695e+01] [ 2.01357920e-01 9.79517700e-01 -2.50960879e-04 3.73399328e+00] [ 1.96012348e-03 -1.46731388e-04 9.99998068e-01 9.70140828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264391417999995 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:23.95, Y:3.74, Z:0.10 [[ 9.80073457e-01 -1.98625822e-01 -1.94960369e-03 2.39516686e+01] [ 1.98625715e-01 9.80075386e-01 -2.50318164e-04 3.74363165e+00] [ 1.96047824e-03 -1.41911237e-04 9.99998068e-01 9.54354605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324391417999998 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:24.01, Y:3.75, Z:0.09 [[ 9.80419097e-01 -1.96912655e-01 -1.94967943e-03 2.40144714e+01] [ 1.96912546e-01 9.80421025e-01 -2.49726824e-04 3.74959879e+00] [ 1.96068108e-03 -1.39079393e-04 9.99998068e-01 9.27535470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384391417999996 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:24.08, Y:3.76, Z:0.09 [[ 9.80357459e-01 -1.97219297e-01 -1.94975944e-03 2.40773600e+01] [ 1.97219189e-01 9.80359388e-01 -2.49100553e-04 3.75714793e+00] [ 1.96059241e-03 -1.40322392e-04 9.99998068e-01 9.42775907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444391418 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:24.14, Y:3.77, Z:0.09 [[ 9.79980180e-01 -1.99085522e-01 -1.94984008e-03 2.41392633e+01] [ 1.99085419e-01 9.79982109e-01 -2.48467722e-04 3.77057601e+00] [ 1.96027472e-03 -1.44691288e-04 9.99998068e-01 9.23408246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504391417999997 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:24.20, Y:3.77, Z:0.09 [[ 9.80752657e-01 -1.95244525e-01 -1.94992360e-03 2.42024410e+01] [ 1.95244416e-01 9.80754585e-01 -2.47810609e-04 3.77347383e+00] [ 1.96078017e-03 -1.37670780e-04 9.99998068e-01 9.30342172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564391417999996 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:24.26, Y:3.78, Z:0.09 [[ 9.80346845e-01 -1.97272047e-01 -1.95000567e-03 2.42627388e+01] [ 1.97271943e-01 9.80348774e-01 -2.47163039e-04 3.78370825e+00] [ 1.96044403e-03 -1.42375904e-04 9.99998068e-01 9.12605636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624391418 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:24.32, Y:3.79, Z:0.10 [[ 9.80243424e-01 -1.97785306e-01 -1.95007062e-03 2.43239939e+01] [ 1.97785205e-01 9.80245353e-01 -2.46649576e-04 3.79015624e+00] [ 1.96033132e-03 -1.43918491e-04 9.99998068e-01 1.00687937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684391417999997 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:24.39, Y:3.79, Z:0.10 [[ 9.80113325e-01 -1.98428996e-01 -1.95013441e-03 2.43866280e+01] [ 1.98428897e-01 9.80115255e-01 -2.46144160e-04 3.79493269e+00] [ 1.96019862e-03 -1.45713848e-04 9.99998068e-01 9.98398121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744391417999996 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:24.45, Y:3.80, Z:0.09 [[ 9.79907188e-01 -1.99444475e-01 -1.95021134e-03 2.44493069e+01] [ 1.99444379e-01 9.79909118e-01 -2.45533160e-04 3.79861119e+00] [ 1.96000010e-03 -1.48358981e-04 9.99998068e-01 9.44338198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804391417999998 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:24.51, Y:3.81, Z:0.10 [[ 9.79751627e-01 -2.00207256e-01 -1.95028685e-03 2.45118005e+01] [ 2.00207163e-01 9.79753557e-01 -2.44931867e-04 3.80716246e+00] [ 1.95983762e-03 -1.50489003e-04 9.99998068e-01 9.52623568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864391417999997 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:24.57, Y:3.81, Z:0.10 [[ 9.80109445e-01 -1.98448160e-01 -1.95036395e-03 2.45748461e+01] [ 1.98448065e-01 9.80111374e-01 -2.44316384e-04 3.81230747e+00] [ 1.96005803e-03 -1.47589157e-04 9.99998068e-01 9.53913309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924391417999995 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:24.64, Y:3.82, Z:0.10 [[ 9.80076454e-01 -1.98611028e-01 -1.95044285e-03 2.46379803e+01] [ 1.98610934e-01 9.80078383e-01 -2.43684873e-04 3.81983548e+00] [ 1.95998538e-03 -1.48549471e-04 9.99998068e-01 9.57966597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984391417999998 meters Centerline goodness : 0.998860 with order 1 Centerline is valid? [True, True] Translation: X:24.70, Y:3.83, Z:0.09 [[ 9.80109005e-01 -1.98450330e-01 -1.95052033e-03 2.47008267e+01] [ 1.98450237e-01 9.80110935e-01 -2.43063125e-04 3.82814685e+00] [ 1.95996226e-03 -1.48852865e-04 9.99998068e-01 9.43828615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044391417999996 meters Centerline goodness : 0.998694 with order 1 Centerline is valid? [True, True] Translation: X:24.76, Y:3.84, Z:0.09 [[ 9.80260877e-01 -1.97698781e-01 -1.95059680e-03 2.47632142e+01] [ 1.97698688e-01 9.80262807e-01 -2.42447908e-04 3.83547311e+00] [ 1.96002915e-03 -1.47968228e-04 9.99998068e-01 9.34824642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104391417999995 meters Centerline goodness : 0.998670 with order 1 Centerline is valid? [True, True] Translation: X:24.83, Y:3.84, Z:0.09 [[ 9.80846058e-01 -1.94774758e-01 -1.95067198e-03 2.48264458e+01] [ 1.94774660e-01 9.80847987e-01 -2.41841466e-04 3.84086386e+00] [ 1.96041730e-03 -1.42732224e-04 9.99998068e-01 8.69730611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164391417999997 meters Centerline goodness : 0.998838 with order 1 Centerline is valid? [True, True] Translation: X:24.89, Y:3.85, Z:0.09 [[ 9.81515871e-01 -1.91370818e-01 -1.95074773e-03 2.48864804e+01] [ 1.91370715e-01 9.81517800e-01 -2.41228969e-04 3.85187321e+00] [ 1.96085780e-03 -1.36545925e-04 9.99998068e-01 8.96235195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224391417999996 meters Centerline goodness : 0.998835 with order 1 Centerline is valid? [True, True] Translation: X:24.95, Y:3.86, Z:0.08 [[ 9.82540338e-01 -1.86039457e-01 -1.95078432e-03 2.49480328e+01] [ 1.86039343e-01 9.82542266e-01 -2.40932711e-04 3.86156079e+00] [ 1.96155103e-03 -1.26196526e-04 9.99998068e-01 8.14278991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284391418 meters Centerline goodness : 0.998734 with order 1 Centerline is valid? [True, True] Translation: X:25.01, Y:3.87, Z:0.09 [[ 9.83286947e-01 -1.82052119e-01 -1.95085461e-03 2.50091826e+01] [ 1.82051999e-01 9.83288875e-01 -2.40362198e-04 3.86835437e+00] [ 1.96201208e-03 -1.18811969e-04 9.99998068e-01 8.57310714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344391417999997 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:25.07, Y:3.88, Z:0.08 [[ 9.83815700e-01 -1.79172719e-01 -1.95092802e-03 2.50710519e+01] [ 1.79172594e-01 9.83817627e-01 -2.39764820e-04 3.87683476e+00] [ 1.96231669e-03 -1.13668441e-04 9.99998068e-01 7.70075847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404391417999996 meters Centerline goodness : 0.998744 with order 1 Centerline is valid? [True, True] Translation: X:25.13, Y:3.89, Z:0.08 [[ 9.83365966e-01 -1.81624808e-01 -1.95101072e-03 2.51315576e+01] [ 1.81624689e-01 9.83367894e-01 -2.39089972e-04 3.88608971e+00] [ 1.96198598e-03 -1.19238776e-04 9.99998068e-01 7.70897651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464391417999998 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:25.19, Y:3.90, Z:0.08 [[ 9.83759147e-01 -1.79482962e-01 -1.95108509e-03 2.51936781e+01] [ 1.79482841e-01 9.83761075e-01 -2.38481598e-04 3.89627729e+00] [ 1.96220495e-03 -1.15577840e-04 9.99998068e-01 7.71874357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524391417999997 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:25.25, Y:3.91, Z:0.07 [[ 9.84193461e-01 -1.77085923e-01 -1.95116216e-03 2.52548221e+01] [ 1.77085799e-01 9.84195389e-01 -2.37849318e-04 3.90676553e+00] [ 1.96244457e-03 -1.11433367e-04 9.99998068e-01 7.22104909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584391417999996 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:25.32, Y:3.92, Z:0.07 [[ 9.84232004e-01 -1.76871577e-01 -1.95123294e-03 2.53175798e+01] [ 1.76871453e-01 9.84233932e-01 -2.37267240e-04 3.91550023e+00] [ 1.96243550e-03 -1.11591395e-04 9.99998068e-01 7.22827719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644391417999998 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:25.38, Y:3.93, Z:0.07 [[ 9.84649855e-01 -1.74530386e-01 -1.95130628e-03 2.53800870e+01] [ 1.74530259e-01 9.84651783e-01 -2.36662560e-04 3.92668976e+00] [ 1.96266201e-03 -1.07532234e-04 9.99998068e-01 7.05512014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704391417999997 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:25.44, Y:3.94, Z:0.07 [[ 9.85270920e-01 -1.70989494e-01 -1.95137990e-03 2.54427991e+01] [ 1.70989361e-01 9.85272847e-01 -2.36053925e-04 3.93722457e+00] [ 1.96300438e-03 -1.01088134e-04 9.99998068e-01 6.96065140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764391417999995 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:25.51, Y:3.95, Z:0.07 [[ 9.85847346e-01 -1.67634132e-01 -1.95145207e-03 2.55052972e+01] [ 1.67633993e-01 9.85849273e-01 -2.35455795e-04 3.94840186e+00] [ 1.96330804e-03 -9.50062331e-05 9.99998068e-01 6.79648462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824391417999998 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:25.57, Y:3.96, Z:0.07 [[ 9.86724034e-01 -1.62394191e-01 -1.95152973e-03 2.55660973e+01] [ 1.62394043e-01 9.86725960e-01 -2.34810413e-04 3.96224275e+00] [ 1.96375689e-03 -8.52237249e-05 9.99998068e-01 6.81885873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884391417999996 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:25.63, Y:3.97, Z:0.06 [[ 9.87520432e-01 -1.57478849e-01 -1.95160098e-03 2.56288107e+01] [ 1.57478694e-01 9.87522357e-01 -2.34216655e-04 3.97256529e+00] [ 1.96413377e-03 -7.60418407e-05 9.99998068e-01 6.44513405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944391417999995 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:25.69, Y:3.99, Z:0.06 [[ 9.88494689e-01 -1.51242984e-01 -1.95167748e-03 2.56897622e+01] [ 1.51242817e-01 9.88496614e-01 -2.33577466e-04 3.98579226e+00] [ 1.96455354e-03 -6.42871167e-05 9.99998068e-01 6.40440745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004391417999997 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:25.75, Y:4.00, Z:0.07 [[ 9.89137527e-01 -1.46980079e-01 -1.95172439e-03 2.57521015e+01] [ 1.46979905e-01 9.89139451e-01 -2.33184871e-04 3.99809970e+00] [ 1.96480112e-03 -5.62123581e-05 9.99998068e-01 6.60149938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064391417999996 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:25.81, Y:4.01, Z:0.06 [[ 9.89727297e-01 -1.42954773e-01 -1.95179809e-03 2.58141283e+01] [ 1.42954592e-01 9.89729221e-01 -2.32566310e-04 4.00873714e+00] [ 1.96499807e-03 -4.88412750e-05 9.99998068e-01 6.44275334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124391418 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:25.88, Y:4.02, Z:0.06 [[ 9.89924974e-01 -1.41579437e-01 -1.95187089e-03 2.58763692e+01] [ 1.41579255e-01 9.89926897e-01 -2.31953706e-04 4.01984996e+00] [ 1.96504937e-03 -4.67276602e-05 9.99998068e-01 6.49634488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184391417999997 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:25.94, Y:4.03, Z:0.07 [[ 9.90075872e-01 -1.40520311e-01 -1.95194337e-03 2.59385005e+01] [ 1.40520128e-01 9.90077795e-01 -2.31342163e-04 4.03069166e+00] [ 1.96508406e-03 -4.52410385e-05 9.99998068e-01 6.66959188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244391417999996 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:26.00, Y:4.04, Z:0.07 [[ 9.90131736e-01 -1.40126138e-01 -1.95201487e-03 2.60004016e+01] [ 1.40125956e-01 9.90133659e-01 -2.30737264e-04 4.04170323e+00] [ 1.96508795e-03 -4.50676621e-05 9.99998068e-01 6.54075028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304391417999998 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:26.06, Y:4.05, Z:0.06 [[ 9.89710790e-01 -1.43069008e-01 -1.95209002e-03 2.60623572e+01] [ 1.43068832e-01 9.89712714e-01 -2.30099751e-04 4.05284962e+00] [ 1.96492846e-03 -5.15510338e-05 9.99998068e-01 6.30567333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364391417999997 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:26.13, Y:4.06, Z:0.06 [[ 9.89153689e-01 -1.46871267e-01 -1.95216375e-03 2.61250316e+01] [ 1.46871099e-01 9.89155613e-01 -2.29472531e-04 4.06214541e+00] [ 1.96469665e-03 -5.97328355e-05 9.99998068e-01 6.30636258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424391417999995 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:26.19, Y:4.07, Z:0.06 [[ 9.88722804e-01 -1.49744470e-01 -1.95223877e-03 2.61858347e+01] [ 1.49744310e-01 9.88724729e-01 -2.28832523e-04 4.07290784e+00] [ 1.96449315e-03 -6.60847129e-05 9.99998068e-01 6.25047217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484391417999998 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:26.25, Y:4.08, Z:0.06 [[ 9.88654688e-01 -1.50193532e-01 -1.95228486e-03 2.62477084e+01] [ 1.50193373e-01 9.88656613e-01 -2.28438606e-04 4.08495654e+00] [ 1.96444934e-03 -6.73733501e-05 9.99998068e-01 6.07496961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544391417999996 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:26.31, Y:4.10, Z:0.06 [[ 9.88712207e-01 -1.49814416e-01 -1.95235688e-03 2.63085885e+01] [ 1.49814258e-01 9.88714133e-01 -2.27821393e-04 4.09645816e+00] [ 1.96445377e-03 -6.72411047e-05 9.99998068e-01 5.97890578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604391417999995 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:26.37, Y:4.11, Z:0.06 [[ 9.88807710e-01 -1.49182776e-01 -1.95242307e-03 2.63705628e+01] [ 1.49182618e-01 9.88809635e-01 -2.27252783e-04 4.10666882e+00] [ 1.96447694e-03 -6.65582800e-05 9.99998068e-01 6.11450504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664391417999997 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:26.43, Y:4.12, Z:0.06 [[ 9.89452680e-01 -1.44843299e-01 -1.95249546e-03 2.64330810e+01] [ 1.44843133e-01 9.89454605e-01 -2.26629109e-04 4.11701730e+00] [ 1.96473133e-03 -5.85667797e-05 9.99998068e-01 6.07451513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724391417999996 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:26.49, Y:4.12, Z:0.06 [[ 9.89650701e-01 -1.43484066e-01 -1.95256796e-03 2.64948205e+01] [ 1.43483899e-01 9.89652626e-01 -2.26002721e-04 4.12479784e+00] [ 1.96479180e-03 -5.64983128e-05 9.99998068e-01 6.12097373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784391417999995 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:26.56, Y:4.13, Z:0.06 [[ 9.89939915e-01 -1.41474913e-01 -1.95263448e-03 2.65577370e+01] [ 1.41474743e-01 9.89941840e-01 -2.25426507e-04 4.13169358e+00] [ 1.96488677e-03 -5.30897651e-05 9.99998068e-01 6.12000687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844391417999997 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:26.62, Y:4.14, Z:0.06 [[ 9.89765402e-01 -1.42690697e-01 -1.95270658e-03 2.66205448e+01] [ 1.42690531e-01 9.89767327e-01 -2.24800250e-04 4.13733908e+00] [ 1.96480207e-03 -5.61332289e-05 9.99998068e-01 5.92765503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904391417999996 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:26.68, Y:4.14, Z:0.06 [[ 9.89681939e-01 -1.43268442e-01 -1.95277801e-03 2.66828147e+01] [ 1.43268278e-01 9.89683864e-01 -2.24178036e-04 4.14354240e+00] [ 1.96475052e-03 -5.79061897e-05 9.99998068e-01 5.53280113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964391417999998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:26.75, Y:4.15, Z:0.05 [[ 9.89260819e-01 -1.46147936e-01 -1.95284363e-03 2.67451826e+01] [ 1.46147779e-01 9.89262744e-01 -2.23604904e-04 4.14950505e+00] [ 1.96455485e-03 -6.42001885e-05 9.99998068e-01 5.48776300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024391417999997 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:26.81, Y:4.15, Z:0.06 [[ 9.88866641e-01 -1.48791638e-01 -1.95290429e-03 2.68072429e+01] [ 1.48791487e-01 9.88868567e-01 -2.23073902e-04 4.15215375e+00] [ 1.96435720e-03 -6.99851936e-05 9.99998068e-01 5.69310368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084391417999996 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:26.87, Y:4.16, Z:0.06 [[ 9.89024881e-01 -1.47736152e-01 -1.95296608e-03 2.68700152e+01] [ 1.47736001e-01 9.89026807e-01 -2.22531617e-04 4.15812127e+00] [ 1.96441177e-03 -6.84340920e-05 9.99998068e-01 6.04943422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144391417999998 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:26.93, Y:4.17, Z:0.06 [[ 9.89207923e-01 -1.46505529e-01 -1.95303706e-03 2.69314898e+01] [ 1.46505376e-01 9.89209849e-01 -2.21906863e-04 4.16533907e+00] [ 1.96447408e-03 -6.66184029e-05 9.99998068e-01 6.41943432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204391417999997 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:27.00, Y:4.16, Z:0.06 [[ 9.88393250e-01 -1.51904472e-01 -1.95310231e-03 2.69952958e+01] [ 1.51904331e-01 9.88395177e-01 -2.21331073e-04 4.16496608e+00] [ 1.96405809e-03 -7.79225609e-05 9.99998068e-01 6.20879222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264391417999995 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:27.06, Y:4.17, Z:0.06 [[ 9.87523047e-01 -1.57462429e-01 -1.95317316e-03 2.70566739e+01] [ 1.57462300e-01 9.87524975e-01 -2.20704139e-04 4.16646059e+00] [ 1.96355988e-03 -8.96007129e-05 9.99998068e-01 5.92162703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324391417999998 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:27.12, Y:4.17, Z:0.06 [[ 9.86515167e-01 -1.63658214e-01 -1.95320737e-03 2.71197815e+01] [ 1.63658098e-01 9.86517095e-01 -2.20400918e-04 4.16914733e+00] [ 1.96294288e-03 -1.02229355e-04 9.99998068e-01 5.77303207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384391417999996 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:27.18, Y:4.17, Z:0.06 [[ 9.86016844e-01 -1.66634235e-01 -1.95327738e-03 2.71816476e+01] [ 1.66634126e-01 9.86018773e-01 -2.19778719e-04 4.17291388e+00] [ 1.96259082e-03 -1.08777150e-04 9.99998068e-01 5.83367043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444391417999995 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:27.24, Y:4.17, Z:0.06 [[ 9.85158821e-01 -1.71634150e-01 -1.95334178e-03 2.72447886e+01] [ 1.71634051e-01 9.85160751e-01 -2.19204883e-04 4.17433441e+00] [ 1.96197869e-03 -1.19308339e-04 9.99998068e-01 5.84033065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504391417999997 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:27.31, Y:4.18, Z:0.06 [[ 9.84768530e-01 -1.73859500e-01 -1.95341386e-03 2.73075085e+01] [ 1.73859407e-01 9.84770460e-01 -2.18560640e-04 4.17797995e+00] [ 1.96166311e-03 -1.24387734e-04 9.99998068e-01 5.90055486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564391417999996 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:27.37, Y:4.18, Z:0.06 [[ 9.85098601e-01 -1.71979446e-01 -1.95348497e-03 2.73711169e+01] [ 1.71979350e-01 9.85100531e-01 -2.17923217e-04 4.18115412e+00] [ 1.96185739e-03 -1.21283219e-04 9.99998068e-01 5.94216377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624391417999995 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:27.43, Y:4.18, Z:0.06 [[ 9.85471682e-01 -1.69828581e-01 -1.95355538e-03 2.74340155e+01] [ 1.69828482e-01 9.85473612e-01 -2.17290161e-04 4.18460714e+00] [ 1.96207936e-03 -1.17636044e-04 9.99998068e-01 5.87283616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684391417999997 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:27.50, Y:4.19, Z:0.06 [[ 9.85658974e-01 -1.68738171e-01 -1.95362631e-03 2.74964654e+01] [ 1.68738072e-01 9.85660903e-01 -2.16650517e-04 4.18987126e+00] [ 1.96217029e-03 -1.16107612e-04 9.99998068e-01 6.11668626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744391417999996 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:27.56, Y:4.19, Z:0.06 [[ 9.85916882e-01 -1.67224655e-01 -1.95369615e-03 2.75596142e+01] [ 1.67224554e-01 9.85918811e-01 -2.16018929e-04 4.19348833e+00] [ 1.96230948e-03 -1.13729259e-04 9.99998068e-01 6.23042204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804391417999998 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:27.62, Y:4.19, Z:0.06 [[ 9.86059174e-01 -1.66383555e-01 -1.95376552e-03 2.76234223e+01] [ 1.66383454e-01 9.86061103e-01 -2.15389699e-04 4.19455499e+00] [ 1.96236949e-03 -1.12687266e-04 9.99998068e-01 5.95329424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864391417999997 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:27.69, Y:4.20, Z:0.06 [[ 9.85643920e-01 -1.68826079e-01 -1.95383471e-03 2.76862286e+01] [ 1.68825984e-01 9.85645850e-01 -2.14760188e-04 4.19714593e+00] [ 1.96204620e-03 -1.18180994e-04 9.99998068e-01 5.85757341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924391417999995 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:27.75, Y:4.20, Z:0.06 [[ 9.85368243e-01 -1.70427723e-01 -1.95385632e-03 2.77494135e+01] [ 1.70427632e-01 9.85370172e-01 -2.14563460e-04 4.19799448e+00] [ 1.96183930e-03 -1.21567084e-04 9.99998068e-01 5.72050793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984391417999998 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:27.81, Y:4.20, Z:0.06 [[ 9.85510299e-01 -1.69604344e-01 -1.95392695e-03 2.78124415e+01] [ 1.69604252e-01 9.85512228e-01 -2.13918305e-04 4.20137985e+00] [ 1.96190037e-03 -1.20575626e-04 9.99998068e-01 5.76462183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044391417999996 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:27.87, Y:4.20, Z:0.06 [[ 9.85640173e-01 -1.68847953e-01 -1.95399757e-03 2.78742065e+01] [ 1.68847861e-01 9.85642103e-01 -2.13271272e-04 4.20437905e+00] [ 1.96195269e-03 -1.19719577e-04 9.99998068e-01 5.93867415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104391417999995 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:27.94, Y:4.21, Z:0.06 [[ 9.85600513e-01 -1.69079301e-01 -1.95406236e-03 2.79370923e+01] [ 1.69079210e-01 9.85602443e-01 -2.12676005e-04 4.20808977e+00] [ 1.96188774e-03 -1.20777740e-04 9.99998068e-01 5.88253419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164391417999997 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:28.00, Y:4.21, Z:0.06 [[ 9.85355119e-01 -1.70503577e-01 -1.95413040e-03 2.79998261e+01] [ 1.70503491e-01 9.85357049e-01 -2.12048939e-04 4.20916275e+00] [ 1.96167127e-03 -1.24242547e-04 9.99998068e-01 5.92434826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224391417999996 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:28.06, Y:4.21, Z:0.06 [[ 9.85116165e-01 -1.71878805e-01 -1.95419292e-03 2.80622224e+01] [ 1.71878722e-01 9.85118095e-01 -2.11471245e-04 4.20841226e+00] [ 1.96145823e-03 -1.27560439e-04 9.99998068e-01 5.98079316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284391417999995 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:28.12, Y:4.21, Z:0.06 [[ 9.85047049e-01 -1.72274466e-01 -1.95425081e-03 2.81243263e+01] [ 1.72274385e-01 9.85048979e-01 -2.10934836e-04 4.21299460e+00] [ 1.96137146e-03 -1.28886620e-04 9.99998068e-01 5.92761604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344391417999997 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:28.19, Y:4.22, Z:0.06 [[ 9.85132507e-01 -1.71785113e-01 -1.95430759e-03 2.81872718e+01] [ 1.71785032e-01 9.85134437e-01 -2.10407494e-04 4.21660572e+00] [ 1.96140058e-03 -1.28441530e-04 9.99998068e-01 5.91418736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404391417999996 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:28.25, Y:4.22, Z:0.06 [[ 9.85444594e-01 -1.69985686e-01 -1.95437525e-03 2.82485172e+01] [ 1.69985603e-01 9.85446524e-01 -2.09777099e-04 4.21688384e+00] [ 1.96159140e-03 -1.25491948e-04 9.99998068e-01 5.81275674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464391417999995 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:28.31, Y:4.22, Z:0.06 [[ 9.85871563e-01 -1.67491618e-01 -1.95442903e-03 2.83115869e+01] [ 1.67491531e-01 9.85873493e-01 -2.09274922e-04 4.22182752e+00] [ 1.96187157e-03 -1.21032115e-04 9.99998068e-01 6.05326917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524391417999997 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:28.37, Y:4.23, Z:0.06 [[ 9.86053846e-01 -1.66415121e-01 -1.95449464e-03 2.83728538e+01] [ 1.66415033e-01 9.86055776e-01 -2.08660327e-04 4.22558892e+00] [ 1.96196496e-03 -1.19506972e-04 9.99998068e-01 5.78165455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584391417999996 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:28.44, Y:4.23, Z:0.06 [[ 9.86069413e-01 -1.66322858e-01 -1.95454683e-03 2.84359559e+01] [ 1.66322771e-01 9.86071343e-01 -2.08170303e-04 4.23008396e+00] [ 1.96194610e-03 -1.19815276e-04 9.99998068e-01 6.01016995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644391417999998 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:28.50, Y:4.24, Z:0.06 [[ 9.86122677e-01 -1.66006763e-01 -1.95461390e-03 2.84986821e+01] [ 1.66006676e-01 9.86124607e-01 -2.07538597e-04 4.23608766e+00] [ 1.96194568e-03 -1.19820441e-04 9.99998068e-01 6.28307949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704391417999997 meters Centerline goodness : 0.998793 with order 1 Centerline is valid? [True, True] Translation: X:28.56, Y:4.24, Z:0.06 [[ 9.85946976e-01 -1.67047117e-01 -1.95468010e-03 2.85621363e+01] [ 1.67047033e-01 9.85948906e-01 -2.06913271e-04 4.24043100e+00] [ 1.96177897e-03 -1.22517997e-04 9.99998068e-01 6.19043310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764391417999995 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:28.62, Y:4.25, Z:0.06 [[ 9.85822326e-01 -1.67781167e-01 -1.95474571e-03 2.86247950e+01] [ 1.67781086e-01 9.85824256e-01 -2.06291550e-04 4.24528324e+00] [ 1.96164757e-03 -1.24602542e-04 9.99998068e-01 6.17583660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824391417999998 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:28.69, Y:4.25, Z:0.06 [[ 9.85095948e-01 -1.71994628e-01 -1.95481375e-03 2.86861646e+01] [ 1.71994557e-01 9.85097878e-01 -2.05644809e-04 4.24800788e+00] [ 1.96105268e-03 -1.33637457e-04 9.99998068e-01 5.93614289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884391417999996 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:28.75, Y:4.25, Z:0.06 [[ 9.84593250e-01 -1.74849395e-01 -1.95484705e-03 2.87477170e+01] [ 1.74849330e-01 9.84595181e-01 -2.05327768e-04 4.25358807e+00] [ 1.96063442e-03 -1.39639363e-04 9.99998068e-01 5.95017991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944391417999995 meters Centerline goodness : 0.999386 with order 1 Centerline is valid? [True, True] Translation: X:28.81, Y:4.26, Z:0.06 [[ 9.83958224e-01 -1.78388315e-01 -1.95490474e-03 2.88105242e+01] [ 1.78388258e-01 9.83960155e-01 -2.04777019e-04 4.25606368e+00] [ 1.96007820e-03 -1.47240020e-04 9.99998068e-01 6.10535300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004391417999997 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:28.87, Y:4.26, Z:0.06 [[ 9.83959837e-01 -1.78379421e-01 -1.95497154e-03 2.88724934e+01] [ 1.78379365e-01 9.83961768e-01 -2.04137300e-04 4.26247597e+00] [ 1.96003114e-03 -1.47863677e-04 9.99998068e-01 6.06677911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064391417999996 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:28.93, Y:4.27, Z:0.06 [[ 9.84383860e-01 -1.76024413e-01 -1.95503006e-03 2.89342440e+01] [ 1.76024354e-01 9.84385791e-01 -2.03575283e-04 4.27161535e+00] [ 1.96033803e-03 -1.43736681e-04 9.99998068e-01 6.07646241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124391417999995 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:29.00, Y:4.28, Z:0.06 [[ 9.85176647e-01 -1.71531783e-01 -1.95507118e-03 2.89964111e+01] [ 1.71531716e-01 9.85178577e-01 -2.03179583e-04 4.28030293e+00] [ 1.96094600e-03 -1.35188934e-04 9.99998068e-01 6.19663649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184391417999997 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:29.06, Y:4.29, Z:0.06 [[ 9.86568317e-01 -1.63337481e-01 -1.95514153e-03 2.90582721e+01] [ 1.63337399e-01 9.86570247e-01 -2.02500346e-04 4.28724010e+00] [ 1.96196036e-03 -1.19567307e-04 9.99998068e-01 6.31299624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244391417999996 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:29.12, Y:4.30, Z:0.06 [[ 9.87234539e-01 -1.59261236e-01 -1.95520593e-03 2.91195818e+01] [ 1.59261147e-01 9.87236469e-01 -2.01876668e-04 4.29816223e+00] [ 1.96240173e-03 -1.12088720e-04 9.99998068e-01 6.43273725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304391417999994 meters Centerline goodness : 0.998857 with order 1 Centerline is valid? [True, True] Translation: X:29.18, Y:4.31, Z:0.06 [[ 9.87934712e-01 -1.54858589e-01 -1.95526590e-03 2.91818498e+01] [ 1.54858493e-01 9.87936641e-01 -2.01294117e-04 4.30668662e+00] [ 1.96285095e-03 -1.03924086e-04 9.99998068e-01 6.47608084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364391417999997 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:29.24, Y:4.32, Z:0.07 [[ 9.88286890e-01 -1.52594888e-01 -1.95533109e-03 2.92447011e+01] [ 1.52594789e-01 9.88288819e-01 -2.00658880e-04 4.31714210e+00] [ 1.96305138e-03 -1.00064795e-04 9.99998068e-01 6.68858768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424391417999995 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:29.31, Y:4.33, Z:0.07 [[ 9.88292482e-01 -1.52558668e-01 -1.95539662e-03 2.93055871e+01] [ 1.52558570e-01 9.88294411e-01 -2.00018289e-04 4.32957248e+00] [ 1.96302207e-03 -1.00635941e-04 9.99998068e-01 6.68643957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484391417999998 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:29.37, Y:4.34, Z:0.06 [[ 9.88014473e-01 -1.54348883e-01 -1.95545673e-03 2.93687853e+01] [ 1.54348790e-01 9.88016402e-01 -1.99428838e-04 4.33650160e+00] [ 1.96280495e-03 -1.04783802e-04 9.99998068e-01 6.44122744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544391417999996 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:29.43, Y:4.34, Z:0.06 [[ 9.86879644e-01 -1.61445794e-01 -1.95550155e-03 2.94313052e+01] [ 1.61445715e-01 9.86881574e-01 -1.98988460e-04 4.34312239e+00] [ 1.96197429e-03 -1.19329686e-04 9.99998068e-01 6.34539048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604391417999995 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:29.49, Y:4.35, Z:0.07 [[ 9.85614375e-01 -1.68998458e-01 -1.95556546e-03 2.94938154e+01] [ 1.68998395e-01 9.85616306e-01 -1.98358391e-04 4.35427324e+00] [ 1.96095946e-03 -1.34982542e-04 9.99998068e-01 6.56444765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664391417999997 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:29.56, Y:4.36, Z:0.06 [[ 9.84767100e-01 -1.73867577e-01 -1.95562908e-03 2.95557507e+01] [ 1.73867525e-01 9.84769031e-01 -1.97729093e-04 4.36068158e+00] [ 1.96022163e-03 -1.45303284e-04 9.99998068e-01 6.35975471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724391417999996 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:29.62, Y:4.37, Z:0.06 [[ 9.84213254e-01 -1.76975832e-01 -1.95568761e-03 2.96185045e+01] [ 1.76975787e-01 9.84215186e-01 -1.97148487e-04 4.36733086e+00] [ 1.95970796e-03 -1.52073201e-04 9.99998068e-01 6.41541685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784391417999995 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:29.68, Y:4.38, Z:0.06 [[ 9.83551571e-01 -1.80616949e-01 -1.95574923e-03 2.96805143e+01] [ 1.80616913e-01 9.83553502e-01 -1.96535339e-04 4.37755850e+00] [ 1.95908162e-03 -1.59938748e-04 9.99998068e-01 6.45657209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844391417999997 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:29.74, Y:4.39, Z:0.07 [[ 9.83472005e-01 -1.81049688e-01 -1.95580295e-03 2.97433645e+01] [ 1.81049654e-01 9.83473937e-01 -1.95999307e-04 4.38541456e+00] [ 1.95896684e-03 -1.61337615e-04 9.99998068e-01 6.57106094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904391417999996 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:29.80, Y:4.40, Z:0.07 [[ 9.82918304e-01 -1.84032012e-01 -1.95586874e-03 2.98049094e+01] [ 1.84031985e-01 9.82920236e-01 -1.95340580e-04 4.39975216e+00] [ 1.95841188e-03 -1.67938575e-04 9.99998068e-01 7.10787743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964391417999995 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:29.87, Y:4.41, Z:0.07 [[ 9.83420903e-01 -1.81327058e-01 -1.95593387e-03 2.98670594e+01] [ 1.81327027e-01 9.83422834e-01 -1.94686232e-04 4.40850828e+00] [ 1.95881191e-03 -1.63205164e-04 9.99998068e-01 7.31852770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024391417999997 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:29.93, Y:4.41, Z:0.07 [[ 9.84675834e-01 -1.74383702e-01 -1.95599794e-03 2.99279942e+01] [ 1.74383658e-01 9.84677766e-01 -1.94040392e-04 4.41054482e+00] [ 1.95986516e-03 -1.50027190e-04 9.99998068e-01 7.21298564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084391417999996 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:29.99, Y:4.42, Z:0.07 [[ 9.84898607e-01 -1.73121080e-01 -1.95604131e-03 2.99890435e+01] [ 1.73121035e-01 9.84900538e-01 -1.93602128e-04 4.41618190e+00] [ 1.96002275e-03 -1.47953432e-04 9.99998068e-01 6.94699796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144391417999998 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:30.05, Y:4.43, Z:0.07 [[ 9.84198371e-01 -1.77058581e-01 -1.95609099e-03 3.00501971e+01] [ 1.77058544e-01 9.84200302e-01 -1.93098882e-04 4.42829736e+00] [ 1.95937516e-03 -1.56295019e-04 9.99998068e-01 7.19896175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204391417999997 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:30.11, Y:4.43, Z:0.07 [[ 9.84427807e-01 -1.75778455e-01 -1.95614736e-03 3.01122071e+01] [ 1.75778418e-01 9.84429739e-01 -1.92526209e-04 4.42803244e+00] [ 1.95953159e-03 -1.54320333e-04 9.99998068e-01 6.78701879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264391417999995 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:30.17, Y:4.43, Z:0.07 [[ 9.84417456e-01 -1.75836419e-01 -1.95617768e-03 3.01748861e+01] [ 1.75836382e-01 9.84419387e-01 -1.92217559e-04 4.43432134e+00] [ 1.95949808e-03 -1.54744886e-04 9.99998068e-01 6.99123368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324391417999998 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:30.24, Y:4.44, Z:0.07 [[ 9.84728342e-01 -1.74086948e-01 -1.95624072e-03 3.02361080e+01] [ 1.74086909e-01 9.84730273e-01 -1.91573854e-04 4.44203320e+00] [ 1.95971997e-03 -1.51907697e-04 9.99998068e-01 6.99086668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384391417999996 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:30.30, Y:4.45, Z:0.07 [[ 9.85224796e-01 -1.71254996e-01 -1.95629868e-03 3.02986632e+01] [ 1.71254952e-01 9.85226728e-01 -1.90980186e-04 4.45028078e+00] [ 1.96010406e-03 -1.46867422e-04 9.99998068e-01 6.98210783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444391417999995 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:30.36, Y:4.46, Z:0.07 [[ 9.86031357e-01 -1.66548297e-01 -1.95636121e-03 3.03608696e+01] [ 1.66548245e-01 9.86033288e-01 -1.90337452e-04 4.45614411e+00] [ 1.96073766e-03 -1.38149831e-04 9.99998068e-01 6.95077812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504391417999997 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:30.42, Y:4.46, Z:0.07 [[ 9.86205064e-01 -1.65516599e-01 -1.95641867e-03 3.04240400e+01] [ 1.65516546e-01 9.86206995e-01 -1.89744983e-04 4.46339349e+00] [ 1.96083972e-03 -1.36692199e-04 9.99998068e-01 7.01522447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564391417999996 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:30.49, Y:4.47, Z:0.07 [[ 9.86144374e-01 -1.65877805e-01 -1.95647843e-03 3.04860356e+01] [ 1.65877755e-01 9.86146305e-01 -1.89126809e-04 4.46884991e+00] [ 1.96074591e-03 -1.38029910e-04 9.99998068e-01 6.96905022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624391417999995 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:30.55, Y:4.48, Z:0.07 [[ 9.85933817e-01 -1.67124747e-01 -1.95653328e-03 3.05485588e+01] [ 1.67124701e-01 9.85935748e-01 -1.88557699e-04 4.47554758e+00] [ 1.96052876e-03 -1.41079626e-04 9.99998068e-01 7.11310697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684391417999997 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:30.61, Y:4.48, Z:0.07 [[ 9.85818153e-01 -1.67805662e-01 -1.95659049e-03 3.06116263e+01] [ 1.67805617e-01 9.85820085e-01 -1.87962139e-04 4.48076997e+00] [ 1.96038731e-03 -1.43030386e-04 9.99998068e-01 7.03531229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744391417999996 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:30.67, Y:4.48, Z:0.07 [[ 9.85157422e-01 -1.71642144e-01 -1.95664709e-03 3.06743927e+01] [ 1.71642109e-01 9.85159353e-01 -1.87371066e-04 4.48486083e+00] [ 1.95976995e-03 -1.51253036e-04 9.99998068e-01 6.90144640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804391417999994 meters Centerline goodness : 0.999336 with order 1 Centerline is valid? [True, True] Translation: X:30.74, Y:4.49, Z:0.07 [[ 9.84972072e-01 -1.72702599e-01 -1.95670269e-03 3.07370052e+01] [ 1.72702567e-01 9.84974004e-01 -1.86788685e-04 4.49096711e+00] [ 1.95956017e-03 -1.53945938e-04 9.99998068e-01 7.02659761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864391417999997 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:30.80, Y:4.49, Z:0.07 [[ 9.84909771e-01 -1.73057543e-01 -1.95675732e-03 3.07997222e+01] [ 1.73057513e-01 9.84911703e-01 -1.86214596e-04 4.49405861e+00] [ 1.95945902e-03 -1.55226979e-04 9.99998068e-01 6.95483173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924391417999995 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:30.86, Y:4.50, Z:0.07 [[ 9.84765096e-01 -1.73878916e-01 -1.95681627e-03 3.08621193e+01] [ 1.73878888e-01 9.84767027e-01 -1.85592987e-04 4.50099593e+00] [ 1.95927885e-03 -1.57483542e-04 9.99998068e-01 7.20762906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984391417999998 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:30.92, Y:4.51, Z:0.07 [[ 9.85305524e-01 -1.70789916e-01 -1.95687435e-03 3.09243048e+01] [ 1.70789884e-01 9.85307455e-01 -1.84978566e-04 4.50740374e+00] [ 1.95971536e-03 -1.51953941e-04 9.99998068e-01 6.65643740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04439141799999 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:30.99, Y:4.51, Z:0.07 [[ 9.85750414e-01 -1.68203127e-01 -1.95692844e-03 3.09852980e+01] [ 1.68203090e-01 9.85752345e-01 -1.84404596e-04 4.51017209e+00] [ 1.96006423e-03 -1.47384503e-04 9.99998068e-01 6.78646050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10439141799999 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:31.05, Y:4.52, Z:0.07 [[ 9.86490786e-01 -1.63805066e-01 -1.95697783e-03 3.10481364e+01] [ 1.63805021e-01 9.86492717e-01 -1.83878994e-04 4.51960187e+00] [ 1.96066468e-03 -1.39167861e-04 9.99998068e-01 7.13882886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164391417999994 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:31.11, Y:4.53, Z:0.07 [[ 9.87441437e-01 -1.57973349e-01 -1.95703773e-03 3.11093181e+01] [ 1.57973295e-01 9.87443368e-01 -1.83239233e-04 4.52876228e+00] [ 1.96141084e-03 -1.28221688e-04 9.99998068e-01 7.15849690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22439141799999 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:31.17, Y:4.53, Z:0.07 [[ 9.87843581e-01 -1.55438827e-01 -1.95709272e-03 3.11710805e+01] [ 1.55438768e-01 9.87845512e-01 -1.82650036e-04 4.53323003e+00] [ 1.96169616e-03 -1.23778416e-04 9.99998068e-01 7.04584624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28439141799999 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:31.23, Y:4.54, Z:0.07 [[ 9.87866607e-01 -1.55292420e-01 -1.95714636e-03 3.12339418e+01] [ 1.55292363e-01 9.87868538e-01 -1.82073357e-04 4.53987009e+00] [ 1.96167793e-03 -1.24065694e-04 9.99998068e-01 7.10144177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344391417999994 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:31.30, Y:4.55, Z:0.07 [[ 9.87955545e-01 -1.54725600e-01 -1.95720323e-03 3.12964607e+01] [ 1.54725543e-01 9.87957476e-01 -1.81459998e-04 4.54763231e+00] [ 1.96171007e-03 -1.23554921e-04 9.99998068e-01 7.15678333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404391417999996 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:31.36, Y:4.55, Z:0.07 [[ 9.87722444e-01 -1.56206729e-01 -1.95725937e-03 3.13597163e+01] [ 1.56206676e-01 9.87724375e-01 -1.80852410e-04 4.55351906e+00] [ 1.96148315e-03 -1.27104996e-04 9.99998068e-01 7.11445622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46439141799999 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:31.42, Y:4.56, Z:0.07 [[ 9.86990605e-01 -1.60766026e-01 -1.95731498e-03 3.14228805e+01] [ 1.60765983e-01 9.86992536e-01 -1.80248549e-04 4.55740977e+00] [ 1.96083312e-03 -1.36766043e-04 9.99998068e-01 7.10883376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52439141799999 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:31.49, Y:4.56, Z:0.07 [[ 9.86281794e-01 -1.65058753e-01 -1.95737113e-03 3.14858794e+01] [ 1.65058719e-01 9.86283725e-01 -1.79636723e-04 4.56353826e+00] [ 1.96017391e-03 -1.45908742e-04 9.99998068e-01 7.28511831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584391417999996 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:31.55, Y:4.57, Z:0.07 [[ 9.86232721e-01 -1.65351712e-01 -1.95742990e-03 3.15485186e+01] [ 1.65351680e-01 9.86234653e-01 -1.78994008e-04 4.56835339e+00] [ 1.96008217e-03 -1.47134576e-04 9.99998068e-01 7.19362245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64439141799999 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:31.61, Y:4.57, Z:0.07 [[ 9.86179042e-01 -1.65671556e-01 -1.95748744e-03 3.16120474e+01] [ 1.65671526e-01 9.86180974e-01 -1.78362608e-04 4.57189983e+00] [ 1.95998648e-03 -1.48402465e-04 9.99998068e-01 7.09789907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70439141799999 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:31.68, Y:4.58, Z:0.07 [[ 9.86435128e-01 -1.64139901e-01 -1.95754419e-03 3.16756053e+01] [ 1.64139870e-01 9.86437059e-01 -1.77737496e-04 4.57531263e+00] [ 1.96016795e-03 -1.45984539e-04 9.99998068e-01 7.02149792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764391417999995 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:31.74, Y:4.58, Z:0.07 [[ 9.86475170e-01 -1.63899078e-01 -1.95760430e-03 3.17371859e+01] [ 1.63899047e-01 9.86477101e-01 -1.77073037e-04 4.58189674e+00] [ 1.96015392e-03 -1.46171325e-04 9.99998068e-01 7.15138653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82439141799999 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:31.80, Y:4.59, Z:0.07 [[ 9.86811204e-01 -1.61863569e-01 -1.95765935e-03 3.18001170e+01] [ 1.61863535e-01 9.86813136e-01 -1.76462294e-04 4.58632412e+00] [ 1.96040678e-03 -1.42738694e-04 9.99998068e-01 7.24751143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88439141799999 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:31.86, Y:4.59, Z:0.07 [[ 9.86860976e-01 -1.61559840e-01 -1.95771533e-03 3.18631455e+01] [ 1.61559807e-01 9.86862907e-01 -1.75839028e-04 4.59175314e+00] [ 1.96040517e-03 -1.42759437e-04 9.99998068e-01 7.33800295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944391417999995 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:31.93, Y:4.60, Z:0.07 [[ 9.86991511e-01 -1.60760457e-01 -1.95777187e-03 3.19260702e+01] [ 1.60760425e-01 9.86993442e-01 -1.75207276e-04 4.59619294e+00] [ 1.96047440e-03 -1.41804142e-04 9.99998068e-01 7.32569293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00439141799999 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:31.99, Y:4.60, Z:0.07 [[ 9.86709588e-01 -1.62481865e-01 -1.95782913e-03 3.19889952e+01] [ 1.62481837e-01 9.86711519e-01 -1.74565068e-04 4.59818041e+00] [ 1.96017621e-03 -1.45866646e-04 9.99998068e-01 6.99122998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06439141799999 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:32.05, Y:4.60, Z:0.07 [[ 9.86039795e-01 -1.66498319e-01 -1.95788744e-03 3.20524616e+01] [ 1.66498299e-01 9.86041726e-01 -1.73908634e-04 4.60237616e+00] [ 1.95951420e-03 -1.54504095e-04 9.99998068e-01 7.24096000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124391417999995 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:32.12, Y:4.61, Z:0.07 [[ 9.85767741e-01 -1.68101540e-01 -1.95794490e-03 3.21150375e+01] [ 1.68101525e-01 9.85769673e-01 -1.73259268e-04 4.60577741e+00] [ 1.95920785e-03 -1.58340126e-04 9.99998068e-01 7.29848364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18439141799999 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:32.18, Y:4.61, Z:0.07 [[ 9.85514418e-01 -1.69580361e-01 -1.95800210e-03 3.21773205e+01] [ 1.69580350e-01 9.85516349e-01 -1.72610447e-04 4.60807905e+00] [ 1.95891442e-03 -1.61928597e-04 9.99998068e-01 7.24727503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24439141799999 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:32.24, Y:4.61, Z:0.07 [[ 9.85525287e-01 -1.69517182e-01 -1.95805461e-03 3.22404587e+01] [ 1.69517172e-01 9.85527219e-01 -1.72012712e-04 4.61087413e+00] [ 1.95887522e-03 -1.62401004e-04 9.99998068e-01 7.09135144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304391417999994 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:32.30, Y:4.62, Z:0.07 [[ 9.86420807e-01 -1.64225931e-01 -1.95811121e-03 3.23034198e+01] [ 1.64225913e-01 9.86422739e-01 -1.71365901e-04 4.61588343e+00] [ 1.95966815e-03 -1.52533710e-04 9.99998068e-01 6.76857509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36439141799999 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:32.37, Y:4.62, Z:0.07 [[ 9.87144102e-01 -1.59820797e-01 -1.95816891e-03 3.23662062e+01] [ 1.59820771e-01 9.87146034e-01 -1.70704076e-04 4.62072826e+00] [ 1.96028073e-03 -1.44446543e-04 9.99998068e-01 6.68747455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42439141799999 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:32.43, Y:4.63, Z:0.07 [[ 9.88098818e-01 -1.53807969e-01 -1.95822726e-03 3.24277989e+01] [ 1.53807933e-01 9.88100749e-01 -1.70032073e-04 4.62912545e+00] [ 1.96107811e-03 -1.33182397e-04 9.99998068e-01 7.09881362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.484391417999994 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:32.49, Y:4.64, Z:0.07 [[ 9.89455115e-01 -1.44826591e-01 -1.95828081e-03 3.24907431e+01] [ 1.44826538e-01 9.89457046e-01 -1.69413096e-04 4.63943902e+00] [ 1.96217026e-03 -1.15984376e-04 9.99998068e-01 7.34819468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54439141799999 meters Centerline goodness : 0.998889 with order 1 Centerline is valid? [True, True] Translation: X:32.55, Y:4.64, Z:0.07 [[ 9.90397510e-01 -1.38235082e-01 -1.95833264e-03 3.25540096e+01] [ 1.38235017e-01 9.90399440e-01 -1.68811740e-04 4.64363538e+00] [ 1.96286726e-03 -1.03519420e-04 9.99998068e-01 7.05134974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60439141799999 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:32.62, Y:4.65, Z:0.07 [[ 9.90716631e-01 -1.35929108e-01 -1.95838938e-03 3.26159604e+01] [ 1.35929040e-01 9.90718561e-01 -1.68150907e-04 4.65242760e+00] [ 1.96306932e-03 -9.96120900e-05 9.99998068e-01 6.97817364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.664391417999994 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:32.68, Y:4.66, Z:0.07 [[ 9.90905525e-01 -1.34545178e-01 -1.95844131e-03 3.26779972e+01] [ 1.34545109e-01 9.90907456e-01 -1.67543946e-04 4.66110211e+00] [ 1.96317632e-03 -9.74784771e-05 9.99998068e-01 7.26392096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72439141799999 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:32.74, Y:4.67, Z:0.07 [[ 9.90887151e-01 -1.34680432e-01 -1.95849148e-03 3.27408912e+01] [ 1.34680364e-01 9.90889081e-01 -1.66955388e-04 4.66753985e+00] [ 1.96313345e-03 -9.83363980e-05 9.99998068e-01 7.21527773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78439141799999 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:32.80, Y:4.67, Z:0.07 [[ 9.90360972e-01 -1.38496602e-01 -1.95854628e-03 3.28038211e+01] [ 1.38496543e-01 9.90362903e-01 -1.66310097e-04 4.67287878e+00] [ 1.96270496e-03 -1.06544860e-04 9.99998068e-01 7.11952503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844391417999994 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:32.87, Y:4.68, Z:0.07 [[ 9.89879168e-01 -1.41899246e-01 -1.95860043e-03 3.28669354e+01] [ 1.41899195e-01 9.89881099e-01 -1.65669825e-04 4.67883078e+00] [ 1.96228998e-03 -1.13930716e-04 9.99998068e-01 7.12801073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90439141799999 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:32.93, Y:4.68, Z:0.07 [[ 9.89423214e-01 -1.45044360e-01 -1.95865437e-03 3.29297171e+01] [ 1.45044316e-01 9.89425146e-01 -1.65029717e-04 4.68144554e+00] [ 1.96187851e-03 -1.20807450e-04 9.99998068e-01 6.79346094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96439141799999 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:32.99, Y:4.69, Z:0.07 [[ 9.89150150e-01 -1.46895010e-01 -1.95870761e-03 3.29920538e+01] [ 1.46894972e-01 9.89152081e-01 -1.64395351e-04 4.68792940e+00] [ 1.96160857e-03 -1.25112612e-04 9.99998068e-01 7.05470667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02439141799999 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:33.05, Y:4.70, Z:0.07 [[ 9.89540519e-01 -1.44241896e-01 -1.95876016e-03 3.30535005e+01] [ 1.44241853e-01 9.89542450e-01 -1.63766800e-04 4.69558201e+00] [ 1.96189836e-03 -1.20481312e-04 9.99998068e-01 6.81389899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084391417999996 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:33.12, Y:4.70, Z:0.07 [[ 9.90091878e-01 -1.40407396e-01 -1.95880517e-03 3.31166918e+01] [ 1.40407347e-01 9.90093809e-01 -1.63226715e-04 4.70072326e+00] [ 1.96231911e-03 -1.13421193e-04 9.99998068e-01 6.69381984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14439141799999 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:33.18, Y:4.71, Z:0.07 [[ 9.90433270e-01 -1.37978626e-01 -1.95885686e-03 3.31792795e+01] [ 1.37978573e-01 9.90435201e-01 -1.62604032e-04 4.70820941e+00] [ 1.96255666e-03 -1.09231831e-04 9.99998068e-01 6.99906705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20439141799999 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:33.24, Y:4.72, Z:0.07 [[ 9.91042216e-01 -1.33534599e-01 -1.95890842e-03 3.32422075e+01] [ 1.33534539e-01 9.91044147e-01 -1.61980386e-04 4.71671327e+00] [ 1.96299471e-03 -1.01052532e-04 9.99998068e-01 7.19852124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264391417999995 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:33.30, Y:4.73, Z:0.07 [[ 9.92201821e-01 -1.24626277e-01 -1.95896076e-03 3.33038912e+01] [ 1.24626201e-01 9.92203751e-01 -1.61344955e-04 4.72533829e+00] [ 1.96379604e-03 -8.40510796e-05 9.99998068e-01 7.27460704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32439141799999 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:33.37, Y:4.73, Z:0.07 [[ 9.93126167e-01 -1.17032380e-01 -1.95900873e-03 3.33660298e+01] [ 1.17032290e-01 9.93128097e-01 -1.60760403e-04 4.73401459e+00] [ 1.96436078e-03 -6.96119151e-05 9.99998068e-01 7.49766253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38439141799999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:33.43, Y:4.74, Z:0.08 [[ 9.93718048e-01 -1.11895504e-01 -1.95905861e-03 3.34289966e+01] [ 1.11895405e-01 9.93719977e-01 -1.60150282e-04 4.74448298e+00] [ 1.96467577e-03 -6.00654314e-05 9.99998068e-01 7.52114745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444391417999995 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:33.49, Y:4.75, Z:0.07 [[ 9.93982794e-01 -1.09518794e-01 -1.95910964e-03 3.34920738e+01] [ 1.09518692e-01 9.93984724e-01 -1.59523539e-04 4.75149346e+00] [ 1.96479588e-03 -5.59954725e-05 9.99998068e-01 7.30085778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50439141799999 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:33.55, Y:4.76, Z:0.07 [[ 9.94141177e-01 -1.08071652e-01 -1.95916151e-03 3.35531692e+01] [ 1.08071548e-01 9.94143106e-01 -1.58883899e-04 4.75866311e+00] [ 1.96485776e-03 -5.37765916e-05 9.99998068e-01 6.90426298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56439141799999 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:33.62, Y:4.77, Z:0.07 [[ 9.93549904e-01 -1.13378791e-01 -1.95920631e-03 3.36154934e+01] [ 1.13378699e-01 9.93551833e-01 -1.58329522e-04 4.76753513e+00] [ 1.96452424e-03 -6.48239816e-05 9.99998068e-01 7.01780598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624391417999995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:33.68, Y:4.77, Z:0.07 [[ 9.92888345e-01 -1.19033174e-01 -1.95925835e-03 3.36782279e+01] [ 1.19033094e-01 9.92890275e-01 -1.57682980e-04 4.77457595e+00] [ 1.96409807e-03 -7.66549902e-05 9.99998068e-01 7.36902944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68439141799999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:33.74, Y:4.78, Z:0.07 [[ 9.92468456e-01 -1.22484797e-01 -1.95930953e-03 3.37402113e+01] [ 1.22484725e-01 9.92470386e-01 -1.57044469e-04 4.78099473e+00] [ 1.96379224e-03 -8.41238082e-05 9.99998068e-01 7.39850445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74439141799999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:33.80, Y:4.79, Z:0.07 [[ 9.91784974e-01 -1.27901239e-01 -1.95934094e-03 3.38030447e+01] [ 1.27901179e-01 9.91786905e-01 -1.56651550e-04 4.78712290e+00] [ 1.96328461e-03 -9.52373622e-05 9.99998068e-01 7.45160830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804391417999994 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:33.87, Y:4.79, Z:0.07 [[ 9.90820032e-01 -1.35173311e-01 -1.95939039e-03 3.38658994e+01] [ 1.35173266e-01 9.90821964e-01 -1.56030583e-04 4.79229770e+00] [ 1.96249821e-03 -1.10258971e-04 9.99998068e-01 7.41842951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86439141799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.93, Y:4.80, Z:0.07 [[ 9.90536083e-01 -1.37238581e-01 -1.95944078e-03 3.39278873e+01] [ 1.37238541e-01 9.90538015e-01 -1.55395176e-04 4.79558053e+00] [ 1.96222680e-03 -1.14986265e-04 9.99998068e-01 7.19453645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92439141799999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:33.99, Y:4.80, Z:0.07 [[ 9.90400097e-01 -1.38216526e-01 -1.95948421e-03 3.39903941e+01] [ 1.38216489e-01 9.90402029e-01 -1.54845672e-04 4.80017003e+00] [ 1.96207936e-03 -1.17473859e-04 9.99998068e-01 6.95592151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.984391417999994 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:34.05, Y:4.81, Z:0.07 [[ 9.90343789e-01 -1.38619405e-01 -1.95953441e-03 3.40531033e+01] [ 1.38619370e-01 9.90345721e-01 -1.54207717e-04 4.80511537e+00] [ 1.96199270e-03 -1.18910771e-04 9.99998068e-01 7.37315595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04439141799999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:34.12, Y:4.81, Z:0.07 [[ 9.90534190e-01 -1.37252241e-01 -1.95958456e-03 3.41151722e+01] [ 1.37252205e-01 9.90536122e-01 -1.53567756e-04 4.80965179e+00] [ 1.96211681e-03 -1.16843190e-04 9.99998068e-01 7.30740181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10439141799999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:34.18, Y:4.82, Z:0.07 [[ 9.90771367e-01 -1.35529546e-01 -1.95961533e-03 3.41778514e+01] [ 1.35529507e-01 9.90773299e-01 -1.53174179e-04 4.81500264e+00] [ 1.96229417e-03 -1.13825108e-04 9.99998068e-01 7.41395459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164391417999994 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:34.24, Y:4.82, Z:0.07 [[ 9.90814109e-01 -1.35216721e-01 -1.95966445e-03 3.42406366e+01] [ 1.35216683e-01 9.90816040e-01 -1.52543050e-04 4.82049332e+00] [ 1.96229335e-03 -1.13837522e-04 9.99998068e-01 7.44859869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22439141799999 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:34.30, Y:4.82, Z:0.08 [[ 9.90539628e-01 -1.37212992e-01 -1.95971350e-03 3.43037870e+01] [ 1.37212959e-01 9.90541559e-01 -1.51910315e-04 4.82429211e+00] [ 1.96202174e-03 -1.18424901e-04 9.99998068e-01 7.52942979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28439141799999 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:34.37, Y:4.83, Z:0.07 [[ 9.89984220e-01 -1.41164453e-01 -1.95976300e-03 3.43672295e+01] [ 1.41164429e-01 9.89986152e-01 -1.51269028e-04 4.82568917e+00] [ 1.96149204e-03 -1.26894875e-04 9.99998068e-01 7.23930257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344391417999994 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:34.43, Y:4.83, Z:0.07 [[ 9.89514688e-01 -1.44418977e-01 -1.95981215e-03 3.44288866e+01] [ 1.44418961e-01 9.89516620e-01 -1.50629540e-04 4.82745817e+00] [ 1.96102046e-03 -1.33983892e-04 9.99998068e-01 7.20184349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40439141799999 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:34.49, Y:4.83, Z:0.07 [[ 9.89327751e-01 -1.45694066e-01 -1.95984228e-03 3.44916169e+01] [ 1.45694053e-01 9.89329682e-01 -1.50236521e-04 4.83106857e+00] [ 1.96081871e-03 -1.36904206e-04 9.99998068e-01 7.40759282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46439141799999 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:34.55, Y:4.84, Z:0.08 [[ 9.89580423e-01 -1.43967863e-01 -1.95988924e-03 3.45543091e+01] [ 1.43967848e-01 9.89582355e-01 -1.49621400e-04 4.83563815e+00] [ 1.96101248e-03 -1.34098627e-04 9.99998068e-01 7.66557818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52439141799999 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:34.62, Y:4.84, Z:0.08 [[ 9.89722554e-01 -1.42987501e-01 -1.95993569e-03 3.46176134e+01] [ 1.42987485e-01 9.89724485e-01 -1.49010430e-04 4.83953267e+00] [ 1.96110297e-03 -1.32767292e-04 9.99998068e-01 7.68388024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58439141799999 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:34.68, Y:4.84, Z:0.08 [[ 9.90093584e-01 -1.40395349e-01 -1.95998180e-03 3.46805223e+01] [ 1.40395329e-01 9.90095515e-01 -1.48401425e-04 4.84183075e+00] [ 1.96140406e-03 -1.28240991e-04 9.99998068e-01 7.74070481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64439141799999 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:34.74, Y:4.85, Z:0.08 [[ 9.90466593e-01 -1.37739195e-01 -1.96002720e-03 3.47436167e+01] [ 1.37739172e-01 9.90468525e-01 -1.47799387e-04 4.84746089e+00] [ 1.96170302e-03 -1.23582167e-04 9.99998068e-01 7.82766665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70439141799999 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:34.81, Y:4.85, Z:0.08 [[ 9.90887650e-01 -1.34676734e-01 -1.96007567e-03 3.48057268e+01] [ 1.34676705e-01 9.90889582e-01 -1.47153779e-04 4.85060836e+00] [ 1.96203675e-03 -1.18163672e-04 9.99998068e-01 7.62212505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764391417999995 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:34.87, Y:4.85, Z:0.08 [[ 9.91088794e-01 -1.33188437e-01 -1.96011781e-03 3.48685582e+01] [ 1.33188407e-01 9.91090726e-01 -1.46590299e-04 4.85273730e+00] [ 1.96217872e-03 -1.15780966e-04 9.99998068e-01 7.62244934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82439141799999 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:34.93, Y:4.86, Z:0.08 [[ 9.91099441e-01 -1.33109189e-01 -1.96016509e-03 3.49307099e+01] [ 1.33109159e-01 9.91101372e-01 -1.45955281e-04 4.85699519e+00] [ 1.96215030e-03 -1.16259730e-04 9.99998068e-01 7.83225696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88439141799999 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:34.99, Y:4.86, Z:0.08 [[ 9.91198396e-01 -1.32370304e-01 -1.96020920e-03 3.49915278e+01] [ 1.32370274e-01 9.91200328e-01 -1.45360515e-04 4.85927149e+00] [ 1.96220142e-03 -1.15392319e-04 9.99998068e-01 7.91711367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944391417999995 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:35.05, Y:4.86, Z:0.08 [[ 9.91285904e-01 -1.31713376e-01 -1.96024911e-03 3.50546253e+01] [ 1.31713347e-01 9.91287836e-01 -1.44820259e-04 4.86039335e+00] [ 1.96224587e-03 -1.14632690e-04 9.99998068e-01 7.81405594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00439141799999 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:35.12, Y:4.86, Z:0.08 [[ 9.91321413e-01 -1.31445854e-01 -1.96029523e-03 3.51179849e+01] [ 1.31445825e-01 9.91323345e-01 -1.44193312e-04 4.86395474e+00] [ 1.96224004e-03 -1.14730706e-04 9.99998068e-01 7.92592080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06439141799999 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:35.18, Y:4.87, Z:0.08 [[ 9.91416787e-01 -1.30724567e-01 -1.96034070e-03 3.51807533e+01] [ 1.30724538e-01 9.91418718e-01 -1.43572467e-04 4.86700546e+00] [ 1.96228691e-03 -1.13924478e-04 9.99998068e-01 8.05766326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124391417999995 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:35.24, Y:4.87, Z:0.08 [[ 9.91596688e-01 -1.29352869e-01 -1.96038635e-03 3.52432375e+01] [ 1.29352839e-01 9.91598620e-01 -1.42946447e-04 4.86801242e+00] [ 1.96240693e-03 -1.11836315e-04 9.99998068e-01 7.93993655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18439141799999 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:35.31, Y:4.87, Z:0.08 [[ 9.91851505e-01 -1.27384255e-01 -1.96042819e-03 3.53064924e+01] [ 1.27384222e-01 9.91853437e-01 -1.42370229e-04 4.87181657e+00] [ 1.96259317e-03 -1.08517494e-04 9.99998068e-01 7.89169088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24439141799999 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:35.37, Y:4.87, Z:0.08 [[ 9.92444205e-01 -1.22681114e-01 -1.96047200e-03 3.53695850e+01] [ 1.22681073e-01 9.92446137e-01 -1.41764337e-04 4.87445526e+00] [ 1.96305467e-03 -9.98196134e-05 9.99998068e-01 7.67314696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304391417999994 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:35.43, Y:4.88, Z:0.08 [[ 9.92912808e-01 -1.18828916e-01 -1.96051778e-03 3.54319753e+01] [ 1.18828869e-01 9.92914740e-01 -1.41128401e-04 4.87865124e+00] [ 1.96339714e-03 -9.28379133e-05 9.99998068e-01 7.99490772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36439141799999 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:35.50, Y:4.88, Z:0.08 [[ 9.93228540e-01 -1.16160333e-01 -1.96055794e-03 3.54954230e+01] [ 1.16160281e-01 9.93230471e-01 -1.40568310e-04 4.88210694e+00] [ 1.96361435e-03 -8.81225045e-05 9.99998068e-01 7.89773202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42439141799999 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:35.56, Y:4.88, Z:0.08 [[ 9.93630510e-01 -1.12670166e-01 -1.96060344e-03 3.55587277e+01] [ 1.12670109e-01 9.93632441e-01 -1.39930733e-04 4.88406268e+00] [ 1.96388520e-03 -8.18619590e-05 9.99998068e-01 8.09661787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.484391417999994 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:35.62, Y:4.89, Z:0.08 [[ 9.94040235e-01 -1.08996180e-01 -1.96064898e-03 3.56208023e+01] [ 1.08996117e-01 9.94042166e-01 -1.39289791e-04 4.88710973e+00] [ 1.96414981e-03 -7.52434697e-05 9.99998068e-01 8.02912326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54439141799999 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:35.68, Y:4.89, Z:0.08 [[ 9.94393142e-01 -1.05728115e-01 -1.96067688e-03 3.56843047e+01] [ 1.05728046e-01 9.94395073e-01 -1.38896001e-04 4.89024037e+00] [ 1.96437264e-03 -6.91813049e-05 9.99998068e-01 8.09167888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60439141799999 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:35.75, Y:4.89, Z:0.08 [[ 9.95069624e-01 -9.91594585e-02 -1.96072080e-03 3.57479760e+01] [ 9.91593783e-02 9.95071554e-01 -1.38273152e-04 4.89118037e+00] [ 1.96476859e-03 -5.68324425e-05 9.99998068e-01 7.95410307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664391417999994 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:35.81, Y:4.90, Z:0.08 [[ 9.95660855e-01 -9.30355709e-02 -1.96076386e-03 3.58109145e+01] [ 9.30354801e-02 9.95662785e-01 -1.37659763e-04 4.89591512e+00] [ 1.96506686e-03 -4.53581701e-05 9.99998068e-01 8.13328443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72439141799999 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:35.87, Y:4.90, Z:0.08 [[ 9.96643327e-01 -8.18427444e-02 -1.96080809e-03 3.58734132e+01] [ 8.18426332e-02 9.96645255e-01 -1.37026853e-04 4.89992389e+00] [ 1.96544474e-03 -2.39107986e-05 9.99998068e-01 8.07902623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78439141799999 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:35.94, Y:4.90, Z:0.08 [[ 9.97238387e-01 -7.42411870e-02 -1.96084708e-03 3.59365334e+01] [ 7.42410622e-02 9.97240315e-01 -1.36466679e-04 4.90225634e+00] [ 1.96556721e-03 -9.48555876e-06 9.99998068e-01 8.08396557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844391417999994 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:36.00, Y:4.91, Z:0.08 [[ 9.98010654e-01 -6.30149945e-02 -1.96086379e-03 3.59985550e+01] [ 6.30148485e-02 9.98012580e-01 -1.36226119e-04 4.90606160e+00] [ 1.96555102e-03 1.23915832e-05 9.99998068e-01 8.34341745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90439141799999 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:36.06, Y:4.91, Z:0.08 [[ 9.98415496e-01 -5.62374670e-02 -1.96090438e-03 3.60603746e+01] [ 5.62373091e-02 9.98417421e-01 -1.35639373e-04 4.90853659e+00] [ 1.96542911e-03 2.51484663e-05 9.99998068e-01 8.32429984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96439141799999 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:36.12, Y:4.91, Z:0.08 [[ 9.98538480e-01 -5.40098037e-02 -1.96091560e-03 3.61229637e+01] [ 5.40096418e-02 9.98540405e-01 -1.35476898e-04 4.90650565e+00] [ 1.96537054e-03 2.93705469e-05 9.99998068e-01 8.28162291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02439141799999 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:36.19, Y:4.91, Z:0.08 [[ 9.98447989e-01 -5.56576030e-02 -1.96092722e-03 3.61859261e+01] [ 5.56574446e-02 9.98449914e-01 -1.35308562e-04 4.90741963e+00] [ 1.96541856e-03 2.59583638e-05 9.99998068e-01 8.29522878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08439141799999 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:36.25, Y:4.91, Z:0.08 [[ 9.98055514e-01 -6.23004431e-02 -1.96094388e-03 3.62492250e+01] [ 6.23002980e-02 9.98057441e-01 -1.35066628e-04 4.90756472e+00] [ 1.96554934e-03 1.26366046e-05 9.99998068e-01 8.37468462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14439141799999 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:36.31, Y:4.90, Z:0.08 [[ 9.97246319e-01 -7.41345692e-02 -1.96096046e-03 3.63121023e+01] [ 7.41344474e-02 9.97248247e-01 -1.34825565e-04 4.90233328e+00] [ 1.96555961e-03 -1.09204220e-05 9.99998068e-01 8.17383971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20439141799999 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:36.37, Y:4.90, Z:0.08 [[ 9.96523830e-01 -8.32851119e-02 -1.96097130e-03 3.63747965e+01] [ 8.32850082e-02 9.96525759e-01 -1.34667660e-04 4.90135530e+00] [ 1.96537423e-03 -2.91199785e-05 9.99998068e-01 8.04812988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26439141799999 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:36.44, Y:4.90, Z:0.08 [[ 9.95463523e-01 -9.51237588e-02 -1.96101117e-03 3.64375084e+01] [ 9.51236791e-02 9.95465453e-01 -1.34084592e-04 4.89858346e+00] [ 1.96487350e-03 -5.30622770e-05 9.99998068e-01 8.23338142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32439141799999 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:36.50, Y:4.90, Z:0.08 [[ 9.95038185e-01 -9.94744433e-02 -1.96102182e-03 3.65000059e+01] [ 9.94743723e-02 9.95040115e-01 -1.33928694e-04 4.89764196e+00] [ 1.96461786e-03 -6.18072496e-05 9.99998068e-01 8.26059531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38439141799999 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:36.56, Y:4.90, Z:0.08 [[ 9.94894576e-01 -1.00900626e-01 -1.96106089e-03 3.65625762e+01] [ 1.00900559e-01 9.94896507e-01 -1.33354010e-04 4.89992016e+00] [ 1.96450814e-03 -6.51989600e-05 9.99998068e-01 8.33009259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444391417999995 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:36.63, Y:4.90, Z:0.08 [[ 9.94580543e-01 -1.03950456e-01 -1.96107708e-03 3.66251664e+01] [ 1.03950395e-01 9.94582474e-01 -1.33115513e-04 4.90182843e+00] [ 1.96429032e-03 -7.14606384e-05 9.99998068e-01 8.36668906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50439141799999 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:36.69, Y:4.90, Z:0.08 [[ 9.94417280e-01 -1.05500845e-01 -1.96109439e-03 3.66866109e+01] [ 1.05500787e-01 9.94419211e-01 -1.32860038e-04 4.90063073e+00] [ 1.96416678e-03 -7.47786849e-05 9.99998068e-01 8.06213350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56439141799999 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:36.75, Y:4.90, Z:0.08 [[ 9.94101359e-01 -1.08437269e-01 -1.96113096e-03 3.67496236e+01] [ 1.08437218e-01 9.94103291e-01 -1.32318054e-04 4.90182967e+00] [ 1.96391495e-03 -8.11220280e-05 9.99998068e-01 8.10398104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624391417999995 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:36.81, Y:4.90, Z:0.08 [[ 9.93805766e-01 -1.11113694e-01 -1.96114677e-03 3.68115465e+01] [ 1.11113649e-01 9.93807697e-01 -1.32083326e-04 4.90464594e+00] [ 1.96367902e-03 -8.66450030e-05 9.99998068e-01 7.97425520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68439141799999 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:36.87, Y:4.91, Z:0.08 [[ 9.93728269e-01 -1.11804658e-01 -1.96118519e-03 3.68748862e+01] [ 1.11804616e-01 9.93730200e-01 -1.31510315e-04 4.90922216e+00] [ 1.96359242e-03 -8.85840396e-05 9.99998068e-01 7.86727503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74439141799999 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:36.94, Y:4.91, Z:0.08 [[ 9.93714580e-01 -1.11926260e-01 -1.96120032e-03 3.69369266e+01] [ 1.11926218e-01 9.93716511e-01 -1.31284324e-04 4.91278361e+00] [ 1.96357130e-03 -8.90505877e-05 9.99998068e-01 7.75156960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804391417999994 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:37.00, Y:4.92, Z:0.08 [[ 9.93622456e-01 -1.12741158e-01 -1.96121093e-03 3.69987865e+01] [ 1.12741119e-01 9.93624387e-01 -1.31125613e-04 4.91770342e+00] [ 1.96349026e-03 -9.08197608e-05 9.99998068e-01 7.89927513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86439141799999 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:37.06, Y:4.92, Z:0.08 [[ 9.93470643e-01 -1.14071181e-01 -1.96123687e-03 3.70609179e+01] [ 1.14071145e-01 9.93472575e-01 -1.30736487e-04 4.92345887e+00] [ 1.96334831e-03 -9.38376731e-05 9.99998068e-01 8.15974765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92439141799999 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:37.12, Y:4.93, Z:0.08 [[ 9.93369372e-01 -1.14949749e-01 -1.96124711e-03 3.71230371e+01] [ 1.14949715e-01 9.93371303e-01 -1.30582744e-04 4.92979995e+00] [ 1.96325705e-03 -9.57278976e-05 9.99998068e-01 8.19441654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.984391417999994 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:37.19, Y:4.93, Z:0.08 [[ 9.93276089e-01 -1.15753030e-01 -1.96125725e-03 3.71853836e+01] [ 1.15752998e-01 9.93278021e-01 -1.30430212e-04 4.93344312e+00] [ 1.96317141e-03 -9.74681954e-05 9.99998068e-01 8.37101100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04439141799999 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:37.25, Y:4.94, Z:0.08 [[ 9.93211956e-01 -1.16302041e-01 -1.96129456e-03 3.72472289e+01] [ 1.16302011e-01 9.93213887e-01 -1.29866688e-04 4.93841380e+00] [ 1.96308876e-03 -9.91173547e-05 9.99998068e-01 8.27688730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10439141799999 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:37.31, Y:4.94, Z:0.08 [[ 9.93129282e-01 -1.17005905e-01 -1.96130512e-03 3.73093999e+01] [ 1.17005877e-01 9.93131214e-01 -1.29707133e-04 4.94475311e+00] [ 1.96300983e-03 -1.00668272e-04 9.99998068e-01 8.29143875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164391417999994 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:37.37, Y:4.95, Z:0.08 [[ 9.93156968e-01 -1.16770669e-01 -1.96134368e-03 3.73724508e+01] [ 1.16770641e-01 9.93158900e-01 -1.29121305e-04 4.95017364e+00] [ 1.96300352e-03 -1.00789635e-04 9.99998068e-01 8.39696716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22439141799999 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:37.43, Y:4.96, Z:0.08 [[ 9.93535977e-01 -1.13500725e-01 -1.96135934e-03 3.74343746e+01] [ 1.13500691e-01 9.93537909e-01 -1.28883030e-04 4.95609289e+00] [ 1.96331318e-03 -9.45657128e-05 9.99998068e-01 8.48610716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28439141799999 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:37.50, Y:4.96, Z:0.09 [[ 9.94052524e-01 -1.08884030e-01 -1.96139742e-03 3.74961469e+01] [ 1.08883988e-01 9.94054456e-01 -1.28300883e-04 4.96416136e+00] [ 1.96370576e-03 -8.60269566e-05 9.99998068e-01 8.56583363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344391417999994 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:37.56, Y:4.97, Z:0.09 [[ 9.94966859e-01 -1.00185338e-01 -1.96143440e-03 3.75583350e+01] [ 1.00185281e-01 9.94968790e-01 -1.27733018e-04 4.97380989e+00] [ 1.96436299e-03 -6.94167369e-05 9.99998068e-01 8.69031367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40439141799999 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:37.62, Y:4.98, Z:0.08 [[ 9.95810286e-01 -9.14222475e-02 -1.96144890e-03 3.76194323e+01] [ 9.14221736e-02 9.95812216e-01 -1.27510043e-04 4.98274381e+00] [ 1.96489203e-03 -5.23441095e-05 9.99998068e-01 8.43739087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46439141799999 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:37.68, Y:4.99, Z:0.09 [[ 9.96160903e-01 -8.75191890e-02 -1.96145599e-03 3.76816254e+01] [ 8.75191077e-02 9.96162833e-01 -1.27400875e-04 4.99058195e+00] [ 1.96507957e-03 -4.47531068e-05 9.99998068e-01 8.54528939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52439141799999 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:37.74, Y:5.00, Z:0.09 [[ 9.96527115e-01 -8.32457935e-02 -1.96147000e-03 3.77430223e+01] [ 8.32457044e-02 9.96529044e-01 -1.27184753e-04 4.99884484e+00] [ 1.96524942e-03 -3.65408970e-05 9.99998068e-01 8.54569240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58439141799999 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:37.81, Y:5.00, Z:0.09 [[ 9.96779988e-01 -8.01611359e-02 -1.96150415e-03 3.78061410e+01] [ 8.01610419e-02 9.96781918e-01 -1.26655862e-04 5.00455964e+00] [ 1.96534475e-03 -3.09881877e-05 9.99998068e-01 8.72295568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64439141799999 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:37.87, Y:5.01, Z:0.09 [[ 9.97237639e-01 -7.42512166e-02 -1.96151980e-03 3.78693034e+01] [ 7.42511115e-02 9.97239568e-01 -1.26413094e-04 5.01177169e+00] [ 1.96549148e-03 -1.95811296e-05 9.99998068e-01 8.61519854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70439141799999 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:37.93, Y:5.02, Z:0.09 [[ 9.97652892e-01 -6.84460351e-02 -1.96153532e-03 3.79316798e+01] [ 6.84459193e-02 9.97654820e-01 -1.26171845e-04 5.02038498e+00] [ 1.96557112e-03 -8.38338201e-06 9.99998068e-01 8.92459073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76439141799999 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:37.99, Y:5.02, Z:0.09 [[ 9.97837035e-01 -6.57069567e-02 -1.96155094e-03 3.79937518e+01] [ 6.57068361e-02 9.97838963e-01 -1.25928390e-04 5.02489272e+00] [ 1.96558633e-03 -3.23129528e-06 9.99998068e-01 8.82333453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82439141799999 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:38.06, Y:5.03, Z:0.09 [[ 9.97863781e-01 -6.52995112e-02 -1.96158886e-03 3.80568523e+01] [ 6.52993910e-02 9.97865709e-01 -1.25334950e-04 5.02953772e+00] [ 1.96558657e-03 -3.02335059e-06 9.99998068e-01 9.01285594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88439141799999 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:38.12, Y:5.03, Z:0.09 [[ 9.97729149e-01 -6.73253135e-02 -1.96160410e-03 3.81201341e+01] [ 6.73251977e-02 9.97731077e-01 -1.25096019e-04 5.03435224e+00] [ 1.96557550e-03 -7.25343881e-06 9.99998068e-01 8.97492239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94439141799999 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:38.18, Y:5.04, Z:0.09 [[ 9.97463525e-01 -7.11524279e-02 -1.96161903e-03 3.81822743e+01] [ 7.11523199e-02 9.97465454e-01 -1.24861452e-04 5.03783651e+00] [ 1.96553141e-03 -1.50290005e-05 9.99998068e-01 8.85865903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00439141799999 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:38.24, Y:5.04, Z:0.09 [[ 9.96830085e-01 -7.95357364e-02 -1.96162881e-03 3.82441541e+01] [ 7.95356449e-02 9.96832015e-01 -1.24707679e-04 5.03961159e+00] [ 1.96533311e-03 -3.17070459e-05 9.99998068e-01 8.73415453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06439141799999 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:38.31, Y:5.04, Z:0.09 [[ 9.96240604e-01 -8.66072197e-02 -1.96165278e-03 3.83066316e+01] [ 8.66071426e-02 9.96242534e-01 -1.24329366e-04 5.04250242e+00] [ 1.96504976e-03 -4.60311795e-05 9.99998068e-01 8.83469576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124391417999995 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:38.37, Y:5.05, Z:0.09 [[ 9.95923863e-01 -9.01765547e-02 -1.96168773e-03 3.83698177e+01] [ 9.01764857e-02 9.95925793e-01 -1.23775456e-04 5.04549151e+00] [ 1.96485706e-03 -5.36271755e-05 9.99998068e-01 8.93280517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18439141799999 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:38.43, Y:5.05, Z:0.09 [[ 9.95556933e-01 -9.41410916e-02 -1.96170269e-03 3.84316214e+01] [ 9.41410307e-02 9.95558864e-01 -1.23537906e-04 5.04843961e+00] [ 1.96462050e-03 -6.16876947e-05 9.99998068e-01 8.84615932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24439141799999 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:38.49, Y:5.05, Z:0.09 [[ 9.95400712e-01 -9.57787821e-02 -1.96173913e-03 3.84948794e+01] [ 9.57787256e-02 9.95402642e-01 -1.22956536e-04 5.05246266e+00] [ 1.96449694e-03 -6.55018503e-05 9.99998068e-01 8.90844832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304391417999994 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:38.56, Y:5.06, Z:0.09 [[ 9.95386929e-01 -9.59219113e-02 -1.96175388e-03 3.85575932e+01] [ 9.59218555e-02 9.95388860e-01 -1.22720767e-04 5.05668288e+00] [ 1.96447957e-03 -6.60204253e-05 9.99998068e-01 8.95381804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36439141799999 meters Centerline goodness : 0.998915 with order 1 Centerline is valid? [True, True] Translation: X:38.62, Y:5.06, Z:0.09 [[ 9.95457312e-01 -9.51887193e-02 -1.96176855e-03 3.86191103e+01] [ 9.51886626e-02 9.95459243e-01 -1.22485745e-04 5.06236421e+00] [ 1.96451990e-03 -6.48087945e-05 9.99998068e-01 9.01350254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42439141799999 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:38.68, Y:5.07, Z:0.09 [[ 9.95828210e-01 -9.12267965e-02 -1.96177825e-03 3.86810590e+01] [ 9.12267323e-02 9.95830140e-01 -1.22330259e-04 5.06996126e+00] [ 1.96475771e-03 -5.71466963e-05 9.99998068e-01 8.86235493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.484391417999994 meters Centerline goodness : 0.998763 with order 1 Centerline is valid? [True, True] Translation: X:38.74, Y:5.08, Z:0.09 [[ 9.96238513e-01 -8.66312678e-02 -1.96178782e-03 3.87434353e+01] [ 8.66311951e-02 9.96240443e-01 -1.22176563e-04 5.07610238e+00] [ 1.96499668e-03 -4.82350265e-05 9.99998068e-01 8.72823770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54439141799999 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:38.81, Y:5.09, Z:0.09 [[ 9.96934769e-01 -7.82126394e-02 -1.96179721e-03 3.88050015e+01] [ 7.82125506e-02 9.96936699e-01 -1.22025559e-04 5.08606566e+00] [ 1.96533158e-03 -3.17856417e-05 9.99998068e-01 8.85429245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60439141799999 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:38.87, Y:5.10, Z:0.09 [[ 9.97683792e-01 -6.79941327e-02 -1.96183157e-03 3.88662001e+01] [ 6.79940253e-02 9.97685721e-01 -1.21470670e-04 5.09694626e+00] [ 1.96555064e-03 -1.22035065e-05 9.99998068e-01 9.18384203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.664391417999994 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:38.93, Y:5.10, Z:0.09 [[ 9.98066214e-01 -6.21287623e-02 -1.96184122e-03 3.89284474e+01] [ 6.21286439e-02 9.98068142e-01 -1.21314707e-04 5.10398506e+00] [ 1.96558835e-03 -8.06423456e-07 9.99998068e-01 9.12430267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72439141799999 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:38.99, Y:5.11, Z:0.09 [[ 9.98328092e-01 -5.77682665e-02 -1.96185121e-03 3.89906916e+01] [ 5.77681399e-02 9.98330019e-01 -1.21152923e-04 5.11134218e+00] [ 1.96557375e-03 7.61787172e-06 9.99998068e-01 8.93188342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78439141799999 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:39.05, Y:5.12, Z:0.09 [[ 9.98248571e-01 -5.91264949e-02 -1.96186109e-03 3.90521693e+01] [ 5.91263713e-02 9.98250498e-01 -1.20992750e-04 5.11578443e+00] [ 1.96558268e-03 4.78311249e-06 9.99998068e-01 9.17993721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844391417999994 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:39.11, Y:5.12, Z:0.09 [[ 9.98091794e-01 -6.17164653e-02 -1.96189241e-03 3.91147919e+01] [ 6.17163477e-02 9.98093722e-01 -1.20482733e-04 5.12202119e+00] [ 1.96558826e-03 -8.28006951e-07 9.99998068e-01 9.30810296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90439141799999 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:39.18, Y:5.13, Z:0.09 [[ 9.97911673e-01 -6.45634935e-02 -1.96190695e-03 3.91778870e+01] [ 6.45633819e-02 9.97913601e-01 -1.20245381e-04 5.12580163e+00] [ 1.96557709e-03 -6.67307836e-06 9.99998068e-01 9.21717789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96439141799999 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:39.24, Y:5.13, Z:0.09 [[ 9.97698343e-01 -6.77802849e-02 -1.96192154e-03 3.92394627e+01] [ 6.77801800e-02 9.97700272e-01 -1.20006926e-04 5.13037228e+00] [ 1.96554376e-03 -1.32486840e-05 9.99998068e-01 9.49444131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02439141799999 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:39.30, Y:5.13, Z:0.09 [[ 9.97441162e-01 -7.14652358e-02 -1.96193109e-03 3.93025581e+01] [ 7.14651383e-02 9.97443091e-01 -1.19850627e-04 5.13416209e+00] [ 1.96547976e-03 -2.06657281e-05 9.99998068e-01 9.39564530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08439141799999 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:39.37, Y:5.14, Z:0.10 [[ 9.97206403e-01 -7.46695397e-02 -1.96194524e-03 3.93653333e+01] [ 7.46694489e-02 9.97208333e-01 -1.19618524e-04 5.13630738e+00] [ 1.96540000e-03 -2.72130113e-05 9.99998068e-01 9.54601128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14439141799999 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:39.43, Y:5.14, Z:0.10 [[ 9.97044830e-01 -7.67968575e-02 -1.96198388e-03 3.94276660e+01] [ 7.67967720e-02 9.97046760e-01 -1.18981307e-04 5.13987912e+00] [ 1.96532706e-03 -3.20443322e-05 9.99998068e-01 9.58224365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20439141799999 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:39.49, Y:5.14, Z:0.09 [[ 9.97258620e-01 -7.39688789e-02 -1.96201925e-03 3.94887771e+01] [ 7.39687891e-02 9.97260550e-01 -1.18395121e-04 5.14354837e+00] [ 1.96540195e-03 -2.70576338e-05 9.99998068e-01 9.03289344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26439141799999 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:39.55, Y:5.15, Z:0.09 [[ 9.97250049e-01 -7.40843453e-02 -1.96204903e-03 3.95506033e+01] [ 7.40842567e-02 9.97251979e-01 -1.17899565e-04 5.14794114e+00] [ 1.96539179e-03 -2.77815974e-05 9.99998068e-01 9.38742727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32439141799999 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:39.61, Y:5.15, Z:0.09 [[ 9.97446700e-01 -7.13878879e-02 -1.96205796e-03 3.96128127e+01] [ 7.13877944e-02 9.97448630e-01 -1.17750878e-04 5.15167621e+00] [ 1.96545801e-03 -2.26167648e-05 9.99998068e-01 9.40971640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38439141799999 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:39.67, Y:5.16, Z:0.09 [[ 9.97905749e-01 -6.46549767e-02 -1.96206748e-03 3.96745764e+01] [ 6.46548705e-02 9.97907678e-01 -1.17591908e-04 5.15774086e+00] [ 1.96556511e-03 -9.51157840e-06 9.99998068e-01 9.33569547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44439141799999 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:39.74, Y:5.16, Z:0.09 [[ 9.98271202e-01 -5.87431445e-02 -1.96207688e-03 3.97375402e+01] [ 5.87430271e-02 9.98273130e-01 -1.17434973e-04 5.16390644e+00] [ 1.96558712e-03 1.97361621e-06 9.99998068e-01 9.41915076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50439141799999 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:39.80, Y:5.17, Z:0.09 [[ 9.98727706e-01 -5.03896709e-02 -1.96209146e-03 3.98005504e+01] [ 5.03895379e-02 9.98729633e-01 -1.17190712e-04 5.16933672e+00] [ 1.96550409e-03 1.81727283e-05 9.99998068e-01 9.47621574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56439141799999 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:39.86, Y:5.17, Z:0.10 [[ 9.98976634e-01 -4.51866752e-02 -1.96210580e-03 3.98625810e+01] [ 4.51865326e-02 9.98978560e-01 -1.16950146e-04 5.17394307e+00] [ 1.96538622e-03 2.81697049e-05 9.99998068e-01 9.62823393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62439141799999 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:39.93, Y:5.18, Z:0.10 [[ 9.99068122e-01 -4.31165691e-02 -1.96214056e-03 3.99250325e+01] [ 4.31164237e-02 9.99070048e-01 -1.16364079e-04 5.17784432e+00] [ 1.96533308e-03 3.16551582e-05 9.99998068e-01 9.65432641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68439141799999 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:39.99, Y:5.18, Z:0.10 [[ 9.99072075e-01 -4.30248612e-02 -1.96214993e-03 3.99885861e+01] [ 4.30247159e-02 9.99074001e-01 -1.16205856e-04 5.17816173e+00] [ 1.96533272e-03 3.16770822e-05 9.99998068e-01 9.78323410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74439141799999 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:40.05, Y:5.18, Z:0.10 [[ 9.98868729e-01 -4.75122283e-02 -1.96216385e-03 4.00512042e+01] [ 4.75120922e-02 9.98870656e-01 -1.15970339e-04 5.18325597e+00] [ 1.96545790e-03 2.26126353e-05 9.99998068e-01 1.00095859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804391417999994 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:40.11, Y:5.18, Z:0.10 [[ 9.98848208e-01 -4.79417136e-02 -1.96217862e-03 4.01137717e+01] [ 4.79415788e-02 9.98850135e-01 -1.15719835e-04 5.17909372e+00] [ 1.96547019e-03 2.15166087e-05 9.99998068e-01 9.95367247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86439141799999 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:40.18, Y:5.18, Z:0.10 [[ 9.98797611e-01 -4.89845141e-02 -1.96219090e-03 4.01760473e+01] [ 4.89843817e-02 9.98799538e-01 -1.15511348e-04 5.17924165e+00] [ 1.96549363e-03 1.92557500e-05 9.99998068e-01 9.70421146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92439141799999 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:40.24, Y:5.18, Z:0.10 [[ 9.98766889e-01 -4.96069611e-02 -1.96220006e-03 4.02381165e+01] [ 4.96068302e-02 9.98768817e-01 -1.15355448e-04 5.17688010e+00] [ 1.96550667e-03 1.78746762e-05 9.99998068e-01 9.89522340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984391417999994 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:40.30, Y:5.18, Z:0.10 [[ 9.98824863e-01 -4.84256514e-02 -1.96222250e-03 4.03008773e+01] [ 4.84255190e-02 9.98826790e-01 -1.14972511e-04 5.17589875e+00] [ 1.96548802e-03 1.98157597e-05 9.99998068e-01 1.01458500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04439141799999 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:40.36, Y:5.18, Z:0.10 [[ 9.98882959e-01 -4.72121153e-02 -1.96223665e-03 4.03626899e+01] [ 4.72119810e-02 9.98884886e-01 -1.14730501e-04 5.17561983e+00] [ 1.96546520e-03 2.19612625e-05 9.99998068e-01 1.01041059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10439141799999 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:40.42, Y:5.17, Z:0.10 [[ 9.98948890e-01 -4.57958984e-02 -1.96224824e-03 4.04248896e+01] [ 4.57957618e-02 9.98950817e-01 -1.14531997e-04 5.17159463e+00] [ 1.96543457e-03 2.45489580e-05 9.99998068e-01 1.00491962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164391417999994 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:40.49, Y:5.17, Z:0.10 [[ 9.98974173e-01 -4.52410386e-02 -1.96225755e-03 4.04884746e+01] [ 4.52409012e-02 9.98976100e-01 -1.14372289e-04 5.17006207e+00] [ 1.96542271e-03 2.54806626e-05 9.99998068e-01 1.00683570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22439141799999 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:40.55, Y:5.17, Z:0.10 [[ 9.98984301e-01 -4.50168471e-02 -1.96227137e-03 4.05516508e+01] [ 4.50167097e-02 9.98986228e-01 -1.14134527e-04 5.17096965e+00] [ 1.96542005e-03 2.56835994e-05 9.99998068e-01 1.01137743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28439141799999 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:40.61, Y:5.17, Z:0.10 [[ 9.98897460e-01 -4.69043076e-02 -1.96228504e-03 4.06139773e+01] [ 4.69041744e-02 9.98899387e-01 -1.13899053e-04 5.16523645e+00] [ 1.96546768e-03 2.17341153e-05 9.99998068e-01 1.00536199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.344391417999994 meters Centerline goodness : 0.999194 with order 1 Centerline is valid? [True, True] Translation: X:40.68, Y:5.16, Z:0.10 [[ 9.98750378e-01 -4.99382829e-02 -1.96229429e-03 4.06770200e+01] [ 4.99381558e-02 9.98752305e-01 -1.13739590e-04 5.15921310e+00] [ 1.96552590e-03 1.56041011e-05 9.99998068e-01 9.92913371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40439141799999 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:40.74, Y:5.16, Z:0.10 [[ 9.98759294e-01 -4.97596425e-02 -1.96230355e-03 4.07396371e+01] [ 4.97595154e-02 9.98761222e-01 -1.13579457e-04 5.15712757e+00] [ 1.96552437e-03 1.57952645e-05 9.99998068e-01 9.88411653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46439141799999 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:40.80, Y:5.15, Z:0.10 [[ 9.98939114e-01 -4.60086492e-02 -1.96231502e-03 4.08028807e+01] [ 4.60085152e-02 9.98941041e-01 -1.13380946e-04 5.15230719e+00] [ 1.96545352e-03 2.29774614e-05 9.99998068e-01 9.86178686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52439141799999 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:40.87, Y:5.15, Z:0.10 [[ 9.99056425e-01 -4.33867303e-02 -1.96232893e-03 4.08657135e+01] [ 4.33865918e-02 9.99058352e-01 -1.13139715e-04 5.14947358e+00] [ 1.96538987e-03 2.78941944e-05 9.99998068e-01 9.83093817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58439141799999 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:40.93, Y:5.14, Z:0.10 [[ 9.99101293e-01 -4.23409477e-02 -1.96235196e-03 4.09275128e+01] [ 4.23408079e-02 9.99103220e-01 -1.12738822e-04 5.14440714e+00] [ 1.96536563e-03 2.95499351e-05 9.99998068e-01 9.93556868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64439141799999 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:40.99, Y:5.14, Z:0.10 [[ 9.99104768e-01 -4.22588720e-02 -1.96235874e-03 4.09898601e+01] [ 4.22587322e-02 9.99106694e-01 -1.12620678e-04 5.13759149e+00] [ 1.96536498e-03 2.95930638e-05 9.99998068e-01 9.61432226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70439141799999 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:41.05, Y:5.13, Z:0.10 [[ 9.99046365e-01 -4.36177789e-02 -1.96236847e-03 4.10512043e+01] [ 4.36176421e-02 9.99048291e-01 -1.12451020e-04 5.13366041e+00] [ 1.96540573e-03 2.67498975e-05 9.99998068e-01 9.62164219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76439141799999 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:41.11, Y:5.13, Z:0.10 [[ 9.98946959e-01 -4.58379902e-02 -1.96237576e-03 4.11137545e+01] [ 4.58378579e-02 9.98948887e-01 -1.12323555e-04 5.12779043e+00] [ 1.96546177e-03 2.22541725e-05 9.99998068e-01 9.99971353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82439141799999 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:41.17, Y:5.13, Z:0.10 [[ 9.98908913e-01 -4.66597452e-02 -1.96238573e-03 4.11747785e+01] [ 4.66596150e-02 9.98910841e-01 -1.12149086e-04 5.12502695e+00] [ 1.96548123e-03 2.04625594e-05 9.99998068e-01 9.96136974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88439141799999 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:41.24, Y:5.12, Z:0.10 [[ 9.98911018e-01 -4.66146611e-02 -1.96239309e-03 4.12361592e+01] [ 4.66145310e-02 9.98912946e-01 -1.12020127e-04 5.12072116e+00] [ 1.96548165e-03 2.04221055e-05 9.99998068e-01 9.91599854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94439141799999 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:41.30, Y:5.12, Z:0.10 [[ 9.98982186e-01 -4.50637348e-02 -1.96239982e-03 4.12981466e+01] [ 4.50636020e-02 9.98984114e-01 -1.11902217e-04 5.11814144e+00] [ 1.96544897e-03 2.33555173e-05 9.99998068e-01 9.81141662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00439141799999 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:41.36, Y:5.11, Z:0.10 [[ 9.99043444e-01 -4.36846205e-02 -1.96240989e-03 4.13598521e+01] [ 4.36844853e-02 9.99045371e-01 -1.11725343e-04 5.11465029e+00] [ 1.96541719e-03 2.58916060e-05 9.99998068e-01 9.88749897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06439141799999 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:41.42, Y:5.11, Z:0.10 [[ 9.99039223e-01 -4.37810396e-02 -1.96241731e-03 4.14225934e+01] [ 4.37809049e-02 9.99041150e-01 -1.11594854e-04 5.11467541e+00] [ 1.96542138e-03 2.55712307e-05 9.99998068e-01 1.02530722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12439141799999 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:41.48, Y:5.11, Z:0.10 [[ 9.99039872e-01 -4.37662334e-02 -1.96242712e-03 4.14844154e+01] [ 4.37660989e-02 9.99041799e-01 -1.11422052e-04 5.11027586e+00] [ 1.96542324e-03 2.54272933e-05 9.99998068e-01 9.94426809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18439141799999 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:41.55, Y:5.11, Z:0.10 [[ 9.98994988e-01 -4.47790430e-02 -1.96243432e-03 4.15467956e+01] [ 4.47789108e-02 9.98996915e-01 -1.11295149e-04 5.10609830e+00] [ 1.96544952e-03 2.33076247e-05 9.99998068e-01 1.01640920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24439141799999 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:41.61, Y:5.11, Z:0.10 [[ 9.98997990e-01 -4.47120152e-02 -1.96244376e-03 4.16095553e+01] [ 4.47118831e-02 9.98999917e-01 -1.11128428e-04 5.10514194e+00] [ 1.96544993e-03 2.32725205e-05 9.99998068e-01 1.02665424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30439141799999 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:41.67, Y:5.10, Z:0.10 [[ 9.99068916e-01 -4.30981378e-02 -1.96245318e-03 4.16710136e+01] [ 4.30980030e-02 9.99070843e-01 -1.10961707e-04 5.10439188e+00] [ 1.96541200e-03 2.62805790e-05 9.99998068e-01 9.99727565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36439141799999 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:41.73, Y:5.10, Z:0.10 [[ 9.99092845e-01 -4.25398131e-02 -1.96246013e-03 4.17331266e+01] [ 4.25396775e-02 9.99094772e-01 -1.10838772e-04 5.10396006e+00] [ 1.96539871e-03 2.72558033e-05 9.99998068e-01 9.97300041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42439141799999 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:41.80, Y:5.10, Z:0.10 [[ 9.98992855e-01 -4.48266030e-02 -1.96246981e-03 4.17955562e+01] [ 4.48264720e-02 9.98994782e-01 -1.10667033e-04 5.10383557e+00] [ 1.96545793e-03 2.25849774e-05 9.99998068e-01 1.00533159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.484391417999994 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:41.86, Y:5.10, Z:0.10 [[ 9.98801850e-01 -4.88979952e-02 -1.96247932e-03 4.18576680e+01] [ 4.88978724e-02 9.98803777e-01 -1.10498095e-04 5.10397313e+00] [ 1.96553490e-03 1.44046378e-05 9.99998068e-01 1.01577532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54439141799999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:41.92, Y:5.10, Z:0.10 [[ 9.98326104e-01 -5.78025797e-02 -1.96248876e-03 4.19189262e+01] [ 5.78024745e-02 9.98328033e-01 -1.10330197e-04 5.10301995e+00] [ 1.96558492e-03 -3.29119069e-06 9.99998068e-01 1.00593950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60439141799999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:41.98, Y:5.10, Z:0.10 [[ 9.98005922e-01 -6.30898460e-02 -1.96249572e-03 4.19810232e+01] [ 6.30897512e-02 9.98007851e-01 -1.10206272e-04 5.10458684e+00] [ 1.96553904e-03 -1.38268551e-05 9.99998068e-01 1.01158428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.664391417999994 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:42.04, Y:5.11, Z:0.10 [[ 9.97724926e-01 -6.73878312e-02 -1.96250477e-03 4.20430200e+01] [ 6.73877451e-02 9.97726856e-01 -1.10044962e-04 5.10529121e+00] [ 1.96545940e-03 -2.24541691e-05 9.99998068e-01 1.02655458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72439141799999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:42.10, Y:5.11, Z:0.10 [[ 9.97834087e-01 -6.57516786e-02 -1.96251457e-03 4.21036218e+01] [ 6.57515896e-02 9.97836017e-01 -1.09869796e-04 5.10925622e+00] [ 1.96549185e-03 -1.94066252e-05 9.99998068e-01 1.04470224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78439141799999 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:42.16, Y:5.11, Z:0.11 [[ 9.98040706e-01 -6.25371736e-02 -1.96252178e-03 4.21643976e+01] [ 6.25370787e-02 9.98042635e-01 -1.09740894e-04 5.11368909e+00] [ 1.96554330e-03 -1.32044996e-05 9.99998068e-01 1.06445319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.844391417999994 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:42.23, Y:5.12, Z:0.10 [[ 9.98418853e-01 -5.61777825e-02 -1.96252884e-03 4.22266270e+01] [ 5.61776755e-02 9.98420781e-01 -1.09614545e-04 5.12066663e+00] [ 1.96558748e-03 -8.09079779e-07 9.99998068e-01 1.03875958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90439141799999 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:42.29, Y:5.13, Z:0.11 [[ 9.98587947e-01 -5.30872905e-02 -1.96253831e-03 4.22885415e+01] [ 5.30871779e-02 9.98589876e-01 -1.09444787e-04 5.12562318e+00] [ 1.96558101e-03 5.10462476e-06 9.99998068e-01 1.06159664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96439141799999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:42.35, Y:5.13, Z:0.11 [[ 9.98762519e-01 -4.96948574e-02 -1.96254772e-03 4.23503506e+01] [ 4.96947386e-02 9.98764447e-01 -1.09275780e-04 5.13200280e+00] [ 1.96555333e-03 1.16122570e-05 9.99998068e-01 1.05190585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02439141799999 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:42.41, Y:5.14, Z:0.10 [[ 9.98838131e-01 -4.81511926e-02 -1.96255713e-03 4.24119811e+01] [ 4.81510712e-02 9.98840058e-01 -1.09106385e-04 5.13701677e+00] [ 1.96553429e-03 1.44803893e-05 9.99998068e-01 1.00504785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08439141799999 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:42.47, Y:5.14, Z:0.10 [[ 9.98721407e-01 -5.05143549e-02 -1.96256680e-03 4.24737463e+01] [ 5.05142384e-02 9.98723335e-01 -1.08932310e-04 5.14130931e+00] [ 1.96556390e-03 9.65546298e-06 9.99998068e-01 1.03938001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14439141799999 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:42.54, Y:5.14, Z:0.10 [[ 9.98665085e-01 -5.16158455e-02 -1.96257650e-03 4.25354582e+01] [ 5.16157314e-02 9.98667014e-01 -1.08757230e-04 5.14469195e+00] [ 1.96557401e-03 7.31222684e-06 9.99998068e-01 1.03436067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20439141799999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:42.60, Y:5.15, Z:0.10 [[ 9.98351572e-01 -5.73610153e-02 -1.96258603e-03 4.25976582e+01] [ 5.73609126e-02 9.98353501e-01 -1.08584905e-04 5.14903399e+00] [ 1.96558318e-03 -4.16981540e-06 9.99998068e-01 1.01367226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26439141799999 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:42.66, Y:5.15, Z:0.10 [[ 9.98019275e-01 -6.28782492e-02 -1.96259542e-03 4.26593840e+01] [ 6.28781576e-02 9.98021205e-01 -1.08414947e-04 5.15269845e+00] [ 1.96552879e-03 -1.52041777e-05 9.99998068e-01 1.01167945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32439141799999 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:42.72, Y:5.16, Z:0.10 [[ 9.97740955e-01 -6.71500987e-02 -1.96260479e-03 4.27218413e+01] [ 6.71500157e-02 9.97742885e-01 -1.08245160e-04 5.15670075e+00] [ 1.96544363e-03 -2.37883130e-05 9.99998068e-01 1.01734656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38439141799999 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:42.78, Y:5.16, Z:0.11 [[ 9.97222133e-01 -7.44591553e-02 -1.96261414e-03 4.27827381e+01] [ 7.44590867e-02 9.97224063e-01 -1.08075309e-04 5.16142111e+00] [ 1.96521324e-03 -3.83593665e-05 9.99998068e-01 1.06091160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44439141799999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:42.84, Y:5.17, Z:0.11 [[ 9.96850078e-01 -7.92847374e-02 -1.96262098e-03 4.28444870e+01] [ 7.92846784e-02 9.96852009e-01 -1.07950853e-04 5.16524813e+00] [ 1.96500153e-03 -4.79949577e-05 9.99998068e-01 1.05405685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50439141799999 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:42.91, Y:5.17, Z:0.10 [[ 9.96246093e-01 -8.65440336e-02 -1.96262987e-03 4.29060410e+01] [ 8.65439890e-02 9.96248025e-01 -1.07789083e-04 5.17027570e+00] [ 1.96459463e-03 -6.24693653e-05 9.99998068e-01 1.01209877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56439141799999 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:42.97, Y:5.18, Z:0.10 [[ 9.95840199e-01 -9.10958077e-02 -1.96263912e-03 4.29673740e+01] [ 9.10957722e-02 9.95842130e-01 -1.07620323e-04 5.17734561e+00] [ 1.96428249e-03 -7.16154830e-05 9.99998068e-01 1.04799902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62439141799999 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:43.03, Y:5.18, Z:0.10 [[ 9.95433575e-01 -9.54366089e-02 -1.96264590e-03 4.30296901e+01] [ 9.54365821e-02 9.95435506e-01 -1.07496603e-04 5.18339259e+00] [ 1.96394653e-03 -8.03024886e-05 9.99998068e-01 1.03632249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68439141799999 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:43.09, Y:5.19, Z:0.10 [[ 9.95196236e-01 -9.78805433e-02 -1.96265491e-03 4.30913420e+01] [ 9.78805216e-02 9.95198167e-01 -1.07331818e-04 5.19363119e+00] [ 1.96373627e-03 -8.52894649e-05 9.99998068e-01 1.01358404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74439141799999 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:43.15, Y:5.20, Z:0.10 [[ 9.95097476e-01 -9.88795336e-02 -1.96266426e-03 4.31517237e+01] [ 9.88795142e-02 9.95099407e-01 -1.07160635e-04 5.20223977e+00] [ 1.96364203e-03 -8.74320111e-05 9.99998068e-01 1.03678019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80439141799999 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:43.21, Y:5.21, Z:0.10 [[ 9.95028851e-01 -9.95677377e-02 -1.96267073e-03 4.32145748e+01] [ 9.95677199e-02 9.95030782e-01 -1.07042038e-04 5.21180820e+00] [ 1.96357572e-03 -8.89087327e-05 9.99998068e-01 1.04922837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86439141799999 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:43.28, Y:5.22, Z:0.10 [[ 9.94859953e-01 -1.01241404e-01 -1.96268379e-03 4.32770980e+01] [ 1.01241389e-01 9.94861885e-01 -1.06801890e-04 5.22397464e+00] [ 1.96341207e-03 -9.24519104e-05 9.99998068e-01 1.03620530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92439141799999 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:43.34, Y:5.23, Z:0.10 [[ 9.94736381e-01 -1.02448423e-01 -1.96269672e-03 4.33397958e+01] [ 1.02448412e-01 9.94738313e-01 -1.06563822e-04 5.23344995e+00] [ 1.96328692e-03 -9.50722514e-05 9.99998068e-01 1.03112312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98439141799999 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:43.40, Y:5.24, Z:0.10 [[ 9.94533342e-01 -1.04401048e-01 -1.96270997e-03 4.34007259e+01] [ 1.04401041e-01 9.94535274e-01 -1.06319214e-04 5.24465877e+00] [ 1.96308413e-03 -9.91709613e-05 9.99998068e-01 1.01345957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04439141799999 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:43.46, Y:5.25, Z:0.10 [[ 9.94416958e-01 -1.05503845e-01 -1.96271645e-03 4.34633440e+01] [ 1.05503840e-01 9.94418890e-01 -1.06199396e-04 5.25496796e+00] [ 1.96296676e-03 -1.01467643e-04 9.99998068e-01 1.03058889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10439141799999 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:43.53, Y:5.27, Z:0.10 [[ 9.94676667e-01 -1.03026581e-01 -1.96272928e-03 4.35255894e+01] [ 1.03026572e-01 9.94678598e-01 -1.05961721e-04 5.26883439e+00] [ 1.96320169e-03 -9.68156186e-05 9.99998068e-01 1.03095134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.164391417999994 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:43.59, Y:5.28, Z:0.10 [[ 9.95290138e-01 -9.69210428e-02 -1.96274201e-03 4.35874814e+01] [ 9.69210224e-02 9.95292070e-01 -1.05725502e-04 5.28129610e+00] [ 1.96374858e-03 -8.50034125e-05 9.99998068e-01 1.03332931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22439141799999 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:43.65, Y:5.29, Z:0.11 [[ 9.95657406e-01 -9.30724297e-02 -1.96275241e-03 4.36490188e+01] [ 9.30724022e-02 9.95659338e-01 -1.05532119e-04 5.29247644e+00] [ 1.96405489e-03 -7.76042453e-05 9.99998068e-01 1.07629755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28439141799999 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:43.71, Y:5.31, Z:0.11 [[ 9.96253232e-01 -8.64618132e-02 -1.96276070e-03 4.37118674e+01] [ 8.64617732e-02 9.96255163e-01 -1.05377653e-04 5.30602674e+00] [ 1.96452162e-03 -6.47209431e-05 9.99998068e-01 1.07521499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344391417999994 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:43.77, Y:5.31, Z:0.11 [[ 9.96448296e-01 -8.41839680e-02 -1.96277372e-03 4.37735673e+01] [ 8.41839241e-02 9.96450227e-01 -1.05134580e-04 5.31406817e+00] [ 1.96465696e-03 -6.04728205e-05 9.99998068e-01 1.07700548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40439141799999 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:43.84, Y:5.32, Z:0.10 [[ 9.96524228e-01 -8.32803079e-02 -1.96280524e-03 4.38358964e+01] [ 8.32802633e-02 9.96526160e-01 -1.04542756e-04 5.32311922e+00] [ 1.96469312e-03 -5.92835483e-05 9.99998068e-01 1.04805507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46439141799999 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:43.90, Y:5.33, Z:0.11 [[ 9.96437201e-01 -8.43151903e-02 -1.96282137e-03 4.38977367e+01] [ 8.43151483e-02 9.96439133e-01 -1.04239085e-04 5.33191837e+00] [ 1.96462096e-03 -6.16278730e-05 9.99998068e-01 1.06278134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52439141799999 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:43.96, Y:5.34, Z:0.11 [[ 9.96450119e-01 -8.41623874e-02 -1.96285244e-03 4.39596775e+01] [ 8.41623464e-02 9.96452050e-01 -1.03650703e-04 5.34143448e+00] [ 1.96461183e-03 -6.19155118e-05 9.99998068e-01 1.05631867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58439141799999 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:44.02, Y:5.35, Z:0.11 [[ 9.96582812e-01 -8.25762989e-02 -1.96287238e-03 4.40220925e+01] [ 8.25762555e-02 9.96584744e-01 -1.03271596e-04 5.34978786e+00] [ 1.96469646e-03 -5.91679540e-05 9.99998068e-01 1.06735758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64439141799999 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:44.09, Y:5.36, Z:0.11 [[ 9.96611581e-01 -8.22283620e-02 -1.96288498e-03 4.40852762e+01] [ 8.22283184e-02 9.96613512e-01 -1.03031537e-04 5.35792915e+00] [ 1.96470981e-03 -5.87223079e-05 9.99998068e-01 1.07421719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70439141799999 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:44.15, Y:5.37, Z:0.11 [[ 9.96542876e-01 -8.30568696e-02 -1.96289737e-03 4.41470417e+01] [ 8.30568281e-02 9.96544807e-01 -1.02795017e-04 5.36659577e+00] [ 1.96465301e-03 -6.05923879e-05 9.99998068e-01 1.06755757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76439141799999 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:44.21, Y:5.37, Z:0.11 [[ 9.96443543e-01 -8.42402111e-02 -1.96292746e-03 4.42096097e+01] [ 8.42401730e-02 9.96445474e-01 -1.02217198e-04 5.37309745e+00] [ 1.96456098e-03 -6.35036817e-05 9.99998068e-01 1.07354701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82439141799999 meters Centerline goodness : 0.998890 with order 1 Centerline is valid? [True, True] Translation: X:44.27, Y:5.38, Z:0.11 [[ 9.96214490e-01 -8.69070615e-02 -1.96293936e-03 4.42717598e+01] [ 8.69070290e-02 9.96216421e-01 -1.01988084e-04 5.38280778e+00] [ 1.96437591e-03 -6.89912210e-05 9.99998068e-01 1.05851258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88439141799999 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:44.33, Y:5.39, Z:0.11 [[ 9.96051419e-01 -8.87565024e-02 -1.96294717e-03 4.43349769e+01] [ 8.87564739e-02 9.96053351e-01 -1.01837520e-04 5.38934565e+00] [ 1.96423885e-03 -7.27888633e-05 9.99998068e-01 1.06391358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94439141799999 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:44.40, Y:5.40, Z:0.11 [[ 9.95880799e-01 -9.06508755e-02 -1.96295952e-03 4.43975758e+01] [ 9.06508510e-02 9.95882730e-01 -1.01598938e-04 5.39844985e+00] [ 1.96408752e-03 -7.67635193e-05 9.99998068e-01 1.05708200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00439141799999 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:44.46, Y:5.40, Z:0.10 [[ 9.95907973e-01 -9.03518465e-02 -1.96297161e-03 4.44608682e+01] [ 9.03518219e-02 9.95909905e-01 -1.01364814e-04 5.40408741e+00] [ 1.96410137e-03 -7.64080355e-05 9.99998068e-01 1.04242135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06439141799999 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:44.52, Y:5.42, Z:0.11 [[ 9.96093912e-01 -8.82783358e-02 -1.96300366e-03 4.45225677e+01] [ 8.82783085e-02 9.96095844e-01 -1.00740292e-04 5.41552880e+00] [ 1.96423298e-03 -7.29438514e-05 9.99998068e-01 1.05486818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12439141799999 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:44.58, Y:5.43, Z:0.11 [[ 9.96375913e-01 -8.50363882e-02 -1.96303301e-03 4.45849725e+01] [ 8.50363557e-02 9.96377844e-01 -1.00165180e-04 5.42708603e+00] [ 1.96444028e-03 -6.71270007e-05 9.99998068e-01 1.07698228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18439141799999 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:44.65, Y:5.44, Z:0.11 [[ 9.96541042e-01 -8.30788678e-02 -1.96306401e-03 4.46476056e+01] [ 8.30788327e-02 9.96542973e-01 -9.95538114e-05 5.43521230e+00] [ 1.96454847e-03 -6.38796078e-05 9.99998068e-01 1.08207012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24439141799999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:44.71, Y:5.45, Z:0.11 [[ 9.96676010e-01 -8.14437057e-02 -1.96309686e-03 4.47089678e+01] [ 8.14436688e-02 9.96677941e-01 -9.89018931e-05 5.44598368e+00] [ 1.96463027e-03 -6.13086660e-05 9.99998068e-01 1.10897432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30439141799999 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:44.77, Y:5.46, Z:0.11 [[ 9.96821316e-01 -7.96455231e-02 -1.96311695e-03 4.47715471e+01] [ 7.96454834e-02 9.96823248e-01 -9.85014691e-05 5.45637931e+00] [ 1.96472581e-03 -5.81650344e-05 9.99998068e-01 1.10276361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36439141799999 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:44.83, Y:5.46, Z:0.11 [[ 9.96916721e-01 -7.84423138e-02 -1.96314892e-03 4.48348736e+01] [ 7.84422731e-02 9.96918653e-01 -9.78600764e-05 5.46369037e+00] [ 1.96477615e-03 -5.64355173e-05 9.99998068e-01 1.09649987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42439141799999 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:44.90, Y:5.47, Z:0.11 [[ 9.97162328e-01 -7.52558152e-02 -1.96318056e-03 4.48964894e+01] [ 7.52557695e-02 9.97164259e-01 -9.72211162e-05 5.47199861e+00] [ 1.96492995e-03 -5.07954295e-05 9.99998068e-01 1.08075750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48439141799999 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:44.96, Y:5.48, Z:0.11 [[ 9.97475559e-01 -7.09834867e-02 -1.96320952e-03 4.49589391e+01] [ 7.09834340e-02 9.97477490e-01 -9.66327841e-05 5.48019304e+00] [ 1.96511664e-03 -4.29665133e-05 9.99998068e-01 1.10687818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54439141799999 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:45.02, Y:5.49, Z:0.11 [[ 9.98052684e-01 -6.23456928e-02 -1.96323961e-03 4.50218328e+01] [ 6.23456245e-02 9.98054615e-01 -9.60175337e-05 5.49101203e+00] [ 1.96540664e-03 -2.65688427e-05 9.99998068e-01 1.10756159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60439141799999 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:45.08, Y:5.50, Z:0.11 [[ 9.98258652e-01 -5.89559911e-02 -1.96325075e-03 4.50839778e+01] [ 5.89559167e-02 9.98260583e-01 -9.57892685e-05 5.49740608e+00] [ 1.96548319e-03 -2.01227816e-05 9.99998068e-01 1.12729305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66439141799999 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:45.15, Y:5.50, Z:0.11 [[ 9.98482795e-01 -5.50295639e-02 -1.96325802e-03 4.51469797e+01] [ 5.50294822e-02 9.98484725e-01 -9.56401428e-05 5.50293626e+00] [ 1.96554618e-03 -1.25420350e-05 9.99998068e-01 1.12011182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72439141799999 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:45.21, Y:5.51, Z:0.11 [[ 9.98418202e-01 -5.61893142e-02 -1.96326884e-03 4.52095647e+01] [ 5.61892352e-02 9.98420132e-01 -9.54173811e-05 5.50891671e+00] [ 1.96552857e-03 -1.50481245e-05 9.99998068e-01 1.12646660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78439141799999 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:45.27, Y:5.51, Z:0.11 [[ 9.98277864e-01 -5.86297869e-02 -1.96327993e-03 4.52719286e+01] [ 5.86297131e-02 9.98279794e-01 -9.51887742e-05 5.51077514e+00] [ 1.96548358e-03 -2.00816927e-05 9.99998068e-01 1.10349965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844391417999994 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:45.33, Y:5.51, Z:0.11 [[ 9.97926138e-01 -6.43394748e-02 -1.96328784e-03 4.53347370e+01] [ 6.43394123e-02 9.97928069e-01 -9.50251675e-05 5.51045542e+00] [ 1.96533392e-03 -3.14886876e-05 9.99998068e-01 1.08338353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90439141799999 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:45.40, Y:5.51, Z:0.11 [[ 9.97751655e-01 -6.69908970e-02 -1.96332049e-03 4.53973344e+01] [ 6.69908410e-02 9.97753586e-01 -9.43458511e-05 5.51216075e+00] [ 1.96523037e-03 -3.73907616e-05 9.99998068e-01 1.07815377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96439141799999 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:45.46, Y:5.51, Z:0.11 [[ 9.97675992e-01 -6.81084377e-02 -1.96334829e-03 4.54591187e+01] [ 6.81083851e-02 9.97677924e-01 -9.37636973e-05 5.51428756e+00] [ 1.96517534e-03 -4.01746917e-05 9.99998068e-01 1.09955502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02439141799999 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:45.52, Y:5.52, Z:0.11 [[ 9.97823594e-01 -6.59107017e-02 -1.96336643e-03 4.55216942e+01] [ 6.59106455e-02 9.97825525e-01 -9.33822438e-05 5.51719233e+00] [ 1.96525203e-03 -3.62277428e-05 9.99998068e-01 1.10093792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08439141799999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:45.58, Y:5.52, Z:0.11 [[ 9.98044252e-01 -6.24805284e-02 -1.96337762e-03 4.55844893e+01] [ 6.24804661e-02 9.98046183e-01 -9.31463890e-05 5.51909864e+00] [ 1.96536138e-03 -2.97085309e-05 9.99998068e-01 1.11053783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14439141799999 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:45.65, Y:5.52, Z:0.11 [[ 9.98225468e-01 -5.95152085e-02 -1.96339078e-03 4.56472258e+01] [ 5.95151409e-02 9.98227399e-01 -9.28682491e-05 5.52227304e+00] [ 1.96543754e-03 -2.41480275e-05 9.99998068e-01 1.09537241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20439141799999 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:45.71, Y:5.53, Z:0.11 [[ 9.98419579e-01 -5.61648458e-02 -1.96340236e-03 4.57103019e+01] [ 5.61647722e-02 9.98421509e-01 -9.26227761e-05 5.52567984e+00] [ 1.96550529e-03 -1.77976532e-05 9.99998068e-01 1.09780874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26439141799999 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:45.77, Y:5.53, Z:0.11 [[ 9.98719244e-01 -5.05570558e-02 -1.96341358e-03 4.57721003e+01] [ 5.05569718e-02 9.98721174e-01 -9.23842835e-05 5.52817441e+00] [ 1.96557339e-03 -6.99828329e-06 9.99998068e-01 1.09262755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32439141799999 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:45.83, Y:5.53, Z:0.11 [[ 9.98993504e-01 -4.48120888e-02 -1.96342099e-03 4.58343443e+01] [ 4.48119941e-02 9.98995434e-01 -9.22266117e-05 5.53283121e+00] [ 1.96558147e-03 4.14897638e-06 9.99998068e-01 1.09769349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38439141799999 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:45.90, Y:5.54, Z:0.11 [[ 9.99162846e-01 -4.08625919e-02 -1.96343907e-03 4.58977866e+01] [ 4.08624903e-02 9.99164775e-01 -9.18399792e-05 5.53509498e+00] [ 1.96555198e-03 1.15320850e-05 9.99998068e-01 1.10113215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44439141799999 meters Centerline goodness : 0.999689 with order 1 Centerline is valid? [True, True] Translation: X:45.96, Y:5.54, Z:0.11 [[ 9.99372373e-01 -3.53695364e-02 -1.96344969e-03 4.59596604e+01] [ 3.53694246e-02 9.99374302e-01 -9.16123935e-05 5.53597229e+00] [ 1.96546145e-03 2.21088093e-05 9.99998068e-01 1.10569339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50439141799999 meters Centerline goodness : 0.999689 with order 1 Centerline is valid? [True, True] Translation: X:46.02, Y:5.54, Z:0.11 [[ 9.99468738e-01 -3.25328414e-02 -1.96345705e-03 4.60220797e+01] [ 3.25327245e-02 9.99470667e-01 -9.14544766e-05 5.53996677e+00] [ 1.96539300e-03 2.75292833e-05 9.99998068e-01 1.12421348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56439141799999 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:46.08, Y:5.54, Z:0.11 [[ 9.99506622e-01 -3.13473658e-02 -1.96346432e-03 4.60845946e+01] [ 3.13472470e-02 9.99508550e-01 -9.12981472e-05 5.54256437e+00] [ 1.96536133e-03 2.97039020e-05 9.99998068e-01 1.13845361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62439141799999 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:46.15, Y:5.54, Z:0.11 [[ 9.99398977e-01 -3.46096600e-02 -1.96347145e-03 4.61476284e+01] [ 3.46095477e-02 9.99400906e-01 -9.11444781e-05 5.53943231e+00] [ 1.96544962e-03 2.31348395e-05 9.99998068e-01 1.12561606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68439141799999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:46.21, Y:5.54, Z:0.11 [[ 9.99281972e-01 -3.78376229e-02 -1.96348197e-03 4.62103773e+01] [ 3.78375173e-02 9.99283901e-01 -9.09172977e-05 5.53984781e+00] [ 1.96551601e-03 1.65587335e-05 9.99998068e-01 1.12587810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74439141799999 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:46.27, Y:5.54, Z:0.11 [[ 9.99152934e-01 -4.11042581e-02 -1.96349240e-03 4.62737106e+01] [ 4.11041592e-02 9.99154863e-01 -9.06913741e-05 5.53983671e+00] [ 1.96556078e-03 9.90684817e-06 9.99998068e-01 1.12081735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80439141799999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:46.34, Y:5.54, Z:0.11 [[ 9.99086914e-01 -4.26788312e-02 -1.96350316e-03 4.63371914e+01] [ 4.26787358e-02 9.99088844e-01 -9.04578951e-05 5.53838162e+00] [ 1.96557474e-03 6.57546656e-06 9.99998068e-01 1.14473865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86439141799999 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:46.40, Y:5.54, Z:0.11 [[ 9.99100217e-01 -4.23662702e-02 -1.96351432e-03 4.63997488e+01] [ 4.23661747e-02 9.99102146e-01 -9.02149969e-05 5.53562959e+00] [ 1.96557344e-03 6.94723217e-06 9.99998068e-01 1.13961530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92439141799999 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:46.46, Y:5.54, Z:0.11 [[ 9.99153695e-01 -4.10857372e-02 -1.96352345e-03 4.64626576e+01] [ 4.10856396e-02 9.99155625e-01 -9.00157478e-05 5.53770676e+00] [ 1.96556387e-03 9.26695009e-06 9.99998068e-01 1.14322625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98439141799999 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:46.53, Y:5.54, Z:0.12 [[ 9.99291019e-01 -3.75979272e-02 -1.96353463e-03 4.65252517e+01] [ 3.75978233e-02 9.99292948e-01 -8.97711890e-05 5.53781592e+00] [ 1.96552152e-03 1.58829146e-05 9.99998068e-01 1.15695930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04439141799999 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:46.59, Y:5.53, Z:0.12 [[ 9.99474218e-01 -3.23640644e-02 -1.96354368e-03 4.65882268e+01] [ 3.23639508e-02 9.99476146e-01 -8.95728603e-05 5.53411526e+00] [ 1.96541401e-03 2.59777333e-05 9.99998068e-01 1.15271517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10439141799999 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:46.65, Y:5.53, Z:0.11 [[ 9.99581765e-01 -2.88520194e-02 -1.96355441e-03 4.66512516e+01] [ 2.88518996e-02 9.99583693e-01 -8.93369842e-05 5.53365785e+00] [ 1.96531453e-03 3.26473457e-05 9.99998068e-01 1.13395618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16439141799999 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:46.71, Y:5.54, Z:0.12 [[ 9.99527048e-01 -3.06891499e-02 -1.96356531e-03 4.67142240e+01] [ 3.06890341e-02 9.99528977e-01 -8.90969565e-05 5.53883525e+00] [ 1.96537473e-03 2.87948954e-05 9.99998068e-01 1.16496431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22439141799999 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:46.78, Y:5.53, Z:0.11 [[ 9.99577230e-01 -2.90087228e-02 -1.96357696e-03 4.67766346e+01] [ 2.90086042e-02 9.99579158e-01 -8.88394496e-05 5.52907447e+00] [ 1.96532772e-03 3.18412642e-05 9.99998068e-01 1.12543202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28439141799999 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:46.84, Y:5.53, Z:0.11 [[ 9.99505577e-01 -3.13806450e-02 -1.96359606e-03 4.68381747e+01] [ 3.13805318e-02 9.99507506e-01 -8.84151236e-05 5.52821594e+00] [ 1.96540353e-03 2.67527205e-05 9.99998068e-01 1.11547131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344391417999994 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:46.90, Y:5.52, Z:0.11 [[ 9.99291172e-01 -3.75938408e-02 -1.96360143e-03 4.69005872e+01] [ 3.75937399e-02 9.99293102e-01 -8.82956793e-05 5.52422844e+00] [ 1.96553274e-03 1.44139714e-05 9.99998068e-01 1.12104143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40439141799999 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:46.96, Y:5.52, Z:0.12 [[ 9.99106729e-01 -4.22124073e-02 -1.96360855e-03 4.69630699e+01] [ 4.22123156e-02 9.99108659e-01 -8.81371691e-05 5.52318628e+00] [ 1.96557879e-03 5.16997508e-06 9.99998068e-01 1.15043153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46439141799999 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:47.03, Y:5.52, Z:0.11 [[ 9.98947412e-01 -4.58280632e-02 -1.96361579e-03 4.70264742e+01] [ 4.58279788e-02 9.98949342e-01 -8.79755924e-05 5.52042554e+00] [ 1.96558445e-03 -2.10555223e-06 9.99998068e-01 1.13340444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52439141799999 meters Centerline goodness : 0.999399 with order 1 Centerline is valid? [True, True] Translation: X:47.09, Y:5.52, Z:0.11 [[ 9.98897096e-01 -4.69119908e-02 -1.96362664e-03 4.70891293e+01] [ 4.69119090e-02 9.98899026e-01 -8.77326803e-05 5.51969491e+00] [ 1.96558045e-03 -4.48155458e-06 9.99998068e-01 1.13546626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58439141799999 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:47.15, Y:5.52, Z:0.11 [[ 9.98894597e-01 -4.69651759e-02 -1.96363730e-03 4.71526137e+01] [ 4.69650946e-02 9.98896527e-01 -8.74934205e-05 5.51675036e+00] [ 1.96557962e-03 -4.82570657e-06 9.99998068e-01 1.13957556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64439141799999 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:47.22, Y:5.52, Z:0.12 [[ 9.98997033e-01 -4.47333347e-02 -1.96364783e-03 4.72160292e+01] [ 4.47332496e-02 9.98998963e-01 -8.72564770e-05 5.51541224e+00] [ 1.96558542e-03 -6.71386834e-07 9.99998068e-01 1.16122651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70439141799999 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:47.28, Y:5.51, Z:0.12 [[ 9.99141530e-01 -4.13805161e-02 -1.96365849e-03 4.72796126e+01] [ 4.13804250e-02 9.99143460e-01 -8.70158029e-05 5.51488514e+00] [ 1.96557730e-03 5.68407941e-06 9.99998068e-01 1.15501041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76439141799999 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:47.34, Y:5.51, Z:0.11 [[ 9.99352367e-01 -3.59303634e-02 -1.96366897e-03 4.73431499e+01] [ 3.59302622e-02 9.99354296e-01 -8.67787146e-05 5.51298886e+00] [ 1.96551901e-03 1.61673728e-05 9.99998068e-01 1.14174337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82439141799999 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:47.41, Y:5.51, Z:0.11 [[ 9.99491270e-01 -3.18330833e-02 -1.96367923e-03 4.74066421e+01] [ 3.18329746e-02 9.99493199e-01 -8.65460566e-05 5.51316914e+00] [ 1.96543906e-03 2.39922770e-05 9.99998068e-01 1.14459594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88439141799999 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:47.47, Y:5.51, Z:0.11 [[ 9.99621188e-01 -2.74522225e-02 -1.96368927e-03 4.74692105e+01] [ 2.74521059e-02 9.99623116e-01 -8.63175053e-05 5.51070509e+00] [ 1.96531880e-03 3.23774014e-05 9.99998068e-01 1.13300641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94439141799999 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:47.53, Y:5.51, Z:0.11 [[ 9.99621653e-01 -2.74352795e-02 -1.96369597e-03 4.75310398e+01] [ 2.74351632e-02 9.99623581e-01 -8.61649588e-05 5.50718289e+00] [ 1.96532075e-03 3.22580393e-05 9.99998068e-01 1.14468747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00439141799999 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:47.59, Y:5.51, Z:0.11 [[ 9.99572098e-01 -2.91850004e-02 -1.96370419e-03 4.75932875e+01] [ 2.91848878e-02 9.99574027e-01 -8.59771366e-05 5.50538381e+00] [ 1.96537695e-03 2.86298605e-05 9.99998068e-01 1.14804784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06439141799999 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:47.66, Y:5.50, Z:0.12 [[ 9.99432410e-01 -3.36303573e-02 -1.96371104e-03 4.76569054e+01] [ 3.36302535e-02 9.99434339e-01 -8.58204763e-05 5.49936644e+00] [ 1.96548642e-03 1.97316654e-05 9.99998068e-01 1.15632965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12439141799999 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:47.72, Y:5.50, Z:0.11 [[ 9.99288547e-01 -3.76635537e-02 -1.96372146e-03 4.77201430e+01] [ 3.76634582e-02 9.99290477e-01 -8.55812875e-05 5.49685815e+00] [ 1.96555145e-03 1.15598593e-05 9.99998068e-01 1.13737959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18439141799999 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:47.78, Y:5.49, Z:0.12 [[ 9.98938284e-01 -4.60266056e-02 -1.96373201e-03 4.77834458e+01] [ 4.60265268e-02 9.98940214e-01 -8.53384789e-05 5.49281667e+00] [ 1.96557872e-03 -5.13589035e-06 9.99998068e-01 1.15122665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24439141799999 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:47.85, Y:5.49, Z:0.12 [[ 9.98629842e-01 -5.22932374e-02 -1.96374241e-03 4.78457294e+01] [ 5.22931712e-02 9.98631772e-01 -8.50984616e-05 5.49011516e+00] [ 1.96550564e-03 -1.77084549e-05 9.99998068e-01 1.15281833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30439141799999 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:47.91, Y:5.49, Z:0.11 [[ 9.98188456e-01 -6.01327743e-02 -1.96375094e-03 4.79082338e+01] [ 6.01327236e-02 9.98190387e-01 -8.49013289e-05 5.48557711e+00] [ 1.96530266e-03 -3.33381659e-05 9.99998068e-01 1.11307365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36439141799999 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:47.97, Y:5.48, Z:0.11 [[ 9.97941817e-01 -6.40958192e-02 -1.96375905e-03 4.79718371e+01] [ 6.40957765e-02 9.97943748e-01 -8.47132265e-05 5.48490315e+00] [ 1.96515083e-03 -4.13297901e-05 9.99998068e-01 1.12999168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42439141799999 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:48.03, Y:5.49, Z:0.11 [[ 9.97884298e-01 -6.49851629e-02 -1.96376948e-03 4.80346741e+01] [ 6.49851224e-02 9.97886229e-01 -8.44707949e-05 5.48618748e+00] [ 1.96510787e-03 -4.33237200e-05 9.99998068e-01 1.14460558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48439141799999 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:48.10, Y:5.49, Z:0.12 [[ 9.97749729e-01 -6.70195683e-02 -1.96377991e-03 4.80977004e+01] [ 6.70195323e-02 9.97751660e-01 -8.42275975e-05 5.48636051e+00] [ 1.96500956e-03 -4.75735485e-05 9.99998068e-01 1.15607289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54439141799999 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:48.16, Y:5.49, Z:0.11 [[ 9.97613894e-01 -6.90120400e-02 -1.96379043e-03 4.81601720e+01] [ 6.90120083e-02 9.97615826e-01 -8.39816846e-05 5.48737484e+00] [ 1.96490415e-03 -5.17438258e-05 9.99998068e-01 1.12940539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60439141799999 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:48.22, Y:5.49, Z:0.11 [[ 9.97461759e-01 -7.11771251e-02 -1.96379903e-03 4.82228234e+01] [ 7.11770980e-02 9.97463690e-01 -8.37799049e-05 5.48941931e+00] [ 1.96478144e-03 -5.62102651e-05 9.99998068e-01 1.14067841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66439141799999 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:48.28, Y:5.49, Z:0.11 [[ 9.97320741e-01 -7.31264797e-02 -1.96380935e-03 4.82846505e+01] [ 7.31264569e-02 9.97322673e-01 -8.35374684e-05 5.49241074e+00] [ 1.96466039e-03 -6.02927696e-05 9.99998068e-01 1.09892923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72439141799999 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:48.35, Y:5.50, Z:0.11 [[ 9.97292376e-01 -7.35123157e-02 -1.96381616e-03 4.83472495e+01] [ 7.35122939e-02 9.97294307e-01 -8.33769616e-05 5.49634412e+00] [ 1.96463191e-03 -6.12134228e-05 9.99998068e-01 1.09798980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78439141799999 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:48.41, Y:5.50, Z:0.11 [[ 9.97463786e-01 -7.11487055e-02 -1.96382639e-03 4.84094903e+01] [ 7.11486796e-02 9.97465718e-01 -8.31352827e-05 5.50231261e+00] [ 1.96476447e-03 -5.67992209e-05 9.99998068e-01 1.12380124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84439141799999 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:48.47, Y:5.51, Z:0.11 [[ 9.97689930e-01 -6.79039523e-02 -1.96383475e-03 4.84716440e+01] [ 6.79039206e-02 9.97691862e-01 -8.29374425e-05 5.50505797e+00] [ 1.96493373e-03 -5.06062275e-05 9.99998068e-01 1.09746602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90439141799999 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:48.53, Y:5.51, Z:0.11 [[ 9.98063796e-01 -6.21675412e-02 -1.96384132e-03 4.85328193e+01] [ 6.21674986e-02 9.98065727e-01 -8.27816297e-05 5.51063871e+00] [ 1.96518904e-03 -3.94657547e-05 9.99998068e-01 1.13717735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96439141799999 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:48.60, Y:5.52, Z:0.11 [[ 9.98754731e-01 -4.98510868e-02 -1.96384615e-03 4.85951334e+01] [ 4.98510206e-02 9.98756662e-01 -8.26668479e-05 5.51881342e+00] [ 1.96552545e-03 -1.53358293e-05 9.99998068e-01 1.12991665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02439141799999 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:48.66, Y:5.53, Z:0.12 [[ 9.99181045e-01 -4.04151359e-02 -1.96385581e-03 4.86576620e+01] [ 4.04150519e-02 9.99182975e-01 -8.24367050e-05 5.52630875e+00] [ 1.96558298e-03 2.99985860e-06 9.99998068e-01 1.15671321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08439141799999 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:48.72, Y:5.53, Z:0.12 [[ 9.99310952e-01 -3.70643261e-02 -1.96386556e-03 4.87196352e+01] [ 3.70642361e-02 9.99312882e-01 -8.22036433e-05 5.53057658e+00] [ 1.96556298e-03 9.35782404e-06 9.99998068e-01 1.15149718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14439141799999 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:48.78, Y:5.54, Z:0.12 [[ 9.99305530e-01 -3.72102226e-02 -1.96387349e-03 4.87825134e+01] [ 3.72101333e-02 9.99307460e-01 -8.20137783e-05 5.53531954e+00] [ 1.96556518e-03 8.88082782e-06 9.99998068e-01 1.15535031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20439141799999 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:48.85, Y:5.54, Z:0.11 [[ 9.99211849e-01 -3.96462284e-02 -1.96388336e-03 4.88453069e+01] [ 3.96461442e-02 9.99213779e-01 -8.17766953e-05 5.53752824e+00] [ 1.96558146e-03 3.85183981e-06 9.99998068e-01 1.14893832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26439141799999 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:48.91, Y:5.54, Z:0.11 [[ 9.99120429e-01 -4.18868825e-02 -1.96389329e-03 4.89074891e+01] [ 4.18868032e-02 9.99122359e-01 -8.15377432e-05 5.53942202e+00] [ 1.96558506e-03 -7.95186501e-07 9.99998068e-01 1.11394650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32439141799999 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:48.97, Y:5.54, Z:0.12 [[ 9.99104179e-01 -4.22727161e-02 -1.96389994e-03 4.89700663e+01] [ 4.22726378e-02 9.99106109e-01 -8.13771528e-05 5.54357690e+00] [ 1.96558446e-03 -1.71497741e-06 9.99998068e-01 1.15149171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38439141799999 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:49.03, Y:5.55, Z:0.12 [[ 9.99200772e-01 -3.99244336e-02 -1.96390986e-03 4.90324792e+01] [ 3.99243512e-02 9.99202702e-01 -8.11369690e-05 5.54703189e+00] [ 1.96558339e-03 2.66429494e-06 9.99998068e-01 1.16368714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44439141799999 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:49.10, Y:5.55, Z:0.12 [[ 9.99295149e-01 -3.74879631e-02 -1.96391798e-03 4.90953014e+01] [ 3.74878764e-02 9.99297079e-01 -8.09400297e-05 5.54918905e+00] [ 1.96557178e-03 7.25986458e-06 9.99998068e-01 1.16373046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50439141799999 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:49.16, Y:5.55, Z:0.12 [[ 9.99372249e-01 -3.53730270e-02 -1.96392769e-03 4.91571070e+01] [ 3.53729367e-02 9.99374179e-01 -8.07037783e-05 5.55110308e+00] [ 1.96555336e-03 1.11832267e-05 9.99998068e-01 1.16017705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56439141799999 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:49.22, Y:5.55, Z:0.12 [[ 9.99381030e-01 -3.51240745e-02 -1.96393419e-03 4.92197856e+01] [ 3.51239840e-02 9.99382959e-01 -8.05453362e-05 5.55268655e+00] [ 1.96555144e-03 1.15142881e-05 9.99998068e-01 1.16249978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62439141799999 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:49.28, Y:5.55, Z:0.11 [[ 9.99379065e-01 -3.51799156e-02 -1.96394391e-03 4.92826346e+01] [ 3.51798257e-02 9.99380995e-01 -8.03076266e-05 5.55356253e+00] [ 1.96555343e-03 1.11665564e-05 9.99998068e-01 1.13150510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68439141799999 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:49.34, Y:5.56, Z:0.11 [[ 9.99377854e-01 -3.52143200e-02 -1.96395345e-03 4.93433522e+01] [ 3.52142306e-02 9.99379783e-01 -8.00734931e-05 5.55553159e+00] [ 1.96555511e-03 1.08645659e-05 9.99998068e-01 1.11874824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74439141799999 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:49.41, Y:5.56, Z:0.11 [[ 9.99363759e-01 -3.56120904e-02 -1.96395815e-03 4.94062671e+01] [ 3.56120020e-02 9.99365688e-01 -7.99581899e-05 5.55797418e+00] [ 1.96555986e-03 9.96683574e-06 9.99998068e-01 1.13663577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80439141799999 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:49.47, Y:5.56, Z:0.11 [[ 9.99342256e-01 -3.62104777e-02 -1.96396767e-03 4.94697312e+01] [ 3.62103909e-02 9.99344186e-01 -7.97234812e-05 5.55940907e+00] [ 1.96556650e-03 8.55500628e-06 9.99998068e-01 1.13909562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86439141799999 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:49.53, Y:5.56, Z:0.11 [[ 9.99341468e-01 -3.62322136e-02 -1.96397738e-03 4.95327765e+01] [ 3.62321273e-02 9.99343398e-01 -7.94836626e-05 5.56203860e+00] [ 1.96556770e-03 8.27224158e-06 9.99998068e-01 1.14914181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92439141799999 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:49.60, Y:5.56, Z:0.11 [[ 9.99363664e-01 -3.56147552e-02 -1.96398698e-03 4.95963529e+01] [ 3.56146682e-02 9.99365593e-01 -7.92458046e-05 5.56235107e+00] [ 1.96556333e-03 9.24863307e-06 9.99998068e-01 1.13790790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98439141799999 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:49.66, Y:5.56, Z:0.11 [[ 9.99352942e-01 -3.59143362e-02 -1.96399662e-03 4.96588292e+01] [ 3.59142503e-02 9.99354872e-01 -7.90059837e-05 5.56362409e+00] [ 1.96556704e-03 8.41939585e-06 9.99998068e-01 1.14909541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04439141799999 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:49.72, Y:5.56, Z:0.12 [[ 9.99282931e-01 -3.78122648e-02 -1.96400505e-03 4.97214068e+01] [ 3.78121830e-02 9.99284861e-01 -7.87959549e-05 5.56465673e+00] [ 1.96557997e-03 4.47613439e-06 9.99998068e-01 1.17205925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.10439141799999 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:49.78, Y:5.57, Z:0.12 [[ 9.99286431e-01 -3.77196324e-02 -1.96401201e-03 4.97843040e+01] [ 3.77195507e-02 9.99288361e-01 -7.86220229e-05 5.56593898e+00] [ 1.96557994e-03 4.48426994e-06 9.99998068e-01 1.16974273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16439141799999 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:49.85, Y:5.57, Z:0.12 [[ 9.99288543e-01 -3.76636587e-02 -1.96402152e-03 4.98473302e+01] [ 3.76635774e-02 9.99290473e-01 -7.83837933e-05 5.56679314e+00] [ 1.96558021e-03 4.35595003e-06 9.99998068e-01 1.15379541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22439141799999 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:49.91, Y:5.57, Z:0.12 [[ 9.99169336e-01 -4.07035715e-02 -1.96403116e-03 4.99107700e+01] [ 4.07034966e-02 9.99171266e-01 -7.81415941e-05 5.56700616e+00] [ 1.96558414e-03 -1.86625078e-06 9.99998068e-01 1.16438102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28439141799999 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:49.97, Y:5.57, Z:0.12 [[ 9.99044769e-01 -4.36542312e-02 -1.96404075e-03 4.99737250e+01] [ 4.36541624e-02 9.99046700e-01 -7.78997734e-05 5.56809180e+00] [ 1.96556908e-03 -7.91319258e-06 9.99998068e-01 1.16610481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34439141799999 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:50.04, Y:5.57, Z:0.11 [[ 9.98802996e-01 -4.88745096e-02 -1.96405047e-03 5.00365876e+01] [ 4.88744513e-02 9.98804927e-01 -7.76538279e-05 5.56790949e+00] [ 1.96549858e-03 -1.84310133e-05 9.99998068e-01 1.14285041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40439141799999 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:50.10, Y:5.57, Z:0.12 [[ 9.98533276e-01 -5.41058205e-02 -1.96406003e-03 5.00996858e+01] [ 5.41057729e-02 9.98535207e-01 -7.74112443e-05 5.56940385e+00] [ 1.96537149e-03 -2.89692827e-05 9.99998068e-01 1.15537710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46439141799999 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:50.16, Y:5.57, Z:0.12 [[ 9.98274837e-01 -5.86812697e-02 -1.96406944e-03 5.01620120e+01] [ 5.86812314e-02 9.98276769e-01 -7.71719319e-05 5.56880210e+00] [ 1.96521344e-03 -3.82152154e-05 9.99998068e-01 1.16930398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.524391417999986 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:50.22, Y:5.57, Z:0.12 [[ 9.98274699e-01 -5.86836248e-02 -1.96407716e-03 5.02245762e+01] [ 5.86835869e-02 9.98276630e-01 -7.69749766e-05 5.57191882e+00] [ 1.96520950e-03 -3.84169208e-05 9.99998068e-01 1.17298865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58439141799999 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:50.29, Y:5.57, Z:0.12 [[ 9.98424918e-01 -5.60698215e-02 -1.96408665e-03 5.02874627e+01] [ 5.60697790e-02 9.98426850e-01 -7.67320076e-05 5.57464759e+00] [ 1.96529919e-03 -3.35147559e-05 9.99998068e-01 1.16421934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64439141799999 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:50.35, Y:5.58, Z:0.12 [[ 9.98596353e-01 -5.29288737e-02 -1.96409597e-03 5.03504955e+01] [ 5.29288257e-02 9.98598284e-01 -7.64925468e-05 5.57715486e+00] [ 1.96539153e-03 -2.75721151e-05 9.99998068e-01 1.15068049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70439141799999 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:50.41, Y:5.58, Z:0.11 [[ 9.98933051e-01 -4.61400248e-02 -1.96410533e-03 5.04128489e+01] [ 4.61399641e-02 9.98934982e-01 -7.62514417e-05 5.58218167e+00] [ 1.96553177e-03 -1.44536643e-05 9.99998068e-01 1.14353841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76439141799999 meters Centerline goodness : 0.999368 with order 1 Centerline is valid? [True, True] Translation: X:50.48, Y:5.59, Z:0.12 [[ 9.99128781e-01 -4.16871889e-02 -1.96411298e-03 5.04754491e+01] [ 4.16871199e-02 9.99130711e-01 -7.60539698e-05 5.58715417e+00] [ 1.96557608e-03 -5.89050334e-06 9.99998068e-01 1.15766574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82439141799999 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:50.54, Y:5.59, Z:0.11 [[ 9.99266231e-01 -3.82510323e-02 -1.96412216e-03 5.05387051e+01] [ 3.82509571e-02 9.99268161e-01 -7.58160954e-05 5.59086377e+00] [ 1.96558479e-03 6.30911210e-07 9.99998068e-01 1.14440525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88439141799999 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:50.60, Y:5.59, Z:0.11 [[ 9.99325372e-01 -3.66734652e-02 -1.96413164e-03 5.06006335e+01] [ 3.66733875e-02 9.99327302e-01 -7.55697469e-05 5.59351880e+00] [ 1.96558178e-03 3.48740467e-06 9.99998068e-01 1.13067914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94439141799999 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:50.66, Y:5.60, Z:0.11 [[ 9.99277602e-01 -3.79528115e-02 -1.96413788e-03 5.06636826e+01] [ 3.79527366e-02 9.99279533e-01 -7.54071837e-05 5.59707435e+00] [ 1.96558470e-03 8.08302069e-07 9.99998068e-01 1.12579049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00439141799999 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:50.73, Y:5.60, Z:0.11 [[ 9.99121896e-01 -4.18518618e-02 -1.96414720e-03 5.07263012e+01] [ 4.18517949e-02 9.99123827e-01 -7.51636739e-05 5.59975425e+00] [ 1.96557201e-03 -7.10541354e-06 9.99998068e-01 1.12154308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06439141799999 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:50.79, Y:5.60, Z:0.11 [[ 9.98977007e-01 -4.51783265e-02 -1.96415654e-03 5.07878344e+01] [ 4.51782665e-02 9.98978938e-01 -7.49187341e-05 5.60131238e+00] [ 1.96553572e-03 -1.38950950e-05 9.99998068e-01 1.13242931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12439141799999 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:50.85, Y:5.60, Z:0.11 [[ 9.98816849e-01 -4.85905857e-02 -1.96416421e-03 5.08498334e+01] [ 4.85905327e-02 9.98818780e-01 -7.47172332e-05 5.60380778e+00] [ 1.96547465e-03 -2.08109538e-05 9.99998068e-01 1.14353597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18439141799999 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:50.91, Y:5.61, Z:0.11 [[ 9.98770692e-01 -4.95302554e-02 -1.96417889e-03 5.09131400e+01] [ 4.95302050e-02 9.98772623e-01 -7.43292879e-05 5.60608215e+00] [ 1.96544965e-03 -2.30482687e-05 9.99998068e-01 1.12190465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24439141799999 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:50.98, Y:5.61, Z:0.11 [[ 9.98690633e-01 -5.11190960e-02 -1.96418798e-03 5.09765909e+01] [ 5.11190492e-02 9.98692564e-01 -7.40883196e-05 5.60832607e+00] [ 1.96540726e-03 -2.64161111e-05 9.99998068e-01 1.13425028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30439141799999 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:51.04, Y:5.61, Z:0.11 [[ 9.98653008e-01 -5.18489341e-02 -1.96419696e-03 5.10391765e+01] [ 5.18488892e-02 9.98654939e-01 -7.38494751e-05 5.61208506e+00] [ 1.96538401e-03 -2.80914300e-05 9.99998068e-01 1.13702973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36439141799999 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:51.10, Y:5.62, Z:0.11 [[ 9.98724714e-01 -5.04488592e-02 -1.96420594e-03 5.11022945e+01] [ 5.04488119e-02 9.98726645e-01 -7.36097742e-05 5.61583416e+00] [ 1.96541834e-03 -2.55759555e-05 9.99998068e-01 1.10669716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42439141799999 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:51.16, Y:5.62, Z:0.11 [[ 9.98795861e-01 -4.90200914e-02 -1.96421484e-03 5.11638414e+01] [ 4.90200419e-02 9.98797792e-01 -7.33715212e-05 5.61939569e+00] [ 1.96545013e-03 -2.30027221e-05 9.99998068e-01 1.10288472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48439141799999 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:51.23, Y:5.62, Z:0.11 [[ 9.98932910e-01 -4.61430811e-02 -1.96421919e-03 5.12255391e+01] [ 4.61430263e-02 9.98934841e-01 -7.32548067e-05 5.62286143e+00] [ 1.96550719e-03 -1.74583807e-05 9.99998068e-01 1.09506534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54439141799999 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:51.29, Y:5.63, Z:0.11 [[ 9.99210399e-01 -3.96827461e-02 -1.96422478e-03 5.12882589e+01] [ 3.96826790e-02 9.99212330e-01 -7.31046520e-05 5.62752869e+00] [ 1.96557861e-03 -4.89877317e-06 9.99998068e-01 1.10100124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60439141799999 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:51.35, Y:5.63, Z:0.11 [[ 9.99400585e-01 -3.45631685e-02 -1.96423312e-03 5.13498592e+01] [ 3.45630921e-02 9.99402515e-01 -7.28799320e-05 5.63055539e+00] [ 1.96557848e-03 4.94627653e-06 9.99998068e-01 1.08577573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66439141799999 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:51.41, Y:5.63, Z:0.11 [[ 9.99514360e-01 -3.10996097e-02 -1.96423994e-03 5.14118323e+01] [ 3.10995269e-02 9.99516290e-01 -7.26955842e-05 5.63448440e+00] [ 1.96555063e-03 1.15733473e-05 9.99998068e-01 1.11815917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72439141799999 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:51.47, Y:5.64, Z:0.11 [[ 9.99518865e-01 -3.09544941e-02 -1.96424589e-03 5.14747112e+01] [ 3.09544113e-02 9.99520795e-01 -7.25346168e-05 5.63663406e+00] [ 1.96554988e-03 1.16976427e-05 9.99998068e-01 1.12190782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78439141799999 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:51.54, Y:5.64, Z:0.11 [[ 9.99401251e-01 -3.45439101e-02 -1.96425472e-03 5.15378545e+01] [ 3.45438348e-02 9.99403181e-01 -7.22946507e-05 5.63531495e+00] [ 1.96557975e-03 4.39847381e-06 9.99998068e-01 1.09516895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84439141799999 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:51.60, Y:5.64, Z:0.11 [[ 9.99179142e-01 -4.04621235e-02 -1.96426355e-03 5.16005019e+01] [ 4.04620601e-02 9.99181073e-01 -7.20537879e-05 5.63588688e+00] [ 1.96557042e-03 -7.48350798e-06 9.99998068e-01 1.09691535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90439141799999 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:51.66, Y:5.64, Z:0.11 [[ 9.99088603e-01 -4.26392376e-02 -1.96426931e-03 5.16638447e+01] [ 4.26391787e-02 9.99090534e-01 -7.18966776e-05 5.63752822e+00] [ 1.96554849e-03 -1.19236787e-05 9.99998068e-01 1.09011133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96439141799999 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:51.73, Y:5.64, Z:0.11 [[ 9.99098264e-01 -4.24122640e-02 -1.96427808e-03 5.17253681e+01] [ 4.24122051e-02 9.99100195e-01 -7.16562207e-05 5.63956478e+00] [ 1.96554971e-03 -1.17177590e-05 9.99998068e-01 1.10980785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.024391417999986 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:51.79, Y:5.64, Z:0.11 [[ 9.99161120e-01 -4.09047455e-02 -1.96428524e-03 5.17884447e+01] [ 4.09046841e-02 9.99163051e-01 -7.14592446e-05 5.64251885e+00] [ 1.96556426e-03 -8.94916851e-06 9.99998068e-01 1.11691375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08439141799999 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:51.85, Y:5.64, Z:0.12 [[ 9.99250453e-01 -3.86610014e-02 -1.96429364e-03 5.18501323e+01] [ 3.86609361e-02 9.99252384e-01 -7.12278038e-05 5.64464675e+00] [ 1.96557884e-03 -4.76701544e-06 9.99998068e-01 1.15382746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14439141799999 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:51.91, Y:5.65, Z:0.12 [[ 9.99285743e-01 -3.77378397e-02 -1.96429940e-03 5.19132264e+01] [ 3.77377729e-02 9.99287674e-01 -7.10684253e-05 5.64697232e+00] [ 1.96558215e-03 -3.11062053e-06 9.99998068e-01 1.16316246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.204391417999986 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:51.97, Y:5.65, Z:0.12 [[ 9.99243131e-01 -3.88498026e-02 -1.96430821e-03 5.19749406e+01] [ 3.88497385e-02 9.99245061e-01 -7.08241242e-05 5.64893022e+00] [ 1.96557678e-03 -5.54234067e-06 9.99998068e-01 1.15410987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26439141799999 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:52.04, Y:5.65, Z:0.11 [[ 9.99105148e-01 -4.22497826e-02 -1.96431486e-03 5.20360299e+01] [ 4.22497254e-02 9.99107079e-01 -7.06391438e-05 5.64879166e+00] [ 1.96554537e-03 -1.24158312e-05 9.99998068e-01 1.13587154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32439141799999 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:52.10, Y:5.65, Z:0.11 [[ 9.99061489e-01 -4.32698918e-02 -1.96431985e-03 5.20986459e+01] [ 4.32698368e-02 9.99063420e-01 -7.05001462e-05 5.64818983e+00] [ 1.96553064e-03 -1.45618184e-05 9.99998068e-01 1.12533265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38439141799999 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:52.16, Y:5.65, Z:0.12 [[ 9.99029538e-01 -4.40013963e-02 -1.96432553e-03 5.21602454e+01] [ 4.40013430e-02 9.99031469e-01 -7.03416530e-05 5.64835750e+00] [ 1.96551815e-03 -1.61595722e-05 9.99998068e-01 1.15253627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44439141799999 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:52.22, Y:5.65, Z:0.11 [[ 9.99069994e-01 -4.30730612e-02 -1.96432968e-03 5.22227000e+01] [ 4.30730063e-02 9.99071925e-01 -7.02254737e-05 5.64963620e+00] [ 1.96553146e-03 -1.44494211e-05 9.99998068e-01 1.14163534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50439141799999 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:52.29, Y:5.65, Z:0.12 [[ 9.99095128e-01 -4.24860765e-02 -1.96433515e-03 5.22861883e+01] [ 4.24860208e-02 9.99097059e-01 -7.00721953e-05 5.64927702e+00] [ 1.96553856e-03 -1.34479951e-05 9.99998068e-01 1.15024645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56439141799999 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:52.35, Y:5.65, Z:0.12 [[ 9.99153421e-01 -4.10923622e-02 -1.96434328e-03 5.23492855e+01] [ 4.10923043e-02 9.99155352e-01 -6.98433610e-05 5.64864674e+00] [ 1.96555413e-03 -1.09351589e-05 9.99998068e-01 1.16149745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62439141799999 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:52.41, Y:5.65, Z:0.12 [[ 9.99194674e-01 -4.00767303e-02 -1.96435159e-03 5.24111106e+01] [ 4.00766709e-02 9.99196605e-01 -6.96089631e-05 5.64960716e+00] [ 1.96556314e-03 -9.17176704e-06 9.99998068e-01 1.15849120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68439141799999 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:52.47, Y:5.65, Z:0.12 [[ 9.99355182e-01 -3.58519378e-02 -1.96435701e-03 5.24734568e+01] [ 3.58518706e-02 9.99357113e-01 -6.94557348e-05 5.64960384e+00] [ 1.96558427e-03 -1.01492464e-06 9.99998068e-01 1.17611074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74439141799999 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:52.54, Y:5.65, Z:0.12 [[ 9.99470193e-01 -3.24880622e-02 -1.96436237e-03 5.25360605e+01] [ 3.24879888e-02 9.99472124e-01 -6.93038128e-05 5.64929767e+00] [ 1.96557697e-03 5.44891258e-06 9.99998068e-01 1.17965025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80439141799999 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:52.60, Y:5.65, Z:0.12 [[ 9.99629319e-01 -2.71544989e-02 -1.96436770e-03 5.25982915e+01] [ 2.71544154e-02 9.99631248e-01 -6.91524745e-05 5.64713246e+00] [ 1.96552113e-03 1.57855845e-05 9.99998068e-01 1.15471357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86439141799999 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:52.66, Y:5.65, Z:0.12 [[ 9.99705138e-01 -2.42028600e-02 -1.96437294e-03 5.26594303e+01] [ 2.42027711e-02 9.99707068e-01 -6.90031804e-05 5.64648296e+00] [ 1.96546759e-03 2.14395653e-05 9.99998068e-01 1.16086647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92439141799999 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:52.72, Y:5.64, Z:0.11 [[ 9.99714014e-01 -2.38334087e-02 -1.96437680e-03 5.27217051e+01] [ 2.38333193e-02 9.99715944e-01 -6.88931311e-05 5.64447878e+00] [ 1.96546076e-03 2.20558091e-05 9.99998068e-01 1.13871261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98439141799999 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:52.78, Y:5.64, Z:0.12 [[ 9.99648078e-01 -2.64548807e-02 -1.96438241e-03 5.27838412e+01] [ 2.64547967e-02 9.99650008e-01 -6.87326549e-05 5.64199858e+00] [ 1.96551321e-03 1.67411289e-05 9.99998068e-01 1.16910720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04439141799999 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:52.85, Y:5.64, Z:0.11 [[ 9.99583452e-01 -2.87934664e-02 -1.96438840e-03 5.28457519e+01] [ 2.87933872e-02 9.99585382e-01 -6.85611228e-05 5.64302695e+00] [ 1.96554804e-03 1.19711679e-05 9.99998068e-01 1.14625208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10439141799999 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:52.91, Y:5.64, Z:0.11 [[ 9.99432632e-01 -3.36237301e-02 -1.96439427e-03 5.29066896e+01] [ 3.36236606e-02 9.99434563e-01 -6.83924889e-05 5.64028161e+00] [ 1.96558314e-03 2.30355885e-06 9.99998068e-01 1.14381725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16439141799999 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:52.97, Y:5.64, Z:0.12 [[ 9.99316745e-01 -3.69077721e-02 -1.96439858e-03 5.29690804e+01] [ 3.69077092e-02 9.99318676e-01 -6.82684433e-05 5.63961883e+00] [ 1.96557983e-03 -4.27965302e-06 9.99998068e-01 1.16883395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22439141799999 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:53.03, Y:5.64, Z:0.12 [[ 9.99125336e-01 -4.17696597e-02 -1.96440448e-03 5.30313996e+01] [ 4.17696065e-02 9.99127267e-01 -6.80983284e-05 5.64056594e+00] [ 1.96553452e-03 -1.40136370e-05 9.99998068e-01 1.22147461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28439141799999 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:53.09, Y:5.64, Z:0.12 [[ 9.99056833e-01 -4.33772453e-02 -1.96441046e-03 5.30928323e+01] [ 4.33771956e-02 9.99058764e-01 -6.79254412e-05 5.64170957e+00] [ 1.96550790e-03 -1.73492406e-05 9.99998068e-01 1.19507425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34439141799999 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:53.16, Y:5.64, Z:0.12 [[ 9.99039897e-01 -4.37655655e-02 -1.96441452e-03 5.31551629e+01] [ 4.37655168e-02 9.99041828e-01 -6.78078252e-05 5.64226501e+00] [ 1.96549992e-03 -1.82308939e-05 9.99998068e-01 1.19331147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40439141799999 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:53.22, Y:5.64, Z:0.12 [[ 9.99116474e-01 -4.19810881e-02 -1.96441997e-03 5.32162106e+01] [ 4.19810363e-02 9.99118405e-01 -6.76495877e-05 5.64406440e+00] [ 1.96552815e-03 -1.48785683e-05 9.99998068e-01 1.18921601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46439141799999 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:53.28, Y:5.65, Z:0.12 [[ 9.99318798e-01 -3.68521568e-02 -1.96442399e-03 5.32779700e+01] [ 3.68520952e-02 9.99320729e-01 -6.75326986e-05 5.64720507e+00] [ 1.96557833e-03 -4.90644462e-06 9.99998068e-01 1.19961840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.524391417999986 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:53.34, Y:5.65, Z:0.12 [[ 9.99422161e-01 -3.39335415e-02 -1.96442933e-03 5.33401183e+01] [ 3.39334746e-02 9.99424092e-01 -6.73769304e-05 5.64937939e+00] [ 1.96558434e-03 6.78084599e-07 9.99998068e-01 1.20987703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58439141799999 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:53.40, Y:5.65, Z:0.12 [[ 9.99492103e-01 -3.18068728e-02 -1.96443475e-03 5.34009961e+01] [ 3.18068022e-02 9.99494033e-01 -6.72185976e-05 5.65076858e+00] [ 1.96557882e-03 4.70207009e-06 9.99998068e-01 1.16594243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64439141799999 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:53.46, Y:5.65, Z:0.11 [[ 9.99550543e-01 -2.99140993e-02 -1.96444041e-03 5.34632871e+01] [ 2.99140253e-02 9.99552473e-01 -6.70526801e-05 5.65220616e+00] [ 1.96556709e-03 8.25822276e-06 9.99998068e-01 1.14932369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.704391417999986 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:53.53, Y:5.65, Z:0.12 [[ 9.99568062e-01 -2.93228477e-02 -1.96444608e-03 5.35250361e+01] [ 2.93227729e-02 9.99569993e-01 -6.68860598e-05 5.65412231e+00] [ 1.96556265e-03 9.25416291e-06 9.99998068e-01 1.17476220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76439141799999 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:53.59, Y:5.66, Z:0.12 [[ 9.99568049e-01 -2.93233124e-02 -1.96445200e-03 5.35871416e+01] [ 2.93232379e-02 9.99569979e-01 -6.67119082e-05 5.65580997e+00] [ 1.96556346e-03 9.07899861e-06 9.99998068e-01 1.19653760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82439141799999 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:53.65, Y:5.66, Z:0.12 [[ 9.99528288e-01 -3.06486787e-02 -1.96445793e-03 5.36492406e+01] [ 3.06486072e-02 9.99530219e-01 -6.65368669e-05 5.65686575e+00] [ 1.96557433e-03 6.29758142e-06 9.99998068e-01 1.19561982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.884391417999986 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:53.71, Y:5.66, Z:0.12 [[ 9.99373571e-01 -3.53356353e-02 -1.96446378e-03 5.37118332e+01] [ 3.53355732e-02 9.99375501e-01 -6.63636838e-05 5.65683363e+00] [ 1.96558197e-03 -3.09334187e-06 9.99998068e-01 1.21714886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94439141799999 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:53.77, Y:5.66, Z:0.12 [[ 9.99227092e-01 -3.92601404e-02 -1.96446948e-03 5.37739597e+01] [ 3.92600861e-02 9.99229023e-01 -6.61942954e-05 5.65667814e+00] [ 1.96555372e-03 -1.09821078e-05 9.99998068e-01 1.22359274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00439141799999 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:53.83, Y:5.66, Z:0.12 [[ 9.98937125e-01 -4.60517155e-02 -1.96447547e-03 5.38349728e+01] [ 4.60516747e-02 9.98939057e-01 -6.60161026e-05 5.65655372e+00] [ 1.96543143e-03 -2.45214496e-05 9.99998068e-01 1.24474610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06439141799999 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:53.90, Y:5.66, Z:0.12 [[ 9.98677062e-01 -5.13835272e-02 -1.96447986e-03 5.38970904e+01] [ 5.13834970e-02 9.98678993e-01 -6.58851865e-05 5.65696595e+00] [ 1.96527019e-03 -3.51438206e-05 9.99998068e-01 1.24413078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12439141799999 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:53.96, Y:5.66, Z:0.12 [[ 9.98617060e-01 -5.25367344e-02 -1.96448515e-03 5.39588654e+01] [ 5.25367067e-02 9.98618991e-01 -6.57272419e-05 5.65754001e+00] [ 1.96522527e-03 -3.75712350e-05 9.99998068e-01 1.21949340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18439141799999 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:54.02, Y:5.66, Z:0.12 [[ 9.98698409e-01 -5.09669278e-02 -1.96449075e-03 5.40198004e+01] [ 5.09668974e-02 9.98700341e-01 -6.55593412e-05 5.65803642e+00] [ 1.96527894e-03 -3.46499888e-05 9.99998068e-01 1.19668549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24439141799999 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:54.08, Y:5.66, Z:0.12 [[ 9.98822899e-01 -4.84660475e-02 -1.96449495e-03 5.40819842e+01] [ 4.84660126e-02 9.98824830e-01 -6.54331990e-05 5.66143236e+00] [ 1.96535763e-03 -2.98550595e-05 9.99998068e-01 1.23275003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30439141799999 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:54.14, Y:5.66, Z:0.12 [[ 9.99126195e-01 -4.17490930e-02 -1.96450043e-03 5.41426847e+01] [ 4.17490454e-02 9.99128126e-01 -6.52683614e-05 5.66397618e+00] [ 1.96551253e-03 -1.68046880e-05 9.99998068e-01 1.21410798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36439141799999 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:54.20, Y:5.67, Z:0.12 [[ 9.99204478e-01 -3.98315448e-02 -1.96450444e-03 5.42049630e+01] [ 3.98314937e-02 9.99206409e-01 -6.51474209e-05 5.66712082e+00] [ 1.96554035e-03 -1.31535515e-05 9.99998068e-01 1.20810106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42439141799999 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:54.27, Y:5.67, Z:0.12 [[ 9.99262172e-01 -3.83569192e-02 -1.96450972e-03 5.42674398e+01] [ 3.83568656e-02 9.99264103e-01 -6.49877018e-05 5.66924605e+00] [ 1.96555677e-03 -1.04126833e-05 9.99998068e-01 1.20723040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48439141799999 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:54.33, Y:5.67, Z:0.12 [[ 9.99310249e-01 -3.70832530e-02 -1.96451518e-03 5.43296201e+01] [ 3.70831972e-02 9.99312180e-01 -6.48223932e-05 5.67069595e+00] [ 1.96556777e-03 -8.07282189e-06 9.99998068e-01 1.19620955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54439141799999 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:54.39, Y:5.67, Z:0.12 [[ 9.99284967e-01 -3.77583783e-02 -1.96452059e-03 5.43918126e+01] [ 3.77583242e-02 9.99286898e-01 -6.46577965e-05 5.67382398e+00] [ 1.96556107e-03 -9.56544144e-06 9.99998068e-01 1.23159386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60439141799999 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:54.45, Y:5.68, Z:0.12 [[ 9.99258445e-01 -3.84538682e-02 -1.96452591e-03 5.44532817e+01] [ 3.84538157e-02 9.99260376e-01 -6.44957919e-05 5.67578139e+00] [ 1.96555302e-03 -1.10955527e-05 9.99998068e-01 1.23084435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66439141799999 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:54.51, Y:5.68, Z:0.12 [[ 9.99162163e-01 -4.08792543e-02 -1.96452983e-03 5.45143912e+01] [ 4.08792068e-02 9.99164094e-01 -6.43764196e-05 5.67786763e+00] [ 1.96551932e-03 -1.59859383e-05 9.99998068e-01 1.23070082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72439141799999 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:54.58, Y:5.68, Z:0.12 [[ 9.99109796e-01 -4.21397242e-02 -1.96453365e-03 5.45771020e+01] [ 4.21396793e-02 9.99111727e-01 -6.42595781e-05 5.67808286e+00] [ 1.96549649e-03 -1.85824438e-05 9.99998068e-01 1.23105883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78439141799999 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:54.64, Y:5.68, Z:0.13 [[ 9.99015919e-01 -4.43095286e-02 -1.96453905e-03 5.46396473e+01] [ 4.43094882e-02 9.99017850e-01 -6.40938377e-05 5.68091370e+00] [ 1.96544955e-03 -2.30169558e-05 9.99998068e-01 1.26659410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84439141799999 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:54.70, Y:5.68, Z:0.13 [[ 9.98964787e-01 -4.54477238e-02 -1.96454450e-03 5.47013253e+01] [ 4.54476860e-02 9.98966718e-01 -6.39265841e-05 5.68284645e+00] [ 1.96541989e-03 -2.54235949e-05 9.99998068e-01 1.27369900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90439141799999 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:54.76, Y:5.68, Z:0.13 [[ 9.98966496e-01 -4.54101330e-02 -1.96455004e-03 5.47620304e+01] [ 4.54100955e-02 9.98968428e-01 -6.37557182e-05 5.68353798e+00] [ 1.96541862e-03 -2.55205785e-05 9.99998068e-01 1.25662910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96439141799999 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:54.82, Y:5.69, Z:0.13 [[ 9.99047860e-01 -4.35834142e-02 -1.96455413e-03 5.48241131e+01] [ 4.35833733e-02 9.99049791e-01 -6.36296353e-05 5.68679079e+00] [ 1.96546059e-03 -2.20528449e-05 9.99998068e-01 1.26239418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.024391417999986 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:54.89, Y:5.69, Z:0.13 [[ 9.99202806e-01 -3.98734536e-02 -1.96455956e-03 5.48860929e+01] [ 3.98734059e-02 9.99204738e-01 -6.34613478e-05 5.68990861e+00] [ 1.96552764e-03 -1.49229241e-05 9.99998068e-01 1.27121088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08439141799999 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:54.95, Y:5.69, Z:0.13 [[ 9.99311028e-01 -3.70622388e-02 -1.96456523e-03 5.49471775e+01] [ 3.70621860e-02 9.99312959e-01 -6.32853063e-05 5.69368333e+00] [ 1.96556099e-03 -9.56937763e-06 9.99998068e-01 1.28107232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14439141799999 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:55.01, Y:5.70, Z:0.13 [[ 9.99441713e-01 -3.33527093e-02 -1.96456940e-03 5.50090345e+01] [ 3.33526496e-02 9.99443644e-01 -6.31556192e-05 5.69803156e+00] [ 1.96558281e-03 -2.40323464e-06 9.99998068e-01 1.27630028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.204391417999986 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:55.07, Y:5.70, Z:0.13 [[ 9.99502595e-01 -3.14754298e-02 -1.96457496e-03 5.50712138e+01] [ 3.14753668e-02 9.99504526e-01 -6.29821342e-05 5.70083347e+00] [ 1.96558396e-03 1.11508904e-06 9.99998068e-01 1.27831011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26439141799999 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:55.13, Y:5.70, Z:0.13 [[ 9.99554367e-01 -2.97860321e-02 -1.96458055e-03 5.51332684e+01] [ 2.97859662e-02 9.99556298e-01 -6.28072884e-05 5.70453297e+00] [ 1.96557964e-03 4.26236942e-06 9.99998068e-01 1.28651259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32439141799999 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:55.19, Y:5.70, Z:0.13 [[ 9.99528196e-01 -3.06516940e-02 -1.96458606e-03 5.51944028e+01] [ 3.06516301e-02 9.99530126e-01 -6.26344980e-05 5.70480649e+00] [ 1.96558281e-03 2.38718158e-06 9.99998068e-01 1.27001472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.384391417999986 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:55.26, Y:5.71, Z:0.13 [[ 9.99438499e-01 -3.34488752e-02 -1.96459506e-03 5.52565177e+01] [ 3.34488173e-02 9.99440430e-01 -6.23509882e-05 5.70630792e+00] [ 1.96558130e-03 -3.39740316e-06 9.99998068e-01 1.28664654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44439141799999 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:55.32, Y:5.71, Z:0.13 [[ 9.99320150e-01 -3.68154656e-02 -1.96460018e-03 5.53191840e+01] [ 3.68154145e-02 9.99322081e-01 -6.21892323e-05 5.70771501e+00] [ 1.96555787e-03 -1.01806170e-05 9.99998068e-01 1.29037909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50439141799999 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:55.38, Y:5.71, Z:0.13 [[ 9.99084449e-01 -4.27364542e-02 -1.96460519e-03 5.53815854e+01] [ 4.27364149e-02 9.99086380e-01 -6.20304718e-05 5.70697425e+00] [ 1.96546125e-03 -2.19865028e-05 9.99998068e-01 1.30052241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.564391417999985 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:55.44, Y:5.71, Z:0.13 [[ 9.98913192e-01 -4.65679670e-02 -1.96461074e-03 5.54448509e+01] [ 4.65679354e-02 9.98915123e-01 -6.18543096e-05 5.70763757e+00] [ 1.96535981e-03 -2.97007801e-05 9.99998068e-01 1.29729306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62439141799999 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:55.51, Y:5.71, Z:0.13 [[ 9.98771070e-01 -4.95226132e-02 -1.96461828e-03 5.55062798e+01] [ 4.95225878e-02 9.98773002e-01 -6.16137788e-05 5.70909634e+00] [ 1.96525898e-03 -3.57549216e-05 9.99998068e-01 1.29798932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68439141799999 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:55.57, Y:5.71, Z:0.13 [[ 9.98486272e-01 -5.49664018e-02 -1.96462217e-03 5.55680451e+01] [ 5.49663871e-02 9.98488203e-01 -6.14897191e-05 5.71110513e+00] [ 1.96503193e-03 -4.65915421e-05 9.99998068e-01 1.31436520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74439141799999 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:55.63, Y:5.71, Z:0.13 [[ 9.98381207e-01 -5.68428103e-02 -1.96462744e-03 5.56299046e+01] [ 5.68427996e-02 9.98383139e-01 -6.13207031e-05 5.71140409e+00] [ 1.96493655e-03 -5.04534864e-05 9.99998068e-01 1.30739191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80439141799999 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:55.69, Y:5.72, Z:0.13 [[ 9.98285710e-01 -5.84959974e-02 -1.96463948e-03 5.56929908e+01] [ 5.84959907e-02 9.98287642e-01 -6.09326668e-05 5.71548657e+00] [ 1.96483963e-03 -5.40953220e-05 9.99998068e-01 1.32177477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86439141799999 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:55.76, Y:5.72, Z:0.13 [[ 9.98365361e-01 -5.71204467e-02 -1.96464688e-03 5.57552054e+01] [ 5.71204377e-02 9.98367293e-01 -6.06929936e-05 5.71955022e+00] [ 1.96490600e-03 -5.16277073e-05 9.99998068e-01 1.31251566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92439141799999 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:55.82, Y:5.72, Z:0.13 [[ 9.98652824e-01 -5.18524537e-02 -1.96465189e-03 5.58178767e+01] [ 5.18524349e-02 9.98654756e-01 -6.05302884e-05 5.72473481e+00] [ 1.96514760e-03 -4.14232409e-05 9.99998068e-01 1.31551000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98439141799999 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:55.88, Y:5.73, Z:0.13 [[ 9.98905273e-01 -4.67375178e-02 -1.96465939e-03 5.58803970e+01] [ 4.67374896e-02 9.98907205e-01 -6.02860616e-05 5.72863167e+00] [ 1.96533004e-03 -3.16031830e-05 9.99998068e-01 1.30832861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04439141799999 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:55.94, Y:5.74, Z:0.13 [[ 9.99255060e-01 -3.85417371e-02 -1.96466730e-03 5.59429635e+01] [ 3.85416936e-02 9.99256991e-01 -6.00270769e-05 5.73559653e+00] [ 1.96552108e-03 -1.57392448e-05 9.99998068e-01 1.31431488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10439141799999 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:56.00, Y:5.74, Z:0.13 [[ 9.99447029e-01 -3.31930190e-02 -1.96467526e-03 5.60039884e+01] [ 3.31929656e-02 9.99448960e-01 -5.97653600e-05 5.73953033e+00] [ 1.96557644e-03 -5.48108692e-06 9.99998068e-01 1.31276690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16439141799999 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:56.07, Y:5.74, Z:0.13 [[ 9.99652314e-01 -2.62943299e-02 -1.96468402e-03 5.60652690e+01] [ 2.62942638e-02 9.99654244e-01 -5.94760342e-05 5.74381212e+00] [ 1.96556860e-03 7.79543531e-06 9.99998068e-01 1.28088694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22439141799999 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:56.13, Y:5.75, Z:0.13 [[ 9.99708356e-01 -2.40695427e-02 -1.96468781e-03 5.61269648e+01] [ 2.40694726e-02 9.99710287e-01 -5.93505580e-05 5.74731759e+00] [ 1.96554715e-03 1.20442494e-05 9.99998068e-01 1.29343864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28439141799999 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:56.19, Y:5.75, Z:0.13 [[ 9.99752992e-01 -2.21380854e-02 -1.96469307e-03 5.61894914e+01] [ 2.21380119e-02 9.99754922e-01 -5.91759988e-05 5.74873534e+00] [ 1.96552161e-03 1.56669834e-05 9.99998068e-01 1.29739162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34439141799999 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:56.25, Y:5.75, Z:0.13 [[ 9.99766801e-01 -2.15054178e-02 -1.96469823e-03 5.62512016e+01] [ 2.15053434e-02 9.99768732e-01 -5.90042642e-05 5.74947738e+00] [ 1.96551276e-03 1.67389944e-05 9.99998068e-01 1.29981901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40439141799999 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:56.31, Y:5.75, Z:0.13 [[ 9.99754911e-01 -2.20512654e-02 -1.96470337e-03 5.63131083e+01] [ 2.20511923e-02 9.99756841e-01 -5.88325291e-05 5.75064580e+00] [ 1.96552297e-03 1.54940581e-05 9.99998068e-01 1.30780457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46439141799999 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:56.37, Y:5.75, Z:0.13 [[ 9.99681809e-01 -2.51479785e-02 -1.96470868e-03 5.63747562e+01] [ 2.51479118e-02 9.99683740e-01 -5.86545539e-05 5.75082751e+00] [ 1.96556237e-03 9.22756985e-06 9.99998068e-01 1.30687069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.524391417999986 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:56.44, Y:5.75, Z:0.13 [[ 9.99553740e-01 -2.98070626e-02 -1.96471257e-03 5.64374780e+01] [ 2.98070051e-02 9.99555671e-01 -5.85240651e-05 5.74912183e+00] [ 1.96558402e-03 -6.42494082e-08 9.99998068e-01 1.31639130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58439141799999 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:56.50, Y:5.75, Z:0.13 [[ 9.99237803e-01 -3.89865756e-02 -1.96471783e-03 5.64984858e+01] [ 3.89865363e-02 9.99239734e-01 -5.83467718e-05 5.74863427e+00] [ 1.96549887e-03 -1.82952430e-05 9.99998068e-01 1.31813464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64439141799999 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:56.56, Y:5.75, Z:0.13 [[ 9.98982000e-01 -4.50677583e-02 -1.96472137e-03 5.65606041e+01] [ 4.50677310e-02 9.98983932e-01 -5.82275723e-05 5.74793184e+00] [ 1.96534926e-03 -3.03772373e-05 9.99998068e-01 1.31753815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.704391417999986 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:56.62, Y:5.74, Z:0.13 [[ 9.98565351e-01 -5.35105475e-02 -1.96472595e-03 5.66227674e+01] [ 5.35105367e-02 9.98567283e-01 -5.80723947e-05 5.74452264e+00] [ 1.96501854e-03 -4.71444590e-05 9.99998068e-01 1.32226578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76439141799999 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:56.69, Y:5.74, Z:0.13 [[ 9.98366343e-01 -5.71032883e-02 -1.96473066e-03 5.66858483e+01] [ 5.71032848e-02 9.98368274e-01 -5.79127139e-05 5.74410785e+00] [ 1.96483177e-03 -5.43744701e-05 9.99998068e-01 1.32532767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82439141799999 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:56.75, Y:5.75, Z:0.13 [[ 9.98223128e-01 -5.95544081e-02 -1.96473775e-03 5.67480060e+01] [ 5.95544098e-02 9.98225059e-01 -5.76713012e-05 5.74653934e+00] [ 1.96468503e-03 -5.94399702e-05 9.99998068e-01 1.32970973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.884391417999986 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:56.81, Y:5.75, Z:0.13 [[ 9.98242727e-01 -5.92249818e-02 -1.96474354e-03 5.68113425e+01] [ 5.92249833e-02 9.98244658e-01 -5.74732767e-05 5.74797821e+00] [ 1.96469860e-03 -5.89896228e-05 9.99998068e-01 1.31999489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94439141799999 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:56.87, Y:5.75, Z:0.13 [[ 9.98418421e-01 -5.61853797e-02 -1.96475039e-03 5.68739472e+01] [ 5.61853757e-02 9.98420352e-01 -5.72382259e-05 5.75029161e+00] [ 1.96486272e-03 -5.32425396e-05 9.99998068e-01 1.30024426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00439141799999 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:56.94, Y:5.75, Z:0.13 [[ 9.98463883e-01 -5.53716047e-02 -1.96475477e-03 5.69357461e+01] [ 5.53715995e-02 9.98465814e-01 -5.70875310e-05 5.75476186e+00] [ 1.96490150e-03 -5.17917762e-05 9.99998068e-01 1.32601457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.064391417999985 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:57.00, Y:5.76, Z:0.13 [[ 9.98699910e-01 -5.09375026e-02 -1.96475957e-03 5.69985848e+01] [ 5.09374891e-02 9.98701842e-01 -5.69217720e-05 5.75940048e+00] [ 1.96510845e-03 -4.32321505e-05 9.99998068e-01 1.33936416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12439141799999 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:57.06, Y:5.76, Z:0.14 [[ 9.98764197e-01 -4.96610301e-02 -1.96476645e-03 5.70619360e+01] [ 4.96610146e-02 9.98766129e-01 -5.66832275e-05 5.76225645e+00] [ 1.96515713e-03 -4.09591171e-05 9.99998068e-01 1.35258668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18439141799999 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:57.12, Y:5.77, Z:0.13 [[ 9.98958198e-01 -4.55923048e-02 -1.96477348e-03 5.71232116e+01] [ 4.55922820e-02 9.98960130e-01 -5.64385992e-05 5.76761363e+00] [ 1.96530353e-03 -3.31987050e-05 9.99998068e-01 1.33960943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.244391417999985 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:57.18, Y:5.77, Z:0.13 [[ 9.99124799e-01 -4.17824693e-02 -1.96477691e-03 5.71841513e+01] [ 4.17824393e-02 9.99126731e-01 -5.63187844e-05 5.77034274e+00] [ 1.96541427e-03 -2.58236779e-05 9.99998068e-01 1.32195385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30439141799999 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:57.25, Y:5.77, Z:0.13 [[ 9.99018015e-01 -4.42622427e-02 -1.96478160e-03 5.72461661e+01] [ 4.42622178e-02 9.99019946e-01 -5.61547713e-05 5.77319753e+00] [ 1.96534154e-03 -3.08659629e-05 9.99998068e-01 1.34363776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36439141799999 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:57.31, Y:5.78, Z:0.14 [[ 9.98960311e-01 -4.55459800e-02 -1.96478655e-03 5.73085852e+01] [ 4.55459579e-02 9.98962243e-01 -5.59809745e-05 5.77750272e+00] [ 1.96529729e-03 -3.35653139e-05 9.99998068e-01 1.35010115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42439141799999 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:57.37, Y:5.78, Z:0.13 [[ 9.98884544e-01 -4.71784538e-02 -1.96479099e-03 5.73707654e+01] [ 4.71784352e-02 9.98886476e-01 -5.58245395e-05 5.77960689e+00] [ 1.96523687e-03 -3.69334951e-05 9.99998068e-01 1.34178410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48439141799999 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:57.43, Y:5.78, Z:0.13 [[ 9.98922609e-01 -4.63655148e-02 -1.96479537e-03 5.74333340e+01] [ 4.63654950e-02 9.98924541e-01 -5.56699843e-05 5.78031771e+00] [ 1.96526348e-03 -3.54887041e-05 9.99998068e-01 1.33999472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54439141799999 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:57.50, Y:5.78, Z:0.13 [[ 9.99057799e-01 -4.33549822e-02 -1.96480190e-03 5.74955569e+01] [ 4.33549570e-02 9.99059730e-01 -5.54388305e-05 5.78223967e+00] [ 1.96535800e-03 -2.97973058e-05 9.99998068e-01 1.34101279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60439141799999 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:57.56, Y:5.79, Z:0.13 [[ 9.99352276e-01 -3.59328241e-02 -1.96480723e-03 5.75581819e+01] [ 3.59327849e-02 9.99354207e-01 -5.52491554e-05 5.78504557e+00] [ 1.96552363e-03 -1.53876263e-05 9.99998068e-01 1.34469044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66439141799999 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:57.62, Y:5.79, Z:0.14 [[ 9.99495732e-01 -3.16926128e-02 -1.96481213e-03 5.76207657e+01] [ 3.16925657e-02 9.99497663e-01 -5.50744709e-05 5.78719390e+00] [ 1.96557058e-03 -7.22323882e-06 9.99998068e-01 1.36855026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72439141799999 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:57.68, Y:5.79, Z:0.14 [[ 9.99636979e-01 -2.68709728e-02 -1.96481704e-03 5.76827864e+01] [ 2.68709168e-02 9.99638910e-01 -5.48984992e-05 5.78852705e+00] [ 1.96558274e-03 2.08213466e-06 9.99998068e-01 1.35530062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78439141799999 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:57.74, Y:5.79, Z:0.13 [[ 9.99655957e-01 -2.61554575e-02 -1.96482333e-03 5.77442308e+01] [ 2.61554006e-02 9.99657887e-01 -5.46725804e-05 5.78991839e+00] [ 1.96558113e-03 3.26302945e-06 9.99998068e-01 1.33928278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84439141799999 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:57.81, Y:5.79, Z:0.13 [[ 9.99597960e-01 -2.82853032e-02 -1.96483111e-03 5.78059836e+01] [ 2.82852509e-02 9.99599891e-01 -5.43914181e-05 5.78894124e+00] [ 1.96558344e-03 -1.20619044e-06 9.99998068e-01 1.30979487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90439141799999 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:57.87, Y:5.79, Z:0.13 [[ 9.99490859e-01 -3.18458980e-02 -1.96483551e-03 5.78683082e+01] [ 3.18458529e-02 9.99492791e-01 -5.42319763e-05 5.78870639e+00] [ 1.96556600e-03 -8.36749818e-06 9.99998068e-01 1.31474927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96439141799999 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:57.93, Y:5.79, Z:0.13 [[ 9.99220042e-01 -3.94391572e-02 -1.96483980e-03 5.79309294e+01] [ 3.94391271e-02 9.99221974e-01 -5.40761567e-05 5.78915800e+00] [ 1.96544382e-03 -2.34575870e-05 9.99998068e-01 1.34684810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.024391417999986 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:57.99, Y:5.79, Z:0.14 [[ 9.98967112e-01 -4.53965795e-02 -1.96484449e-03 5.79939348e+01] [ 4.53965613e-02 9.98969043e-01 -5.39053293e-05 5.79020916e+00] [ 1.96526594e-03 -3.53475321e-05 9.99998068e-01 1.36043185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08439141799999 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:58.06, Y:5.79, Z:0.14 [[ 9.98607813e-01 -5.27121841e-02 -1.96485099e-03 5.80562814e+01] [ 5.27121804e-02 9.98609745e-01 -5.36673667e-05 5.78879795e+00] [ 1.96494827e-03 -4.99789282e-05 9.99998068e-01 1.35520274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14439141799999 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:58.12, Y:5.79, Z:0.14 [[ 9.98432647e-01 -5.59320044e-02 -1.96485542e-03 5.81187252e+01] [ 5.59320073e-02 9.98434579e-01 -5.35045656e-05 5.79055547e+00] [ 1.96477221e-03 -5.64776027e-05 9.99998068e-01 1.35325745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.204391417999986 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:58.18, Y:5.79, Z:0.14 [[ 9.98253838e-01 -5.90373993e-02 -1.96486088e-03 5.81813013e+01] [ 5.90374087e-02 9.98255770e-01 -5.33034044e-05 5.79313227e+00] [ 1.96458060e-03 -6.27899666e-05 9.99998068e-01 1.36440418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26439141799999 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:58.24, Y:5.80, Z:0.13 [[ 9.98305678e-01 -5.81542188e-02 -1.96486729e-03 5.82436579e+01] [ 5.81542269e-02 9.98307609e-01 -5.30661714e-05 5.79561979e+00] [ 1.96462798e-03 -6.12890778e-05 9.99998068e-01 1.34559904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32439141799999 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:58.31, Y:5.80, Z:0.14 [[ 9.98253204e-01 -5.90481137e-02 -1.96487181e-03 5.83056678e+01] [ 5.90481239e-02 9.98255136e-01 -5.28980479e-05 5.79991954e+00] [ 1.96456691e-03 -6.32163484e-05 9.99998068e-01 1.36711157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.384391417999986 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:58.37, Y:5.80, Z:0.14 [[ 9.98270121e-01 -5.87614194e-02 -1.96487638e-03 5.83684160e+01] [ 5.87614294e-02 9.98272053e-01 -5.27278921e-05 5.80217259e+00] [ 1.96457954e-03 -6.28222653e-05 9.99998068e-01 1.37272924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44439141799999 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:58.43, Y:5.81, Z:0.14 [[ 9.98373995e-01 -5.69693447e-02 -1.96488279e-03 5.84302035e+01] [ 5.69693516e-02 9.98375926e-01 -5.24877034e-05 5.80694926e+00] [ 1.96468187e-03 -5.95357408e-05 9.99998068e-01 1.37033549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50439141799999 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:58.49, Y:5.81, Z:0.14 [[ 9.98549432e-01 -5.38067928e-02 -1.96488803e-03 5.84916147e+01] [ 5.38067940e-02 9.98551364e-01 -5.22909682e-05 5.81119572e+00] [ 1.96485523e-03 -5.35092089e-05 9.99998068e-01 1.35121063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.564391417999985 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:58.55, Y:5.82, Z:0.14 [[ 9.98525533e-01 -5.42484972e-02 -1.96489128e-03 5.85531854e+01] [ 5.42484995e-02 9.98527465e-01 -5.21686616e-05 5.81779878e+00] [ 1.96482798e-03 -5.45006629e-05 9.99998068e-01 1.38039340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62439141799999 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:58.62, Y:5.82, Z:0.14 [[ 9.98479043e-01 -5.50975527e-02 -1.96489594e-03 5.86164951e+01] [ 5.50975570e-02 9.98480975e-01 -5.19925905e-05 5.82369923e+00] [ 1.96477587e-03 -5.63474538e-05 9.99998068e-01 1.38529999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68439141799999 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:58.68, Y:5.83, Z:0.14 [[ 9.98456287e-01 -5.55083982e-02 -1.96490236e-03 5.86788301e+01] [ 5.55084038e-02 9.98458219e-01 -5.17487194e-05 5.82820437e+00] [ 1.96474540e-03 -5.73997592e-05 9.99998068e-01 1.39836714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.744391417999985 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:58.74, Y:5.83, Z:0.14 [[ 9.98450923e-01 -5.56047909e-02 -1.96490661e-03 5.87418464e+01] [ 5.56047970e-02 9.98452855e-01 -5.15867821e-05 5.83247761e+00] [ 1.96473509e-03 -5.77513629e-05 9.99998068e-01 1.38084964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80439141799999 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:58.80, Y:5.84, Z:0.14 [[ 9.98353114e-01 -5.73341005e-02 -1.96491300e-03 5.88036259e+01] [ 5.73341104e-02 9.98355046e-01 -5.13422878e-05 5.83708931e+00] [ 1.96462447e-03 -6.13988059e-05 9.99998068e-01 1.37233085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86439141799999 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:58.87, Y:5.84, Z:0.14 [[ 9.98190982e-01 -6.00907882e-02 -1.96491717e-03 5.88655528e+01] [ 6.00908037e-02 9.98192914e-01 -5.11822672e-05 5.84368316e+00] [ 1.96444197e-03 -6.69837742e-05 9.99998068e-01 1.36636803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.924391417999985 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:58.93, Y:5.85, Z:0.14 [[ 9.98121931e-01 -6.12270400e-02 -1.96492130e-03 5.89285133e+01] [ 6.12270581e-02 9.98123862e-01 -5.10232555e-05 5.84850394e+00] [ 1.96435884e-03 -6.93789200e-05 9.99998068e-01 1.36382156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98439141799999 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:58.99, Y:5.86, Z:0.14 [[ 9.98118317e-01 -6.12859255e-02 -1.96492751e-03 5.89893826e+01] [ 6.12859441e-02 9.98120249e-01 -5.07828332e-05 5.85506916e+00] [ 1.96434621e-03 -6.97351615e-05 9.99998068e-01 1.38035809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04439141799999 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:59.05, Y:5.86, Z:0.14 [[ 9.98248616e-01 -5.91256346e-02 -1.96493055e-03 5.90506308e+01] [ 5.91256493e-02 9.98250547e-01 -5.06650214e-05 5.86092726e+00] [ 1.96448860e-03 -6.56015070e-05 9.99998068e-01 1.37396876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10439141799999 meters Centerline goodness : 0.999431 with order 1 Centerline is valid? [True, True] Translation: X:59.11, Y:5.87, Z:0.14 [[ 9.98398176e-01 -5.65439824e-02 -1.96493349e-03 5.91132411e+01] [ 5.65439923e-02 9.98400107e-01 -5.05507004e-05 5.86974213e+00] [ 1.96464814e-03 -6.06354569e-05 9.99998068e-01 1.39223347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16439141799999 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:59.18, Y:5.87, Z:0.14 [[ 9.98560996e-01 -5.35917632e-02 -1.96493927e-03 5.91760036e+01] [ 5.35917679e-02 9.98562927e-01 -5.03250418e-05 5.87377560e+00] [ 1.96481252e-03 -5.50519453e-05 9.99998068e-01 1.37758566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22439141799999 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:59.24, Y:5.88, Z:0.14 [[ 9.98360927e-01 -5.71978830e-02 -1.96494617e-03 5.92378550e+01] [ 5.71978952e-02 9.98362859e-01 -5.00541843e-05 5.87924056e+00] [ 1.96459227e-03 -6.24186432e-05 9.99998068e-01 1.37940538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28439141799999 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:59.30, Y:5.89, Z:0.14 [[ 9.98223775e-01 -5.95435521e-02 -1.96495043e-03 5.93009641e+01] [ 5.95435691e-02 9.98225706e-01 -4.98862443e-05 5.88636195e+00] [ 1.96443444e-03 -6.72025268e-05 9.99998068e-01 1.39037924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34439141799999 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:59.36, Y:5.89, Z:0.14 [[ 9.98272945e-01 -5.87134211e-02 -1.96495635e-03 5.93639252e+01] [ 5.87134370e-02 9.98274877e-01 -4.96518827e-05 5.89024080e+00] [ 1.96448179e-03 -6.58032098e-05 9.99998068e-01 1.38584200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40439141799999 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:59.43, Y:5.90, Z:0.14 [[ 9.98566290e-01 -5.34930142e-02 -1.96496221e-03 5.94256737e+01] [ 5.34930205e-02 9.98568222e-01 -4.94190427e-05 5.89792828e+00] [ 1.96479239e-03 -5.57635735e-05 9.99998068e-01 1.40426175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46439141799999 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:59.49, Y:5.91, Z:0.14 [[ 9.98959256e-01 -4.55691002e-02 -1.96496619e-03 5.94887997e+01] [ 4.55690915e-02 9.98961188e-01 -4.92600831e-05 5.90700658e+00] [ 1.96516970e-03 -4.03329083e-05 9.99998068e-01 1.41977888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.524391417999986 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:59.55, Y:5.91, Z:0.14 [[ 9.99179164e-01 -4.04615554e-02 -1.96497225e-03 5.95502416e+01] [ 4.04615372e-02 9.99181096e-01 -4.90172376e-05 5.91236226e+00] [ 1.96534644e-03 -3.05287954e-05 9.99998068e-01 1.41787870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58439141799999 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:59.61, Y:5.92, Z:0.14 [[ 9.99414013e-01 -3.41726332e-02 -1.96497921e-03 5.96127470e+01] [ 3.41726034e-02 9.99415945e-01 -4.87366405e-05 5.91933997e+00] [ 1.96549701e-03 -1.84403738e-05 9.99998068e-01 1.42702356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64439141799999 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:59.67, Y:5.93, Z:0.14 [[ 9.99558251e-01 -2.96553794e-02 -1.96498505e-03 5.96741973e+01] [ 2.96553414e-02 9.99560182e-01 -4.85002310e-05 5.92548746e+00] [ 1.96555910e-03 -9.79349626e-06 9.99998068e-01 1.43274733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.704391417999986 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:59.74, Y:5.93, Z:0.14 [[ 9.99607456e-01 -2.79476629e-02 -1.96498982e-03 5.97366800e+01] [ 2.79476219e-02 9.99609388e-01 -4.83062466e-05 5.92935530e+00] [ 1.96557231e-03 -6.62950816e-06 9.99998068e-01 1.44284437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76439141799999 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:59.80, Y:5.93, Z:0.14 [[ 9.99605458e-01 -2.80190336e-02 -1.96499569e-03 5.97993377e+01] [ 2.80189933e-02 9.99607390e-01 -4.80660440e-05 5.93262108e+00] [ 1.96557098e-03 -7.01012112e-06 9.99998068e-01 1.43769624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82439141799999 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:59.86, Y:5.94, Z:0.14 [[ 9.99498949e-01 -3.15909873e-02 -1.96500147e-03 5.98620264e+01] [ 3.15909543e-02 9.99500880e-01 -4.78287948e-05 5.93551652e+00] [ 1.96553165e-03 -1.42714414e-05 9.99998068e-01 1.42548961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.884391417999986 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:59.92, Y:5.94, Z:0.14 [[ 9.99370221e-01 -3.54302136e-02 -1.96500716e-03 5.99246500e+01] [ 3.54301885e-02 9.99372153e-01 -4.75936041e-05 5.93826932e+00] [ 1.96545969e-03 -2.20569435e-05 9.99998068e-01 1.41885719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94439141799999 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:59.99, Y:5.94, Z:0.14 [[ 9.99138751e-01 -4.14475017e-02 -1.96501285e-03 5.99866446e+01] [ 4.14474887e-02 9.99140683e-01 -4.73578035e-05 5.94156522e+00] [ 1.96528714e-03 -3.41278311e-05 9.99998068e-01 1.40953939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00439141799999 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:60.05, Y:5.94, Z:0.14 [[ 9.98963438e-01 -4.54773346e-02 -1.96501749e-03 6.00491094e+01] [ 4.54773297e-02 9.98965370e-01 -4.71644881e-05 5.94498188e+00] [ 1.96512933e-03 -4.22481489e-05 9.99998068e-01 1.43075101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.064391417999985 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:60.11, Y:5.95, Z:0.15 [[ 9.98875401e-01 -4.73716380e-02 -1.96502130e-03 6.01102646e+01] [ 4.73716371e-02 9.98877333e-01 -4.70048795e-05 5.94834060e+00] [ 1.96504194e-03 -4.61342582e-05 9.99998068e-01 1.45494601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12439141799999 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:60.17, Y:5.95, Z:0.14 [[ 9.98826822e-01 -4.83851045e-02 -1.96502412e-03 6.01732391e+01] [ 4.83851059e-02 9.98828754e-01 -4.68869923e-05 5.95108005e+00] [ 1.96499122e-03 -4.82459145e-05 9.99998068e-01 1.44431575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18439141799999 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:60.24, Y:5.96, Z:0.14 [[ 9.98823147e-01 -4.84608994e-02 -1.96502964e-03 6.02359898e+01] [ 4.84609014e-02 9.98825079e-01 -4.66545249e-05 5.95529395e+00] [ 1.96498180e-03 -4.86274880e-05 9.99998068e-01 1.43570155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.244391417999985 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:60.30, Y:5.96, Z:0.14 [[ 9.98971813e-01 -4.52930049e-02 -1.96503542e-03 6.02976571e+01] [ 4.52930012e-02 9.98973744e-01 -4.64095090e-05 5.95596086e+00] [ 1.96512082e-03 -4.26405604e-05 9.99998068e-01 1.43062060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30439141799999 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:60.36, Y:5.96, Z:0.14 [[ 9.99272316e-01 -3.80916803e-02 -1.96504936e-03 6.03605745e+01] [ 3.80916639e-02 9.99274248e-01 -4.58116598e-05 5.96172010e+00] [ 1.96536827e-03 -2.90736763e-05 9.99998068e-01 1.44125367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36439141799999 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:60.42, Y:5.97, Z:0.14 [[ 9.99626234e-01 -2.72677660e-02 -1.96505492e-03 6.04236718e+01] [ 2.72677291e-02 9.99628165e-01 -4.55718553e-05 5.96621896e+00] [ 1.96556689e-03 -8.02776316e-06 9.99998068e-01 1.43237633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.424391417999985 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:60.49, Y:5.97, Z:0.14 [[ 9.99779587e-01 -2.09025192e-02 -1.96506049e-03 6.04858228e+01] [ 2.09024705e-02 9.99781518e-01 -4.53305503e-05 5.96981934e+00] [ 1.96557868e-03 4.24594001e-06 9.99998068e-01 1.43429141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48439141799999 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:60.55, Y:5.97, Z:0.14 [[ 9.99876980e-01 -1.55616022e-02 -1.96506502e-03 6.05479031e+01] [ 1.55615436e-02 9.99878911e-01 -4.51331937e-05 5.97388036e+00] [ 1.96552942e-03 1.45481964e-05 9.99998068e-01 1.43317956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54439141799999 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:60.61, Y:5.98, Z:0.14 [[ 9.99888615e-01 -1.47951123e-02 -1.96506866e-03 6.06101482e+01] [ 1.47950525e-02 9.99890546e-01 -4.49742257e-05 5.97643235e+00] [ 1.96551897e-03 1.58959223e-05 9.99998068e-01 1.42849653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.604391417999985 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:60.67, Y:5.98, Z:0.14 [[ 9.99828653e-01 -1.84065831e-02 -1.96507223e-03 6.06708838e+01] [ 1.84065306e-02 9.99830584e-01 -4.48176032e-05 5.97768418e+00] [ 1.96556426e-03 8.63976174e-06 9.99998068e-01 1.43086897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66439141799999 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:60.73, Y:5.98, Z:0.14 [[ 9.99642868e-01 -2.66509822e-02 -1.96507486e-03 6.07320794e+01] [ 2.66509458e-02 9.99644799e-01 -4.47018353e-05 5.97719796e+00] [ 1.96556822e-03 -7.68523294e-06 9.99998068e-01 1.43725928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72439141799999 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:60.80, Y:5.98, Z:0.14 [[ 9.99446409e-01 -3.32116696e-02 -1.96507743e-03 6.07956237e+01] [ 3.32116461e-02 9.99448340e-01 -4.45886659e-05 5.97591658e+00] [ 1.96547424e-03 -2.06994742e-05 9.99998068e-01 1.43076373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78439141799999 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:60.86, Y:5.97, Z:0.15 [[ 9.99001586e-01 -4.46314867e-02 -1.96508255e-03 6.08587467e+01] [ 4.46314857e-02 9.99003518e-01 -4.43619682e-05 5.97433658e+00] [ 1.96510432e-03 -4.33868772e-05 9.99998068e-01 1.45237779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84439141799999 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:60.92, Y:5.97, Z:0.15 [[ 9.98755554e-01 -4.98345464e-02 -1.96508762e-03 6.09221652e+01] [ 4.98345559e-02 9.98757486e-01 -4.41361637e-05 5.97367290e+00] [ 1.96484548e-03 -5.38480304e-05 9.99998068e-01 1.45491462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90439141799999 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:60.99, Y:5.97, Z:0.15 [[ 9.98534675e-01 -5.40799483e-02 -1.96509300e-03 6.09854502e+01] [ 5.40799665e-02 9.98536607e-01 -4.38953138e-05 5.97360105e+00] [ 1.96459115e-03 -6.24411708e-05 9.99998068e-01 1.45658102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96439141799999 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:61.05, Y:5.97, Z:0.14 [[ 9.98458243e-01 -5.54731974e-02 -1.96509834e-03 6.10488685e+01] [ 5.54732188e-02 9.98460175e-01 -4.36548707e-05 5.97443597e+00] [ 1.96449411e-03 -6.54227650e-05 9.99998068e-01 1.44979999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.024391417999986 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:61.11, Y:5.97, Z:0.14 [[ 9.98484067e-01 -5.50064165e-02 -1.96510359e-03 6.11109663e+01] [ 5.50064375e-02 9.98485999e-01 -4.34173553e-05 5.97488070e+00] [ 1.96451666e-03 -6.47418102e-05 9.99998068e-01 1.42907093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08439141799999 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:61.17, Y:5.98, Z:0.14 [[ 9.98556032e-01 -5.36841690e-02 -1.96510712e-03 6.11735232e+01] [ 5.36841877e-02 9.98557963e-01 -4.32568199e-05 5.97644138e+00] [ 1.96459557e-03 -6.23008214e-05 9.99998068e-01 1.43393862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14439141799999 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:61.24, Y:5.98, Z:0.14 [[ 9.98773364e-01 -4.94763238e-02 -1.96511237e-03 6.12350855e+01] [ 4.94763348e-02 9.98775295e-01 -4.30172352e-05 5.97881080e+00] [ 1.96483402e-03 -5.42620889e-05 9.99998068e-01 1.44873240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.204391417999986 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:61.30, Y:5.98, Z:0.14 [[ 9.99121150e-01 -4.18696401e-02 -1.96511665e-03 6.12976527e+01] [ 4.18696369e-02 9.99123081e-01 -4.28207777e-05 5.98080097e+00] [ 1.96518629e-03 -3.94955759e-05 9.99998068e-01 1.42069737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26439141799999 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:61.36, Y:5.98, Z:0.14 [[ 9.99353322e-01 -3.59037003e-02 -1.96512001e-03 6.13610791e+01] [ 3.59036858e-02 9.99355254e-01 -4.26659645e-05 5.98310627e+00] [ 1.96538487e-03 -2.79166781e-05 9.99998068e-01 1.43312378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32439141799999 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:61.42, Y:5.99, Z:0.14 [[ 9.99600624e-01 -2.81909725e-02 -1.96512519e-03 6.14243824e+01] [ 2.81909436e-02 9.99602555e-01 -4.24260057e-05 5.98533939e+00] [ 1.96554019e-03 -1.29896716e-05 9.99998068e-01 1.44664216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.384391417999986 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:61.49, Y:5.99, Z:0.15 [[ 9.99777750e-01 -2.09902050e-02 -1.96513036e-03 6.14864251e+01] [ 2.09901627e-02 9.99779681e-01 -4.21850689e-05 5.98717848e+00] [ 1.96558288e-03 9.27287267e-07 9.99998068e-01 1.45900072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44439141799999 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:61.55, Y:5.99, Z:0.15 [[ 9.99854474e-01 -1.69460608e-02 -1.96513385e-03 6.15478393e+01] [ 1.69460110e-02 9.99856405e-01 -4.20219074e-05 5.98765632e+00] [ 1.96556378e-03 8.71461229e-06 9.99998068e-01 1.46517705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50439141799999 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:61.61, Y:5.99, Z:0.15 [[ 9.99942683e-01 -1.05247289e-02 -1.96513637e-03 6.16105086e+01] [ 1.05246669e-02 9.99944613e-01 -4.19036521e-05 5.98730619e+00] [ 1.96546856e-03 2.12188446e-05 9.99998068e-01 1.45608926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.564391417999985 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:61.67, Y:5.99, Z:0.15 [[ 9.99948962e-01 -9.91013964e-03 -1.96513974e-03 6.16726611e+01] [ 9.91007674e-03 9.99950893e-01 -4.17454119e-05 5.98736675e+00] [ 1.96545694e-03 2.22685957e-05 9.99998068e-01 1.46545685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62439141799999 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:61.73, Y:5.99, Z:0.15 [[ 9.99933202e-01 -1.13899057e-02 -1.96514320e-03 6.17346343e+01] [ 1.13898460e-02 9.99935133e-01 -4.15815498e-05 5.98521092e+00] [ 1.96548934e-03 1.91960938e-05 9.99998068e-01 1.45719320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68439141799999 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:61.80, Y:5.98, Z:0.14 [[ 9.99851296e-01 -1.71325623e-02 -1.96514656e-03 6.17964543e+01] [ 1.71325140e-02 9.99853227e-01 -4.14221025e-05 5.97964304e+00] [ 1.96556780e-03 7.74804187e-06 9.99998068e-01 1.44750766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.744391417999985 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:61.86, Y:5.98, Z:0.15 [[ 9.99768828e-01 -2.14109331e-02 -1.96515876e-03 6.18590479e+01] [ 2.14108942e-02 9.99770760e-01 -4.08352906e-05 5.97797464e+00] [ 1.96558259e-03 -1.24995553e-06 9.99998068e-01 1.45406712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80439141799999 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:61.92, Y:5.97, Z:0.14 [[ 9.99669223e-01 -2.56433929e-02 -1.96516196e-03 6.19209228e+01] [ 2.56433625e-02 9.99671154e-01 -4.06808675e-05 5.97316462e+00] [ 1.96555891e-03 -9.72594923e-06 9.99998068e-01 1.44732781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86439141799999 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:61.98, Y:5.97, Z:0.14 [[ 9.99561482e-01 -2.95462743e-02 -1.96516589e-03 6.19834375e+01] [ 2.95462518e-02 9.99563413e-01 -4.04901180e-05 5.96731933e+00] [ 1.96550425e-03 -1.75909238e-05 9.99998068e-01 1.43387451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.924391417999985 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:62.05, Y:5.96, Z:0.14 [[ 9.99472060e-01 -3.24305271e-02 -1.96516916e-03 6.20454060e+01] [ 3.24305105e-02 9.99473992e-01 -4.03307446e-05 5.96494120e+00] [ 1.96544341e-03 -2.34219866e-05 9.99998068e-01 1.43116873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98439141799999 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:62.11, Y:5.96, Z:0.14 [[ 9.99276156e-01 -3.79908053e-02 -1.96517318e-03 6.21085558e+01] [ 3.79907998e-02 9.99278088e-01 -4.01336794e-05 5.96060671e+00] [ 1.96527921e-03 -3.45538720e-05 9.99998068e-01 1.44594403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04439141799999 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:62.17, Y:5.96, Z:0.14 [[ 9.99216249e-01 -3.95351254e-02 -1.96517777e-03 6.21719281e+01] [ 3.95351233e-02 9.99218181e-01 -3.99075619e-05 5.95757441e+00] [ 1.96521911e-03 -3.78172612e-05 9.99998068e-01 1.43411191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.104391417999985 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:62.23, Y:5.96, Z:0.14 [[ 9.99367815e-01 -3.54979994e-02 -1.96518241e-03 6.22346466e+01] [ 3.54979900e-02 9.99369747e-01 -3.96779488e-05 5.95565677e+00] [ 1.96535233e-03 -3.01071605e-05 9.99998068e-01 1.42899658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16439141799999 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:62.30, Y:5.96, Z:0.14 [[ 9.99487311e-01 -3.19570670e-02 -1.96518564e-03 6.22968598e+01] [ 3.19570510e-02 9.99489242e-01 -3.95171561e-05 5.95591006e+00] [ 1.96544476e-03 -2.33046418e-05 9.99998068e-01 1.41167380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22439141799999 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:62.36, Y:5.96, Z:0.14 [[ 9.99746452e-01 -2.24314274e-02 -1.96518885e-03 6.23586666e+01] [ 2.24313934e-02 9.99748384e-01 -3.93568641e-05 5.95585620e+00] [ 1.96557721e-03 -4.73503899e-06 9.99998068e-01 1.44114013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28439141799999 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:62.42, Y:5.95, Z:0.14 [[ 9.99853639e-01 -1.69952510e-02 -1.96519204e-03 6.24209246e+01] [ 1.69952068e-02 9.99855570e-01 -3.91968411e-05 5.95482172e+00] [ 1.96557437e-03 5.79225905e-06 9.99998068e-01 1.44776190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34439141799999 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:62.48, Y:5.95, Z:0.14 [[ 9.99905002e-01 -1.36427348e-02 -1.96519519e-03 6.24827278e+01] [ 1.36426844e-02 9.99906933e-01 -3.90382028e-05 5.95319332e+00] [ 1.96554489e-03 1.22239564e-05 9.99998068e-01 1.44341232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40439141799999 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:62.54, Y:5.95, Z:0.14 [[ 9.99844156e-01 -1.75442687e-02 -1.96519827e-03 6.25445404e+01] [ 1.75442262e-02 9.99846087e-01 -3.88825904e-05 5.95064002e+00] [ 1.96557797e-03 4.39864780e-06 9.99998068e-01 1.43764884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46439141799999 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:62.61, Y:5.95, Z:0.14 [[ 9.99746450e-01 -2.24315243e-02 -1.96520136e-03 6.26066453e+01] [ 2.24314916e-02 9.99748382e-01 -3.87260497e-05 5.94757436e+00] [ 1.96557556e-03 -5.36616693e-06 9.99998068e-01 1.42803974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.524391417999986 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:62.67, Y:5.94, Z:0.14 [[ 9.99492000e-01 -3.18100473e-02 -1.96520440e-03 6.26699826e+01] [ 3.18100329e-02 9.99493932e-01 -3.85709062e-05 5.94416451e+00] [ 1.96543682e-03 -2.39619046e-05 9.99998068e-01 1.43410662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58439141799999 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:62.73, Y:5.94, Z:0.14 [[ 9.99308362e-01 -3.71340130e-02 -1.96520914e-03 6.27326639e+01] [ 3.71340094e-02 9.99310294e-01 -3.83281479e-05 5.94361318e+00] [ 1.96527700e-03 -3.46744559e-05 9.99998068e-01 1.44320624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64439141799999 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:62.79, Y:5.94, Z:0.14 [[ 9.99121462e-01 -4.18621886e-02 -1.96521381e-03 6.27949214e+01] [ 4.18621946e-02 9.99123393e-01 -3.80873154e-05 5.93999393e+00] [ 1.96508550e-03 -4.42143086e-05 9.99998068e-01 1.44203573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.704391417999986 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:62.86, Y:5.94, Z:0.15 [[ 9.99026461e-01 -4.40711755e-02 -1.96521688e-03 6.28570280e+01] [ 4.40711861e-02 9.99028393e-01 -3.79280138e-05 5.93923769e+00] [ 1.96497899e-03 -4.87183494e-05 9.99998068e-01 1.45989227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76439141799999 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:62.92, Y:5.94, Z:0.15 [[ 9.98977379e-01 -4.51700598e-02 -1.96522437e-03 6.29198318e+01] [ 4.51700734e-02 9.98979311e-01 -3.75357183e-05 5.93930392e+00] [ 1.96491398e-03 -5.12719956e-05 9.99998068e-01 1.45168837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82439141799999 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:62.98, Y:5.94, Z:0.14 [[ 9.99061483e-01 -4.32699724e-02 -1.96522884e-03 6.29824878e+01] [ 4.32699827e-02 9.99063415e-01 -3.73002823e-05 5.93649747e+00] [ 1.96500222e-03 -4.77701425e-05 9.99998068e-01 1.40422561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.884391417999986 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:63.04, Y:5.94, Z:0.14 [[ 9.98913132e-01 -4.65692299e-02 -1.96523192e-03 6.30440524e+01] [ 4.65692468e-02 9.98915063e-01 -3.71375291e-05 5.93832786e+00] [ 1.96482923e-03 -5.44222048e-05 9.99998068e-01 1.41607634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94439141799999 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:63.11, Y:5.94, Z:0.14 [[ 9.98936791e-01 -4.60589443e-02 -1.96523575e-03 6.31067747e+01] [ 4.60589607e-02 9.98938722e-01 -3.69336818e-05 5.93997859e+00] [ 1.96485121e-03 -5.36223027e-05 9.99998068e-01 1.41575048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00439141799999 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:63.17, Y:5.94, Z:0.14 [[ 9.99115597e-01 -4.20019155e-02 -1.96524009e-03 6.31689926e+01] [ 4.20019245e-02 9.99117529e-01 -3.67014327e-05 5.94159595e+00] [ 1.96504735e-03 -4.58748919e-05 9.99998068e-01 1.44036352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.064391417999985 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:63.23, Y:5.94, Z:0.14 [[ 9.99352928e-01 -3.59146591e-02 -1.96524307e-03 6.32324887e+01] [ 3.59146567e-02 9.99354860e-01 -3.65409062e-05 5.94245314e+00] [ 1.96528757e-03 -3.40637685e-05 9.99998068e-01 1.42170975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12439141799999 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:63.29, Y:5.95, Z:0.14 [[ 9.99654903e-01 -2.61956795e-02 -1.96524759e-03 6.32946400e+01] [ 2.61956588e-02 9.99656834e-01 -3.62962523e-05 5.94686226e+00] [ 1.96552399e-03 -1.51972287e-05 9.99998068e-01 1.43217182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18439141799999 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:63.36, Y:5.95, Z:0.14 [[ 9.99810683e-01 -1.93581198e-02 -1.96525053e-03 6.33568046e+01] [ 1.93580861e-02 9.99812614e-01 -3.61360517e-05 5.94928360e+00] [ 1.96558180e-03 -1.91427859e-06 9.99998068e-01 1.43306751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.244391417999985 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:63.42, Y:5.95, Z:0.15 [[ 9.99907338e-01 -1.34704801e-02 -1.96525347e-03 6.34192405e+01] [ 1.34704354e-02 9.99909269e-01 -3.59755244e-05 5.95053529e+00] [ 1.96555977e-03 9.49937085e-06 9.99998068e-01 1.45585026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30439141799999 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:63.48, Y:5.95, Z:0.15 [[ 9.99910797e-01 -1.32112049e-02 -1.96525639e-03 6.34810881e+01] [ 1.32111600e-02 9.99912728e-01 -3.58155526e-05 5.95027322e+00] [ 1.96555804e-03 9.84904115e-06 9.99998068e-01 1.46751299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36439141799999 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:63.54, Y:5.95, Z:0.14 [[ 9.99880679e-01 -1.53220769e-02 -1.96525925e-03 6.35430661e+01] [ 1.53220364e-02 9.99882610e-01 -3.56580295e-05 5.94848509e+00] [ 1.96557490e-03 5.54200102e-06 9.99998068e-01 1.43747027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.424391417999985 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:63.61, Y:5.94, Z:0.14 [[ 9.99717927e-01 -2.36686410e-02 -1.96526204e-03 6.36063596e+01] [ 2.36686170e-02 9.99719858e-01 -3.55031336e-05 5.94458278e+00] [ 1.96555180e-03 -1.10219154e-05 9.99998068e-01 1.41876595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48439141799999 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:63.67, Y:5.94, Z:0.14 [[ 9.99392450e-01 -3.47975257e-02 -1.96527339e-03 6.36695170e+01] [ 3.47975244e-02 9.99394382e-01 -3.48636743e-05 5.94261993e+00] [ 1.96529635e-03 -3.35441558e-05 9.99998068e-01 1.43466285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54439141799999 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:63.73, Y:5.94, Z:0.14 [[ 9.99118494e-01 -4.19329622e-02 -1.96528454e-03 6.37323217e+01] [ 4.19329760e-02 9.99120425e-01 -3.42233987e-05 5.94133140e+00] [ 1.96499101e-03 -4.82169987e-05 9.99998068e-01 1.43567789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.604391417999985 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:63.80, Y:5.94, Z:0.14 [[ 9.98755188e-01 -4.98418732e-02 -1.96528875e-03 6.37956103e+01] [ 4.98419027e-02 9.98757119e-01 -3.39797473e-05 5.94046174e+00] [ 1.96453975e-03 -6.40162818e-05 9.99998068e-01 1.44088486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66439141799999 meters Centerline goodness : 0.998865 with order 1 Centerline is valid? [True, True] Translation: X:63.86, Y:5.94, Z:0.14 [[ 9.98670941e-01 -5.15023256e-02 -1.96529294e-03 6.38587738e+01] [ 5.15023588e-02 9.98672872e-01 -3.37357102e-05 5.94050367e+00] [ 1.96442221e-03 -6.75263488e-05 9.99998068e-01 1.43706228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72439141799999 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:63.92, Y:5.94, Z:0.15 [[ 9.98508204e-01 -5.45665039e-02 -1.96529942e-03 6.39214909e+01] [ 5.45665438e-02 9.98510136e-01 -3.33536624e-05 5.94388309e+00] [ 1.96419139e-03 -7.39356915e-05 9.99998068e-01 1.45320840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.784391417999984 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:63.98, Y:5.95, Z:0.14 [[ 9.98470035e-01 -5.52605406e-02 -1.96530365e-03 6.39842328e+01] [ 5.52605823e-02 9.98471966e-01 -3.31026259e-05 5.94711415e+00] [ 1.96412987e-03 -7.55518442e-05 9.99998068e-01 1.43571122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84439141799999 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:64.05, Y:5.95, Z:0.14 [[ 9.98358080e-01 -5.72475472e-02 -1.96530774e-03 6.40468660e+01] [ 5.72475932e-02 9.98360011e-01 -3.28582339e-05 5.94987834e+00] [ 1.96396571e-03 -7.97048547e-05 9.99998068e-01 1.43900549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90439141799999 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:64.11, Y:5.95, Z:0.14 [[ 9.98194848e-01 -6.00265122e-02 -1.96531175e-03 6.41086318e+01] [ 6.00265641e-02 9.98196779e-01 -3.26166030e-05 5.95446737e+00] [ 1.96372572e-03 -8.54131866e-05 9.99998068e-01 1.42863645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96439141799999 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:64.17, Y:5.96, Z:0.14 [[ 9.98135673e-01 -6.10025842e-02 -1.96531444e-03 6.41720053e+01] [ 6.10026384e-02 9.98137604e-01 -3.24535851e-05 5.95864921e+00] [ 1.96363400e-03 -8.74962851e-05 9.99998068e-01 1.41891808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024391418 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:64.23, Y:5.96, Z:0.14 [[ 9.98344781e-01 -5.74790030e-02 -1.96531841e-03 6.42337007e+01] [ 5.74790508e-02 9.98346712e-01 -3.22112271e-05 5.96078176e+00] [ 1.96392064e-03 -8.08067264e-05 9.99998068e-01 1.38927308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08439141799998 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:64.29, Y:5.97, Z:0.14 [[ 9.98200875e-01 -5.99262174e-02 -1.96532357e-03 6.42944460e+01] [ 5.99262705e-02 9.98202806e-01 -3.18934623e-05 5.96798910e+00] [ 1.96370276e-03 -8.59384299e-05 9.99998068e-01 1.40442228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14439141799998 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:64.36, Y:5.98, Z:0.14 [[ 9.98373706e-01 -5.69743790e-02 -1.96532876e-03 6.43551540e+01] [ 5.69744270e-02 9.98375638e-01 -3.15700902e-05 5.97708718e+00] [ 1.96393504e-03 -8.04547323e-05 9.99998068e-01 1.42706787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20439141799999 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:64.42, Y:5.98, Z:0.14 [[ 9.98630234e-01 -5.22856905e-02 -1.96533064e-03 6.44177951e+01] [ 5.22857298e-02 9.98632165e-01 -3.14528463e-05 5.98381187e+00] [ 1.96428693e-03 -7.13489835e-05 9.99998068e-01 1.43848663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26439141799999 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:64.48, Y:5.99, Z:0.15 [[ 9.99052882e-01 -4.34681085e-02 -1.96533436e-03 6.44808019e+01] [ 4.34681311e-02 9.99054814e-01 -3.12187951e-05 5.99281138e+00] [ 1.96483377e-03 -5.42401844e-05 9.99998068e-01 1.45922265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32439141799999 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:64.54, Y:6.00, Z:0.15 [[ 9.99222235e-01 -3.93835385e-02 -1.96533831e-03 6.45422285e+01] [ 3.93835537e-02 9.99224166e-01 -3.09678878e-05 5.99823552e+00] [ 1.96503316e-03 -4.64582048e-05 9.99998068e-01 1.47437984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38439141799999 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:64.60, Y:6.01, Z:0.15 [[ 9.99406814e-01 -3.43825213e-02 -1.96534028e-03 6.46037920e+01] [ 3.43825271e-02 9.99408746e-01 -3.08427147e-05 6.00670975e+00] [ 1.96523871e-03 -3.67489461e-05 9.99998068e-01 1.48201390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44439141799998 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:64.67, Y:6.01, Z:0.15 [[ 9.99493438e-01 -3.17648505e-02 -1.96534329e-03 6.46656936e+01] [ 3.17648517e-02 9.99495369e-01 -3.06494812e-05 6.01140373e+00] [ 1.96532509e-03 -3.17948828e-05 9.99998068e-01 1.47265302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50439141799998 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:64.73, Y:6.01, Z:0.15 [[ 9.99524888e-01 -3.07593295e-02 -1.96534578e-03 6.47291092e+01] [ 3.07593290e-02 9.99526819e-01 -3.04892529e-05 6.01386573e+00] [ 1.96535364e-03 -2.99779502e-05 9.99998068e-01 1.46918025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56439141799999 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:64.79, Y:6.02, Z:0.15 [[ 9.99567232e-01 -2.93511003e-02 -1.96534944e-03 6.47914647e+01] [ 2.93510976e-02 9.99569163e-01 -3.02513418e-05 6.01949556e+00] [ 1.96539060e-03 -2.74469132e-05 9.99998068e-01 1.48820360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62439141799999 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:64.85, Y:6.02, Z:0.15 [[ 9.99590963e-01 -2.85314453e-02 -1.96535242e-03 6.48535151e+01] [ 2.85314414e-02 9.99592895e-01 -3.00562599e-05 6.02282033e+00] [ 1.96540986e-03 -2.60303715e-05 9.99998068e-01 1.52289234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68439141799999 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:64.92, Y:6.03, Z:0.16 [[ 9.99631538e-01 -2.70726160e-02 -1.96535476e-03 6.49166751e+01] [ 2.70726096e-02 9.99633469e-01 -2.99024251e-05 6.02623090e+00] [ 1.96544394e-03 -2.33158749e-05 9.99998068e-01 1.57342118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74439141799999 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:64.98, Y:6.03, Z:0.16 [[ 9.99657650e-01 -2.60906204e-02 -1.96535842e-03 6.49799093e+01] [ 2.60906125e-02 9.99659582e-01 -2.96600296e-05 6.03004325e+00] [ 1.96546322e-03 -2.16275296e-05 9.99998068e-01 1.59920926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.804391418 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:65.04, Y:6.03, Z:0.17 [[ 9.99568173e-01 -2.93190050e-02 -1.96536200e-03 6.50431892e+01] [ 2.93190038e-02 9.99570105e-01 -2.94208988e-05 6.03342774e+00] [ 1.96537969e-03 -2.82142618e-05 9.99998068e-01 1.67449623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86439141799998 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:65.11, Y:6.03, Z:0.17 [[ 9.99464688e-01 -3.26569223e-02 -1.96536557e-03 6.51061562e+01] [ 3.26569281e-02 9.99466620e-01 -2.91803908e-05 6.03357008e+00] [ 1.96527022e-03 -3.50180319e-05 9.99998068e-01 1.67730709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92439141799998 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:65.17, Y:6.03, Z:0.16 [[ 9.99345585e-01 -3.61183991e-02 -1.96536921e-03 6.51678264e+01] [ 3.61184120e-02 9.99347517e-01 -2.89329425e-05 6.03388729e+00] [ 1.96513185e-03 -4.20720067e-05 9.99998068e-01 1.62454287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98439141799999 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:65.23, Y:6.04, Z:0.16 [[ 9.99485164e-01 -3.20241238e-02 -1.96537157e-03 6.52304329e+01] [ 3.20241291e-02 9.99487096e-01 -2.87716506e-05 6.03754181e+00] [ 1.96528491e-03 -3.41824751e-05 9.99998068e-01 1.58023548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04439141799999 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:65.29, Y:6.04, Z:0.16 [[ 9.99696160e-01 -2.45708121e-02 -1.96537444e-03 6.52923965e+01] [ 2.45708034e-02 9.99698092e-01 -2.85748569e-05 6.03853673e+00] [ 1.96548318e-03 -1.97246542e-05 9.99998068e-01 1.56045067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10439141799999 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:65.35, Y:6.04, Z:0.16 [[ 9.99893143e-01 -1.44858341e-02 -1.96537676e-03 6.53544619e+01] [ 1.44858062e-02 9.99895075e-01 -2.84137969e-05 6.04035162e+00] [ 1.96558214e-03 -5.93062821e-08 9.99998068e-01 1.56742725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164391418 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:65.42, Y:6.04, Z:0.16 [[ 9.99943782e-01 -1.04197173e-02 -1.96537905e-03 6.54156300e+01] [ 1.04196819e-02 9.99945713e-01 -2.82549935e-05 6.04044241e+00] [ 1.96556676e-03 7.77478058e-06 9.99998068e-01 1.58226175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22439141799998 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:65.48, Y:6.04, Z:0.16 [[ 9.99901525e-01 -1.38952415e-02 -1.96538266e-03 6.54782828e+01] [ 1.38952133e-02 9.99903456e-01 -2.80012115e-05 6.03957168e+00] [ 1.96558200e-03 6.89042789e-07 9.99998068e-01 1.58606072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28439141799998 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:65.54, Y:6.04, Z:0.16 [[ 9.99673692e-01 -2.54685565e-02 -1.96538487e-03 6.55407114e+01] [ 2.54685509e-02 9.99675623e-01 -2.78450585e-05 6.03580103e+00] [ 1.96545652e-03 -2.22195324e-05 9.99998068e-01 1.57958679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34439141799999 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:65.60, Y:6.03, Z:0.16 [[ 9.99428979e-01 -3.37320819e-02 -1.96539261e-03 6.56033269e+01] [ 3.37320934e-02 9.99430911e-01 -2.72879286e-05 6.03406146e+00] [ 1.96519460e-03 -3.90244605e-05 9.99998068e-01 1.57125654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40439141799999 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:65.67, Y:6.03, Z:0.16 [[ 9.99031029e-01 -4.39675022e-02 -1.96539481e-03 6.56660308e+01] [ 4.39675338e-02 9.99032960e-01 -2.71288589e-05 6.03347209e+00] [ 1.96468698e-03 -5.93109908e-05 9.99998068e-01 1.56271517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46439141799999 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:65.73, Y:6.03, Z:0.16 [[ 9.98626373e-01 -5.23593848e-02 -1.96539750e-03 6.57274089e+01] [ 5.23594331e-02 9.98628304e-01 -2.69325713e-05 6.03246738e+00] [ 1.96411174e-03 -7.60115227e-05 9.99998068e-01 1.55231316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.524391418 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:65.79, Y:6.03, Z:0.16 [[ 9.98382959e-01 -5.68120040e-02 -1.96540151e-03 6.57892548e+01] [ 5.68120614e-02 9.98384890e-01 -2.66365861e-05 6.03314713e+00] [ 1.96374045e-03 -8.50649975e-05 9.99998068e-01 1.56330479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58439141799998 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:65.85, Y:6.04, Z:0.16 [[ 9.98171317e-01 -6.04165538e-02 -1.96540355e-03 6.58507930e+01] [ 6.04166186e-02 9.98173247e-01 -2.64848077e-05 6.03724799e+00] [ 1.96341337e-03 -9.23066614e-05 9.99998068e-01 1.60476669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64439141799998 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:65.91, Y:6.04, Z:0.16 [[ 9.98179834e-01 -6.02756621e-02 -1.96540995e-03 6.59131313e+01] [ 6.02757275e-02 9.98181765e-01 -2.60009961e-05 6.04198146e+00] [ 1.96340360e-03 -9.25128448e-05 9.99998068e-01 1.62645307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70439141799999 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:65.98, Y:6.05, Z:0.16 [[ 9.98219798e-01 -5.96101735e-02 -1.96541187e-03 6.59758620e+01] [ 5.96102379e-02 9.98221728e-01 -2.58550135e-05 6.04832144e+00] [ 1.96345806e-03 -9.13496830e-05 9.99998068e-01 1.63122102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76439141799999 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:66.04, Y:6.06, Z:0.16 [[ 9.98249095e-01 -5.91175283e-02 -1.96541471e-03 6.60365484e+01] [ 5.91175921e-02 9.98251025e-01 -2.56372343e-05 6.05503992e+00] [ 1.96349286e-03 -9.05982394e-05 9.99998068e-01 1.59745043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82439141799999 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:66.10, Y:6.06, Z:0.16 [[ 9.98381870e-01 -5.68311498e-02 -1.96541610e-03 6.60985782e+01] [ 5.68312094e-02 9.98383800e-01 -2.55303176e-05 6.06040349e+00] [ 1.96369052e-03 -8.62079679e-05 9.99998068e-01 1.60484028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88439141799999 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:66.16, Y:6.07, Z:0.16 [[ 9.98661655e-01 -5.16820652e-02 -1.96541816e-03 6.61602679e+01] [ 5.16821152e-02 9.98663586e-01 -2.53709240e-05 6.06602833e+00] [ 1.96410277e-03 -7.62399988e-05 9.99998068e-01 1.59669093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94439141799998 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:66.22, Y:6.07, Z:0.16 [[ 9.99230425e-01 -3.91751817e-02 -1.96542019e-03 6.62210976e+01] [ 3.91752078e-02 9.99232357e-01 -2.52124369e-05 6.07414785e+00] [ 1.96489915e-03 -5.18027104e-05 9.99998068e-01 1.58522538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00439141799998 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:66.28, Y:6.08, Z:0.16 [[ 9.99529253e-01 -3.06171411e-02 -1.96542169e-03 6.62830301e+01] [ 3.06171509e-02 9.99531185e-01 -2.50955427e-05 6.08066796e+00] [ 1.96526862e-03 -3.50918833e-05 9.99998068e-01 1.61251431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06439141799999 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:66.35, Y:6.09, Z:0.16 [[ 9.99731939e-01 -2.30691986e-02 -1.96542362e-03 6.63450248e+01] [ 2.30691942e-02 9.99733870e-01 -2.49434517e-05 6.08706167e+00] [ 1.96547598e-03 -2.04039737e-05 9.99998068e-01 1.63517772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12439141799999 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:66.41, Y:6.09, Z:0.17 [[ 9.99851568e-01 -1.71166027e-02 -1.96542551e-03 6.64070240e+01] [ 1.71165871e-02 9.99853500e-01 -2.47929179e-05 6.09349792e+00] [ 1.96556195e-03 -8.85213904e-06 9.99998068e-01 1.65221395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18439141799999 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:66.47, Y:6.10, Z:0.16 [[ 9.99837550e-01 -1.79167553e-02 -1.96542738e-03 6.64694230e+01] [ 1.79167415e-02 9.99839482e-01 -2.46445544e-05 6.09631591e+00] [ 1.96555344e-03 -1.05735033e-05 9.99998068e-01 1.64634366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24439141799999 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:66.53, Y:6.10, Z:0.16 [[ 9.99708264e-01 -2.40732881e-02 -1.96542919e-03 6.65308061e+01] [ 2.40732865e-02 9.99710196e-01 -2.44988571e-05 6.09939857e+00] [ 1.96544937e-03 -2.28226301e-05 9.99998068e-01 1.61004943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30439141799998 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:66.59, Y:6.10, Z:0.16 [[ 9.99530386e-01 -3.05801450e-02 -1.96543053e-03 6.65925391e+01] [ 3.05801561e-02 9.99532317e-01 -2.43911478e-05 6.10192781e+00] [ 1.96525722e-03 -3.57234790e-05 9.99998068e-01 1.59357910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36439141799998 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:66.65, Y:6.10, Z:0.16 [[ 9.99422925e-01 -3.39109624e-02 -1.96543229e-03 6.66547161e+01] [ 3.39109802e-02 9.99424857e-01 -2.42484802e-05 6.10300794e+00] [ 1.96512417e-03 -4.24152484e-05 9.99998068e-01 1.63065324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42439141799998 meters Centerline goodness : 0.999585 with order 1 Centerline is valid? [True, True] Translation: X:66.72, Y:6.11, Z:0.17 [[ 9.99308331e-01 -3.71348482e-02 -1.96543419e-03 6.67167856e+01] [ 3.71348726e-02 9.99310262e-01 -2.40931748e-05 6.10575929e+00] [ 1.96497325e-03 -4.89096379e-05 9.99998068e-01 1.68583147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48439141799999 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:66.78, Y:6.11, Z:0.17 [[ 9.99103579e-01 -4.22868261e-02 -1.96543609e-03 6.67797202e+01] [ 4.22868608e-02 9.99105510e-01 -2.39372543e-05 6.10624493e+00] [ 1.96469026e-03 -5.91963259e-05 9.99998068e-01 1.68954835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54439141799999 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:66.84, Y:6.11, Z:0.17 [[ 9.98971744e-01 -4.52944958e-02 -1.96543896e-03 6.68417056e+01] [ 4.52945367e-02 9.98973676e-01 -2.36997298e-05 6.10551419e+00] [ 1.96449524e-03 -6.53482866e-05 9.99998068e-01 1.65163346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60439141799999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:66.90, Y:6.11, Z:0.16 [[ 9.98793738e-01 -4.90632947e-02 -1.96544086e-03 6.69029060e+01] [ 4.90633432e-02 9.98795669e-01 -2.35405053e-05 6.10746312e+00] [ 1.96422879e-03 -7.29189903e-05 9.99998068e-01 1.62716845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664391418 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:66.97, Y:6.11, Z:0.16 [[ 9.98862968e-01 -4.76330623e-02 -1.96544680e-03 6.69654034e+01] [ 4.76331090e-02 9.98864899e-01 -2.30342054e-05 6.10935787e+00] [ 1.96431300e-03 -7.06123267e-05 9.99998068e-01 1.61413872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72439141799998 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:67.03, Y:6.11, Z:0.16 [[ 9.99217042e-01 -3.95150546e-02 -1.96544860e-03 6.70278690e+01] [ 3.95150860e-02 9.99218974e-01 -2.28791330e-05 6.11367973e+00] [ 1.96481760e-03 -5.48036509e-05 9.99998068e-01 1.62540539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78439141799998 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:67.09, Y:6.12, Z:0.17 [[ 9.99498143e-01 -3.16164374e-02 -1.96545038e-03 6.70900236e+01] [ 3.16164538e-02 9.99500075e-01 -2.27250603e-05 6.11744492e+00] [ 1.96518629e-03 -3.94269156e-05 9.99998068e-01 1.65239895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84439141799999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:67.15, Y:6.12, Z:0.17 [[ 9.99763324e-01 -2.16664224e-02 -1.96545223e-03 6.71519051e+01] [ 2.16664199e-02 9.99765255e-01 -2.25645168e-05 6.12193094e+00] [ 1.96547974e-03 -2.00251369e-05 9.99998068e-01 1.67701501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90439141799999 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:67.21, Y:6.13, Z:0.17 [[ 9.99851262e-01 -1.71345120e-02 -1.96545408e-03 6.72127804e+01] [ 1.71345011e-02 9.99853193e-01 -2.24019441e-05 6.12555368e+00] [ 1.96554938e-03 -1.12784630e-05 9.99998068e-01 1.65241981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96439141799999 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:67.27, Y:6.13, Z:0.16 [[ 9.99840177e-01 -1.77695628e-02 -1.96545543e-03 6.72749218e+01] [ 1.77695533e-02 9.99842109e-01 -2.22826284e-05 6.12712808e+00] [ 1.96554106e-03 -1.26461979e-05 9.99998068e-01 1.61086910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024391418 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:67.34, Y:6.13, Z:0.16 [[ 9.99773608e-01 -2.11865395e-02 -1.96545714e-03 6.73366742e+01] [ 2.11865369e-02 9.99775540e-01 -2.21304480e-05 6.12822224e+00] [ 1.96548485e-03 -1.95157926e-05 9.99998068e-01 1.57824570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08439141799998 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:67.40, Y:6.13, Z:0.16 [[ 9.99692513e-01 -2.47187528e-02 -1.96545890e-03 6.73988943e+01] [ 2.47187574e-02 9.99694445e-01 -2.19731497e-05 6.13003903e+00] [ 1.96540150e-03 -2.66173085e-05 9.99998068e-01 1.60005042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14439141799998 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:67.46, Y:6.13, Z:0.16 [[ 9.99520013e-01 -3.09173052e-02 -1.96546066e-03 6.74613807e+01] [ 3.09173221e-02 9.99521945e-01 -2.18145845e-05 6.13139850e+00] [ 1.96519551e-03 -3.89626666e-05 9.99998068e-01 1.64044884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20439141799999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:67.52, Y:6.13, Z:0.17 [[ 9.99377559e-01 -3.52225937e-02 -1.96546241e-03 6.75242646e+01] [ 3.52226192e-02 9.99379491e-01 -2.16560940e-05 6.13276012e+00] [ 1.96500561e-03 -4.75861196e-05 9.99998068e-01 1.65248311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26439141799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.58, Y:6.13, Z:0.16 [[ 9.99296191e-01 -3.74601030e-02 -1.96546499e-03 6.75849991e+01] [ 3.74601332e-02 9.99298123e-01 -2.14189312e-05 6.13459420e+00] [ 1.96488783e-03 -5.22227242e-05 9.99998068e-01 1.62565716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32439141799999 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:67.65, Y:6.14, Z:0.16 [[ 9.99558020e-01 -2.96631424e-02 -1.96546625e-03 6.76468896e+01] [ 2.96631579e-02 9.99559951e-01 -2.13026167e-05 6.13722423e+00] [ 1.96523326e-03 -3.70087344e-05 9.99998068e-01 1.60973991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38439141799999 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:67.71, Y:6.14, Z:0.16 [[ 9.99756698e-01 -2.19700195e-02 -1.96546791e-03 6.77095276e+01] [ 2.19700204e-02 9.99758630e-01 -2.11489323e-05 6.13973493e+00] [ 1.96545815e-03 -2.20375833e-05 9.99998068e-01 1.63570730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44439141799998 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:67.77, Y:6.14, Z:0.17 [[ 9.99902208e-01 -1.38459904e-02 -1.96546955e-03 6.77729256e+01] [ 1.38459759e-02 9.99904140e-01 -2.09948581e-05 6.14486958e+00] [ 1.96557184e-03 -6.22103904e-06 9.99998068e-01 1.68351939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50439141799998 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:67.83, Y:6.14, Z:0.17 [[ 9.99916936e-01 -1.27380633e-02 -1.96547224e-03 6.78339882e+01] [ 1.27380471e-02 9.99918868e-01 -2.07400441e-05 6.14403919e+00] [ 1.96557697e-03 -4.29795666e-06 9.99998068e-01 1.66720301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56439141799999 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:67.90, Y:6.14, Z:0.16 [[ 9.99907343e-01 -1.34700521e-02 -1.96547354e-03 6.78962071e+01] [ 1.34700376e-02 9.99909275e-01 -2.06161463e-05 6.14404346e+00] [ 1.96557292e-03 -5.86076650e-06 9.99998068e-01 1.62355778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62439141799999 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:67.96, Y:6.15, Z:0.16 [[ 9.99937525e-01 -1.10037771e-02 -1.96547516e-03 6.79587096e+01] [ 1.10037581e-02 9.99939457e-01 -2.04602951e-05 6.14583496e+00] [ 1.96558131e-03 -1.16859645e-06 9.99998068e-01 1.56726570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68439141799999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:68.02, Y:6.15, Z:0.16 [[ 9.99961223e-01 -8.58423169e-03 -1.96547675e-03 6.80213270e+01] [ 8.58420836e-03 9.99963155e-01 -2.03066987e-05 6.14650059e+00] [ 1.96557865e-03 3.43384930e-06 9.99998068e-01 1.56221571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74439141799999 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:68.08, Y:6.14, Z:0.16 [[ 9.99972390e-01 -7.16629048e-03 -1.96547831e-03 6.80836506e+01] [ 7.16626471e-03 9.99974322e-01 -2.01550517e-05 6.14347522e+00] [ 1.96557227e-03 6.06935742e-06 9.99998068e-01 1.57278916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80439141799998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:68.14, Y:6.14, Z:0.16 [[ 9.99960781e-01 -8.63561505e-03 -1.96547994e-03 6.81449705e+01] [ 8.63559244e-03 9.99962712e-01 -1.99942551e-05 6.14076512e+00] [ 1.96557932e-03 3.02038718e-06 9.99998068e-01 1.58108584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86439141799998 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:68.21, Y:6.14, Z:0.16 [[ 9.99963679e-01 -8.29320102e-03 -1.96548114e-03 6.82076859e+01] [ 8.29317797e-03 9.99965611e-01 -1.98756861e-05 6.13987072e+00] [ 1.96557838e-03 3.57487930e-06 9.99998068e-01 1.56618629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92439141799998 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:68.27, Y:6.14, Z:0.16 [[ 9.99943150e-01 -1.04801267e-02 -1.96548271e-03 6.82697156e+01] [ 1.04801082e-02 9.99945082e-01 -1.97191960e-05 6.13701970e+00] [ 1.96558143e-03 -8.80396407e-07 9.99998068e-01 1.60921929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98439141799999 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:68.33, Y:6.13, Z:0.16 [[ 9.99905390e-01 -1.36142881e-02 -1.96548426e-03 6.83316379e+01] [ 1.36142759e-02 9.99907321e-01 -1.95637428e-05 6.13423557e+00] [ 1.96556845e-03 -7.19675311e-06 9.99998068e-01 1.63584421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04439141799999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:68.39, Y:6.13, Z:0.17 [[ 9.99772170e-01 -2.12542729e-02 -1.96548584e-03 6.83944970e+01] [ 2.12542758e-02 9.99774102e-01 -1.94034266e-05 6.12828871e+00] [ 1.96545425e-03 -2.23759722e-05 9.99998068e-01 1.66046804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10439141799999 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:68.46, Y:6.12, Z:0.16 [[ 9.99661662e-01 -2.59364423e-02 -1.96549201e-03 6.84573385e+01] [ 2.59364555e-02 9.99663593e-01 -1.87566784e-05 6.12480517e+00] [ 1.96531729e-03 -3.22275639e-05 9.99998068e-01 1.63028974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164391418 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:68.52, Y:6.12, Z:0.16 [[ 9.99457461e-01 -3.28773646e-02 -1.96549428e-03 6.85194105e+01] [ 3.28773918e-02 9.99459392e-01 -1.85158115e-05 6.11871047e+00] [ 1.96504047e-03 -4.61145596e-05 9.99998068e-01 1.59224500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22439141799998 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:68.58, Y:6.11, Z:0.16 [[ 9.99422393e-01 -3.39266336e-02 -1.96549580e-03 6.85824759e+01] [ 3.39266630e-02 9.99424325e-01 -1.83527786e-05 6.11346198e+00] [ 1.96498697e-03 -4.83405360e-05 9.99998068e-01 1.57083611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28439141799998 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:68.65, Y:6.11, Z:0.16 [[ 9.99484895e-01 -3.20325012e-02 -1.96549805e-03 6.86451486e+01] [ 3.20325275e-02 9.99486827e-01 -1.81089840e-05 6.11206254e+00] [ 1.96506949e-03 -4.48602144e-05 9.99998068e-01 1.58809552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34439141799999 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:68.71, Y:6.11, Z:0.16 [[ 9.99669929e-01 -2.56158053e-02 -1.96549951e-03 6.87085489e+01] [ 2.56158195e-02 9.99671861e-01 -1.79488396e-05 6.11140794e+00] [ 1.96531433e-03 -3.24049656e-05 9.99998068e-01 1.61898021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40439141799999 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:68.77, Y:6.11, Z:0.16 [[ 9.99800288e-01 -1.98877126e-02 -1.96550166e-03 6.87707525e+01] [ 1.98877162e-02 9.99802220e-01 -1.77110530e-05 6.11057130e+00] [ 1.96546515e-03 -2.13818232e-05 9.99998068e-01 1.61597199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46439141799999 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:68.83, Y:6.11, Z:0.16 [[ 9.99942513e-01 -1.05407601e-02 -1.96550304e-03 6.88325357e+01] [ 1.05407459e-02 9.99944445e-01 -1.75555983e-05 6.10686330e+00] [ 1.96557890e-03 -3.16327912e-06 9.99998068e-01 1.55951964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524391418 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:68.89, Y:6.11, Z:0.15 [[ 9.99981555e-01 -5.74692824e-03 -1.96550447e-03 6.88938277e+01] [ 5.74690515e-03 9.99983486e-01 -1.73945480e-05 6.10636951e+00] [ 1.96557198e-03 6.09865942e-06 9.99998068e-01 1.52590063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58439141799998 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:68.95, Y:6.11, Z:0.16 [[ 9.99994084e-01 -2.82272853e-03 -1.96550559e-03 6.89548828e+01] [ 2.82270004e-03 9.99996016e-01 -1.72675764e-05 6.10609294e+00] [ 1.96554650e-03 1.17194416e-05 9.99998068e-01 1.55383439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64439141799998 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:69.02, Y:6.10, Z:0.16 [[ 9.99988952e-01 -4.27007160e-03 -1.96550634e-03 6.90153887e+01] [ 4.27004608e-03 9.99990883e-01 -1.71814952e-05 6.10424274e+00] [ 1.96556179e-03 8.78850276e-06 9.99998068e-01 1.58887229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70439141799999 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:69.08, Y:6.10, Z:0.16 [[ 9.99886145e-01 -1.49610758e-02 -1.96550634e-03 6.90755516e+01] [ 1.49610709e-02 9.99888077e-01 -1.71814952e-05 6.09603311e+00] [ 1.96554341e-03 -1.22265407e-05 9.99998068e-01 1.60687474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76439141799999 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:69.14, Y:6.09, Z:0.16 [[ 9.99519385e-01 -3.09376165e-02 -1.96550801e-03 6.91377688e+01] [ 3.09376429e-02 9.99521316e-01 -1.69879273e-05 6.09117025e+00] [ 1.96509272e-03 -4.38284222e-05 9.99998068e-01 1.58488972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82439141799999 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:69.20, Y:6.09, Z:0.16 [[ 9.99218674e-01 -3.94737582e-02 -1.96551254e-03 6.92004839e+01] [ 3.94738021e-02 9.99220606e-01 -1.64472106e-05 6.08821639e+00] [ 1.96462986e-03 -6.11518929e-05 9.99998068e-01 1.56343380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88439141799999 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:69.26, Y:6.09, Z:0.16 [[ 9.98962541e-01 -4.54970075e-02 -1.96551414e-03 6.92626557e+01] [ 4.54970635e-02 9.98964472e-01 -1.62535708e-05 6.08659019e+00] [ 1.96421828e-03 -7.31884130e-05 9.99998068e-01 1.57677158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94439141799998 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:69.32, Y:6.09, Z:0.16 [[ 9.98916721e-01 -4.64921663e-02 -1.96551545e-03 6.93245800e+01] [ 4.64922245e-02 9.98918652e-01 -1.60935016e-05 6.08715123e+00] [ 1.96413826e-03 -7.53051177e-05 9.99998068e-01 1.61407509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00439141799998 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:69.39, Y:6.09, Z:0.16 [[ 9.98974643e-01 -4.52305137e-02 -1.96551672e-03 6.93880261e+01] [ 4.52305698e-02 9.98976574e-01 -1.59361249e-05 6.08745394e+00] [ 1.96422596e-03 -7.29816566e-05 9.99998068e-01 1.62641708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06439141799999 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:69.45, Y:6.09, Z:0.16 [[ 9.99137946e-01 -4.14668768e-02 -1.96551866e-03 6.94503420e+01] [ 4.14669261e-02 9.99139877e-01 -1.56934774e-05 6.08750703e+00] [ 1.96447883e-03 -6.58240682e-05 9.99998068e-01 1.61956464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12439141799999 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:69.51, Y:6.09, Z:0.16 [[ 9.99287962e-01 -3.76789824e-02 -1.96552174e-03 6.95137520e+01] [ 3.76790251e-02 9.99289893e-01 -1.52981078e-05 6.08851233e+00] [ 1.96470243e-03 -5.87717281e-05 9.99998068e-01 1.62304229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18439141799999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:69.58, Y:6.09, Z:0.16 [[ 9.99542645e-01 -3.01767557e-02 -1.96552360e-03 6.95762238e+01] [ 3.01767844e-02 9.99544577e-01 -1.50552270e-05 6.08925646e+00] [ 1.96508277e-03 -4.42648405e-05 9.99998068e-01 1.60690326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24439141799999 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:69.64, Y:6.09, Z:0.16 [[ 9.99832666e-01 -1.81872500e-02 -1.96552481e-03 6.96388709e+01] [ 1.81872558e-02 9.99834598e-01 -1.48952333e-05 6.09271015e+00] [ 1.96547061e-03 -2.08547617e-05 9.99998068e-01 1.56009703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30439141799998 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:69.70, Y:6.10, Z:0.16 [[ 9.99960072e-01 -8.71725552e-03 -1.96552628e-03 6.97011207e+01] [ 8.71724347e-03 9.99962004e-01 -1.46987251e-05 6.09679109e+00] [ 1.96557973e-03 -2.43583292e-06 9.99998068e-01 1.57175672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36439141799998 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:69.76, Y:6.10, Z:0.16 [[ 9.99994969e-01 2.48979627e-03 -1.96552743e-03 6.97624332e+01] [-2.48982966e-03 9.99996900e-01 -1.45437897e-05 6.09974565e+00] [ 1.96548512e-03 1.94375450e-05 9.99998068e-01 1.59373139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42439141799998 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:69.82, Y:6.10, Z:0.16 [[ 9.99991190e-01 3.70897767e-03 -1.96552827e-03 6.98215674e+01] [-3.70901319e-03 9.99993121e-01 -1.44295895e-05 6.10012057e+00] [ 1.96546123e-03 2.17196326e-05 9.99998068e-01 1.60975418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48439141799999 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:69.88, Y:6.10, Z:0.15 [[ 9.99992076e-01 3.46178763e-03 -1.96552427e-03 6.98808283e+01] [-3.46182371e-03 9.99994008e-01 -1.49548539e-05 6.09866976e+00] [ 1.96546072e-03 2.17590339e-05 9.99998068e-01 1.54839660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54439141799999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:69.94, Y:6.10, Z:0.15 [[ 9.99995807e-01 2.12644331e-03 -1.96552298e-03 6.99382151e+01] [-2.12647714e-03 9.99997739e-01 -1.51218967e-05 6.09954114e+00] [ 1.96548638e-03 1.93014730e-05 9.99998068e-01 1.53578331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60439141799999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:70.00, Y:6.10, Z:0.16 [[ 9.99996532e-01 1.75264386e-03 -1.96552139e-03 6.99969956e+01] [-1.75267737e-03 9.99998464e-01 -1.53265035e-05 6.09892833e+00] [ 1.96549151e-03 1.87713752e-05 9.99998068e-01 1.58093732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66439141799998 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:70.06, Y:6.09, Z:0.16 [[ 9.99995576e-01 -2.23281922e-03 -1.96552016e-03 7.00567200e+01] [ 2.23279310e-03 9.99997507e-01 -1.54819224e-05 6.09272842e+00] [ 1.96554983e-03 1.10932540e-05 9.99998068e-01 1.64065959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72439141799998 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:70.12, Y:6.09, Z:0.16 [[ 9.99960430e-01 -8.67608419e-03 -1.96551955e-03 7.01175629e+01] [ 8.67607037e-03 9.99962362e-01 -1.55591701e-05 6.08831957e+00] [ 1.96558057e-03 -1.49443150e-06 9.99998068e-01 1.64518307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78439141799998 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:70.18, Y:6.09, Z:0.16 [[ 9.99948270e-01 -9.97964172e-03 -1.96551955e-03 7.01796818e+01] [ 9.97963041e-03 9.99950202e-01 -1.55591701e-05 6.08758884e+00] [ 1.96557695e-03 -4.05679345e-06 9.99998068e-01 1.63767739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84439141799999 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:70.24, Y:6.09, Z:0.16 [[ 9.99939983e-01 -1.07780548e-02 -1.96552078e-03 7.02415866e+01] [ 1.07780453e-02 9.99941915e-01 -1.54029874e-05 6.08616798e+00] [ 1.96557262e-03 -5.78240904e-06 9.99998068e-01 1.60432351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90439141799999 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:70.30, Y:6.08, Z:0.16 [[ 9.99930098e-01 -1.16591870e-02 -1.96552197e-03 7.03037227e+01] [ 1.16591796e-02 9.99932029e-01 -1.52492987e-05 6.08372549e+00] [ 1.96556617e-03 -7.66814086e-06 9.99998068e-01 1.56432779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96439141799999 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:70.37, Y:6.08, Z:0.16 [[ 9.99876557e-01 -1.55886663e-02 -1.96552320e-03 7.03655840e+01] [ 1.55886667e-02 9.99878489e-01 -1.50889028e-05 6.08234461e+00] [ 1.96551958e-03 -1.55528459e-05 9.99998068e-01 1.57561315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.024391418 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:70.43, Y:6.08, Z:0.16 [[ 9.99813347e-01 -1.92199628e-02 -1.96552441e-03 7.04277231e+01] [ 1.92199706e-02 9.99815279e-01 -1.49293292e-05 6.08137192e+00] [ 1.96544828e-03 -2.28507788e-05 9.99998068e-01 1.58830409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08439141799998 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:70.49, Y:6.08, Z:0.16 [[ 9.99654573e-01 -2.62082347e-02 -1.96552562e-03 7.04892531e+01] [ 2.62082563e-02 9.99656505e-01 -1.47691827e-05 6.08040840e+00] [ 1.96523754e-03 -3.67489180e-05 9.99998068e-01 1.58739162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14439141799998 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:70.55, Y:6.08, Z:0.16 [[ 9.99346021e-01 -3.61063427e-02 -1.96552650e-03 7.05525881e+01] [ 3.61063837e-02 9.99347952e-01 -1.46510296e-05 6.07941870e+00] [ 1.96477387e-03 -5.63266057e-05 9.99998068e-01 1.59029384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20439141799999 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:70.61, Y:6.08, Z:0.16 [[ 9.99079640e-01 -4.28486777e-02 -1.96552821e-03 7.06148061e+01] [ 4.28487321e-02 9.99081571e-01 -1.44174176e-05 6.07830205e+00] [ 1.96434078e-03 -6.98162434e-05 9.99998068e-01 1.59935831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26439141799999 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:70.68, Y:6.07, Z:0.16 [[ 9.98539933e-01 -5.39827629e-02 -1.96552933e-03 7.06768721e+01] [ 5.39828392e-02 9.98541863e-01 -1.42634279e-05 6.07464644e+00] [ 1.96343330e-03 -9.18622513e-05 9.99998068e-01 1.62217651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32439141799999 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:70.74, Y:6.07, Z:0.16 [[ 9.98113232e-01 -6.13686680e-02 -1.96553045e-03 7.07391266e+01] [ 6.13687589e-02 9.98115161e-01 -1.41070070e-05 6.07335380e+00] [ 1.96269147e-03 -1.06541774e-04 9.99998068e-01 1.63831988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38439141799999 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:70.80, Y:6.07, Z:0.16 [[ 9.98003553e-01 -6.31272147e-02 -1.96553443e-03 7.08009666e+01] [ 6.31273101e-02 9.98005482e-01 -1.35288756e-05 6.07478211e+00] [ 1.96246818e-03 -1.10577035e-04 9.99998068e-01 1.62051546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44439141799998 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:70.86, Y:6.08, Z:0.16 [[ 9.98217040e-01 -5.96563234e-02 -1.96553550e-03 7.08628497e+01] [ 5.96564124e-02 9.98218970e-01 -1.33711082e-05 6.07725871e+00] [ 1.96283250e-03 -1.03909528e-04 9.99998068e-01 1.58271368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50439141799998 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:70.92, Y:6.08, Z:0.16 [[ 9.98564219e-01 -5.35316450e-02 -1.96553659e-03 7.09236803e+01] [ 5.35317225e-02 9.98566149e-01 -1.32096070e-05 6.07978701e+00] [ 1.96342543e-03 -9.20279183e-05 9.99998068e-01 1.60310420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56439141799999 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:70.99, Y:6.09, Z:0.17 [[ 9.99414546e-01 -3.41570110e-02 -1.96553738e-03 7.09854532e+01] [ 3.41570513e-02 9.99416478e-01 -1.30905981e-05 6.08950975e+00] [ 1.96483758e-03 -5.40540270e-05 9.99998068e-01 1.66505215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62439141799999 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:71.05, Y:6.10, Z:0.17 [[ 9.99778826e-01 -2.09388578e-02 -1.96553841e-03 7.10467203e+01] [ 2.09388728e-02 9.99780758e-01 -1.29337920e-05 6.09575765e+00] [ 1.96537830e-03 -2.82252275e-05 9.99998068e-01 1.68301181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68439141799999 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:71.11, Y:6.10, Z:0.16 [[ 9.99953508e-01 -9.44023393e-03 -1.96553917e-03 7.11087227e+01] [ 9.44022697e-03 9.99955440e-01 -1.28183959e-05 6.10065602e+00] [ 1.96557259e-03 -5.73733586e-06 9.99998068e-01 1.64539993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74439141799999 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:71.17, Y:6.10, Z:0.16 [[ 9.99951859e-01 -9.61337775e-03 -1.96554018e-03 7.11709311e+01] [ 9.61337143e-03 9.99953790e-01 -1.26607023e-05 6.10004100e+00] [ 1.96557107e-03 -6.23537507e-06 9.99998068e-01 1.63438180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80439141799998 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:71.23, Y:6.10, Z:0.17 [[ 9.99934817e-01 -1.12471216e-02 -1.96554118e-03 7.12326311e+01] [ 1.12471188e-02 9.99936749e-01 -1.25038227e-05 6.10077195e+00] [ 1.96555749e-03 -9.60366748e-06 9.99998068e-01 1.66471069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86439141799998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:71.29, Y:6.10, Z:0.17 [[ 9.99888743e-01 -1.47864408e-02 -1.96554276e-03 7.12947863e+01] [ 1.47864453e-02 9.99890674e-01 -1.22509007e-05 6.10097697e+00] [ 1.96550902e-03 -1.68138527e-05 9.99998068e-01 1.68872229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92439141799998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:71.36, Y:6.10, Z:0.16 [[ 9.99759319e-01 -2.18504196e-02 -1.96554371e-03 7.13561252e+01] [ 2.18504380e-02 9.99761251e-01 -1.20961255e-05 6.09865775e+00] [ 1.96533874e-03 -3.08547768e-05 9.99998068e-01 1.63374438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98439141799999 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:71.42, Y:6.10, Z:0.17 [[ 9.99635256e-01 -2.69349623e-02 -1.96554554e-03 7.14182812e+01] [ 2.69349912e-02 9.99637187e-01 -1.17911324e-05 6.09578305e+00] [ 1.96515001e-03 -4.11551200e-05 9.99998068e-01 1.65701366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04439141799999 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:71.48, Y:6.10, Z:0.18 [[ 9.99612705e-01 -2.77592707e-02 -1.96554642e-03 7.14804923e+01] [ 2.77593014e-02 9.99614636e-01 -1.16422648e-05 6.09865410e+00] [ 1.96511215e-03 -4.29244398e-05 9.99998068e-01 1.75893611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10439141799999 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:71.54, Y:6.10, Z:0.17 [[ 9.99643190e-01 -2.66388626e-02 -1.96554730e-03 7.15426612e+01] [ 2.66388915e-02 9.99645122e-01 -1.14922454e-05 6.09807943e+00] [ 1.96515591e-03 -4.08718563e-05 9.99998068e-01 1.73414128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16439141799998 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:71.60, Y:6.09, Z:0.17 [[ 9.99623968e-01 -2.73506711e-02 -1.96554819e-03 7.16043196e+01] [ 2.73507017e-02 9.99625900e-01 -1.13370934e-05 6.09373892e+00] [ 1.96512296e-03 -4.24262919e-05 9.99998068e-01 1.70980581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22439141799998 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:71.67, Y:6.09, Z:0.18 [[ 9.99613739e-01 -2.77220077e-02 -1.96555027e-03 7.16662309e+01] [ 2.77220397e-02 9.99615670e-01 -1.09641601e-05 6.09097739e+00] [ 1.96509880e-03 -4.35291377e-05 9.99998068e-01 1.76910721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28439141799998 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:71.73, Y:6.09, Z:0.17 [[ 9.99747583e-01 -2.23809536e-02 -1.96555116e-03 7.17272820e+01] [ 2.23809756e-02 9.99749515e-01 -1.08028535e-05 6.08770063e+00] [ 1.96530059e-03 -3.31908258e-05 9.99998068e-01 1.69933471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34439141799999 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:71.79, Y:6.09, Z:0.17 [[ 9.99896964e-01 -1.42196214e-02 -1.96555180e-03 7.17896564e+01] [ 1.42196278e-02 9.99898896e-01 -1.06839149e-05 6.08531075e+00] [ 1.96550500e-03 -1.72666011e-05 9.99998068e-01 1.65620801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40439141799999 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:71.85, Y:6.09, Z:0.17 [[ 9.99994116e-01 -2.81162681e-03 -1.96555272e-03 7.18506103e+01] [ 2.81161157e-03 9.99996047e-01 -1.05123919e-05 6.08787874e+00] [ 1.96557451e-03 4.98595924e-06 9.99998068e-01 1.71287594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46439141799999 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:71.91, Y:6.09, Z:0.17 [[ 9.99995015e-01 2.47115681e-03 -1.96555339e-03 7.19109695e+01] [-2.47118199e-03 9.99996947e-01 -1.03862448e-05 6.08624203e+00] [ 1.96552172e-03 1.52434332e-05 9.99998068e-01 1.70471968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524391418 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:71.97, Y:6.08, Z:0.17 [[ 9.99996201e-01 1.93265626e-03 -1.96555339e-03 7.19697828e+01] [-1.93268040e-03 9.99998132e-01 -1.03862448e-05 6.07914378e+00] [ 1.96552964e-03 1.41849919e-05 9.99998068e-01 1.74184431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58439141799998 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:72.03, Y:6.08, Z:0.17 [[ 9.99992644e-01 -3.29363550e-03 -1.96555254e-03 7.20296669e+01] [ 3.29362114e-03 9.99994576e-01 -1.05449660e-05 6.07572386e+00] [ 1.96557661e-03 4.07110304e-06 9.99998068e-01 1.71931879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64439141799998 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:72.09, Y:6.07, Z:0.17 [[ 9.99973133e-01 -7.06187804e-03 -1.96555210e-03 7.20899382e+01] [ 7.06187080e-03 9.99975065e-01 -1.06249302e-05 6.07292181e+00] [ 1.96557812e-03 -3.25583022e-06 9.99998068e-01 1.70615268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70439141799999 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:72.15, Y:6.07, Z:0.17 [[ 9.99947454e-01 -1.00611182e-02 -1.96555210e-03 7.21513332e+01] [ 1.00611168e-02 9.99949386e-01 -1.06249302e-05 6.07037464e+00] [ 1.96555952e-03 -9.15127727e-06 9.99998068e-01 1.73191271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76439141799999 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:72.21, Y:6.07, Z:0.17 [[ 9.99901809e-01 -1.38747577e-02 -1.96555253e-03 7.22122876e+01] [ 1.38747638e-02 9.99903741e-01 -1.05454451e-05 6.06788872e+00] [ 1.96550964e-03 -1.67271674e-05 9.99998068e-01 1.74415441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82439141799999 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:72.28, Y:6.06, Z:0.17 [[ 9.99706710e-01 -2.41377390e-02 -1.96555316e-03 7.22757894e+01] [ 2.41377651e-02 9.99708642e-01 -1.04277756e-05 6.06168810e+00] [ 1.96523218e-03 -3.70193431e-05 9.99998068e-01 1.73568758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88439141799999 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:72.34, Y:6.06, Z:0.18 [[ 9.99472724e-01 -3.24100308e-02 -1.96555634e-03 7.23382796e+01] [ 3.24100742e-02 9.99474656e-01 -9.78903491e-06 6.05685145e+00] [ 1.96484101e-03 -5.39199533e-05 9.99998068e-01 1.76665240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94439141799998 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:72.40, Y:6.05, Z:0.18 [[ 9.99163250e-01 -4.08526092e-02 -1.96555712e-03 7.24018034e+01] [ 4.08526692e-02 9.99165181e-01 -9.62898219e-06 6.05443021e+00] [ 1.96430961e-03 -7.06773297e-05 9.99998068e-01 1.79834540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00439141799998 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:72.46, Y:6.05, Z:0.17 [[ 9.98989397e-01 -4.49034749e-02 -1.96555826e-03 7.24627025e+01] [ 4.49035432e-02 9.98991327e-01 -9.39070992e-06 6.05172425e+00] [ 1.96399733e-03 -7.88793106e-05 9.99998068e-01 1.70875572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06439141799999 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:72.53, Y:6.05, Z:0.18 [[ 9.98882263e-01 -4.72267040e-02 -1.96555881e-03 7.25250127e+01] [ 4.72267770e-02 9.98884193e-01 -9.27373881e-06 6.05070277e+00] [ 1.96380360e-03 -8.35636344e-05 9.99998068e-01 1.75478555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12439141799999 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:72.59, Y:6.05, Z:0.18 [[ 9.98762692e-01 -4.96912715e-02 -1.96555952e-03 7.25884740e+01] [ 4.96913496e-02 9.98764622e-01 -9.12050491e-06 6.05277976e+00] [ 1.96358452e-03 -8.85620853e-05 9.99998068e-01 1.77343086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18439141799999 meters Centerline goodness : 0.998796 with order 1 Centerline is valid? [True, True] Translation: X:72.65, Y:6.05, Z:0.17 [[ 9.98448149e-01 -5.56545615e-02 -1.96556059e-03 7.26501368e+01] [ 5.56546516e-02 9.98450079e-01 -8.88369438e-06 6.05124397e+00] [ 1.96300855e-03 -1.00522682e-04 9.99998068e-01 1.69372263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24439141799999 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:72.71, Y:6.05, Z:0.17 [[ 9.98349850e-01 -5.73908875e-02 -1.96556111e-03 7.27117771e+01] [ 5.73909811e-02 9.98351779e-01 -8.76760280e-06 6.05128460e+00] [ 1.96282461e-03 -1.04052346e-04 9.99998068e-01 1.73137702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30439141799998 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:72.77, Y:6.06, Z:0.18 [[ 9.98557250e-01 -5.36614885e-02 -1.96556161e-03 7.27747107e+01] [ 5.36615752e-02 9.98559180e-01 -8.65402142e-06 6.05731679e+00] [ 1.96319398e-03 -9.68335963e-05 9.99998068e-01 1.77045874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36439141799998 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:72.84, Y:6.06, Z:0.17 [[ 9.98963476e-01 -4.54764735e-02 -1.96556258e-03 7.28373574e+01] [ 4.54765448e-02 9.98965407e-01 -8.42739813e-06 6.06301543e+00] [ 1.96391227e-03 -8.09683318e-05 9.99998068e-01 1.71672968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42439141799998 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:72.90, Y:6.06, Z:0.17 [[ 9.99159810e-01 -4.09366581e-02 -1.96556341e-03 7.29000760e+01] [ 4.09367210e-02 9.99161741e-01 -8.22888033e-06 6.06317521e+00] [ 1.96425262e-03 -7.22417546e-05 9.99998068e-01 1.69084716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48439141799999 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:72.96, Y:6.07, Z:0.18 [[ 9.99494588e-01 -3.17286220e-02 -1.96556438e-03 7.29624023e+01] [ 3.17286676e-02 9.99496519e-01 -7.99049521e-06 6.07116387e+00] [ 1.96482829e-03 -5.43782822e-05 9.99998068e-01 1.77097482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54439141799999 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:73.02, Y:6.08, Z:0.18 [[ 9.99719482e-01 -2.36028307e-02 -1.96556502e-03 7.30244483e+01] [ 2.36028609e-02 9.99721414e-01 -7.83074661e-06 6.07668152e+00] [ 1.96520227e-03 -3.85644077e-05 9.99998068e-01 1.77130214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60439141799999 meters Centerline goodness : 0.998852 with order 1 Centerline is valid? [True, True] Translation: X:73.09, Y:6.07, Z:0.17 [[ 9.99921809e-01 -1.23496217e-02 -1.96556564e-03 7.30870663e+01] [ 1.23496305e-02 9.99923740e-01 -7.67069320e-06 6.07444506e+00] [ 1.96551048e-03 -1.66039160e-05 9.99998068e-01 1.74651460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66439141799998 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:73.15, Y:6.08, Z:0.18 [[ 9.99995087e-01 -2.44183204e-03 -1.96556624e-03 7.31488011e+01] [ 2.44182198e-03 9.99997019e-01 -7.51338638e-06 6.07848568e+00] [ 1.96557873e-03 2.71378659e-06 9.99998068e-01 1.81843591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72439141799998 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:73.21, Y:6.08, Z:0.18 [[ 9.99995678e-01 -2.18661734e-03 -1.96556684e-03 7.32089472e+01] [ 2.18660710e-03 9.99997609e-01 -7.35464297e-06 6.08322057e+00] [ 1.96557822e-03 3.05668877e-06 9.99998068e-01 1.78471881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78439141799998 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:73.27, Y:6.08, Z:0.17 [[ 9.99974576e-01 -6.85446737e-03 -1.96556684e-03 7.32691889e+01] [ 6.85446615e-03 9.99976508e-01 -7.35464297e-06 6.07828905e+00] [ 1.96557108e-03 -6.11845537e-06 9.99998068e-01 1.70065994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84439141799999 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:73.33, Y:6.08, Z:0.18 [[ 9.99818435e-01 -1.89534663e-02 -1.96556684e-03 7.33302058e+01] [ 1.89534885e-02 9.99820366e-01 -7.35464297e-06 6.07538114e+00] [ 1.96535315e-03 -2.99010408e-05 9.99998068e-01 1.79980984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90439141799999 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:73.39, Y:6.08, Z:0.19 [[ 9.99677857e-01 -2.53045028e-02 -1.96556862e-03 7.33930457e+01] [ 2.53045382e-02 9.99679789e-01 -6.84131767e-06 6.07792192e+00] [ 1.96511234e-03 -4.28986926e-05 9.99998068e-01 1.85210272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96439141799999 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:73.45, Y:6.07, Z:0.17 [[ 9.99378233e-01 -3.52034711e-02 -1.96556942e-03 7.34549448e+01] [ 3.52035262e-02 9.99380164e-01 -6.60472732e-06 6.07247853e+00] [ 1.96458360e-03 -6.25943538e-05 9.99998068e-01 1.70556686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02439141799998 meters Centerline goodness : 0.998942 with order 1 Centerline is valid? [True, True] Translation: X:73.52, Y:6.07, Z:0.17 [[ 9.99050117e-01 -4.35315901e-02 -1.96556993e-03 7.35160618e+01] [ 4.35316615e-02 9.99052048e-01 -6.44886864e-06 6.06776690e+00] [ 1.96398739e-03 -7.91217819e-05 9.99998068e-01 1.69259454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08439141799998 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:73.58, Y:6.07, Z:0.17 [[ 9.99022113e-01 -4.41696044e-02 -1.96557030e-03 7.35779547e+01] [ 4.41696773e-02 9.99024044e-01 -6.33381482e-06 6.07176260e+00] [ 1.96393175e-03 -8.04909848e-05 9.99998068e-01 1.74047311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14439141799998 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:73.64, Y:6.07, Z:0.17 [[ 9.99189660e-01 -4.02014818e-02 -1.96557080e-03 7.36394018e+01] [ 4.02015473e-02 9.99191591e-01 -6.17669332e-06 6.07424807e+00] [ 1.96423012e-03 -7.28472993e-05 9.99998068e-01 1.71278456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20439141799999 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:73.70, Y:6.07, Z:0.17 [[ 9.99610169e-01 -2.78504415e-02 -1.96557115e-03 7.37016809e+01] [ 2.78504834e-02 9.99612100e-01 -6.06072219e-06 6.07042548e+00] [ 1.96497750e-03 -4.86837473e-05 9.99998068e-01 1.72135004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26439141799999 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:73.76, Y:6.08, Z:0.18 [[ 9.99743752e-01 -2.25514322e-02 -1.96557165e-03 7.37626880e+01] [ 2.25514642e-02 9.99745683e-01 -5.89611828e-06 6.08171655e+00] [ 1.96520474e-03 -3.84319112e-05 9.99998068e-01 1.84695401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32439141799999 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:73.83, Y:6.09, Z:0.18 [[ 9.99929088e-01 -1.17454433e-02 -1.96557201e-03 7.38251385e+01] [ 1.17454546e-02 9.99931020e-01 -5.77423070e-06 6.08925701e+00] [ 1.96550424e-03 -1.73127156e-05 9.99998068e-01 1.79083935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38439141799999 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:73.89, Y:6.09, Z:0.17 [[ 9.99961242e-01 -8.58201166e-03 -1.96557246e-03 7.38872916e+01] [ 8.58201720e-03 9.99963174e-01 -5.61595564e-06 6.08634119e+00] [ 1.96554827e-03 -1.12528387e-05 9.99998068e-01 1.72455918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44439141799998 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:73.95, Y:6.09, Z:0.17 [[ 9.99964078e-01 -8.24496523e-03 -1.96557289e-03 7.39499279e+01] [ 8.24497043e-03 9.99966010e-01 -5.46024140e-06 6.08696756e+00] [ 1.96555110e-03 -1.07460451e-05 9.99998068e-01 1.72878754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50439141799998 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:74.01, Y:6.09, Z:0.18 [[ 9.99960945e-01 -8.61657852e-03 -1.96557330e-03 7.40123554e+01] [ 8.61658473e-03 9.99962877e-01 -5.30739180e-06 6.09109112e+00] [ 1.96554607e-03 -1.16293444e-05 9.99998068e-01 1.78260176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56439141799999 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:74.07, Y:6.09, Z:0.18 [[ 9.99930888e-01 -1.15911797e-02 -1.96557370e-03 7.40730952e+01] [ 1.15911919e-02 9.99932820e-01 -5.15483825e-06 6.08871852e+00] [ 1.96550141e-03 -1.76288601e-05 9.99998068e-01 1.76615674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62439141799999 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:74.14, Y:6.09, Z:0.18 [[ 9.99901310e-01 -1.39106646e-02 -1.96557399e-03 7.41352502e+01] [ 1.39106815e-02 9.99903242e-01 -5.04230050e-06 6.08727243e+00] [ 1.96545395e-03 -2.23006710e-05 9.99998068e-01 1.75750620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68439141799999 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:74.20, Y:6.08, Z:0.17 [[ 9.99813903e-01 -1.91910586e-02 -1.96557439e-03 7.41973585e+01] [ 1.91910861e-02 9.99815834e-01 -4.88329163e-06 6.08451527e+00] [ 1.96530611e-03 -3.28391244e-05 9.99998068e-01 1.73104320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74439141799999 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:74.26, Y:6.08, Z:0.18 [[ 9.99777528e-01 -2.10007200e-02 -1.96557477e-03 7.42592655e+01] [ 2.10007513e-02 9.99779460e-01 -4.72566927e-06 6.08405785e+00] [ 1.96524052e-03 -3.65539289e-05 9.99998068e-01 1.84165691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80439141799998 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:74.32, Y:6.09, Z:0.18 [[ 9.99934388e-01 -1.12851902e-02 -1.96557514e-03 7.43214487e+01] [ 1.12852030e-02 9.99936320e-01 -4.56436071e-06 6.08626710e+00] [ 1.96550148e-03 -1.76178533e-05 9.99998068e-01 1.80852507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86439141799998 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:74.38, Y:6.08, Z:0.18 [[ 9.99987137e-01 -4.67564994e-03 -1.96557550e-03 7.43835438e+01] [ 4.67565031e-03 9.99989069e-01 -4.40529603e-06 6.08346595e+00] [ 1.96557461e-03 -4.78510432e-06 9.99998068e-01 1.78627150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92439141799998 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:74.44, Y:6.08, Z:0.18 [[ 9.99994531e-01 2.65980054e-03 -1.96557584e-03 7.44433919e+01] [-2.65981402e-03 9.99996463e-01 -4.24702070e-06 6.08231334e+00] [ 1.96555759e-03 9.47506364e-06 9.99998068e-01 1.81169987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98439141799999 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:74.50, Y:6.08, Z:0.18 [[ 9.99991642e-01 3.58516573e-03 -1.96557584e-03 7.45019714e+01] [-3.58518100e-03 9.99993573e-01 -4.24702070e-06 6.08248436e+00] [ 1.96554798e-03 1.12939303e-05 9.99998068e-01 1.83731266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04439141799999 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:74.56, Y:6.08, Z:0.18 [[ 9.99998068e-01 2.82849398e-05 -1.96557550e-03 7.45612681e+01] [-2.82936400e-05 1.00000000e+00 -4.39841577e-06 6.07618678e+00] [ 1.96557537e-03 4.45402055e-06 9.99998068e-01 1.75365071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10439141799999 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:74.62, Y:6.07, Z:0.17 [[ 9.99986735e-01 -4.76097523e-03 -1.96557522e-03 7.46212176e+01] [ 4.76097555e-03 9.99988666e-01 -4.51911553e-06 6.07003579e+00] [ 1.96557446e-03 -4.83899998e-06 9.99998068e-01 1.74061094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16439141799998 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:74.68, Y:6.07, Z:0.18 [[ 9.99925441e-01 -1.20518965e-02 -1.96557513e-03 7.46815346e+01] [ 1.20519108e-02 9.99927373e-01 -4.55862982e-06 6.07129274e+00] [ 1.96548732e-03 -1.91306462e-05 9.99998068e-01 1.78691669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22439141799998 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:74.74, Y:6.07, Z:0.18 [[ 9.99845341e-01 -1.74765991e-02 -1.96557513e-03 7.47434836e+01] [ 1.74766239e-02 9.99847272e-01 -4.55862981e-06 6.06797962e+00] [ 1.96535460e-03 -2.97936925e-05 9.99998068e-01 1.76219593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28439141799998 meters Centerline goodness : 0.999368 with order 1 Centerline is valid? [True, True] Translation: X:74.81, Y:6.06, Z:0.19 [[ 9.99664591e-01 -2.58232744e-02 -1.96557627e-03 7.48059036e+01] [ 2.58233165e-02 9.99666523e-01 -3.99913835e-06 6.06164887e+00] [ 1.96502406e-03 -4.67599010e-05 9.99998068e-01 1.86001526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34439141799999 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:74.87, Y:6.07, Z:0.19 [[ 9.99558522e-01 -2.96461979e-02 -1.96557724e-03 7.48677122e+01] [ 2.96462484e-02 9.99560453e-01 -3.44450684e-06 6.06532959e+00] [ 1.96481539e-03 -5.48290049e-05 9.99998068e-01 1.88777658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40439141799999 meters Centerline goodness : 0.998987 with order 1 Centerline is valid? [True, True] Translation: X:74.93, Y:6.06, Z:0.18 [[ 9.99478992e-01 -3.22161544e-02 -1.96557751e-03 7.49302614e+01] [ 3.22162102e-02 9.99480923e-01 -3.28649379e-06 6.06218569e+00] [ 1.96466310e-03 -6.00386766e-05 9.99998068e-01 1.82861539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46439141799999 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:74.99, Y:6.06, Z:0.18 [[ 9.99447667e-01 -3.31737337e-02 -1.96557776e-03 7.49923916e+01] [ 3.31737916e-02 9.99449598e-01 -3.12937174e-06 6.06057307e+00] [ 1.96459971e-03 -6.20780236e-05 9.99998068e-01 1.84593916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52439141799998 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:75.05, Y:6.07, Z:0.18 [[ 9.99552561e-01 -2.98465077e-02 -1.96557800e-03 7.50536942e+01] [ 2.98465596e-02 9.99554492e-01 -2.96912458e-06 6.06671502e+00] [ 1.96479093e-03 -5.56979447e-05 9.99998068e-01 1.84779577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58439141799998 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:75.12, Y:6.07, Z:0.18 [[ 9.99558805e-01 -2.96366778e-02 -1.96557817e-03 7.51159088e+01] [ 2.96367294e-02 9.99560736e-01 -2.85073166e-06 6.06572735e+00] [ 1.96479925e-03 -5.54038344e-05 9.99998068e-01 1.80931246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64439141799998 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:75.18, Y:6.06, Z:0.18 [[ 9.99506876e-01 -3.13391490e-02 -1.96557839e-03 7.51779019e+01] [ 3.13392043e-02 9.99508807e-01 -2.69065727e-06 6.06345097e+00] [ 1.96469723e-03 -5.89103322e-05 9.99998068e-01 1.84762826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70439141799999 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:75.24, Y:6.07, Z:0.18 [[ 9.99605128e-01 -2.80307792e-02 -1.96557859e-03 7.52389270e+01] [ 2.80308284e-02 9.99607059e-01 -2.53050646e-06 6.07281428e+00] [ 1.96487717e-03 -5.25672890e-05 9.99998068e-01 1.84980686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76439141799999 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:75.30, Y:6.08, Z:0.18 [[ 9.99687976e-01 -2.49015582e-02 -1.96557891e-03 7.53000587e+01] [ 2.49016019e-02 9.99689907e-01 -2.25546309e-06 6.07563502e+00] [ 1.96502556e-03 -4.66913042e-05 9.99998068e-01 1.75580346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82439141799999 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:75.36, Y:6.07, Z:0.18 [[ 9.99698010e-01 -2.44954286e-02 -1.96557899e-03 7.53619802e+01] [ 2.44954717e-02 9.99699941e-01 -2.17940168e-06 6.07374487e+00] [ 1.96504259e-03 -4.59690411e-05 9.99998068e-01 1.82649980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88439141799999 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:75.42, Y:6.08, Z:0.19 [[ 9.99720741e-01 -2.35494291e-02 -1.96557923e-03 7.54236237e+01] [ 2.35494708e-02 9.99722673e-01 -1.94158694e-06 6.08408664e+00] [ 1.96507984e-03 -4.43473059e-05 9.99998068e-01 1.94939235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94439141799998 meters Centerline goodness : 0.998915 with order 1 Centerline is valid? [True, True] Translation: X:75.49, Y:6.09, Z:0.19 [[ 9.99709401e-01 -2.40260169e-02 -1.96557934e-03 7.54860911e+01] [ 2.40260597e-02 9.99711333e-01 -1.82019958e-06 6.08537278e+00] [ 1.96505567e-03 -4.54054560e-05 9.99998068e-01 1.89868679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00439141799998 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:75.55, Y:6.08, Z:0.19 [[ 9.99547995e-01 -2.99990493e-02 -1.96557948e-03 7.55476172e+01] [ 2.99991040e-02 9.99549926e-01 -1.65828491e-06 6.08247096e+00] [ 1.96474457e-03 -5.73080877e-05 9.99998068e-01 1.92559048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06439141799999 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:75.61, Y:6.08, Z:0.19 [[ 9.99477513e-01 -3.22620132e-02 -1.96557968e-03 7.56100566e+01] [ 3.22620728e-02 9.99479444e-01 -1.36017269e-06 6.08471955e+00] [ 1.96460037e-03 -6.20542129e-05 9.99998068e-01 1.91662257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12439141799999 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:75.67, Y:6.09, Z:0.19 [[ 9.99504473e-01 -3.14156729e-02 -1.96557978e-03 7.56713474e+01] [ 3.14157312e-02 9.99506404e-01 -1.20044271e-06 6.08636644e+00] [ 1.96464729e-03 -6.05502782e-05 9.99998068e-01 1.85188606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18439141799999 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:75.73, Y:6.09, Z:0.19 [[ 9.99578594e-01 -2.89615573e-02 -1.96557985e-03 7.57338390e+01] [ 2.89616111e-02 9.99580525e-01 -1.08257723e-06 6.08931385e+00] [ 1.96478669e-03 -5.58442380e-05 9.99998068e-01 1.87377009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24439141799999 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:75.80, Y:6.09, Z:0.19 [[ 9.99719086e-01 -2.36196147e-02 -1.96557992e-03 7.57957896e+01] [ 2.36196585e-02 9.99721017e-01 -9.27025597e-07 6.09434127e+00] [ 1.96505345e-03 -4.54995613e-05 9.99998068e-01 1.88615399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30439141799998 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:75.86, Y:6.09, Z:0.19 [[ 9.99705638e-01 -2.41820962e-02 -1.96557998e-03 7.58565786e+01] [ 2.41821414e-02 9.99707569e-01 -7.64264145e-07 6.09290034e+00] [ 1.96502367e-03 -4.67678939e-05 9.99998068e-01 1.87495182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36439141799998 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:75.92, Y:6.09, Z:0.19 [[ 9.99646027e-01 -2.65321762e-02 -1.96558002e-03 7.59182426e+01] [ 2.65322262e-02 9.99647959e-01 -6.44384993e-07 6.09461297e+00] [ 1.96490515e-03 -5.15070568e-05 9.99998068e-01 1.93315760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42439141799998 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:75.98, Y:6.10, Z:0.19 [[ 9.99708054e-01 -2.40820099e-02 -1.96558005e-03 7.59802151e+01] [ 2.40820554e-02 9.99709985e-01 -5.24706971e-07 6.10228240e+00] [ 1.96502264e-03 -4.68106541e-05 9.99998068e-01 1.92090500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48439141799999 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:76.04, Y:6.10, Z:0.19 [[ 9.99713814e-01 -2.38417005e-02 -1.96558008e-03 7.60418346e+01] [ 2.38417458e-02 9.99715745e-01 -3.63959035e-07 6.10202153e+00] [ 1.96503004e-03 -4.64990059e-05 9.99998068e-01 1.86781558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54439141799999 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:76.10, Y:6.10, Z:0.18 [[ 9.99663304e-01 -2.58730616e-02 -1.96558010e-03 7.61044283e+01] [ 2.58731111e-02 9.99665235e-01 -2.45551103e-07 6.09527866e+00] [ 1.96492845e-03 -5.06102039e-05 9.99998068e-01 1.84300257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60439141799999 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:76.17, Y:6.10, Z:0.20 [[ 9.99689664e-01 -2.48336721e-02 -1.96558011e-03 7.61662411e+01] [ 2.48337199e-02 9.99691596e-01 -9.12372294e-08 6.09819252e+00] [ 1.96497618e-03 -4.87214569e-05 9.99998068e-01 1.95971326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66439141799998 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:76.23, Y:6.11, Z:0.20 [[ 9.99837942e-01 -1.78948868e-02 -1.96558010e-03 7.62286986e+01] [ 1.78949215e-02 9.99839873e-01 7.23209576e-08 6.10619270e+00] [ 1.96526406e-03 -3.52462108e-05 9.99998068e-01 1.96385783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72439141799998 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:76.29, Y:6.10, Z:0.18 [[ 9.99888456e-01 -1.48058127e-02 -1.96558008e-03 7.62900887e+01] [ 1.48058417e-02 9.99890388e-01 2.35360903e-07 6.10141010e+00] [ 1.96536114e-03 -2.93374022e-05 9.99998068e-01 1.83386277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78439141799998 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:76.35, Y:6.10, Z:0.19 [[ 9.99873170e-01 -1.58044555e-02 -1.96557999e-03 7.63516944e+01] [ 1.58044871e-02 9.99875101e-01 5.55661474e-07 6.10070741e+00] [ 1.96532571e-03 -3.16205747e-05 9.99998068e-01 1.91286612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84439141799999 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:76.41, Y:6.10, Z:0.20 [[ 9.99922278e-01 -1.23115906e-02 -1.96557991e-03 7.64143694e+01] [ 1.23116159e-02 9.99924209e-01 7.67627324e-07 6.10497024e+00] [ 1.96542148e-03 -2.49670324e-05 9.99998068e-01 1.95099636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90439141799999 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:76.48, Y:6.10, Z:0.19 [[ 9.99916174e-01 -1.27976849e-02 -1.96557983e-03 7.64769471e+01] [ 1.27977115e-02 9.99918106e-01 9.25250092e-07 6.10180476e+00] [ 1.96540702e-03 -2.60800961e-05 9.99998068e-01 1.89162683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96439141799999 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:76.54, Y:6.10, Z:0.19 [[ 9.99838328e-01 -1.78732751e-02 -1.96557975e-03 7.65394191e+01] [ 1.78733118e-02 9.99840260e-01 1.08255800e-06 6.10212780e+00] [ 1.96524642e-03 -3.62138026e-05 9.99998068e-01 1.93735714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02439141799998 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:76.60, Y:6.10, Z:0.19 [[ 9.99700589e-01 -2.43899134e-02 -1.96557965e-03 7.66005816e+01] [ 2.43899630e-02 9.99702521e-01 1.24073961e-06 6.10181375e+00] [ 1.96496467e-03 -4.91807829e-05 9.99998068e-01 1.90160022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08439141799998 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:76.66, Y:6.09, Z:0.19 [[ 9.99246687e-01 -3.87581714e-02 -1.96557957e-03 7.66625484e+01] [ 3.87582490e-02 9.99248617e-01 1.35735849e-06 6.09456264e+00] [ 1.96405005e-03 -7.75387581e-05 9.99998068e-01 1.88867089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14439141799998 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:76.72, Y:6.10, Z:0.20 [[ 9.98718000e-01 -5.05815408e-02 -1.96557904e-03 7.67249240e+01] [ 5.05816423e-02 9.98719929e-01 1.90300848e-06 6.09975843e+00] [ 1.96296670e-03 -1.01322785e-04 9.99998068e-01 1.98693964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20439141799999 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:76.79, Y:6.10, Z:0.19 [[ 9.98414877e-01 -5.62482840e-02 -1.96557888e-03 7.67872391e+01] [ 5.62483967e-02 9.98416806e-01 2.05762522e-06 6.09871278e+00] [ 1.96235125e-03 -1.12615024e-04 9.99998068e-01 1.93642602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26439141799999 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:76.85, Y:6.09, Z:0.19 [[ 9.97942067e-01 -6.40918711e-02 -1.96557870e-03 7.68490148e+01] [ 6.40919993e-02 9.97943994e-01 2.21629452e-06 6.09375658e+00] [ 1.96139541e-03 -1.28189602e-04 9.99998068e-01 1.90786902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32439141799999 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:76.91, Y:6.10, Z:0.20 [[ 9.97995141e-01 -6.32600573e-02 -1.96557787e-03 7.69113594e+01] [ 6.32601850e-02 9.97997069e-01 2.79968248e-06 6.10158914e+00] [ 1.96146384e-03 -1.27136889e-04 9.99998068e-01 1.97102739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38439141799998 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:76.97, Y:6.11, Z:0.19 [[ 9.98448455e-01 -5.56490736e-02 -1.96557762e-03 7.69723874e+01] [ 5.56491869e-02 9.98450383e-01 2.96149851e-06 6.10724150e+00] [ 1.96236693e-03 -1.12339700e-04 9.99998068e-01 1.89215880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44439141799998 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:77.03, Y:6.11, Z:0.19 [[ 9.98661341e-01 -5.16881255e-02 -1.96557671e-03 7.70348003e+01] [ 5.16882322e-02 9.98663270e-01 3.47549269e-06 6.10786551e+00] [ 1.96276963e-03 -1.05068026e-04 9.99998068e-01 1.90915522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50439141799998 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:77.10, Y:6.12, Z:0.20 [[ 9.98899655e-01 -4.68573919e-02 -1.96557641e-03 7.70959106e+01] [ 4.68574896e-02 9.98901585e-01 3.64204345e-06 6.11640331e+00] [ 1.96324673e-03 -9.57400118e-05 9.99998068e-01 2.01723653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56439141799999 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:77.16, Y:6.12, Z:0.19 [[ 9.99109791e-01 -4.21397939e-02 -1.96557577e-03 7.71570873e+01] [ 4.21398830e-02 9.99111721e-01 3.95629083e-06 6.12183299e+00] [ 1.96366307e-03 -8.67819021e-05 9.99998068e-01 1.94556638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62439141799999 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:77.22, Y:6.13, Z:0.19 [[ 9.99360157e-01 -3.57129245e-02 -1.96557553e-03 7.72192298e+01] [ 3.57130015e-02 9.99362087e-01 4.07469848e-06 6.12816664e+00] [ 1.96417614e-03 -7.42686930e-05 9.99998068e-01 1.92091471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68439141799999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:77.28, Y:6.13, Z:0.20 [[ 9.99590307e-01 -2.85544041e-02 -1.96557518e-03 7.72816204e+01] [ 2.85544675e-02 9.99592238e-01 4.23370742e-06 6.13439079e+00] [ 1.96465281e-03 -6.03579257e-05 9.99998068e-01 1.95222219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74439141799999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:77.34, Y:6.14, Z:0.20 [[ 9.99775726e-01 -2.10863510e-02 -1.96557483e-03 7.73440121e+01] [ 2.10864004e-02 9.99777657e-01 4.39157157e-06 6.13797782e+00] [ 1.96504520e-03 -4.58374845e-05 9.99998068e-01 1.98260135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80439141799998 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:77.41, Y:6.14, Z:0.20 [[ 9.99840892e-01 -1.77292903e-02 -1.96557447e-03 7.74062088e+01] [ 1.77293335e-02 9.99842823e-01 4.54674432e-06 6.13923937e+00] [ 1.96518492e-03 -3.93943463e-05 9.99998068e-01 1.97665372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86439141799998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:77.47, Y:6.15, Z:0.20 [[ 9.99935559e-01 -1.11809529e-02 -1.96557411e-03 7.74684728e+01] [ 1.11809837e-02 9.99937491e-01 4.69983947e-06 6.14655561e+00] [ 1.96539869e-03 -2.66765887e-05 9.99998068e-01 1.97061058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92439141799998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:77.53, Y:6.15, Z:0.19 [[ 9.99971255e-01 -7.32298531e-03 -1.96557373e-03 7.75306973e+01] [ 7.32300899e-03 9.99973186e-01 4.85284665e-06 6.14668193e+00] [ 1.96548549e-03 -1.92466213e-05 9.99998068e-01 1.94703569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98439141799999 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:77.59, Y:6.15, Z:0.20 [[ 9.99974090e-01 -6.92507813e-03 -1.96557334e-03 7.75932423e+01] [ 6.92510134e-03 9.99976021e-01 5.00576590e-06 6.14507370e+00] [ 1.96549154e-03 -1.86174308e-05 9.99998068e-01 1.97793374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04439141799999 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:77.66, Y:6.15, Z:0.20 [[ 9.99973578e-01 -6.99853973e-03 -1.96557293e-03 7.76557803e+01] [ 6.99856339e-03 9.99975510e-01 5.16006074e-06 6.14754786e+00] [ 1.96548868e-03 -1.89161112e-05 9.99998068e-01 2.00126524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10439141799999 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:77.72, Y:6.15, Z:0.20 [[ 9.99916664e-01 -1.27593538e-02 -1.96557250e-03 7.77170468e+01] [ 1.27593889e-02 9.99918596e-01 5.31980994e-06 6.14637185e+00] [ 1.96534462e-03 -3.03988706e-05 9.99998068e-01 1.96974080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16439141799998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:77.78, Y:6.14, Z:0.19 [[ 9.99841364e-01 -1.77026242e-02 -1.96557159e-03 7.77786776e+01] [ 1.77026694e-02 9.99843295e-01 5.63751820e-06 6.14209066e+00] [ 1.96516378e-03 -4.04324880e-05 9.99998068e-01 1.93002802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22439141799998 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:77.84, Y:6.14, Z:0.19 [[ 9.99644673e-01 -2.65831437e-02 -1.96557124e-03 7.78414876e+01] [ 2.65832064e-02 9.99646604e-01 5.75574423e-06 6.13756336e+00] [ 1.96472361e-03 -5.80048852e-05 9.99998068e-01 1.94419632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28439141799998 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:77.90, Y:6.14, Z:0.20 [[ 9.99580448e-01 -2.88974681e-02 -1.96556924e-03 7.79037400e+01] [ 2.88975365e-02 9.99582379e-01 6.37289528e-06 6.14185754e+00] [ 1.96456422e-03 -6.31703304e-05 9.99998068e-01 2.02447692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34439141799999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:77.97, Y:6.14, Z:0.20 [[ 9.99632318e-01 -2.70437842e-02 -1.96556873e-03 7.79658289e+01] [ 2.70438493e-02 9.99634248e-01 6.52908184e-06 6.14374730e+00] [ 1.96467324e-03 -5.96832256e-05 9.99998068e-01 1.99336396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40439141799999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:78.03, Y:6.14, Z:0.19 [[ 9.99631337e-01 -2.70799913e-02 -1.96556820e-03 7.80279910e+01] [ 2.70800568e-02 9.99633268e-01 6.68268542e-06 6.14009511e+00] [ 1.96466640e-03 -5.99079203e-05 9.99998068e-01 1.93792193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46439141799999 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:78.09, Y:6.14, Z:0.19 [[ 9.99592888e-01 -2.84639149e-02 -1.96556765e-03 7.80898560e+01] [ 2.84639833e-02 9.99594819e-01 6.84209114e-06 6.13629802e+00] [ 1.96457648e-03 -6.27871903e-05 9.99998068e-01 1.94089298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52439141799998 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:78.15, Y:6.14, Z:0.20 [[ 9.99650727e-01 -2.63545050e-02 -1.96556709e-03 7.81522862e+01] [ 2.63545696e-02 9.99652658e-01 6.99930516e-06 6.14039558e+00] [ 1.96469990e-03 -5.87985352e-05 9.99998068e-01 1.99093743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58439141799998 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:78.21, Y:6.14, Z:0.20 [[ 9.99816043e-01 -1.90792069e-02 -1.96556638e-03 7.82142332e+01] [ 1.90792579e-02 9.99817974e-01 7.19355037e-06 6.14228075e+00] [ 1.96507135e-03 -4.46937749e-05 9.99998068e-01 1.95220354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64439141799998 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:78.28, Y:6.14, Z:0.19 [[ 9.99877880e-01 -1.55036271e-02 -1.96556580e-03 7.82759732e+01] [ 1.55036715e-02 9.99879811e-01 7.34733118e-06 6.13875370e+00] [ 1.96521565e-03 -3.78199204e-05 9.99998068e-01 1.93460810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70439141799999 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:78.34, Y:6.14, Z:0.20 [[ 9.99900748e-01 -1.39509935e-02 -1.96556520e-03 7.83383632e+01] [ 1.39510352e-02 9.99902680e-01 7.50454505e-06 6.14018139e+00] [ 1.96526922e-03 -3.49254695e-05 9.99998068e-01 2.01816487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76439141799999 meters Centerline goodness : 0.999585 with order 1 Centerline is valid? [True, True] Translation: X:78.40, Y:6.14, Z:0.20 [[ 9.99917850e-01 -1.26660958e-02 -1.96556459e-03 7.84001708e+01] [ 1.26661353e-02 9.99919781e-01 7.66248269e-06 6.14224832e+00] [ 1.96530986e-03 -3.25579602e-05 9.99998068e-01 2.02115385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82439141799999 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:78.46, Y:6.14, Z:0.20 [[ 9.99930211e-01 -1.16494692e-02 -1.96556396e-03 7.84624947e+01] [ 1.16495070e-02 9.99932142e-01 7.82115081e-06 6.13929861e+00] [ 1.96533946e-03 -3.07184561e-05 9.99998068e-01 1.95410425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88439141799998 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:78.52, Y:6.14, Z:0.19 [[ 9.99935100e-01 -1.12219863e-02 -1.96556332e-03 7.85244215e+01] [ 1.12220236e-02 9.99937031e-01 7.97731800e-06 6.13652395e+00] [ 1.96535003e-03 -3.00343983e-05 9.99998068e-01 1.93385446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94439141799998 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:78.59, Y:6.14, Z:0.21 [[ 9.99929686e-01 -1.16944073e-02 -1.96556268e-03 7.85868147e+01] [ 1.16944459e-02 9.99931618e-01 8.13319492e-06 6.13906260e+00] [ 1.96533315e-03 -3.11187893e-05 9.99998068e-01 2.06769384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00439141799998 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:78.65, Y:6.14, Z:0.21 [[ 9.99892808e-01 -1.45089217e-02 -1.96556200e-03 7.86492741e+01] [ 1.45089660e-02 9.99894739e-01 8.29369068e-06 6.13714917e+00] [ 1.96523477e-03 -3.68110739e-05 9.99998068e-01 2.05582929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06439141799999 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:78.71, Y:6.13, Z:0.19 [[ 9.99783635e-01 -2.07079442e-02 -1.96556131e-03 7.87119645e+01] [ 2.07080008e-02 9.99785566e-01 8.45443708e-06 6.12799544e+00] [ 1.96496475e-03 -4.91554530e-05 9.99998068e-01 1.93697259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12439141799999 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:78.77, Y:6.13, Z:0.20 [[ 9.99738050e-01 -2.28028058e-02 -1.96556042e-03 7.87738460e+01] [ 2.28028669e-02 9.99739981e-01 8.65670022e-06 6.12777668e+00] [ 1.96485194e-03 -5.34748451e-05 9.99998068e-01 1.98800711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18439141799999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:78.83, Y:6.13, Z:0.21 [[ 9.99848612e-01 -1.72884425e-02 -1.96555969e-03 7.88348521e+01] [ 1.72884932e-02 9.99850543e-01 8.81948058e-06 6.13032304e+00] [ 1.96511344e-03 -4.27997107e-05 9.99998068e-01 2.05874282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24439141799999 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:78.90, Y:6.13, Z:0.21 [[ 9.99904408e-01 -1.36861897e-02 -1.96555914e-03 7.88974107e+01] [ 1.36862337e-02 9.99906339e-01 8.93954494e-06 6.13128317e+00] [ 1.96525270e-03 -3.58397921e-05 9.99998068e-01 2.05273975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30439141799998 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:78.96, Y:6.12, Z:0.20 [[ 9.99838079e-01 -1.78871966e-02 -1.96555841e-03 7.89600599e+01] [ 1.78872490e-02 9.99840010e-01 9.09683195e-06 6.12418280e+00] [ 1.96508123e-03 -4.42537917e-05 9.99998068e-01 2.03409083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36439141799998 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:79.02, Y:6.12, Z:0.20 [[ 9.99810390e-01 -1.93732003e-02 -1.96555768e-03 7.90221451e+01] [ 1.93732559e-02 9.99812321e-01 9.25254499e-06 6.11989438e+00] [ 1.96500953e-03 -4.73300425e-05 9.99998068e-01 2.00455008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42439141799998 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:79.08, Y:6.12, Z:0.20 [[ 9.99876698e-01 -1.55796407e-02 -1.96555694e-03 7.90844966e+01] [ 1.55796893e-02 9.99878629e-01 9.40607742e-06 6.12445322e+00] [ 1.96517184e-03 -4.00276841e-05 9.99998068e-01 2.02812044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48439141799999 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:79.15, Y:6.12, Z:0.20 [[ 9.99890441e-01 -1.46711598e-02 -1.96555616e-03 7.91452156e+01] [ 1.46712070e-02 9.99892372e-01 9.56664952e-06 6.12220760e+00] [ 1.96520426e-03 -3.84026827e-05 9.99998068e-01 2.01586360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54439141799999 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:79.21, Y:6.12, Z:0.20 [[ 9.99870101e-01 -1.59974480e-02 -1.96555558e-03 7.92076940e+01] [ 1.59974980e-02 9.99872032e-01 9.68505598e-06 6.11586679e+00] [ 1.96514912e-03 -4.11277693e-05 9.99998068e-01 2.03401618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60439141799999 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:79.27, Y:6.12, Z:0.21 [[ 9.99857880e-01 -1.67438267e-02 -1.96555477e-03 7.92702993e+01] [ 1.67438784e-02 9.99859811e-01 9.84638313e-06 6.11760175e+00] [ 1.96511436e-03 -4.27559938e-05 9.99998068e-01 2.06610986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66439141799998 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:79.33, Y:6.12, Z:0.21 [[ 9.99846688e-01 -1.73993588e-02 -1.96555396e-03 7.93329198e+01] [ 1.73994121e-02 9.99848619e-01 1.00054658e-05 6.11871940e+00] [ 1.96508233e-03 -4.42034152e-05 9.99998068e-01 2.07198769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72439141799998 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:79.39, Y:6.11, Z:0.20 [[ 9.99857805e-01 -1.67483523e-02 -1.96555314e-03 7.93949706e+01] [ 1.67484047e-02 9.99859736e-01 1.01652134e-05 6.11449435e+00] [ 1.96510719e-03 -4.30836472e-05 9.99998068e-01 1.96653218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78439141799998 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:79.46, Y:6.12, Z:0.20 [[ 9.99885685e-01 -1.49917903e-02 -1.96555229e-03 7.94561926e+01] [ 1.49918396e-02 9.99887616e-01 1.03257852e-05 6.11691598e+00] [ 1.96517659e-03 -3.97918494e-05 9.99998068e-01 2.00857074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84439141799999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:79.52, Y:6.12, Z:0.20 [[ 9.99930916e-01 -1.15887872e-02 -1.96555166e-03 7.95183537e+01] [ 1.15888302e-02 9.99932847e-01 1.04441914e-05 6.11946346e+00] [ 1.96529864e-03 -3.32219142e-05 9.99998068e-01 2.04546027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90439141799999 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:79.58, Y:6.12, Z:0.20 [[ 9.99925295e-01 -1.20640569e-02 -1.96555082e-03 7.95803591e+01] [ 1.20641011e-02 9.99927226e-01 1.05998129e-05 6.11532225e+00] [ 1.96527991e-03 -3.43116248e-05 9.99998068e-01 2.00477938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96439141799999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:79.64, Y:6.12, Z:0.21 [[ 9.99862836e-01 -1.64452096e-02 -1.96554999e-03 7.96429945e+01] [ 1.64452625e-02 9.99864767e-01 1.07531342e-05 6.11516341e+00] [ 1.96510734e-03 -4.30756447e-05 9.99998068e-01 2.05263466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02439141799998 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:79.71, Y:6.12, Z:0.20 [[ 9.99844933e-01 -1.74999303e-02 -1.96554910e-03 7.97057457e+01] [ 1.74999855e-02 9.99846863e-01 1.09125384e-05 6.11904605e+00] [ 1.96505713e-03 -4.53079271e-05 9.99998068e-01 2.04477615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08439141799998 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:79.77, Y:6.12, Z:0.20 [[ 9.99872480e-01 -1.58480349e-02 -1.96554789e-03 7.97675743e+01] [ 1.58480873e-02 9.99874411e-01 1.11259283e-05 6.11653957e+00] [ 1.96512472e-03 -4.22746842e-05 9.99998068e-01 1.96328855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14439141799998 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:79.83, Y:6.12, Z:0.20 [[ 9.99968333e-01 -7.71164609e-03 -1.96554699e-03 7.98295246e+01] [ 7.71168316e-03 9.99970264e-01 1.12832336e-05 6.11987467e+00] [ 1.96540153e-03 -2.64405519e-05 9.99998068e-01 1.97968113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20439141799999 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:79.89, Y:6.12, Z:0.20 [[ 9.99997616e-01 -9.50690624e-04 -1.96554606e-03 7.98903873e+01] [ 9.50714952e-04 9.99999548e-01 1.14428848e-05 6.12418791e+00] [ 1.96553429e-03 -1.33115316e-05 9.99998068e-01 2.01932252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26439141799999 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:79.95, Y:6.13, Z:0.21 [[ 9.99981788e-01 5.70617528e-03 -1.96554583e-03 7.99502217e+01] [-5.70616373e-03 9.99983720e-01 1.14830067e-05 6.12557592e+00] [ 1.96557935e-03 -2.67071264e-07 9.99998068e-01 2.09719665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32439141799999 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:80.01, Y:6.12, Z:0.21 [[ 9.99978395e-01 6.27257928e-03 -1.96554585e-03 8.00091287e+01] [-6.27256883e-03 9.99980327e-01 1.14787940e-05 6.12455469e+00] [ 1.96557918e-03 8.50475626e-07 9.99998068e-01 2.08563563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38439141799998 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:80.07, Y:6.12, Z:0.20 [[ 9.99997186e-01 1.32862336e-03 -1.96554677e-03 8.00670498e+01] [-1.32860368e-03 9.99999117e-01 1.13182637e-05 6.12127291e+00] [ 1.96556008e-03 -8.70679917e-06 9.99998068e-01 1.95002792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44439141799998 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:80.13, Y:6.12, Z:0.20 [[ 9.99976130e-01 -6.62393531e-03 -1.96554789e-03 8.01267440e+01] [ 6.62396996e-03 9.99978061e-01 1.11212933e-05 6.12148553e+00] [ 1.96543110e-03 -2.41407580e-05 9.99998068e-01 1.95682856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50439141799998 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:80.19, Y:6.12, Z:0.20 [[ 9.99957759e-01 -8.97869234e-03 -1.96554833e-03 8.01874263e+01] [ 8.97873139e-03 9.99959690e-01 1.10431874e-05 6.12211246e+00] [ 1.96536994e-03 -2.86908514e-05 9.99998068e-01 2.00825601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56439141799999 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:80.25, Y:6.12, Z:0.20 [[ 9.99884529e-01 -1.50686771e-02 -1.96554678e-03 8.02498088e+01] [ 1.50687284e-02 9.99886460e-01 1.13128345e-05 6.12259443e+00] [ 1.96515314e-03 -4.09298188e-05 9.99998068e-01 1.99988467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62439141799999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:80.31, Y:6.12, Z:0.20 [[ 9.99754079e-01 -2.20888794e-02 -1.96554350e-03 8.03120628e+01] [ 2.20889453e-02 9.99756009e-01 1.18560061e-05 6.12107611e+00] [ 1.96480204e-03 -5.52698733e-05 9.99998068e-01 2.01065226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68439141799999 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:80.37, Y:6.12, Z:0.21 [[ 9.99584570e-01 -2.87545398e-02 -1.96553987e-03 8.03742905e+01] [ 2.87546198e-02 9.99586500e-01 1.24301392e-05 6.12241200e+00] [ 1.96436970e-03 -6.89433269e-05 9.99998068e-01 2.07103671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74439141799999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:80.44, Y:6.12, Z:0.20 [[ 9.99631265e-01 -2.70826793e-02 -1.96553889e-03 8.04363396e+01] [ 2.70827563e-02 9.99633195e-01 1.25833015e-05 6.12395808e+00] [ 1.96447713e-03 -6.58108723e-05 9.99998068e-01 2.00687727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80439141799998 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:80.50, Y:6.13, Z:0.20 [[ 9.99716045e-01 -2.37479590e-02 -1.96553790e-03 8.04978863e+01] [ 2.37480299e-02 9.99717976e-01 1.27350216e-05 6.12671002e+00] [ 1.96468114e-03 -5.94090585e-05 9.99998068e-01 2.01789352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86439141799998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:80.56, Y:6.13, Z:0.21 [[ 9.99900722e-01 -1.39529043e-02 -1.96553717e-03 8.05593463e+01] [ 1.39529565e-02 9.99902653e-01 1.28467924e-05 6.13190030e+00] [ 1.96516658e-03 -4.02705716e-05 9.99998068e-01 2.07331869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92439141799998 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:80.62, Y:6.13, Z:0.20 [[ 9.99953748e-01 -9.41484177e-03 -1.96553645e-03 8.06211006e+01] [ 9.41488542e-03 9.99955679e-01 1.29566061e-05 6.13191472e+00] [ 1.96532735e-03 -3.14613073e-05 9.99998068e-01 1.99024043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98439141799999 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:80.68, Y:6.13, Z:0.20 [[ 9.99929448e-01 -1.17147280e-02 -1.96553549e-03 8.06819495e+01] [ 1.17147764e-02 9.99931380e-01 1.31002771e-05 6.13209637e+00] [ 1.96524715e-03 -3.61251616e-05 9.99998068e-01 1.97999297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04439141799999 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:80.74, Y:6.14, Z:0.20 [[ 9.99929879e-01 -1.16779083e-02 -1.96553478e-03 8.07434244e+01] [ 1.16779568e-02 9.99931810e-01 1.32063635e-05 6.13529839e+00] [ 1.96524653e-03 -3.61588677e-05 9.99998068e-01 1.98870455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10439141799999 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:80.81, Y:6.13, Z:0.20 [[ 9.99961729e-01 -8.52505805e-03 -1.96553407e-03 8.08058511e+01] [ 8.52510067e-03 9.99963661e-01 1.33105445e-05 6.13426627e+00] [ 1.96534918e-03 -3.00664110e-05 9.99998068e-01 1.95336674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16439141799998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:80.87, Y:6.13, Z:0.19 [[ 9.99972700e-01 -7.12297222e-03 -1.96553298e-03 8.08685032e+01] [ 7.12301246e-03 9.99974631e-01 1.34708646e-05 6.13497394e+00] [ 1.96538716e-03 -2.74710127e-05 9.99998068e-01 1.94096223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22439141799998 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:80.93, Y:6.13, Z:0.20 [[ 9.99981242e-01 -5.80102388e-03 -1.96553188e-03 8.09301679e+01] [ 5.80106187e-03 9.99983174e-01 1.36284642e-05 6.13370256e+00] [ 1.96541975e-03 -2.50303806e-05 9.99998068e-01 2.03503096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28439141799998 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:80.99, Y:6.14, Z:0.21 [[ 9.99997012e-01 1.45329163e-03 -1.96553039e-03 8.09917727e+01] [-1.45326723e-03 9.99998944e-01 1.38411651e-05 6.13589258e+00] [ 1.96554842e-03 -1.09846829e-05 9.99998068e-01 2.08730198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34439141799999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:81.05, Y:6.13, Z:0.21 [[ 9.99998068e-01 3.76843790e-05 -1.96552981e-03 8.10503139e+01] [-3.76570868e-05 9.99999999e-01 1.39224460e-05 6.13474585e+00] [ 1.96553033e-03 -1.38484030e-05 9.99998068e-01 2.07641514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40439141799999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:81.11, Y:6.13, Z:0.20 [[ 9.99985265e-01 -5.06021427e-03 -1.96553065e-03 8.11099098e+01] [ 5.06025117e-03 9.99987197e-01 1.38029180e-05 6.12829970e+00] [ 1.96543564e-03 -2.37487934e-05 9.99998068e-01 2.03756226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46439141799999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:81.17, Y:6.13, Z:0.20 [[ 9.99991772e-01 -3.54856219e-03 -1.96553120e-03 8.11706272e+01] [ 3.54859601e-03 9.99993704e-01 1.37238902e-05 6.12618695e+00] [ 1.96547012e-03 -2.06986534e-05 9.99998068e-01 1.96073851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52439141799998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:81.23, Y:6.13, Z:0.20 [[ 9.99989894e-01 -4.04325851e-03 -1.96553014e-03 8.12311427e+01] [ 4.04329359e-03 9.99991826e-01 1.38736942e-05 6.12878261e+00] [ 1.96545798e-03 -2.18207694e-05 9.99998068e-01 2.00434999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58439141799998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:81.29, Y:6.12, Z:0.21 [[ 9.99937196e-01 -1.10336390e-02 -1.96553014e-03 8.12910968e+01] [ 1.10336876e-02 9.99939127e-01 1.38736942e-05 6.12349882e+00] [ 1.96525742e-03 -3.55598684e-05 9.99998068e-01 2.05929211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64439141799998 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:81.35, Y:6.12, Z:0.20 [[ 9.99821086e-01 -1.88131215e-02 -1.96552987e-03 8.13536212e+01] [ 1.88131852e-02 9.99823016e-01 1.39128802e-05 6.11594144e+00] [ 1.96492025e-03 -5.08882683e-05 9.99998068e-01 1.98966391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70439141799999 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:81.42, Y:6.12, Z:0.20 [[ 9.99690031e-01 -2.48189100e-02 -1.96552584e-03 8.14157754e+01] [ 2.48189863e-02 9.99691961e-01 1.44601736e-05 6.11565206e+00] [ 1.96456150e-03 -6.32380504e-05 9.99998068e-01 1.98375732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76439141799999 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:81.48, Y:6.11, Z:0.20 [[ 9.99574068e-01 -2.91173427e-02 -1.96552465e-03 8.14788537e+01] [ 2.91174276e-02 9.99575998e-01 1.46206664e-05 6.11382156e+00] [ 1.96426554e-03 -7.18454606e-05 9.99998068e-01 1.99465530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82439141799999 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:81.54, Y:6.11, Z:0.19 [[ 9.99541752e-01 -3.02063301e-02 -1.96552281e-03 8.15397628e+01] [ 3.02064177e-02 9.99543682e-01 1.48638130e-05 6.10883030e+00] [ 1.96417692e-03 -7.42284046e-05 9.99998068e-01 1.91247122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88439141799998 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:81.60, Y:6.11, Z:0.20 [[ 9.99477395e-01 -3.22656828e-02 -1.96552190e-03 8.16022650e+01] [ 3.22657745e-02 9.99479324e-01 1.49830612e-05 6.10818541e+00] [ 1.96401506e-03 -7.83943173e-05 9.99998068e-01 2.01643785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94439141799998 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:81.67, Y:6.11, Z:0.21 [[ 9.99537011e-01 -3.03627997e-02 -1.96552069e-03 8.16654578e+01] [ 3.03628881e-02 9.99538941e-01 1.51404189e-05 6.11062080e+00] [ 1.96415476e-03 -7.48122937e-05 9.99998068e-01 2.05983757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00439141799998 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:81.73, Y:6.11, Z:0.20 [[ 9.99671517e-01 -2.55537578e-02 -1.96551884e-03 8.17277613e+01] [ 2.55538374e-02 9.99673447e-01 1.53767514e-05 6.11015731e+00] [ 1.96448406e-03 -6.55982492e-05 9.99998068e-01 2.03435968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06439141799999 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:81.79, Y:6.11, Z:0.20 [[ 9.99738144e-01 -2.27986774e-02 -1.96551758e-03 8.17896048e+01] [ 2.27987519e-02 9.99740075e-01 1.55353212e-05 6.11103036e+00] [ 1.96465251e-03 -6.03426010e-05 9.99998068e-01 1.99332831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12439141799999 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:81.85, Y:6.11, Z:0.20 [[ 9.99772431e-01 -2.12420296e-02 -1.96551633e-03 8.18512679e+01] [ 2.12421015e-02 9.99774361e-01 1.56919791e-05 6.11070052e+00] [ 1.96473951e-03 -5.74401054e-05 9.99998068e-01 2.00404609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18439141799999 meters Centerline goodness : 0.999585 with order 1 Centerline is valid? [True, True] Translation: X:81.91, Y:6.11, Z:0.20 [[ 9.99879688e-01 -1.53865909e-02 -1.96551537e-03 8.19135558e+01] [ 1.53866517e-02 9.99881618e-01 1.58112984e-05 6.11462161e+00] [ 1.96503941e-03 -4.60520964e-05 9.99998068e-01 2.01144683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24439141799998 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:81.98, Y:6.12, Z:0.20 [[ 9.99914269e-01 -1.29457458e-02 -1.96551411e-03 8.19760229e+01] [ 1.29458022e-02 9.99916199e-01 1.59671714e-05 6.11555972e+00] [ 1.96514269e-03 -4.14109594e-05 9.99998068e-01 2.02361603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30439141799998 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:82.04, Y:6.12, Z:0.20 [[ 9.99936942e-01 -1.10566545e-02 -1.96551280e-03 8.20373731e+01] [ 1.10567075e-02 9.99938873e-01 1.61259105e-05 6.11615211e+00] [ 1.96521436e-03 -3.78569938e-05 9.99998068e-01 2.04735552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36439141799998 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:82.10, Y:6.11, Z:0.20 [[ 9.99899795e-01 -1.40191367e-02 -1.96551184e-03 8.20994770e+01] [ 1.40191957e-02 9.99901726e-01 1.62428788e-05 6.11489506e+00] [ 1.96509097e-03 -4.37961464e-05 9.99998068e-01 2.04313511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42439141799998 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:82.16, Y:6.11, Z:0.20 [[ 9.99886162e-01 -1.49599593e-02 -1.96551056e-03 8.21617544e+01] [ 1.49600204e-02 9.99888093e-01 1.63964779e-05 6.11427851e+00] [ 1.96504531e-03 -4.57986893e-05 9.99998068e-01 2.00604741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48439141799999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:82.22, Y:6.12, Z:0.20 [[ 9.99896034e-01 -1.42848800e-02 -1.96550923e-03 8.22239472e+01] [ 1.42849401e-02 9.99897965e-01 1.65540017e-05 6.11686452e+00] [ 1.96507221e-03 -4.46294623e-05 9.99998068e-01 2.00774570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54439141799999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:82.29, Y:6.12, Z:0.21 [[ 9.99982605e-01 -5.56107281e-03 -1.96550785e-03 8.22854648e+01] [ 5.56111640e-03 9.99984537e-01 1.67165207e-05 6.11505166e+00] [ 1.96538449e-03 -2.76466479e-05 9.99998068e-01 2.06919997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60439141799999 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:82.35, Y:6.11, Z:0.20 [[ 9.99997689e-01 8.71220144e-04 -1.96550565e-03 8.23469936e+01] [-8.71188469e-04 9.99999620e-01 1.69714899e-05 6.11218705e+00] [ 1.96551969e-03 -1.52591249e-05 9.99998068e-01 2.03708262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66439141799998 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:82.41, Y:6.11, Z:0.20 [[ 9.99989507e-01 4.13793110e-03 -1.96550497e-03 8.24070815e+01] [-4.13790558e-03 9.99991439e-01 1.70499940e-05 6.11035366e+00] [ 1.96555869e-03 -8.91674114e-06 9.99998068e-01 2.01303550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72439141799998 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:82.47, Y:6.11, Z:0.20 [[ 9.99984801e-01 5.15111488e-03 -1.96550564e-03 8.24661746e+01] [-5.15109147e-03 9.99986733e-01 1.69722439e-05 6.11088545e+00] [ 1.96556699e-03 -6.84748660e-06 9.99998068e-01 2.03833607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78439141799998 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:82.52, Y:6.11, Z:0.20 [[ 9.99987319e-01 4.63662763e-03 -1.96550696e-03 8.25247607e+01] [-4.63660353e-03 9.99989251e-01 1.68180622e-05 6.10904957e+00] [ 1.96556381e-03 -7.70457244e-06 9.99998068e-01 2.02731884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84439141799999 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:82.58, Y:6.10, Z:0.20 [[ 9.99997738e-01 8.13026940e-04 -1.96550828e-03 8.25839489e+01] [-8.12995761e-04 9.99999669e-01 1.66621734e-05 6.10326862e+00] [ 1.96552117e-03 -1.50641858e-05 9.99998068e-01 1.97965640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90439141799999 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:82.64, Y:6.10, Z:0.20 [[ 9.99963136e-01 -8.35847021e-03 -1.96550956e-03 8.26437418e+01] [ 8.35851881e-03 9.99965067e-01 1.65092783e-05 6.09667971e+00] [ 1.96530291e-03 -3.29374184e-05 9.99998068e-01 1.98498218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96439141799999 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:82.71, Y:6.10, Z:0.20 [[ 9.99901037e-01 -1.39302917e-02 -1.96551019e-03 8.27059694e+01] [ 1.39303509e-02 9.99902968e-01 1.64335097e-05 6.09912441e+00] [ 1.96509055e-03 -4.38121302e-05 9.99998068e-01 2.02308520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02439141799998 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:82.77, Y:6.09, Z:0.19 [[ 9.99865856e-01 -1.62605667e-02 -1.96550546e-03 8.27684453e+01] [ 1.62606315e-02 9.99867787e-01 1.69817687e-05 6.09394794e+00] [ 1.96496946e-03 -4.89398506e-05 9.99998068e-01 1.93798217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08439141799998 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:82.83, Y:6.09, Z:0.19 [[ 9.99865626e-01 -1.62747498e-02 -1.96550406e-03 8.28301215e+01] [ 1.62748149e-02 9.99867556e-01 1.71417408e-05 6.08773592e+00] [ 1.96496477e-03 -4.91276522e-05 9.99998068e-01 1.90604074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14439141799998 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:82.89, Y:6.09, Z:0.21 [[ 9.99945975e-01 -1.02070987e-02 -1.96550296e-03 8.28910789e+01] [ 1.02071523e-02 9.99947906e-01 1.72672691e-05 6.09118426e+00] [ 1.96522432e-03 -3.73285244e-05 9.99998068e-01 2.06358195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20439141799999 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:82.95, Y:6.10, Z:0.21 [[ 9.99996387e-01 -1.83374811e-03 -1.96550054e-03 8.29537591e+01] [ 1.83378612e-03 9.99998318e-01 1.75382894e-05 6.09644106e+00] [ 1.96546508e-03 -2.11425336e-05 9.99998068e-01 2.09381595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26439141799999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:83.01, Y:6.09, Z:0.20 [[ 9.99986242e-01 4.86338989e-03 -1.96549912e-03 8.30139046e+01] [-4.86336450e-03 9.99988174e-01 1.76966138e-05 6.09337172e+00] [ 1.96556194e-03 -8.13743168e-06 9.99998068e-01 2.00633504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32439141799999 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:83.07, Y:6.09, Z:0.20 [[ 9.99983645e-01 5.37082800e-03 -1.96549912e-03 8.30723381e+01] [-5.37080359e-03 9.99985577e-01 1.76966138e-05 6.08878944e+00] [ 1.96556581e-03 -7.14001465e-06 9.99998068e-01 1.99136148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38439141799998 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:83.13, Y:6.09, Z:0.20 [[ 9.99979309e-01 6.12515493e-03 -1.96550055e-03 8.31310822e+01] [-6.12513229e-03 9.99981241e-01 1.75360872e-05 6.09199008e+00] [ 1.96557109e-03 -5.49677353e-06 9.99998068e-01 2.03275875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44439141799998 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:83.19, Y:6.09, Z:0.20 [[ 9.99997995e-01 3.82108513e-04 -1.96550160e-03 8.31895279e+01] [-3.82075017e-04 9.99999927e-01 1.74172504e-05 6.08819291e+00] [ 1.96550811e-03 -1.66662464e-05 9.99998068e-01 2.03244072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50439141799998 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:83.25, Y:6.08, Z:0.20 [[ 9.99978724e-01 -6.22006584e-03 -1.96550301e-03 8.32486940e+01] [ 6.22011177e-03 9.99980655e-01 1.72569922e-05 6.08410866e+00] [ 1.96535765e-03 -2.94822734e-05 9.99998068e-01 2.01152312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56439141799999 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:83.31, Y:6.08, Z:0.20 [[ 9.99828415e-01 -1.84194659e-02 -1.96550369e-03 8.33103997e+01] [ 1.84195353e-02 9.99830346e-01 1.71786046e-05 6.07995445e+00] [ 1.96485382e-03 -5.33793216e-05 9.99998068e-01 2.01926081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62439141799999 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:83.37, Y:6.08, Z:0.20 [[ 9.99714301e-01 -2.38212633e-02 -1.96550301e-03 8.33729687e+01] [ 2.38213433e-02 9.99716231e-01 1.72563239e-05 6.07848866e+00] [ 1.96453420e-03 -6.40723157e-05 9.99998068e-01 2.03935106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68439141799999 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:83.43, Y:6.08, Z:0.20 [[ 9.99644026e-01 -2.66074723e-02 -1.96550162e-03 8.34346838e+01] [ 2.66075579e-02 9.99645956e-01 1.74139211e-05 6.07957026e+00] [ 1.96434240e-03 -6.97049202e-05 9.99998068e-01 2.03155040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74439141799998 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:83.50, Y:6.08, Z:0.21 [[ 9.99567580e-01 -2.93392170e-02 -1.96550023e-03 8.34964350e+01] [ 2.93393081e-02 9.99569510e-01 1.75686928e-05 6.07617071e+00] [ 1.96413865e-03 -7.52275127e-05 9.99998068e-01 2.06030355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80439141799998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:83.56, Y:6.07, Z:0.21 [[ 9.99463738e-01 -3.26859829e-02 -1.96549886e-03 8.35592114e+01] [ 3.26860808e-02 9.99465667e-01 1.77211712e-05 6.07353678e+00] [ 1.96386939e-03 -8.19561226e-05 9.99998068e-01 2.06263200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86439141799998 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:83.62, Y:6.07, Z:0.20 [[ 9.99510173e-01 -3.12338037e-02 -1.96549675e-03 8.36211736e+01] [ 3.12338992e-02 9.99512103e-01 1.79515064e-05 6.07444095e+00] [ 1.96397710e-03 -7.93328408e-05 9.99998068e-01 2.04526641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92439141799998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:83.68, Y:6.07, Z:0.20 [[ 9.99696634e-01 -2.45515122e-02 -1.96549535e-03 8.36821383e+01] [ 2.45515952e-02 9.99698564e-01 1.81037589e-05 6.07430863e+00] [ 1.96445841e-03 -6.63543130e-05 9.99998068e-01 1.95251181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98439141799999 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:83.74, Y:6.07, Z:0.20 [[ 9.99876237e-01 -1.56092313e-02 -1.96549255e-03 8.37441246e+01] [ 1.56092976e-02 9.99878167e-01 1.84034154e-05 6.07487104e+00] [ 1.96496582e-03 -4.90810958e-05 9.99998068e-01 1.98455170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04439141799999 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:83.81, Y:6.08, Z:0.20 [[ 9.99956173e-01 -9.15364335e-03 -1.96549103e-03 8.38058586e+01] [ 9.15369751e-03 9.99958104e-01 1.85633103e-05 6.07824193e+00] [ 1.96523877e-03 -3.65540071e-05 9.99998068e-01 2.03815427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10439141799999 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:83.87, Y:6.08, Z:0.20 [[ 9.99967536e-01 -7.81429229e-03 -1.96548990e-03 8.38679809e+01] [ 7.81434410e-03 9.99969467e-01 1.86822452e-05 6.07716812e+00] [ 1.96528390e-03 -3.40406531e-05 9.99998068e-01 2.03479364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16439141799998 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:83.93, Y:6.08, Z:0.21 [[ 9.99969450e-01 -7.56548208e-03 -1.96548838e-03 8.39304239e+01] [ 7.56553373e-03 9.99971381e-01 1.88408322e-05 6.08131640e+00] [ 1.96528959e-03 -3.37102253e-05 9.99998068e-01 2.05751738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22439141799998 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:83.99, Y:6.08, Z:0.20 [[ 9.99967287e-01 -7.84611505e-03 -1.96548685e-03 8.39917234e+01] [ 7.84616755e-03 9.99969218e-01 1.89999848e-05 6.08305117e+00] [ 1.96527727e-03 -3.44209024e-05 9.99998068e-01 2.04287248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28439141799998 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:84.05, Y:6.08, Z:0.20 [[ 9.99953074e-01 -9.48612272e-03 -1.96548570e-03 8.40542906e+01] [ 9.48617861e-03 9.99955005e-01 1.91173618e-05 6.07740239e+00] [ 1.96521592e-03 -3.77614132e-05 9.99998068e-01 1.98934438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34439141799999 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:84.12, Y:6.08, Z:0.20 [[ 9.99937687e-01 -1.09890430e-02 -1.96548421e-03 8.41165020e+01] [ 1.09891021e-02 9.99939618e-01 1.92693018e-05 6.07886930e+00] [ 1.96515378e-03 -4.08670079e-05 9.99998068e-01 2.02549112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40439141799999 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:84.18, Y:6.08, Z:0.21 [[ 9.99938742e-01 -1.08925947e-02 -1.96548268e-03 8.41790298e+01] [ 1.08926539e-02 9.99940673e-01 1.94242867e-05 6.08069632e+00] [ 1.96515450e-03 -4.08324194e-05 9.99998068e-01 2.06406953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46439141799999 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:84.24, Y:6.08, Z:0.20 [[ 9.99922869e-01 -1.22634470e-02 -1.96548116e-03 8.42416104e+01] [ 1.22635092e-02 9.99924800e-01 1.95774263e-05 6.07723905e+00] [ 1.96509327e-03 -4.36796125e-05 9.99998068e-01 2.04788714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52439141799998 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:84.30, Y:6.08, Z:0.21 [[ 9.99852705e-01 -1.70500740e-02 -1.96547957e-03 8.43027744e+01] [ 1.70501457e-02 9.99854636e-01 1.97350217e-05 6.07567509e+00] [ 1.96485738e-03 -5.32438280e-05 9.99998068e-01 2.05942297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58439141799998 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:84.37, Y:6.07, Z:0.20 [[ 9.99809881e-01 -1.93994600e-02 -1.96547840e-03 8.43651027e+01] [ 1.93995365e-02 9.99811811e-01 1.98512833e-05 6.07442694e+00] [ 1.96472342e-03 -5.79768791e-05 9.99998068e-01 2.03357921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64439141799998 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:84.43, Y:6.07, Z:0.20 [[ 9.99769864e-01 -2.13625029e-02 -1.96547680e-03 8.44266760e+01] [ 2.13625835e-02 9.99771794e-01 2.00083973e-05 6.07490882e+00] [ 1.96460084e-03 -6.19914549e-05 9.99998068e-01 1.97207925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70439141799999 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:84.49, Y:6.08, Z:0.20 [[ 9.99802623e-01 -1.97699614e-02 -1.96547562e-03 8.44884516e+01] [ 1.97700391e-02 9.99804553e-01 2.01241888e-05 6.07966060e+00] [ 1.96469362e-03 -5.89777466e-05 9.99998068e-01 2.02544242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76439141799999 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:84.55, Y:6.08, Z:0.20 [[ 9.99806115e-01 -1.95925996e-02 -1.96547439e-03 8.45506003e+01] [ 1.95926772e-02 9.99808045e-01 2.02430107e-05 6.07883997e+00] [ 1.96470050e-03 -5.87479912e-05 9.99998068e-01 1.99163007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82439141799999 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:84.61, Y:6.08, Z:0.20 [[ 9.99624842e-01 -2.73187157e-02 -1.96547278e-03 8.46129690e+01] [ 2.73188085e-02 9.99626771e-01 2.03985539e-05 6.07885958e+00] [ 1.96418194e-03 -7.40852757e-05 9.99998068e-01 1.99191181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88439141799998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:84.67, Y:6.08, Z:0.20 [[ 9.99330938e-01 -3.65214173e-02 -1.96547118e-03 8.46747827e+01] [ 3.65215282e-02 9.99332866e-01 2.05513955e-05 6.07969468e+00] [ 1.96340938e-03 -9.23196564e-05 9.99998068e-01 2.00305039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94439141799998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:84.74, Y:6.08, Z:0.19 [[ 9.99128299e-01 -4.16986594e-02 -1.96546918e-03 8.47368097e+01] [ 4.16987807e-02 9.99130227e-01 2.07404676e-05 6.07801999e+00] [ 1.96289482e-03 -1.02680057e-04 9.99998068e-01 1.94950262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00439141799998 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:84.80, Y:6.08, Z:0.19 [[ 9.98909868e-01 -4.66391687e-02 -1.96546760e-03 8.47987077e+01] [ 4.66392998e-02 9.98911796e-01 2.08895449e-05 6.08130188e+00] [ 1.96235450e-03 -1.12534805e-04 9.99998068e-01 1.93321796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06439141799999 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:84.86, Y:6.09, Z:0.19 [[ 9.99003711e-01 -4.45838743e-02 -1.96546603e-03 8.48610391e+01] [ 4.45840017e-02 9.99005639e-01 2.10365744e-05 6.08521395e+00] [ 1.96257375e-03 -1.08643957e-04 9.99998068e-01 1.94048304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12439141799999 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:84.92, Y:6.09, Z:0.19 [[ 9.99362387e-01 -3.56504811e-02 -1.96546445e-03 8.49225997e+01] [ 3.56505915e-02 9.99364315e-01 2.11827683e-05 6.09028338e+00] [ 1.96345986e-03 -9.12392321e-05 9.99998068e-01 1.94785836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18439141799999 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:84.98, Y:6.09, Z:0.20 [[ 9.99495392e-01 -3.17032789e-02 -1.96546328e-03 8.49847511e+01] [ 3.17033819e-02 9.99497321e-01 2.12908735e-05 6.09497226e+00] [ 1.96380029e-03 -8.35919630e-05 9.99998068e-01 1.99279349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24439141799998 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:85.05, Y:6.10, Z:0.20 [[ 9.99598788e-01 -2.82559615e-02 -1.96546170e-03 8.50465788e+01] [ 2.82560582e-02 9.99600718e-01 2.14357527e-05 6.09840945e+00] [ 1.96407124e-03 -7.69633527e-05 9.99998068e-01 2.03340242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30439141799998 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:85.11, Y:6.11, Z:0.20 [[ 9.99889117e-01 -1.47611451e-02 -1.96545998e-03 8.51081522e+01] [ 1.47612161e-02 9.99891047e-01 2.15922410e-05 6.10613013e+00] [ 1.96492711e-03 -5.06024262e-05 9.99998068e-01 2.02821425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36439141799998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:85.17, Y:6.11, Z:0.20 [[ 9.99997105e-01 -1.38815730e-03 -1.96545695e-03 8.51705148e+01] [ 1.38820295e-03 9.99999036e-01 2.18646828e-05 6.11078731e+00] [ 1.96542470e-03 -2.45930726e-05 9.99998068e-01 2.01071009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.23, Y:6.11, Z:0.20 [[ 9.99990078e-01 3.99757121e-03 -1.96545523e-03 8.52295340e+01] [-3.99753566e-03 9.99992010e-01 2.20178386e-05 6.10821692e+00] [ 1.96552755e-03 -1.41606427e-05 9.99998068e-01 1.95757903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48439141799999 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:85.29, Y:6.11, Z:0.20 [[ 9.99941895e-01 1.05992395e-02 -1.96545565e-03 8.52883948e+01] [-1.05992168e-02 9.99943826e-01 2.19803969e-05 6.11214045e+00] [ 1.96557822e-03 -1.14682923e-06 9.99998068e-01 2.02156189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54439141799999 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:85.35, Y:6.12, Z:0.21 [[ 9.99873224e-01 1.58010539e-02 -1.96546160e-03 8.53450458e+01] [-1.58010422e-02 9.99875156e-01 2.14354113e-05 6.11737460e+00] [ 1.96555492e-03 9.62364787e-06 9.99998068e-01 2.05662195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60439141799998 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:85.40, Y:6.11, Z:0.19 [[ 9.99892788e-01 1.45103554e-02 -1.96546613e-03 8.54041188e+01] [-1.45103421e-02 9.99894719e-01 2.10114549e-05 6.10818025e+00] [ 1.96556409e-03 7.51038370e-06 9.99998068e-01 1.94865212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66439141799998 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:85.46, Y:6.10, Z:0.20 [[ 9.99988021e-01 4.48273835e-03 -1.96546776e-03 8.54624737e+01] [-4.48270601e-03 9.99989952e-01 2.08575070e-05 6.09981220e+00] [ 1.96554151e-03 -1.20466430e-05 9.99998068e-01 1.98225682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72439141799998 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:85.52, Y:6.10, Z:0.20 [[ 9.99997007e-01 -1.45676682e-03 -1.96546937e-03 8.55216064e+01] [ 1.45681033e-03 9.99998939e-01 2.07049983e-05 6.10019709e+00] [ 1.96543712e-03 -2.35682524e-05 9.99998068e-01 2.03799082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78439141799998 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:85.58, Y:6.10, Z:0.20 [[ 9.99962293e-01 -8.45864157e-03 -1.96547103e-03 8.55814767e+01] [ 8.45869828e-03 9.99964224e-01 2.05457348e-05 6.09668338e+00] [ 1.96522693e-03 -3.71702866e-05 9.99998068e-01 2.02387138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84439141799999 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:85.64, Y:6.08, Z:0.20 [[ 9.99899712e-01 -1.40251029e-02 -1.96547144e-03 8.56435548e+01] [ 1.40251703e-02 9.99901642e-01 2.05066385e-05 6.08372442e+00] [ 1.96499051e-03 -4.80706536e-05 9.99998068e-01 2.00044059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90439141799999 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:85.71, Y:6.08, Z:0.20 [[ 9.99879970e-01 -1.53682535e-02 -1.96546544e-03 8.57057176e+01] [ 1.53683246e-02 9.99881900e-01 2.10664459e-05 6.07940851e+00] [ 1.96490957e-03 -5.12698283e-05 9.99998068e-01 1.98449744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96439141799999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:85.77, Y:6.08, Z:0.20 [[ 9.99893767e-01 -1.44426902e-02 -1.96546373e-03 8.57674878e+01] [ 1.44427598e-02 9.99895698e-01 2.12252757e-05 6.07586917e+00] [ 1.96495217e-03 -4.96097415e-05 9.99998068e-01 1.95295705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02439141799998 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:85.83, Y:6.07, Z:0.20 [[ 9.99905734e-01 -1.35889628e-02 -1.96546200e-03 8.58296265e+01] [ 1.35890311e-02 9.99907665e-01 2.13840858e-05 6.07490705e+00] [ 1.96498993e-03 -4.80907942e-05 9.99998068e-01 1.95977233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08439141799998 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:85.89, Y:6.08, Z:0.20 [[ 9.99955842e-01 -9.18972914e-03 -1.96546026e-03 8.58915679e+01] [ 9.18978923e-03 9.99957773e-01 2.15425761e-05 6.07617635e+00] [ 1.96517929e-03 -3.96037903e-05 9.99998068e-01 1.97805169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14439141799998 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:85.95, Y:6.07, Z:0.19 [[ 9.99984606e-01 -5.18891084e-03 -1.96545854e-03 8.59527524e+01] [ 5.18896351e-03 9.99986537e-01 2.16980273e-05 6.07341184e+00] [ 1.96531949e-03 -3.18963859e-05 9.99998068e-01 1.93413359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20439141799999 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:86.01, Y:6.07, Z:0.19 [[ 9.99998062e-01 1.15415967e-04 -1.96545770e-03 8.60142554e+01] [-1.15373394e-04 9.99999993e-01 2.17741701e-05 6.06551094e+00] [ 1.96546020e-03 -2.15473664e-05 9.99998068e-01 1.90012284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26439141799999 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:86.07, Y:6.07, Z:0.20 [[ 9.99981538e-01 5.74985180e-03 -1.96545680e-03 8.60736376e+01] [-5.74981995e-03 9.99983469e-01 2.18552803e-05 6.06542343e+00] [ 1.96554997e-03 -1.05538541e-05 9.99998068e-01 1.97631823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32439141799999 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:86.13, Y:6.06, Z:0.20 [[ 9.99973835e-01 6.96171110e-03 -1.96545768e-03 8.61320929e+01] [-6.96168175e-03 9.99975767e-01 2.17755295e-05 6.06257900e+00] [ 1.96556165e-03 -8.09206886e-06 9.99998068e-01 1.98387277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38439141799998 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:86.19, Y:6.06, Z:0.20 [[ 9.99991558e-01 3.60857360e-03 -1.96545943e-03 8.61893640e+01] [-3.60853809e-03 9.99993489e-01 2.16168158e-05 6.05729192e+00] [ 1.96552464e-03 -1.45241981e-05 9.99998068e-01 1.97524548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44439141799998 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:86.25, Y:6.05, Z:0.20 [[ 9.99997255e-01 1.27575427e-03 -1.96546155e-03 8.62480573e+01] [-1.27571463e-03 9.99999186e-01 2.14220339e-05 6.05468991e+00] [ 1.96548728e-03 -1.89146071e-05 9.99998068e-01 1.98565513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50439141799998 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:86.31, Y:6.04, Z:0.19 [[ 9.99997625e-01 -9.41632767e-04 -1.96546320e-03 8.63080275e+01] [ 9.41676391e-04 9.99999556e-01 2.12701316e-05 6.04274826e+00] [ 1.96544229e-03 -2.31209114e-05 9.99998068e-01 1.93292430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56439141799999 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:86.37, Y:6.04, Z:0.20 [[ 9.99968081e-01 -7.74427665e-03 -1.96546403e-03 8.63673639e+01] [ 7.74433326e-03 9.99970012e-01 2.11930461e-05 6.03990000e+00] [ 1.96524096e-03 -3.64135780e-05 9.99998068e-01 1.98402923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62439141799999 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:86.43, Y:6.04, Z:0.20 [[ 9.99921590e-01 -1.23672891e-02 -1.96546489e-03 8.64299152e+01] [ 1.23673545e-02 9.99923521e-01 2.11130853e-05 6.03911539e+00] [ 1.96505346e-03 -4.54190308e-05 9.99998068e-01 2.01584148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68439141799999 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:86.49, Y:6.03, Z:0.20 [[ 9.99849047e-01 -1.72632813e-02 -1.96545878e-03 8.64916933e+01] [ 1.72633573e-02 9.99850977e-01 2.16666666e-05 6.02533696e+00] [ 1.96479185e-03 -5.55938131e-05 9.99998068e-01 1.98892267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74439141799998 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:86.55, Y:6.02, Z:0.20 [[ 9.99832797e-01 -1.81800501e-02 -1.96545699e-03 8.65534857e+01] [ 1.81801281e-02 9.99834728e-01 2.18278880e-05 6.01944583e+00] [ 1.96473532e-03 -5.75564982e-05 9.99998068e-01 1.96926301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80439141799998 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:86.62, Y:6.02, Z:0.20 [[ 9.99818174e-01 -1.89672148e-02 -1.96545521e-03 8.66153876e+01] [ 1.89672946e-02 9.99820104e-01 2.19876277e-05 6.01755639e+00] [ 1.96468458e-03 -5.92629976e-05 9.99998068e-01 1.99731971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86439141799998 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:86.68, Y:6.01, Z:0.20 [[ 9.99802503e-01 -1.97760411e-02 -1.96545339e-03 8.66767772e+01] [ 1.97761228e-02 9.99804433e-01 2.21485966e-05 6.00744296e+00] [ 1.96463100e-03 -6.10132699e-05 9.99998068e-01 1.99403638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92439141799998 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:86.74, Y:6.01, Z:0.20 [[ 9.99820970e-01 -1.88192597e-02 -1.96545205e-03 8.67386120e+01] [ 1.88193398e-02 9.99822900e-01 2.22672903e-05 6.00505331e+00] [ 1.96468491e-03 -5.92518138e-05 9.99998068e-01 1.98302877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98439141799999 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:86.80, Y:6.00, Z:0.19 [[ 9.99805566e-01 -1.96205813e-02 -1.96545026e-03 8.67994774e+01] [ 1.96206633e-02 9.99807496e-01 2.24236130e-05 5.99728886e+00] [ 1.96463194e-03 -6.09826909e-05 9.99998068e-01 1.90868475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04439141799999 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:86.86, Y:5.99, Z:0.19 [[ 9.99816630e-01 -1.90484300e-02 -1.96544894e-03 8.68614425e+01] [ 1.90485111e-02 9.99818560e-01 2.25388841e-05 5.99161156e+00] [ 1.96466300e-03 -5.99736271e-05 9.99998068e-01 1.92364105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10439141799998 meters Centerline goodness : 0.998915 with order 1 Centerline is valid? [True, True] Translation: X:86.92, Y:6.00, Z:0.20 [[ 9.99909176e-01 -1.33332942e-02 -1.96544708e-03 8.69238328e+01] [ 1.33333646e-02 9.99911106e-01 2.26997754e-05 5.99561261e+00] [ 1.96496971e-03 -4.89037362e-05 9.99998068e-01 2.02791225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16439141799998 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:86.99, Y:5.99, Z:0.20 [[ 9.99946878e-01 -1.01182278e-02 -1.96544523e-03 8.69862253e+01] [ 1.01182923e-02 9.99948809e-01 2.28588295e-05 5.99483214e+00] [ 1.96511333e-03 -4.27445645e-05 9.99998068e-01 2.02277310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22439141799998 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:87.05, Y:5.98, Z:0.19 [[ 9.99945906e-01 -1.02138356e-02 -1.96544337e-03 8.70471288e+01] [ 1.02139006e-02 9.99947836e-01 2.30181495e-05 5.98428855e+00] [ 1.96510574e-03 -4.30917475e-05 9.99998068e-01 1.92638312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28439141799998 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:87.11, Y:5.98, Z:0.19 [[ 9.99933463e-01 -1.13668795e-02 -1.96544198e-03 8.71090988e+01] [ 1.13669469e-02 9.99935394e-01 2.31356478e-05 5.98164128e+00] [ 1.96505202e-03 -4.54751831e-05 9.99998068e-01 1.94896684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34439141799999 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:87.17, Y:5.98, Z:0.20 [[ 9.99979967e-01 -6.01684286e-03 -1.96544017e-03 8.71703993e+01] [ 6.01690026e-03 9.99981898e-01 2.32887144e-05 5.98369901e+00] [ 1.96526447e-03 -3.51141053e-05 9.99998068e-01 1.99741821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40439141799999 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:87.23, Y:5.98, Z:0.20 [[ 9.99992411e-01 3.36390461e-03 -1.96543717e-03 8.72317692e+01] [-3.36386484e-03 9.99994342e-01 2.35393643e-05 5.98054059e+00] [ 1.96550523e-03 -1.69277206e-05 9.99998068e-01 1.95233209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46439141799999 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:87.29, Y:5.98, Z:0.20 [[ 9.99962971e-01 8.37814628e-03 -1.96543627e-03 8.72908738e+01] [-8.37811605e-03 9.99964903e-01 2.36142947e-05 5.97691604e+00] [ 1.96556513e-03 -7.14676717e-06 9.99998068e-01 1.96290159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52439141799998 meters Centerline goodness : 0.999277 with order 1 Centerline is valid? [True, True] Translation: X:87.35, Y:5.98, Z:0.20 [[ 9.99923110e-01 1.22438148e-02 -1.96544288e-03 8.73495329e+01] [-1.22437932e-02 9.99925042e-01 2.30504014e-05 5.97598438e+00] [ 1.96557778e-03 1.01584707e-06 9.99998068e-01 1.99895018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58439141799998 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:87.41, Y:5.98, Z:0.20 [[ 9.99930062e-01 1.16622747e-02 -1.96544924e-03 8.74086044e+01] [-1.16622530e-02 9.99931993e-01 2.24949153e-05 5.97510188e+00] [ 1.96557792e-03 4.28224273e-07 9.99998068e-01 2.02075429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64439141799998 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:87.47, Y:5.97, Z:0.20 [[ 9.99973838e-01 6.96138112e-03 -1.96545108e-03 8.74658992e+01] [-6.96135067e-03 9.99975769e-01 2.23333066e-05 5.96638259e+00] [ 1.96555892e-03 -8.65052817e-06 9.99998068e-01 1.96212271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70439141799999 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:87.52, Y:5.96, Z:0.20 [[ 9.99998067e-01 -4.95692894e-05 -1.96545331e-03 8.75241992e+01] [ 4.96128896e-05 9.99999999e-01 2.21346141e-05 5.95808669e+00] [ 1.96545221e-03 -2.22320832e-05 9.99998068e-01 1.97240754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76439141799999 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:87.58, Y:5.95, Z:0.20 [[ 9.99984581e-01 -5.19379766e-03 -1.96545510e-03 8.75834537e+01] [ 5.19385088e-03 9.99986512e-01 2.19747624e-05 5.95452754e+00] [ 1.96531446e-03 -3.21827043e-05 9.99998068e-01 1.95970315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82439141799999 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:87.64, Y:5.95, Z:0.20 [[ 9.99937188e-01 -1.10343337e-02 -1.96545554e-03 8.76438549e+01] [ 1.10343981e-02 9.99939119e-01 2.19354318e-05 5.94908244e+00] [ 1.96509384e-03 -4.36216729e-05 9.99998068e-01 1.96548356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88439141799998 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:87.71, Y:5.94, Z:0.20 [[ 9.99872188e-01 -1.58664683e-02 -1.96545512e-03 8.77063646e+01] [ 1.58665422e-02 9.99874118e-01 2.19732515e-05 5.94413952e+00] [ 1.96485906e-03 -5.31554196e-05 9.99998068e-01 2.01896299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94439141799998 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:87.77, Y:5.94, Z:0.20 [[ 9.99852922e-01 -1.70373465e-02 -1.96544875e-03 8.77689791e+01] [ 1.70374237e-02 9.99854852e-01 2.25291098e-05 5.94278707e+00] [ 1.96477963e-03 -5.60119793e-05 9.99998068e-01 2.03044432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00439141799998 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:87.83, Y:5.94, Z:0.20 [[ 9.99790051e-01 -2.03958774e-02 -1.96544685e-03 8.78300883e+01] [ 2.03959613e-02 9.99791980e-01 2.26929973e-05 5.93546554e+00] [ 1.96457516e-03 -6.27754109e-05 9.99998068e-01 1.98190904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06439141799999 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:87.89, Y:5.93, Z:0.20 [[ 9.99785090e-01 -2.06376215e-02 -1.96544545e-03 8.78919155e+01] [ 2.06377061e-02 9.99787020e-01 2.28140539e-05 5.93070614e+00] [ 1.96455602e-03 -6.33714365e-05 9.99998068e-01 1.96606797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12439141799999 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:87.95, Y:5.93, Z:0.20 [[ 9.99857150e-01 -1.67873956e-02 -1.96544358e-03 8.79535904e+01] [ 1.67874732e-02 9.99859080e-01 2.29740211e-05 5.93085723e+00] [ 1.96478093e-03 -5.59655707e-05 9.99998068e-01 1.99766954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18439141799999 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:88.02, Y:5.93, Z:0.20 [[ 9.99911595e-01 -1.31506510e-02 -1.96544219e-03 8.80159818e+01] [ 1.31507218e-02 9.99913525e-01 2.30920437e-05 5.92829939e+00] [ 1.96496855e-03 -4.89369857e-05 9.99998068e-01 1.97978904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24439141799998 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:88.08, Y:5.93, Z:0.20 [[ 9.99962058e-01 -8.48643201e-03 -1.96544033e-03 8.80776226e+01] [ 8.48649409e-03 9.99963989e-01 2.32493213e-05 5.92752980e+00] [ 1.96517225e-03 -3.99281369e-05 9.99998068e-01 2.01497233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30439141799998 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:88.14, Y:5.92, Z:0.20 [[ 9.99957227e-01 -9.03781041e-03 -1.96543895e-03 8.81392996e+01] [ 9.03787379e-03 9.99959157e-01 2.33653380e-05 5.92330898e+00] [ 1.96514751e-03 -4.11277278e-05 9.99998068e-01 1.99546395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36439141799998 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:88.20, Y:5.92, Z:0.19 [[ 9.99916847e-01 -1.27450416e-02 -1.96543805e-03 8.82006229e+01] [ 1.27451122e-02 9.99918777e-01 2.34410664e-05 5.91558164e+00] [ 1.96497965e-03 -4.84888457e-05 9.99998068e-01 1.94303061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42439141799998 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:88.26, Y:5.92, Z:0.20 [[ 9.99905256e-01 -1.36240940e-02 -1.96543716e-03 8.82633596e+01] [ 1.36241665e-02 9.99907186e-01 2.35154884e-05 5.91949693e+00] [ 1.96493436e-03 -5.02907036e-05 9.99998068e-01 1.95679136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48439141799999 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:88.33, Y:5.92, Z:0.20 [[ 9.99914600e-01 -1.29201647e-02 -1.96543494e-03 8.83257572e+01] [ 1.29202362e-02 9.99916530e-01 2.36990859e-05 5.91954854e+00] [ 1.96496469e-03 -4.90909457e-05 9.99998068e-01 2.02964319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54439141799999 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:88.39, Y:5.91, Z:0.20 [[ 9.99910980e-01 -1.31973346e-02 -1.96543297e-03 8.83880749e+01] [ 1.31974070e-02 9.99912910e-01 2.38613425e-05 5.91315686e+00] [ 1.96494690e-03 -4.97978372e-05 9.99998068e-01 2.02295294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60439141799998 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:88.45, Y:5.91, Z:0.20 [[ 9.99865982e-01 -1.62528746e-02 -1.96543097e-03 8.84492566e+01] [ 1.62529532e-02 9.99867912e-01 2.40256508e-05 5.91214798e+00] [ 1.96478087e-03 -5.59664884e-05 9.99998068e-01 1.99654883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66439141799998 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:88.51, Y:5.91, Z:0.20 [[ 9.99842506e-01 -1.76380521e-02 -1.96542948e-03 8.85117054e+01] [ 1.76381336e-02 9.99844436e-01 2.41469548e-05 5.91339329e+00] [ 1.96469782e-03 -5.88096595e-05 9.99998068e-01 2.01696806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72439141799998 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:88.57, Y:5.91, Z:0.20 [[ 9.99859172e-01 -1.66665508e-02 -1.96542750e-03 8.85730692e+01] [ 1.66666307e-02 9.99861102e-01 2.43069970e-05 5.90806270e+00] [ 1.96474939e-03 -5.70606281e-05 9.99998068e-01 2.02002869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78439141799998 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:88.64, Y:5.91, Z:0.20 [[ 9.99900722e-01 -1.39528817e-02 -1.96542441e-03 8.86351587e+01] [ 1.39529569e-02 9.99902652e-01 2.45542752e-05 5.90729453e+00] [ 1.96489047e-03 -5.19753195e-05 9.99998068e-01 2.02761441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84439141799999 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:88.70, Y:5.91, Z:0.20 [[ 9.99920298e-01 -1.24713963e-02 -1.96542239e-03 8.86969572e+01] [ 1.24714690e-02 9.99922228e-01 2.47149902e-05 5.90980965e+00] [ 1.96496130e-03 -4.92247247e-05 9.99998068e-01 1.99418012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90439141799999 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:88.76, Y:5.91, Z:0.20 [[ 9.99928043e-01 -1.18341014e-02 -1.96542136e-03 8.87591708e+01] [ 1.18341729e-02 9.99929973e-01 2.47960894e-05 5.90804708e+00] [ 1.96499029e-03 -4.80534414e-05 9.99998068e-01 2.00539303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96439141799998 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:88.82, Y:5.90, Z:0.20 [[ 9.99901838e-01 -1.38726980e-02 -1.96541927e-03 8.88198895e+01] [ 1.38727739e-02 9.99903768e-01 2.49610040e-05 5.90351850e+00] [ 1.96488386e-03 -5.22243709e-05 9.99998068e-01 2.02193538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02439141799998 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:88.88, Y:5.91, Z:0.20 [[ 9.99899096e-01 -1.40689545e-02 -1.96541772e-03 8.88817048e+01] [ 1.40690310e-02 9.99901026e-01 2.50823814e-05 5.90703882e+00] [ 1.96487031e-03 -5.27313733e-05 9.99998068e-01 2.01766566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08439141799998 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:88.94, Y:5.91, Z:0.20 [[ 9.99925743e-01 -1.20268839e-02 -1.96541564e-03 8.89429998e+01] [ 1.20269567e-02 9.99927673e-01 2.52444594e-05 5.90819244e+00] [ 1.96496987e-03 -4.88805535e-05 9.99998068e-01 1.99453104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14439141799998 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:89.01, Y:5.90, Z:0.20 [[ 9.99938661e-01 -1.09000191e-02 -1.96541409e-03 8.90055088e+01] [ 1.09000900e-02 9.99940592e-01 2.53641273e-05 5.90380630e+00] [ 1.96502086e-03 -4.67857620e-05 9.99998068e-01 2.02116355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20439141799999 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:89.07, Y:5.90, Z:0.21 [[ 9.99965529e-01 -8.06707189e-03 -1.96541197e-03 8.90674204e+01] [ 8.06713764e-03 9.99967460e-01 2.55276715e-05 5.90428718e+00] [ 1.96514208e-03 -4.13820404e-05 9.99998068e-01 2.06764144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26439141799999 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:89.13, Y:5.91, Z:0.20 [[ 9.99988204e-01 -4.44172367e-03 -1.96540986e-03 8.91278467e+01] [ 4.44178274e-03 9.99990135e-01 2.56887342e-05 5.90550727e+00] [ 1.96527637e-03 -3.44183548e-05 9.99998068e-01 2.03158928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32439141799999 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:89.19, Y:5.90, Z:0.20 [[ 9.99995903e-01 -2.08128824e-03 -1.96540935e-03 8.91880936e+01] [ 2.08134282e-03 9.99997834e-01 2.57282373e-05 5.89928022e+00] [ 1.96535154e-03 -2.98188225e-05 9.99998068e-01 1.98704892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38439141799998 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:89.25, Y:5.90, Z:0.21 [[ 9.99988339e-01 4.41120485e-03 -1.96540762e-03 8.92482421e+01] [-4.41116254e-03 9.99990270e-01 2.58592571e-05 5.90209466e+00] [ 1.96550257e-03 -1.71892231e-05 9.99998068e-01 2.07035762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44439141799998 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:89.31, Y:5.91, Z:0.21 [[ 9.99946111e-01 1.01936921e-02 -1.96540762e-03 8.93067488e+01] [-1.01936610e-02 9.99948043e-01 2.58592571e-05 5.90544153e+00] [ 1.96556911e-03 -5.82316462e-06 9.99998068e-01 2.08456274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50439141799998 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:89.37, Y:5.90, Z:0.20 [[ 9.99942875e-01 1.05063632e-02 -1.96541488e-03 8.93656359e+01] [-1.05063338e-02 9.99944807e-01 2.52955180e-05 5.89710878e+00] [ 1.96557216e-03 -4.64476831e-06 9.99998068e-01 2.03328786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56439141799999 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:89.42, Y:5.89, Z:0.21 [[ 9.99997236e-01 1.29005879e-03 -1.96541696e-03 8.94238061e+01] [-1.29001188e-03 9.99999168e-01 2.51323749e-05 5.89320909e+00] [ 1.96544775e-03 -2.25968942e-05 9.99998068e-01 2.05790087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62439141799999 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:89.48, Y:5.89, Z:0.21 [[ 9.99941547e-01 -1.06320031e-02 -1.96541951e-03 8.94838082e+01] [ 1.06320727e-02 9.99943478e-01 2.49320199e-05 5.88914485e+00] [ 1.96504334e-03 -4.58270456e-05 9.99998068e-01 2.08464407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68439141799999 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:89.55, Y:5.88, Z:0.21 [[ 9.99749147e-01 -2.23109666e-02 -1.96542050e-03 8.95452532e+01] [ 2.23110585e-02 9.99751077e-01 2.48537636e-05 5.88171425e+00] [ 1.96437675e-03 -6.86981407e-05 9.99998068e-01 2.06979637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74439141799998 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:89.61, Y:5.88, Z:0.20 [[ 9.99520632e-01 -3.08973026e-02 -1.96541949e-03 8.96077416e+01] [ 3.08974112e-02 9.99522561e-01 2.49331586e-05 5.87752290e+00] [ 1.96371075e-03 -8.56475806e-05 9.99998068e-01 2.04358000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80439141799998 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:89.67, Y:5.87, Z:0.21 [[ 9.99235069e-01 -3.90565422e-02 -1.96541678e-03 8.96686342e+01] [ 3.90566670e-02 9.99236997e-01 2.51448423e-05 5.87207521e+00] [ 1.96293509e-03 -1.01888237e-04 9.99998068e-01 2.05800442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86439141799998 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:89.73, Y:5.87, Z:0.21 [[ 9.99009314e-01 -4.44581481e-02 -1.96541516e-03 8.97312432e+01] [ 4.44582836e-02 9.99011241e-01 2.52710436e-05 5.87067245e+00] [ 1.96234833e-03 -1.12624992e-04 9.99998068e-01 2.07661187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92439141799998 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:89.79, Y:5.87, Z:0.21 [[ 9.98896625e-01 -4.69219540e-02 -1.96541208e-03 8.97931047e+01] [ 4.69220947e-02 9.98898552e-01 2.55079469e-05 5.87420785e+00] [ 1.96205040e-03 -1.17701054e-04 9.99998068e-01 2.08879261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98439141799999 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:89.86, Y:5.88, Z:0.21 [[ 9.98850182e-01 -4.79004294e-02 -1.96540998e-03 8.98558582e+01] [ 4.79005723e-02 9.98852108e-01 2.56687379e-05 5.87768151e+00] [ 1.96192436e-03 -1.19783486e-04 9.99998068e-01 2.08468308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04439141799999 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:89.92, Y:5.88, Z:0.21 [[ 9.98713323e-01 -5.06738098e-02 -1.96540675e-03 8.99168452e+01] [ 5.06739585e-02 9.98715249e-01 2.59139522e-05 5.87568502e+00] [ 1.96156853e-03 -1.25475549e-04 9.99998068e-01 2.08091593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10439141799998 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:89.98, Y:5.88, Z:0.21 [[ 9.98680073e-01 -5.13249344e-02 -1.96540516e-03 8.99797179e+01] [ 5.13250846e-02 9.98681999e-01 2.60341788e-05 5.87795003e+00] [ 1.96147855e-03 -1.26874402e-04 9.99998068e-01 2.05901401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16439141799998 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:90.04, Y:5.89, Z:0.21 [[ 9.98902227e-01 -4.68025515e-02 -1.96540195e-03 9.00423744e+01] [ 4.68026934e-02 9.98904153e-01 2.62737988e-05 5.88666298e+00] [ 1.96201849e-03 -1.18231061e-04 9.99998068e-01 2.07744778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22439141799998 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:90.11, Y:5.89, Z:0.21 [[ 9.99112092e-01 -4.20852075e-02 -1.96539685e-03 9.01051470e+01] [ 4.20853411e-02 9.99114019e-01 2.66502127e-05 5.89091275e+00] [ 1.96253397e-03 -1.09340947e-04 9.99998068e-01 2.11224258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28439141799998 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:90.17, Y:5.89, Z:0.21 [[ 9.99217189e-01 -3.95113464e-02 -1.96539370e-03 9.01686751e+01] [ 3.95114755e-02 9.99219116e-01 2.68807530e-05 5.89273481e+00] [ 1.96279686e-03 -1.04515315e-04 9.99998068e-01 2.08596807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34439141799999 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:90.23, Y:5.90, Z:0.21 [[ 9.99390767e-01 -3.48458337e-02 -1.96539056e-03 9.02314876e+01] [ 3.48459543e-02 9.99392695e-01 2.71084613e-05 5.90404268e+00] [ 1.96325235e-03 -9.55778553e-05 9.99998068e-01 2.06284485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40439141799999 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:90.29, Y:5.91, Z:0.21 [[ 9.99609832e-01 -2.78625456e-02 -1.96538707e-03 9.02924927e+01] [ 2.78626531e-02 9.99611761e-01 2.73592154e-05 5.90750240e+00] [ 1.96386173e-03 -8.21094387e-05 9.99998068e-01 2.08326360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46439141799998 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:90.36, Y:5.92, Z:0.21 [[ 9.99808970e-01 -1.94463648e-02 -1.96538535e-03 9.03552052e+01] [ 1.94464563e-02 9.99810899e-01 2.74817310e-05 5.91666293e+00] [ 1.96447928e-03 -6.56962616e-05 9.99998068e-01 2.13941875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52439141799998 meters Centerline goodness : 0.999346 with order 1 Centerline is valid? [True, True] Translation: X:90.42, Y:5.92, Z:0.21 [[ 9.99930050e-01 -1.16633316e-02 -1.96538315e-03 9.04171080e+01] [ 1.16634084e-02 9.99931980e-01 2.76383783e-05 5.92280032e+00] [ 1.96492711e-03 -5.05595113e-05 9.99998068e-01 2.11609990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58439141799998 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:90.48, Y:5.92, Z:0.21 [[ 9.99965628e-01 -8.05486936e-03 -1.96538088e-03 9.04786201e+01] [ 8.05493955e-03 9.99967558e-01 2.77987626e-05 5.92270525e+00] [ 1.96509320e-03 -4.36288312e-05 9.99998068e-01 2.09755338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64439141799998 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:90.54, Y:5.92, Z:0.21 [[ 9.99993994e-01 -2.85466815e-03 -1.96537920e-03 9.05399628e+01] [ 2.85472853e-03 9.99995925e-01 2.79168515e-05 5.92485435e+00] [ 1.96529150e-03 -3.35273079e-05 9.99998068e-01 2.07078015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70439141799999 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:90.60, Y:5.93, Z:0.21 [[ 9.99995774e-01 2.14228113e-03 -1.96537815e-03 9.06003588e+01] [-2.14223025e-03 9.99997705e-01 2.79905254e-05 5.92948171e+00] [ 1.96543361e-03 -2.37801145e-05 9.99998068e-01 2.11973457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76439141799999 meters Centerline goodness : 0.999131 with order 1 Centerline is valid? [True, True] Translation: X:90.66, Y:5.93, Z:0.21 [[ 9.99988497e-01 4.37538129e-03 -1.96537815e-03 9.06595307e+01] [-4.37533473e-03 9.99990428e-01 2.79905254e-05 5.93099710e+00] [ 1.96548181e-03 -1.93910161e-05 9.99998068e-01 2.13391011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82439141799999 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:90.72, Y:5.93, Z:0.21 [[ 9.99997307e-01 1.23443711e-03 -1.96538603e-03 9.07186078e+01] [-1.23438559e-03 9.99999238e-01 2.74260573e-05 5.92849163e+00] [ 1.96541839e-03 -2.49999392e-05 9.99998068e-01 2.14379633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88439141799998 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:90.78, Y:5.92, Z:0.21 [[ 9.99989784e-01 -4.07047974e-03 -1.96538830e-03 9.07767491e+01] [ 4.07054118e-03 9.99991715e-01 2.72626574e-05 5.92183819e+00] [ 1.96526104e-03 -3.52625729e-05 9.99998068e-01 2.12196729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94439141799998 meters Centerline goodness : 0.999027 with order 1 Centerline is valid? [True, True] Translation: X:90.84, Y:5.92, Z:0.21 [[ 9.99981075e-01 -5.82975722e-03 -1.96538996e-03 9.08370834e+01] [ 5.82982182e-03 9.99983006e-01 2.71422634e-05 5.92128164e+00] [ 1.96519833e-03 -3.85996230e-05 9.99998068e-01 2.07870291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00439141799998 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:90.90, Y:5.92, Z:0.21 [[ 9.99955841e-01 -9.18987486e-03 -1.96538996e-03 9.08970502e+01] [ 9.18994595e-03 9.99957771e-01 2.71422634e-05 5.91951210e+00] [ 1.96505753e-03 -4.52028923e-05 9.99998068e-01 2.09362013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06439141799999 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:90.96, Y:5.91, Z:0.22 [[ 9.99917863e-01 -1.26650762e-02 -1.96538942e-03 9.09578815e+01] [ 1.26651541e-02 9.99919793e-01 2.71811686e-05 5.91049551e+00] [ 1.96488753e-03 -5.20708959e-05 9.99998068e-01 2.17432990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12439141799999 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:91.02, Y:5.91, Z:0.21 [[ 9.99924140e-01 -1.21593960e-02 -1.96538837e-03 9.10196332e+01] [ 1.21594730e-02 9.99926071e-01 2.72572045e-05 5.90988535e+00] [ 1.96491164e-03 -5.11532237e-05 9.99998068e-01 2.13935554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18439141799999 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:91.08, Y:5.91, Z:0.21 [[ 9.99958368e-01 -8.91061334e-03 -1.96538615e-03 9.10806156e+01] [ 8.91068443e-03 9.99960299e-01 2.74160281e-05 5.90651651e+00] [ 1.96506383e-03 -4.49278225e-05 9.99998068e-01 2.07971559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24439141799998 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:91.14, Y:5.90, Z:0.21 [[ 9.99983826e-01 -5.33717945e-03 -1.96538506e-03 9.11418366e+01] [ 5.33724379e-03 9.99985756e-01 2.74938967e-05 5.90088141e+00] [ 1.96521033e-03 -3.79831912e-05 9.99998068e-01 2.08679383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30439141799998 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:91.20, Y:5.90, Z:0.21 [[ 9.99997954e-01 4.78430135e-04 -1.96538399e-03 9.12020470e+01] [-4.78376872e-04 9.99999885e-01 2.75704901e-05 5.90411308e+00] [ 1.96539695e-03 -2.66302394e-05 9.99998068e-01 2.11273222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36439141799998 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:91.26, Y:5.91, Z:0.21 [[ 9.99950705e-01 9.73271430e-03 -1.96538346e-03 9.12615196e+01] [-9.73267883e-03 9.99952636e-01 2.76080914e-05 5.90858224e+00] [ 1.96555907e-03 -8.47828449e-06 9.99998068e-01 2.14478120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42439141799998 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:91.32, Y:5.90, Z:0.21 [[ 9.99901068e-01 1.39280740e-02 -1.96538458e-03 9.13192710e+01] [-1.39280468e-02 9.99903000e-01 2.75282106e-05 5.90212609e+00] [ 1.96557735e-03 -1.51518715e-07 9.99998068e-01 2.11475733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48439141799999 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:91.38, Y:5.90, Z:0.21 [[ 9.99790880e-01 2.03552072e-02 -1.96539340e-03 9.13768881e+01] [-2.03551937e-02 9.99792811e-01 2.68833757e-05 5.89608475e+00] [ 1.96553341e-03 1.31282095e-05 9.99998068e-01 2.06217955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54439141799999 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:91.44, Y:5.90, Z:0.21 [[ 9.99763941e-01 2.16379155e-02 -1.96539630e-03 9.14357178e+01] [-2.16379049e-02 9.99765873e-01 2.66699557e-05 5.89930977e+00] [ 1.96551323e-03 1.58633981e-05 9.99998068e-01 2.12566791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60439141799998 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:91.49, Y:5.89, Z:0.21 [[ 9.99775887e-01 2.10787181e-02 -1.96539859e-03 9.14934344e+01] [-2.10787067e-02 9.99777819e-01 2.64996262e-05 5.89335457e+00] [ 1.96552050e-03 1.49343731e-05 9.99998068e-01 2.10973536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66439141799998 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:91.55, Y:5.88, Z:0.21 [[ 9.99924575e-01 1.21236091e-02 -1.96540113e-03 9.15521652e+01] [-1.21235808e-02 9.99926506e-01 2.63102975e-05 5.87945417e+00] [ 1.96557566e-03 -2.48061374e-06 9.99998068e-01 2.10247661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72439141799998 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:91.61, Y:5.88, Z:0.21 [[ 9.99947886e-01 1.00180767e-02 -1.96540326e-03 9.16109198e+01] [-1.00180447e-02 9.99949818e-01 2.61497975e-05 5.87653834e+00] [ 1.96556660e-03 -6.45893708e-06 9.99998068e-01 2.06940834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78439141799998 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:91.67, Y:5.88, Z:0.21 [[ 9.99987166e-01 4.66960969e-03 -1.96540536e-03 9.16698405e+01] [-4.66956763e-03 9.99989097e-01 2.59909370e-05 5.87659839e+00] [ 1.96550530e-03 -1.68130101e-05 9.99998068e-01 2.09482368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84439141799999 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:91.73, Y:5.87, Z:0.21 [[ 9.99997471e-01 -1.09324223e-03 -1.96540742e-03 9.17279818e+01] [ 1.09329511e-03 9.99999402e-01 2.58343268e-05 5.86779722e+00] [ 1.96537800e-03 -2.79830318e-05 9.99998068e-01 2.12376706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90439141799999 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:91.79, Y:5.86, Z:0.21 [[ 9.99961845e-01 -8.51145340e-03 -1.96540893e-03 9.17878344e+01] [ 8.51152038e-03 9.99963776e-01 2.57188105e-05 5.85941701e+00] [ 1.96511883e-03 -4.24464475e-05 9.99998068e-01 2.13617598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96439141799998 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:91.85, Y:5.86, Z:0.21 [[ 9.99880141e-01 -1.53571225e-02 -1.96540993e-03 9.18490728e+01] [ 1.53572025e-02 9.99882071e-01 2.56420636e-05 5.85625970e+00] [ 1.96478437e-03 -5.58221885e-05 9.99998068e-01 2.12842608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02439141799998 meters Centerline goodness : 0.998827 with order 1 Centerline is valid? [True, True] Translation: X:91.91, Y:5.85, Z:0.21 [[ 9.99851126e-01 -1.71424069e-02 -1.96540895e-03 9.19105172e+01] [ 1.71424906e-02 9.99853056e-01 2.57176110e-05 5.84787220e+00] [ 1.96467928e-03 -5.94057866e-05 9.99998068e-01 2.10712337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08439141799998 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:91.97, Y:5.84, Z:0.21 [[ 9.99885133e-01 -1.50285955e-02 -1.96540747e-03 9.19728545e+01] [ 1.50286753e-02 9.99887063e-01 2.58297988e-05 5.83859259e+00] [ 1.96479732e-03 -5.53643025e-05 9.99998068e-01 2.10331812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14439141799998 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:92.03, Y:5.84, Z:0.21 [[ 9.99980147e-01 -5.98696788e-03 -1.96540538e-03 9.20342797e+01] [ 5.98703052e-03 9.99982077e-01 2.59882847e-05 5.84201327e+00] [ 1.96521456e-03 -3.77547107e-05 9.99998068e-01 2.11724169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20439141799999 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:92.09, Y:5.84, Z:0.21 [[ 9.99998059e-01 1.37682310e-04 -1.96540382e-03 9.20946833e+01] [-1.37631269e-04 9.99999990e-01 2.61051778e-05 5.84153948e+00] [ 1.96540740e-03 -2.58346261e-05 9.99998068e-01 2.14070140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26439141799999 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:92.15, Y:5.83, Z:0.21 [[ 9.99987740e-01 4.54494208e-03 -1.96540382e-03 9.21540324e+01] [-4.54489955e-03 9.99989672e-01 2.61051778e-05 5.83392219e+00] [ 1.96550217e-03 -1.71722948e-05 9.99998068e-01 2.11881389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32439141799998 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:92.21, Y:5.83, Z:0.21 [[ 9.99988075e-01 4.47069828e-03 -1.96540437e-03 9.22128163e+01] [-4.47065569e-03 9.99990006e-01 2.60641218e-05 5.83390959e+00] [ 1.96550125e-03 -1.72771648e-05 9.99998068e-01 2.08787026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38439141799998 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:92.27, Y:5.84, Z:0.21 [[ 9.99996372e-01 -1.84204764e-03 -1.96540658e-03 9.22718419e+01] [ 1.84210210e-03 9.99998303e-01 2.58963763e-05 5.83542071e+00] [ 1.96535554e-03 -2.95167619e-05 9.99998068e-01 2.11880209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44439141799998 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:92.33, Y:5.82, Z:0.21 [[ 9.99939627e-01 -1.08110858e-02 -1.96540820e-03 9.23310815e+01] [ 1.08111573e-02 9.99941557e-01 2.57725175e-05 5.82491615e+00] [ 1.96501471e-03 -4.70192987e-05 9.99998068e-01 2.09184968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50439141799998 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:92.39, Y:5.82, Z:0.21 [[ 9.99878550e-01 -1.54603698e-02 -1.96540928e-03 9.23928451e+01] [ 1.54604501e-02 9.99880480e-01 2.56903390e-05 5.82351855e+00] [ 1.96477719e-03 -5.60733310e-05 9.99998068e-01 2.05629785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56439141799999 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:92.45, Y:5.83, Z:0.21 [[ 9.99705330e-01 -2.41948411e-02 -1.96540820e-03 9.24548444e+01] [ 2.41949385e-02 9.99707259e-01 2.57726145e-05 5.82862963e+00] [ 1.96420928e-03 -7.33179505e-05 9.99998068e-01 2.12728108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62439141799999 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:92.52, Y:5.82, Z:0.21 [[ 9.99379929e-01 -3.51552841e-02 -1.96540604e-03 9.25169676e+01] [ 3.51554029e-02 9.99381857e-01 2.59358987e-05 5.81983673e+00] [ 1.96327936e-03 -9.50144579e-05 9.99998068e-01 2.14660449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68439141799999 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:92.58, Y:5.82, Z:0.22 [[ 9.99052438e-01 -4.34783191e-02 -1.96540400e-03 9.25787168e+01] [ 4.34784543e-02 9.99054365e-01 2.60896669e-05 5.81836953e+00] [ 1.96241111e-03 -1.11517673e-04 9.99998068e-01 2.16390013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74439141799998 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:92.64, Y:5.83, Z:0.21 [[ 9.98503937e-01 -5.46445374e-02 -1.96540195e-03 9.26416063e+01] [ 5.46446944e-02 9.98505862e-01 2.62431872e-05 5.82566938e+00] [ 1.96103132e-03 -1.33602715e-04 9.99998068e-01 2.11691976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80439141799998 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:92.70, Y:5.82, Z:0.21 [[ 9.98286005e-01 -5.84909289e-02 -1.96539938e-03 9.27025994e+01] [ 5.84910938e-02 9.98287930e-01 2.64345990e-05 5.82439826e+00] [ 1.96048829e-03 -1.41347650e-04 9.99998068e-01 2.07077050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86439141799998 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:92.76, Y:5.83, Z:0.21 [[ 9.98414249e-01 -5.62594376e-02 -1.96539786e-03 9.27649087e+01] [ 5.62595983e-02 9.98416174e-01 2.65471769e-05 5.82648077e+00] [ 1.96079148e-03 -1.37077574e-04 9.99998068e-01 2.11497586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92439141799998 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:92.83, Y:5.84, Z:0.22 [[ 9.98794159e-01 -4.90547085e-02 -1.96539560e-03 9.28257376e+01] [ 4.90548557e-02 9.98796086e-01 2.67135257e-05 5.84120581e+00] [ 1.96171900e-03 -1.23093511e-04 9.99998068e-01 2.16252263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98439141799999 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:92.89, Y:5.85, Z:0.22 [[ 9.99016470e-01 -4.42970593e-02 -1.96539448e-03 9.28881819e+01] [ 4.42971975e-02 9.99018397e-01 2.67955805e-05 5.84518362e+00] [ 1.96227827e-03 -1.13830694e-04 9.99998068e-01 2.15303324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04439141799999 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:92.95, Y:5.84, Z:0.21 [[ 9.99134517e-01 -4.15494269e-02 -1.96539227e-03 9.29500100e+01] [ 4.15495601e-02 9.99136444e-01 2.69561393e-05 5.84437023e+00] [ 1.96257504e-03 -1.08593994e-04 9.99998068e-01 2.11106099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10439141799998 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:93.01, Y:5.85, Z:0.21 [[ 9.99248040e-01 -3.87232804e-02 -1.96539007e-03 9.30128921e+01] [ 3.87234085e-02 9.99249967e-01 2.71161220e-05 5.85320341e+00] [ 1.96286594e-03 -1.03202334e-04 9.99998068e-01 2.13850674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16439141799998 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:93.08, Y:5.87, Z:0.22 [[ 9.99566286e-01 -2.93832873e-02 -1.96538668e-03 9.30755073e+01] [ 2.93833978e-02 9.99568214e-01 2.73597524e-05 5.86813640e+00] [ 1.96373413e-03 -8.50976246e-05 9.99998068e-01 2.17490685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22439141799998 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:93.14, Y:5.87, Z:0.22 [[ 9.99751509e-01 -2.22049114e-02 -1.96538444e-03 9.31378855e+01] [ 2.22050083e-02 9.99753438e-01 2.75193905e-05 5.87224104e+00] [ 1.96428879e-03 -7.11539301e-05 9.99998068e-01 2.16219227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28439141799998 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:93.20, Y:5.88, Z:0.22 [[ 9.99884046e-01 -1.51006998e-02 -1.96538223e-03 9.32006164e+01] [ 1.51007833e-02 9.99885976e-01 2.76760378e-05 5.87954470e+00] [ 1.96474021e-03 -5.73516399e-05 9.99998068e-01 2.17917018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34439141799999 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:93.26, Y:5.89, Z:0.22 [[ 9.99934478e-01 -1.12772427e-02 -1.96538006e-03 9.32633291e+01] [ 1.12773192e-02 9.99936409e-01 2.78298746e-05 5.88536772e+00] [ 1.96494123e-03 -4.99922694e-05 9.99998068e-01 2.17524435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40439141799999 meters Centerline goodness : 0.998877 with order 1 Centerline is valid? [True, True] Translation: X:93.33, Y:5.89, Z:0.22 [[ 9.99956123e-01 -9.15914007e-03 -1.96537790e-03 9.33252089e+01] [ 9.15921275e-03 9.99958053e-01 2.79811364e-05 5.88593222e+00] [ 1.96503918e-03 -4.59812230e-05 9.99998068e-01 2.18641203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46439141799998 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:93.39, Y:5.89, Z:0.22 [[ 9.99982704e-01 -5.54339842e-03 -1.96537562e-03 9.33870836e+01] [ 5.54346443e-03 9.99984634e-01 2.81403752e-05 5.89148715e+00] [ 1.96518943e-03 -3.90348783e-05 9.99998068e-01 2.22139021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52439141799998 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:93.45, Y:5.89, Z:0.22 [[ 9.99978284e-01 -6.29045342e-03 -1.96537328e-03 9.34478679e+01] [ 6.29052119e-03 9.99980214e-01 2.83028626e-05 5.88905485e+00] [ 1.96515636e-03 -4.06654702e-05 9.99998068e-01 2.17120798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58439141799998 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:93.51, Y:5.88, Z:0.22 [[ 9.99955186e-01 -9.26084624e-03 -1.96537271e-03 9.35095530e+01] [ 9.26091983e-03 9.99957116e-01 2.83425900e-05 5.88376859e+00] [ 1.96502595e-03 -4.65424790e-05 9.99998068e-01 2.16772782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64439141799998 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:93.57, Y:5.89, Z:0.22 [[ 9.99926968e-01 -1.19246016e-02 -1.96537157e-03 9.35717738e+01] [ 1.19246804e-02 9.99928898e-01 2.84216922e-05 5.88630246e+00] [ 1.96489291e-03 -5.18560444e-05 9.99998068e-01 2.19876266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70439141799999 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:93.63, Y:5.89, Z:0.22 [[ 9.99892386e-01 -1.45380401e-02 -1.96536914e-03 9.36330942e+01] [ 1.45381244e-02 9.99894315e-01 2.85886830e-05 5.88971792e+00] [ 1.96474580e-03 -5.71583875e-05 9.99998068e-01 2.22367242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76439141799999 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:93.70, Y:5.89, Z:0.22 [[ 9.99840800e-01 -1.77344962e-02 -1.96536518e-03 9.36956536e+01] [ 1.77345872e-02 9.99842729e-01 2.88582042e-05 5.88599106e+00] [ 1.96454430e-03 -6.37085501e-05 9.99998068e-01 2.20706956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82439141799998 meters Centerline goodness : 0.998900 with order 1 Centerline is valid? [True, True] Translation: X:93.76, Y:5.88, Z:0.22 [[ 9.99844528e-01 -1.75230698e-02 -1.96536270e-03 9.37567830e+01] [ 1.75231606e-02 9.99846457e-01 2.90262635e-05 5.87875078e+00] [ 1.96455230e-03 -6.34611170e-05 9.99998068e-01 2.15463286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88439141799998 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:93.82, Y:5.88, Z:0.22 [[ 9.99865552e-01 -1.62792855e-02 -1.96536085e-03 9.38189943e+01] [ 1.62793742e-02 9.99867482e-01 2.91506924e-05 5.87965163e+00] [ 1.96462585e-03 -6.11416179e-05 9.99998068e-01 2.18239316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94439141799998 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:93.88, Y:5.88, Z:0.22 [[ 9.99874024e-01 -1.57503253e-02 -1.96535853e-03 9.38811022e+01] [ 1.57504133e-02 9.99875954e-01 2.93063708e-05 5.87937438e+00] [ 1.96465315e-03 -6.02578881e-05 9.99998068e-01 2.20921735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00439141799998 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:93.94, Y:5.87, Z:0.22 [[ 9.99919794e-01 -1.25117450e-02 -1.96535623e-03 9.39428875e+01] [ 1.25118270e-02 9.99921724e-01 2.94596589e-05 5.87416575e+00] [ 1.96483380e-03 -5.40474933e-05 9.99998068e-01 2.16947521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06439141799999 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:94.00, Y:5.87, Z:0.22 [[ 9.99945095e-01 -1.02928877e-02 -1.96535393e-03 9.40039266e+01] [ 1.02929658e-02 9.99947026e-01 2.96127188e-05 5.87121650e+00] [ 1.96494501e-03 -4.98404137e-05 9.99998068e-01 2.15330334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12439141799999 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:94.07, Y:5.87, Z:0.22 [[ 9.99972872e-01 -7.09871368e-03 -1.96535279e-03 9.40655668e+01] [ 7.09878573e-03 9.99974803e-01 2.96880089e-05 5.87111143e+00] [ 1.96509252e-03 -4.36388218e-05 9.99998068e-01 2.19856819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18439141799999 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:94.13, Y:5.87, Z:0.22 [[ 9.99997922e-01 -5.41844895e-04 -1.96535157e-03 9.41270849e+01] [ 5.41904448e-04 9.99999853e-01 2.97687720e-05 5.87005482e+00] [ 1.96533515e-03 -3.08337429e-05 9.99998068e-01 2.20381062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24439141799998 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:94.19, Y:5.87, Z:0.22 [[ 9.99989377e-01 4.16940320e-03 -1.96535034e-03 9.41865971e+01] [-4.16935259e-03 9.99991308e-01 2.98492341e-05 5.86711258e+00] [ 1.96545771e-03 -2.16546785e-05 9.99998068e-01 2.16597343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30439141799998 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:94.25, Y:5.86, Z:0.22 [[ 9.99983930e-01 5.31758018e-03 -1.96535156e-03 9.42454820e+01] [-5.31753194e-03 9.99985861e-01 2.97691151e-05 5.86410180e+00] [ 1.96548207e-03 -1.93178170e-05 9.99998068e-01 2.17669703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36439141799998 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:94.30, Y:5.86, Z:0.22 [[ 9.99982398e-01 5.59834826e-03 -1.96535394e-03 9.43043965e+01] [-5.59830088e-03 9.99984329e-01 2.96109910e-05 5.86264781e+00] [ 1.96548891e-03 -1.86078271e-05 9.99998068e-01 2.22230528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42439141799998 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:94.36, Y:5.86, Z:0.22 [[ 9.99992321e-01 3.39039967e-03 -1.96535634e-03 9.43630707e+01] [-3.39034833e-03 9.99994252e-01 2.94508987e-05 5.86040308e+00] [ 1.96544489e-03 -2.27874299e-05 9.99998068e-01 2.20028073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48439141799999 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:94.42, Y:5.85, Z:0.22 [[ 9.99987076e-01 -4.68887016e-03 -1.96535869e-03 9.44228531e+01] [ 4.68893678e-03 9.99989006e-01 2.92929420e-05 5.85460544e+00] [ 1.96519974e-03 -3.85080061e-05 9.99998068e-01 2.20449515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54439141799999 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:94.48, Y:5.85, Z:0.22 [[ 9.99956345e-01 -9.13485191e-03 -1.96535990e-03 9.44832910e+01] [ 9.13492696e-03 9.99958275e-01 2.92120576e-05 5.85114697e+00] [ 1.96501104e-03 -4.71642014e-05 9.99998068e-01 2.22199929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60439141799998 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:94.54, Y:5.85, Z:0.23 [[ 9.99903914e-01 -1.37222777e-02 -1.96535990e-03 9.45440732e+01] [ 1.37223616e-02 9.99905844e-01 2.92120576e-05 5.85135148e+00] [ 1.96477399e-03 -5.61786299e-05 9.99998068e-01 2.26044431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66439141799998 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:94.61, Y:5.85, Z:0.22 [[ 9.99898677e-01 -1.40987066e-02 -1.96535213e-03 9.46061950e+01] [ 1.40987923e-02 9.99900607e-01 2.97255703e-05 5.85049505e+00] [ 1.96473769e-03 -5.74316498e-05 9.99998068e-01 2.21760749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72439141799998 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:94.67, Y:5.84, Z:0.22 [[ 9.99931584e-01 -1.15310002e-02 -1.96534979e-03 9.46687831e+01] [ 1.15310812e-02 9.99933514e-01 2.98792455e-05 5.84415346e+00] [ 1.96487459e-03 -5.25398093e-05 9.99998068e-01 2.20657875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78439141799998 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:94.73, Y:5.84, Z:0.23 [[ 9.99993328e-01 -3.07908476e-03 -1.96534733e-03 9.47302371e+01] [ 3.07914975e-03 9.99995259e-01 3.00401286e-05 5.84479285e+00] [ 1.96524552e-03 -3.60915269e-05 9.99998068e-01 2.25793584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84439141799999 meters Centerline goodness : 0.999368 with order 1 Centerline is valid? [True, True] Translation: X:94.79, Y:5.85, Z:0.23 [[ 9.99987911e-01 4.50719171e-03 -1.96534551e-03 9.47903201e+01] [-4.50714114e-03 9.99989842e-01 3.01588159e-05 5.84838861e+00] [ 1.96546148e-03 -2.13003617e-05 9.99998068e-01 2.27035940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90439141799999 meters Centerline goodness : 0.999368 with order 1 Centerline is valid? [True, True] Translation: X:94.85, Y:5.84, Z:0.22 [[ 9.99899216e-01 1.40604236e-02 -1.96534551e-03 9.48486458e+01] [-1.40603915e-02 9.99901147e-01 3.01588159e-05 5.84392786e+00] [ 1.96557528e-03 -2.52224902e-06 9.99998068e-01 2.19302541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96439141799998 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:94.91, Y:5.84, Z:0.22 [[ 9.99838619e-01 1.78569980e-02 -1.96535383e-03 9.49064329e+01] [-1.78569743e-02 9.99840551e-01 2.96069026e-05 5.83784670e+00] [ 1.96556914e-03 5.49314818e-06 9.99998068e-01 2.18221990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02439141799998 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:94.96, Y:5.84, Z:0.22 [[ 9.99791561e-01 2.03216951e-02 -1.96535671e-03 9.49649800e+01] [-2.03216766e-02 9.99793493e-01 2.94140634e-05 5.84136103e+00] [ 1.96554860e-03 1.05314110e-05 9.99998068e-01 2.23762411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08439141799998 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:95.02, Y:5.84, Z:0.22 [[ 9.99716542e-01 2.37270516e-02 -1.96535896e-03 9.50233689e+01] [-2.37270399e-02 9.99718474e-01 2.92628224e-05 5.83788591e+00] [ 1.96549998e-03 1.73776229e-05 9.99998068e-01 2.24448552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14439141799998 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:95.08, Y:5.83, Z:0.22 [[ 9.99712520e-01 2.38959035e-02 -1.96536252e-03 9.50810811e+01] [-2.38958926e-02 9.99714452e-01 2.90219217e-05 5.83078600e+00] [ 1.96549482e-03 1.79505132e-05 9.99998068e-01 2.21192599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20439141799999 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:95.14, Y:5.83, Z:0.22 [[ 9.99822737e-01 1.87251788e-02 -1.96536604e-03 9.51395183e+01] [-1.87251584e-02 9.99824668e-01 2.87818855e-05 5.82593194e+00] [ 1.96556039e-03 8.02500680e-06 9.99998068e-01 2.23629256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26439141799999 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:95.20, Y:5.82, Z:0.23 [[ 9.99927347e-01 1.18927901e-02 -1.96536834e-03 9.51983084e+01] [-1.18927568e-02 9.99929278e-01 2.86236673e-05 5.81952872e+00] [ 1.96556976e-03 -5.24793997e-06 9.99998068e-01 2.26544131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32439141799998 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:95.26, Y:5.81, Z:0.22 [[ 9.99967668e-01 7.79745203e-03 -1.96537062e-03 9.52573479e+01] [-7.79741114e-03 9.99969599e-01 2.84661932e-05 5.81286951e+00] [ 1.96553284e-03 -1.31404700e-05 9.99998068e-01 2.24780135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38439141799998 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:95.32, Y:5.81, Z:0.22 [[ 9.99997693e-01 8.66707051e-04 -1.96537294e-03 9.53156890e+01] [-8.66653093e-04 9.99999624e-01 2.83055038e-05 5.80518829e+00] [ 1.96539673e-03 -2.66021420e-05 9.99998068e-01 2.22649328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44439141799998 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:95.37, Y:5.80, Z:0.22 [[ 9.99985174e-01 -5.07836923e-03 -1.96537523e-03 9.53739618e+01] [ 5.07843435e-03 9.99987104e-01 2.81450061e-05 5.79966426e+00] [ 1.96520696e-03 -3.81256179e-05 9.99998068e-01 2.22459382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50439141799998 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:95.43, Y:5.79, Z:0.22 [[ 9.99968249e-01 -7.72260318e-03 -1.96537692e-03 9.54341408e+01] [ 7.72267317e-03 9.99970179e-01 2.80265878e-05 5.79407127e+00] [ 1.96510188e-03 -4.32036616e-05 9.99998068e-01 2.21618858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56439141799999 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:95.50, Y:5.79, Z:0.22 [[ 9.99956689e-01 -9.09708814e-03 -1.96537692e-03 9.54958440e+01] [ 9.09716079e-03 9.99958620e-01 2.80265878e-05 5.79156778e+00] [ 1.96504063e-03 -4.59047239e-05 9.99998068e-01 2.21637908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62439141799999 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:95.56, Y:5.79, Z:0.22 [[ 9.99903156e-01 -1.37773843e-02 -1.96537579e-03 9.55567556e+01] [ 1.37774661e-02 9.99905086e-01 2.81058211e-05 5.79015308e+00] [ 1.96480202e-03 -5.51809975e-05 9.99998068e-01 2.18797954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68439141799999 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:95.62, Y:5.79, Z:0.22 [[ 9.99833358e-01 -1.81492199e-02 -1.96537458e-03 9.56184309e+01] [ 1.81493103e-02 9.99835287e-01 2.81899367e-05 5.78629258e+00] [ 1.96453924e-03 -6.38554323e-05 9.99998068e-01 2.20438364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74439141799998 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:95.68, Y:5.78, Z:0.22 [[ 9.99838364e-01 -1.78712943e-02 -1.96537207e-03 9.56809871e+01] [ 1.78713845e-02 9.99840294e-01 2.83637853e-05 5.78059544e+00] [ 1.96455129e-03 -6.34831209e-05 9.99998068e-01 2.19724223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80439141799998 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:95.74, Y:5.78, Z:0.22 [[ 9.99936324e-01 -1.11124232e-02 -1.96536972e-03 9.57417701e+01] [ 1.11125007e-02 9.99938254e-01 2.85263511e-05 5.78243761e+00] [ 1.96493136e-03 -5.03647069e-05 9.99998068e-01 2.21680055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86439141799998 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:95.80, Y:5.79, Z:0.22 [[ 9.99996663e-01 1.67692291e-03 -1.96536797e-03 9.58030972e+01] [-1.67686984e-03 9.99998594e-01 2.86463313e-05 5.78594343e+00] [ 1.96541324e-03 -2.53505695e-05 9.99998068e-01 2.22713072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92439141799998 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:95.86, Y:5.78, Z:0.22 [[ 9.99949944e-01 9.81058985e-03 -1.96536673e-03 9.58620083e+01] [-9.81055233e-03 9.99951875e-01 2.87306270e-05 5.78312715e+00] [ 1.96555402e-03 -9.44785569e-06 9.99998068e-01 2.21863933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98439141799999 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:95.92, Y:5.79, Z:0.22 [[ 9.99885607e-01 1.49969962e-02 -1.96536858e-03 9.59200145e+01] [-1.49969690e-02 9.99887539e-01 2.86041161e-05 5.78584359e+00] [ 1.96557652e-03 8.73727488e-07 9.99998068e-01 2.23244580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04439141799999 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:95.98, Y:5.78, Z:0.22 [[ 9.99945559e-01 1.02477317e-02 -1.96537228e-03 9.59786400e+01] [-1.02476958e-02 9.99947491e-01 2.83474686e-05 5.78371989e+00] [ 1.96555957e-03 -8.20538808e-06 9.99998068e-01 2.24174725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10439141799998 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:96.04, Y:5.78, Z:0.22 [[ 9.99995838e-01 2.11216606e-03 -1.96537473e-03 9.60378357e+01] [-2.11211476e-03 9.99997769e-01 2.81765543e-05 5.77744656e+00] [ 1.96542986e-03 -2.40253401e-05 9.99998068e-01 2.22725954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16439141799998 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:96.10, Y:5.78, Z:0.22 [[ 9.99990628e-01 -3.85756056e-03 -1.96537711e-03 9.60978486e+01] [ 3.85762306e-03 9.99992559e-01 2.80092726e-05 5.77929696e+00] [ 1.96525444e-03 -3.55906942e-05 9.99998068e-01 2.23098438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22439141799998 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:96.16, Y:5.77, Z:0.22 [[ 9.99899387e-01 -1.40482492e-02 -1.96537833e-03 9.61569226e+01] [ 1.40483312e-02 9.99901317e-01 2.79236336e-05 5.77450675e+00] [ 1.96479210e-03 -5.55311098e-05 9.99998068e-01 2.20989753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28439141799998 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:96.22, Y:5.77, Z:0.22 [[ 9.99771181e-01 -2.13007824e-02 -1.96537892e-03 9.62192293e+01] [ 2.13008783e-02 9.99773110e-01 2.78815795e-05 5.77060096e+00] [ 1.96433910e-03 -6.97394970e-05 9.99998068e-01 2.22297142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34439141799999 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:96.28, Y:5.77, Z:0.23 [[ 9.99575955e-01 -2.90524816e-02 -1.96537133e-03 9.62813204e+01] [ 2.90525935e-02 9.99577884e-01 2.84068773e-05 5.77467525e+00] [ 1.96371643e-03 -8.54939659e-05 9.99998068e-01 2.28545682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40439141799999 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:96.34, Y:5.77, Z:0.23 [[ 9.99471736e-01 -3.24404900e-02 -1.96536907e-03 9.63437674e+01] [ 3.24406087e-02 9.99473665e-01 2.85627925e-05 5.77288867e+00] [ 1.96340803e-03 -9.23054726e-05 9.99998068e-01 2.26233643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46439141799998 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:96.41, Y:5.78, Z:0.22 [[ 9.99462194e-01 -3.27331503e-02 -1.96536667e-03 9.64063921e+01] [ 3.27332699e-02 9.99464123e-01 2.87265932e-05 5.77531317e+00] [ 1.96337316e-03 -9.30440217e-05 9.99998068e-01 2.24322401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52439141799998 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:96.47, Y:5.78, Z:0.23 [[ 9.99566753e-01 -2.93673883e-02 -1.96536426e-03 9.64683078e+01] [ 2.93675017e-02 9.99568681e-01 2.88903729e-05 5.77979952e+00] [ 1.96366813e-03 -8.65956947e-05 9.99998068e-01 2.26849597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58439141799998 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:96.53, Y:5.78, Z:0.23 [[ 9.99695435e-01 -2.46002792e-02 -1.96536185e-03 9.65302351e+01] [ 2.46003838e-02 9.99697364e-01 2.90534740e-05 5.78220494e+00] [ 1.96405234e-03 -7.73932812e-05 9.99998068e-01 2.28455150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64439141799998 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:96.59, Y:5.79, Z:0.23 [[ 9.99811220e-01 -1.93303555e-02 -1.96535945e-03 9.65926085e+01] [ 1.93304502e-02 9.99813149e-01 2.92149606e-05 5.78559370e+00] [ 1.96442749e-03 -6.72007285e-05 9.99998068e-01 2.26625490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70439141799999 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:96.65, Y:5.79, Z:0.22 [[ 9.99896806e-01 -1.42307537e-02 -1.96535707e-03 9.66535659e+01] [ 1.42308389e-02 9.99898736e-01 2.93741980e-05 5.79121549e+00] [ 1.96474004e-03 -5.73398465e-05 9.99998068e-01 2.23845263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76439141799999 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:96.72, Y:5.79, Z:0.23 [[ 9.99922505e-01 -1.22931333e-02 -1.96535531e-03 9.67162154e+01] [ 1.22932149e-02 9.99924435e-01 2.94915125e-05 5.79416499e+00] [ 1.96484426e-03 -5.36497624e-05 9.99998068e-01 2.25907579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82439141799998 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:96.78, Y:5.80, Z:0.23 [[ 9.99933801e-01 -1.13371689e-02 -1.96535288e-03 9.67778910e+01] [ 1.13372490e-02 9.99935731e-01 2.96524933e-05 5.79964044e+00] [ 1.96489040e-03 -5.19322254e-05 9.99998068e-01 2.29237095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88439141799998 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:96.84, Y:5.81, Z:0.23 [[ 9.99922082e-01 -1.23275009e-02 -1.96534887e-03 9.68393262e+01] [ 1.23275834e-02 9.99924012e-01 2.99159153e-05 5.80545108e+00] [ 1.96483074e-03 -5.41415866e-05 9.99998068e-01 2.33625855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94439141799998 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:96.90, Y:5.81, Z:0.23 [[ 9.99922941e-01 -1.22576601e-02 -1.96534762e-03 9.69000821e+01] [ 1.22577427e-02 9.99924871e-01 2.99984016e-05 5.80538368e+00] [ 1.96483225e-03 -5.40868154e-05 9.99998068e-01 2.27642803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00439141799998 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:96.96, Y:5.80, Z:0.23 [[ 9.99902324e-01 -1.38376239e-02 -1.96534320e-03 9.69625868e+01] [ 1.38377102e-02 9.99904254e-01 3.02847412e-05 5.80431228e+00] [ 1.96473596e-03 -5.74776327e-05 9.99998068e-01 2.28651798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06439141799999 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:97.02, Y:5.81, Z:0.23 [[ 9.99920629e-01 -1.24447737e-02 -1.96534071e-03 9.70234692e+01] [ 1.24448575e-02 9.99922559e-01 3.04454695e-05 5.80806033e+00] [ 1.96480963e-03 -5.49014383e-05 9.99998068e-01 2.27557969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12439141799999 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:97.08, Y:5.82, Z:0.23 [[ 9.99962978e-01 -8.37739040e-03 -1.96533876e-03 9.70846586e+01] [ 8.37746666e-03 9.99964908e-01 3.05708459e-05 5.81606049e+00] [ 1.96501369e-03 -4.70342740e-05 9.99998068e-01 2.31173919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18439141799998 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:97.15, Y:5.81, Z:0.23 [[ 9.99987435e-01 -4.61174888e-03 -1.96533748e-03 9.71455976e+01] [ 4.61181802e-03 9.99989365e-01 3.06531997e-05 5.81338224e+00] [ 1.96517521e-03 -3.97165933e-05 9.99998068e-01 2.29494247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24439141799998 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:97.21, Y:5.82, Z:0.23 [[ 9.99996985e-01 -1.47233467e-03 -1.96533626e-03 9.72059981e+01] [ 1.47239791e-03 9.99998916e-01 3.07313848e-05 5.81501277e+00] [ 1.96528888e-03 -3.36250491e-05 9.99998068e-01 2.27675154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30439141799998 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:97.27, Y:5.82, Z:0.23 [[ 9.99988382e-01 4.40157595e-03 -1.96533626e-03 9.72661608e+01] [-4.40152405e-03 9.99990313e-01 3.07313848e-05 5.82065408e+00] [ 1.96545248e-03 -2.20805530e-05 9.99998068e-01 2.27572792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36439141799998 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:97.33, Y:5.82, Z:0.23 [[ 9.99967585e-01 7.80806646e-03 -1.96533752e-03 9.73253126e+01] [-7.80802130e-03 9.99969516e-01 3.06502066e-05 5.82138175e+00] [ 1.96551693e-03 -1.53038159e-05 9.99998068e-01 2.29571850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42439141799998 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:97.38, Y:5.82, Z:0.23 [[ 9.99969793e-01 7.52000252e-03 -1.96534610e-03 9.73833541e+01] [-7.51995791e-03 9.99971724e-01 3.00897060e-05 5.81961453e+00] [ 1.96551681e-03 -1.53094771e-05 9.99998068e-01 2.30392396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48439141799999 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:97.44, Y:5.82, Z:0.23 [[ 9.99983531e-01 5.39219881e-03 -1.96534909e-03 9.74421753e+01] [-5.39215047e-03 9.99985462e-01 2.98935417e-05 5.81915609e+00] [ 1.96548171e-03 -1.92955914e-05 9.99998068e-01 2.30649681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54439141799999 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:97.50, Y:5.82, Z:0.23 [[ 9.99996969e-01 1.48313728e-03 -1.96535146e-03 9.74997295e+01] [-1.48308170e-03 9.99998900e-01 2.97364757e-05 5.81930317e+00] [ 1.96539340e-03 -2.68216088e-05 9.99998068e-01 2.27938547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60439141799998 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:97.56, Y:5.82, Z:0.23 [[ 9.99985000e-01 -5.11243373e-03 -1.96535436e-03 9.75595411e+01] [ 5.11250167e-03 9.99986931e-01 2.95435474e-05 5.81661076e+00] [ 1.96517764e-03 -3.95909817e-05 9.99998068e-01 2.27111046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66439141799998 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:97.62, Y:5.81, Z:0.23 [[ 9.99946615e-01 -1.01441377e-02 -1.96535541e-03 9.76197250e+01] [ 1.01442153e-02 9.99948546e-01 2.94737757e-05 5.81214155e+00] [ 1.96495530e-03 -4.94091905e-05 9.99998068e-01 2.29386398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72439141799998 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:97.68, Y:5.81, Z:0.23 [[ 9.99861347e-01 -1.65355354e-02 -1.96535541e-03 9.76813495e+01] [ 1.65356253e-02 9.99863277e-01 2.94737757e-05 5.81437270e+00] [ 1.96459934e-03 -6.19680696e-05 9.99998068e-01 2.30636542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78439141799998 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:97.74, Y:5.82, Z:0.23 [[ 9.99776910e-01 -2.10301601e-02 -1.96534741e-03 9.77438493e+01] [ 2.10302596e-02 9.99778839e-01 2.99981867e-05 5.81539879e+00] [ 1.96428188e-03 -7.13232607e-05 9.99998068e-01 2.31714222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84439141799999 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:97.81, Y:5.81, Z:0.23 [[ 9.99637526e-01 -2.68505824e-02 -1.96534495e-03 9.78052331e+01] [ 2.68506935e-02 9.99639455e-01 3.01582421e-05 5.81224420e+00] [ 1.96382659e-03 -8.29181853e-05 9.99998068e-01 2.29061543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90439141799999 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:97.87, Y:5.81, Z:0.23 [[ 9.99506270e-01 -3.13584583e-02 -1.96534313e-03 9.78672286e+01] [ 3.13585784e-02 9.99508198e-01 3.02764396e-05 5.81412161e+00] [ 1.96342715e-03 -9.18918577e-05 9.99998068e-01 2.29429535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96439141799998 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:97.93, Y:5.82, Z:0.23 [[ 9.99340610e-01 -3.62557973e-02 -1.96534070e-03 9.79302651e+01] [ 3.62559271e-02 9.99342537e-01 3.04333223e-05 5.81775655e+00] [ 1.96294518e-03 -1.01668504e-04 9.99998068e-01 2.31242160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02439141799998 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:97.99, Y:5.82, Z:0.23 [[ 9.99180110e-01 -4.04381644e-02 -1.96533699e-03 9.79933728e+01] [ 4.04383028e-02 9.99182037e-01 3.06707233e-05 5.82179013e+00] [ 1.96248915e-03 -1.10120469e-04 9.99998068e-01 2.31927405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08439141799998 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:98.05, Y:5.82, Z:0.23 [[ 9.99282515e-01 -3.78231767e-02 -1.96533304e-03 9.80542428e+01] [ 3.78233105e-02 9.99284442e-01 3.09219138e-05 5.82137968e+00] [ 1.96275717e-03 -1.05235130e-04 9.99998068e-01 2.30386738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14439141799998 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:98.12, Y:5.83, Z:0.23 [[ 9.99425837e-01 -3.38250503e-02 -1.96532790e-03 9.81159818e+01] [ 3.38251770e-02 9.99427764e-01 3.12455120e-05 5.82540212e+00] [ 1.96314639e-03 -9.77051359e-05 9.99998068e-01 2.29658912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20439141799999 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:98.18, Y:5.83, Z:0.23 [[ 9.99576714e-01 -2.90263648e-02 -1.96532603e-03 9.81782792e+01] [ 2.90264824e-02 9.99578642e-01 3.13622778e-05 5.82913249e+00] [ 1.96358760e-03 -8.83955042e-05 9.99998068e-01 2.33088977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26439141799999 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:98.24, Y:5.84, Z:0.24 [[ 9.99793631e-01 -2.02196411e-02 -1.96532348e-03 9.82402901e+01] [ 2.02197421e-02 9.99795560e-01 3.15215124e-05 5.83810042e+00] [ 1.96428434e-03 -7.12533412e-05 9.99998068e-01 2.37067241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32439141799998 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:98.30, Y:5.84, Z:0.23 [[ 9.99930052e-01 -1.16631606e-02 -1.96532090e-03 9.83021615e+01] [ 1.16632454e-02 9.99931982e-01 3.16817952e-05 5.84472695e+00] [ 1.96481771e-03 -5.46015989e-05 9.99998068e-01 2.34196757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38439141799998 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:98.36, Y:5.85, Z:0.23 [[ 9.99967793e-01 -7.78135661e-03 -1.96531834e-03 9.83643039e+01] [ 7.78143421e-03 9.99969724e-01 3.18396387e-05 5.84605766e+00] [ 1.96501108e-03 -4.71316087e-05 9.99998068e-01 2.32670783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44439141799998 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:98.43, Y:5.85, Z:0.23 [[ 9.99991620e-01 -3.59119550e-03 -1.96531581e-03 9.84255184e+01] [ 3.59126531e-03 9.99993551e-01 3.19950974e-05 5.84780330e+00] [ 1.96518823e-03 -3.90527998e-05 9.99998068e-01 2.32742428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50439141799998 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:98.49, Y:5.86, Z:0.23 [[ 9.99991237e-01 3.69630257e-03 -1.96531394e-03 9.84864880e+01] [-3.69624660e-03 9.99993168e-01 3.21097282e-05 5.85505788e+00] [ 1.96541920e-03 -2.48451619e-05 9.99998068e-01 2.34516402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56439141799999 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:98.55, Y:5.86, Z:0.23 [[ 9.99971633e-01 7.27117054e-03 -1.96531394e-03 9.85455673e+01] [-7.27112147e-03 9.99973565e-01 3.21097282e-05 5.85665771e+00] [ 1.96549546e-03 -1.78187810e-05 9.99998068e-01 2.34464941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62439141799999 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:98.60, Y:5.85, Z:0.23 [[ 9.99966787e-01 7.90959595e-03 -1.96532298e-03 9.86045045e+01] [-7.90954923e-03 9.99968719e-01 3.15460155e-05 5.85309680e+00] [ 1.96551102e-03 -1.60001489e-05 9.99998068e-01 2.32880263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68439141799998 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:98.66, Y:5.86, Z:0.24 [[ 9.99992709e-01 3.27410667e-03 -1.96532559e-03 9.86623869e+01] [-3.27405132e-03 9.99994640e-01 3.13827009e-05 5.85564704e+00] [ 1.96541781e-03 -2.49478952e-05 9.99998068e-01 2.36261395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74439141799998 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:98.72, Y:5.85, Z:0.23 [[ 9.99992350e-01 -3.38200185e-03 -1.96532877e-03 9.87212210e+01] [ 3.38206967e-03 9.99994280e-01 3.11823783e-05 5.85343202e+00] [ 1.96521207e-03 -3.78290186e-05 9.99998068e-01 2.34860867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80439141799998 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:98.78, Y:5.85, Z:0.23 [[ 9.99954544e-01 -9.32990156e-03 -1.96533060e-03 9.87817573e+01] [ 9.32998063e-03 9.99956474e-01 3.10666270e-05 5.84826824e+00] [ 1.96495521e-03 -4.94017113e-05 9.99998068e-01 2.32704771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86439141799998 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:98.84, Y:5.85, Z:0.23 [[ 9.99870226e-01 -1.59896297e-02 -1.96533060e-03 9.88441636e+01] [ 1.59897216e-02 9.99872156e-01 3.10666270e-05 5.84686934e+00] [ 1.96458260e-03 -6.24876845e-05 9.99998068e-01 2.33423668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92439141799998 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:98.91, Y:5.85, Z:0.24 [[ 9.99819992e-01 -1.88711627e-02 -1.96532153e-03 9.89056116e+01] [ 1.88712613e-02 9.99821921e-01 3.16302786e-05 5.84512386e+00] [ 1.96437465e-03 -6.87126809e-05 9.99998068e-01 2.35492387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98439141799999 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:98.97, Y:5.84, Z:0.23 [[ 9.99800533e-01 -1.98753938e-02 -1.96531727e-03 9.89674191e+01] [ 1.98754948e-02 9.99802462e-01 3.18928449e-05 5.83928506e+00] [ 1.96429516e-03 -7.09481365e-05 9.99998068e-01 2.33045184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04439141799999 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:99.03, Y:5.84, Z:0.23 [[ 9.99764063e-01 -2.16322788e-02 -1.96531462e-03 9.90297880e+01] [ 2.16323836e-02 9.99765992e-01 3.20548940e-05 5.84195083e+00] [ 1.96416130e-03 -7.45617709e-05 9.99998068e-01 2.33903740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10439141799998 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:99.09, Y:5.84, Z:0.23 [[ 9.99728295e-01 -2.32265642e-02 -1.96531199e-03 9.90918866e+01] [ 2.32266723e-02 9.99730224e-01 3.22156000e-05 5.83796993e+00] [ 1.96403354e-03 -7.78545045e-05 9.99998068e-01 2.34521789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16439141799998 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:99.15, Y:5.83, Z:0.23 [[ 9.99722664e-01 -2.34676750e-02 -1.96530936e-03 9.91541358e+01] [ 2.34677840e-02 9.99724593e-01 3.23750803e-05 5.83467736e+00] [ 1.96400834e-03 -7.84875570e-05 9.99998068e-01 2.33180156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22439141799998 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:99.22, Y:5.84, Z:0.23 [[ 9.99766793e-01 -2.15057442e-02 -1.96530670e-03 9.92156669e+01] [ 2.15058497e-02 9.99768722e-01 3.25362119e-05 5.84083478e+00] [ 1.96415245e-03 -7.47942146e-05 9.99998068e-01 2.32647613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28439141799998 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:99.28, Y:5.84, Z:0.23 [[ 9.99818685e-01 -1.89403134e-02 -1.96530472e-03 9.92775985e+01] [ 1.89404141e-02 9.99820614e-01 3.26550796e-05 5.84071428e+00] [ 1.96433367e-03 -6.98728439e-05 9.99998068e-01 2.31618140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34439141799999 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:99.34, Y:5.84, Z:0.23 [[ 9.99851138e-01 -1.71417424e-02 -1.96530212e-03 9.93397850e+01] [ 1.71418399e-02 9.99853067e-01 3.28107535e-05 5.83797871e+00] [ 1.96445092e-03 -6.64947636e-05 9.99998068e-01 2.31011427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40439141799999 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:99.40, Y:5.84, Z:0.23 [[ 9.99911893e-01 -1.31279472e-02 -1.96529948e-03 9.94007298e+01] [ 1.31280374e-02 9.99913823e-01 3.29683345e-05 5.83597487e+00] [ 1.96469731e-03 -5.87659548e-05 9.99998068e-01 2.31124330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46439141799998 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:99.46, Y:5.84, Z:0.24 [[ 9.99977546e-01 -6.40667406e-03 -1.96529752e-03 9.94634451e+01] [ 6.40675145e-03 9.99979476e-01 3.30845710e-05 5.84117104e+00] [ 1.96504522e-03 -4.56750009e-05 9.99998068e-01 2.35349216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52439141799998 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:99.52, Y:5.84, Z:0.24 [[ 9.99986965e-01 -4.71257127e-03 -1.96529467e-03 9.95241928e+01] [ 4.71264572e-03 9.99988895e-01 3.32528151e-05 5.84193725e+00] [ 1.96511614e-03 -4.25141192e-05 9.99998068e-01 2.39926399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58439141799998 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:99.59, Y:5.84, Z:0.23 [[ 9.99997317e-01 -1.22646046e-03 -1.96529256e-03 9.95855865e+01] [ 1.22652842e-03 9.99999247e-01 3.33773176e-05 5.83614943e+00] [ 1.96525014e-03 -3.57877152e-05 9.99998068e-01 2.33300584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64439141799998 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:99.65, Y:5.84, Z:0.23 [[ 9.99996932e-01 -1.50816081e-03 -1.96529124e-03 9.96456428e+01] [ 1.50822947e-03 9.99998862e-01 3.34549475e-05 5.83875293e+00] [ 1.96523855e-03 -3.64189550e-05 9.99998068e-01 2.34205564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70439141799999 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:99.71, Y:5.84, Z:0.23 [[ 9.99994571e-01 -2.64497904e-03 -1.96529255e-03 9.97053481e+01] [ 2.64504975e-03 9.99996501e-01 3.33779043e-05 5.83968025e+00] [ 1.96519739e-03 -3.85760196e-05 9.99998068e-01 2.34228350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76439141799999 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:99.77, Y:5.84, Z:0.24 [[ 9.99995833e-01 -2.11444990e-03 -1.96529319e-03 9.97654166e+01] [ 2.11451951e-03 9.99997764e-01 3.33400762e-05 5.83677077e+00] [ 1.96521830e-03 -3.74955881e-05 9.99998068e-01 2.36290264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82439141799998 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:99.83, Y:5.84, Z:0.24 [[ 9.99992393e-01 3.36932260e-03 -1.96529319e-03 9.98264010e+01] [-3.36926358e-03 9.99994323e-01 3.33400762e-05 5.83893961e+00] [ 1.96539437e-03 -2.67182318e-05 9.99998068e-01 2.36930690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88439141799998 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:99.89, Y:5.84, Z:0.24 [[ 9.99947043e-01 1.01019602e-02 -1.96529319e-03 9.98850927e+01] [-1.01019142e-02 9.99948974e-01 3.33400762e-05 5.83711985e+00] [ 1.96552971e-03 -1.34850875e-05 9.99998068e-01 2.35759826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94439141799998 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:99.94, Y:5.83, Z:0.24 [[ 9.99915029e-01 1.28868867e-02 -1.96530238e-03 9.99434138e+01] [-1.28868471e-02 9.99916961e-01 3.27890218e-05 5.83343814e+00] [ 1.96556173e-03 -7.45968435e-06 9.99998068e-01 2.35583518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00439141799998 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:100.00, Y:5.83, Z:0.24 [[ 9.99896369e-01 1.42614218e-02 -1.96530506e-03 1.00002283e+02] [-1.42613852e-02 9.99898301e-01 3.26278533e-05 5.83183593e+00] [ 1.96557051e-03 -4.59649954e-06 9.99998068e-01 2.38095877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06439141799999 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:100.06, Y:5.83, Z:0.24 [[ 9.99921549e-01 1.23706775e-02 -1.96530772e-03 1.00061520e+02] [-1.23706376e-02 9.99923480e-01 3.24666065e-05 5.82990404e+00] [ 1.96555897e-03 -8.15194990e-06 9.99998068e-01 2.37955280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12439141799999 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:100.12, Y:5.82, Z:0.23 [[ 9.99979623e-01 6.07381727e-03 -1.96531037e-03 1.00119274e+02] [-6.07376550e-03 9.99981554e-01 3.23055932e-05 5.82339570e+00] [ 1.96547033e-03 -2.03681006e-05 9.99998068e-01 2.34717804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18439141799998 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:100.18, Y:5.82, Z:0.23 [[ 9.99998023e-01 -3.02939801e-04 -1.96531360e-03 1.00177148e+02] [ 3.03003488e-04 9.99999954e-01 3.21079251e-05 5.81680758e+00] [ 1.96530378e-03 -3.27033585e-05 9.99998068e-01 2.33831989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24439141799998 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:100.24, Y:5.82, Z:0.23 [[ 9.99993786e-01 -2.92684032e-03 -1.96531674e-03 1.00236817e+02] [ 2.92690869e-03 9.99995716e-01 3.19143301e-05 5.81555619e+00] [ 1.96521491e-03 -3.76664345e-05 9.99998068e-01 2.34277767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30439141799998 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:100.30, Y:5.81, Z:0.23 [[ 9.99988291e-01 -4.42211469e-03 -1.96531800e-03 1.00296447e+02] [ 4.42218580e-03 9.99990222e-01 3.18365148e-05 5.81397319e+00] [ 1.96515800e-03 -4.05271434e-05 9.99998068e-01 2.34094350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36439141799998 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:100.36, Y:5.81, Z:0.23 [[ 9.99986301e-01 -4.85131408e-03 -1.96531862e-03 1.00356434e+02] [ 4.85138594e-03 9.99988231e-01 3.17982929e-05 5.80894975e+00] [ 1.96514123e-03 -4.13323764e-05 9.99998068e-01 2.33481844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42439141799998 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:100.42, Y:5.81, Z:0.23 [[ 9.99982026e-01 -5.66435829e-03 -1.96531801e-03 1.00417231e+02] [ 5.66443179e-03 9.99983956e-01 3.18358381e-05 5.80529317e+00] [ 1.96510615e-03 -4.29676757e-05 9.99998068e-01 2.34297319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48439141799999 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:100.48, Y:5.80, Z:0.23 [[ 9.99958004e-01 -8.95142405e-03 -1.96531737e-03 1.00477752e+02] [ 8.95150397e-03 9.99959934e-01 3.18752414e-05 5.80241618e+00] [ 1.96495330e-03 -4.94664491e-05 9.99998068e-01 2.33951966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54439141799998 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:100.54, Y:5.80, Z:0.23 [[ 9.99887417e-01 -1.48758819e-02 -1.96531443e-03 1.00540423e+02] [ 1.48759736e-02 9.99889346e-01 3.20555041e-05 5.80106493e+00] [ 1.96462011e-03 -6.12878608e-05 9.99998068e-01 2.33252697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60439141799998 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:100.60, Y:5.80, Z:0.23 [[ 9.99800984e-01 -1.98526948e-02 -1.96530525e-03 1.00603005e+02] [ 1.98527972e-02 9.99802913e-01 3.26091832e-05 5.79937118e+00] [ 1.96427053e-03 -7.16194999e-05 9.99998068e-01 2.32872252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66439141799998 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:100.66, Y:5.80, Z:0.23 [[ 9.99607402e-01 -2.79495863e-02 -1.96530259e-03 1.00664092e+02] [ 2.79497046e-02 9.99609330e-01 3.27684720e-05 5.79781153e+00] [ 1.96361894e-03 -8.76852340e-05 9.99998068e-01 2.31291213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72439141799998 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:100.73, Y:5.80, Z:0.23 [[ 9.99399446e-01 -3.45960269e-02 -1.96530062e-03 1.00726724e+02] [ 3.45961582e-02 9.99401373e-01 3.28859473e-05 5.79608564e+00] [ 1.96298642e-03 -1.00858049e-04 9.99998068e-01 2.30724550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78439141799998 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:100.79, Y:5.80, Z:0.23 [[ 9.99340215e-01 -3.62666764e-02 -1.96529801e-03 1.00789979e+02] [ 3.62668113e-02 9.99342142e-01 3.30416397e-05 5.79604086e+00] [ 1.96280681e-03 -1.04294931e-04 9.99998068e-01 2.32608490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84439141799999 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:100.85, Y:5.80, Z:0.23 [[ 9.99400217e-01 -3.45737321e-02 -1.96529384e-03 1.00852489e+02] [ 3.45738642e-02 9.99402145e-01 3.32878605e-05 5.79698353e+00] [ 1.96296799e-03 -1.01215697e-04 9.99998068e-01 2.33891379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90439141799999 meters Centerline goodness : 0.999447 with order 1 Centerline is valid? [True, True] Translation: X:100.92, Y:5.80, Z:0.23 [[ 9.99621496e-01 -2.74408994e-02 -1.96529039e-03 1.00915151e+02] [ 2.74410181e-02 9.99623424e-01 3.34898898e-05 5.79821565e+00] [ 1.96363132e-03 -8.74067831e-05 9.99998068e-01 2.33859042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96439141799998 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:100.98, Y:5.80, Z:0.23 [[ 9.99845915e-01 -1.74437531e-02 -1.96528632e-03 1.00977601e+02] [ 1.74438531e-02 9.99847844e-01 3.37270311e-05 5.80026230e+00] [ 1.96439897e-03 -6.80040002e-05 9.99998068e-01 2.34566445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02439141799998 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:101.04, Y:5.81, Z:0.24 [[ 9.99979536e-01 -6.08819765e-03 -1.96528357e-03 1.01040191e+02] [ 6.08827600e-03 9.99981466e-01 3.38867568e-05 5.80635047e+00] [ 1.96504084e-03 -4.58512521e-05 9.99998068e-01 2.35497732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08439141799998 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:101.10, Y:5.81, Z:0.23 [[ 9.99989077e-01 4.24059968e-03 -1.96528078e-03 1.01100458e+02] [-4.24054096e-03 9.99991008e-01 3.40475573e-05 5.80912479e+00] [ 1.96540750e-03 -2.57133318e-05 9.99998068e-01 2.32819939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14439141799998 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:101.16, Y:5.81, Z:0.23 [[ 9.99949644e-01 9.84105716e-03 -1.96528010e-03 1.01159616e+02] [-9.84100917e-03 9.99951576e-01 3.40867981e-05 5.81151660e+00] [ 1.96552039e-03 -1.47447421e-05 9.99998068e-01 2.32474304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20439141799999 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:101.22, Y:5.81, Z:0.23 [[ 9.99882839e-01 1.51804364e-02 -1.96528946e-03 1.01217822e+02] [-1.51803998e-02 9.99884771e-01 3.35386801e-05 5.81402233e+00] [ 1.96557213e-03 -3.70087102e-06 9.99998068e-01 2.33224769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26439141799999 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:101.27, Y:5.81, Z:0.23 [[ 9.99836256e-01 1.79888786e-02 -1.96530033e-03 1.01274986e+02] [-1.79888487e-02 9.99838187e-01 3.28892469e-05 5.81372206e+00] [ 1.96557396e-03 2.46962873e-06 9.99998068e-01 2.32673601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32439141799998 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:101.33, Y:5.81, Z:0.23 [[ 9.99670678e-01 2.55865893e-02 -1.96530494e-03 1.01334102e+02] [-2.55865747e-02 9.99672609e-01 3.26112187e-05 5.81319509e+00] [ 1.96549593e-03 1.76849425e-05 9.99998068e-01 2.33315034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38439141799998 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:101.39, Y:5.81, Z:0.24 [[ 9.99563146e-01 2.94899239e-02 -1.96530757e-03 1.01392681e+02] [-2.94899171e-02 9.99565077e-01 3.24519685e-05 5.81312838e+00] [ 1.96540982e-03 2.55189656e-05 9.99998068e-01 2.35462577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44439141799998 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:101.45, Y:5.81, Z:0.24 [[ 9.99583206e-01 2.88019438e-02 -1.96531016e-03 1.01450551e+02] [-2.88019359e-02 9.99585138e-01 3.22943324e-05 5.81042584e+00] [ 1.96542497e-03 2.43238650e-05 9.99998068e-01 2.35464645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50439141799998 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:101.51, Y:5.80, Z:0.23 [[ 9.99738124e-01 2.27995938e-02 -1.96531398e-03 1.01507078e+02] [-2.27995748e-02 9.99740055e-01 3.20600204e-05 5.80416140e+00] [ 1.96553406e-03 1.27566985e-05 9.99998068e-01 2.32096851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56439141799999 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:101.57, Y:5.80, Z:0.23 [[ 9.99910105e-01 1.32634328e-02 -1.96531832e-03 1.01565627e+02] [-1.32633960e-02 9.99912037e-01 3.17916784e-05 5.80051582e+00] [ 1.96556711e-03 -5.72202535e-06 9.99998068e-01 2.32301798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62439141799999 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:101.62, Y:5.80, Z:0.23 [[ 9.99975602e-01 6.70315150e-03 -1.96532085e-03 1.01624825e+02] [-6.70310227e-03 9.99977533e-01 3.16343747e-05 5.79706939e+00] [ 1.96548875e-03 -1.84598562e-05 9.99998068e-01 2.31969853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68439141799998 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:101.68, Y:5.79, Z:0.23 [[ 9.99997523e-01 -1.04489195e-03 -1.96532335e-03 1.01683749e+02] [ 1.04495583e-03 9.99999454e-01 3.14783196e-05 5.78942054e+00] [ 1.96528939e-03 -3.35319177e-05 9.99998068e-01 2.30990223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74439141799998 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:101.74, Y:5.79, Z:0.23 [[ 9.99987169e-01 -4.66897943e-03 -1.96532587e-03 1.01743139e+02] [ 4.66905000e-03 9.99989099e-01 3.13205899e-05 5.78596215e+00] [ 1.96515821e-03 -4.04963927e-05 9.99998068e-01 2.32042956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80439141799998 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:101.80, Y:5.78, Z:0.23 [[ 9.99968290e-01 -7.71725898e-03 -1.96532716e-03 1.01803809e+02] [ 7.71733528e-03 9.99970220e-01 3.12395400e-05 5.78238243e+00] [ 1.96502755e-03 -4.64056380e-05 9.99998068e-01 2.32672977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86439141799998 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:101.86, Y:5.78, Z:0.23 [[ 9.99947502e-01 -1.00563871e-02 -1.96532716e-03 1.01864759e+02] [ 1.00564679e-02 9.99949432e-01 3.12395400e-05 5.77776249e+00] [ 1.96491362e-03 -5.10021495e-05 9.99998068e-01 2.32132303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92439141799998 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:101.93, Y:5.77, Z:0.23 [[ 9.99866965e-01 -1.61922952e-02 -1.96532588e-03 1.01927068e+02] [ 1.61923880e-02 9.99868894e-01 3.13195009e-05 5.77366109e+00] [ 1.96456108e-03 -6.31386535e-05 9.99998068e-01 2.31805023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98439141799999 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:101.99, Y:5.77, Z:0.23 [[ 9.99697242e-01 -2.45267400e-02 -1.96531659e-03 1.01988832e+02] [ 2.45268500e-02 9.99699171e-01 3.18919621e-05 5.77028391e+00] [ 1.96394316e-03 -8.00853319e-05 9.99998068e-01 2.29135362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04439141799998 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:102.05, Y:5.76, Z:0.22 [[ 9.99485399e-01 -3.20167742e-02 -1.96530662e-03 1.02050480e+02] [ 3.20168998e-02 9.99487327e-01 3.24953360e-05 5.76465112e+00] [ 1.96325866e-03 -9.54016389e-05 9.99998068e-01 2.24951175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10439141799998 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:102.11, Y:5.76, Z:0.23 [[ 9.99401648e-01 -3.45323622e-02 -1.96530398e-03 1.02112411e+02] [ 3.45324930e-02 9.99403575e-01 3.26538332e-05 5.76473719e+00] [ 1.96300421e-03 -1.00501141e-04 9.99998068e-01 2.25654089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16439141799998 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:102.17, Y:5.77, Z:0.23 [[ 9.99459981e-01 -3.28006812e-02 -1.96530135e-03 1.02174923e+02] [ 3.28008090e-02 9.99461908e-01 3.28116560e-05 5.76668945e+00] [ 1.96316759e-03 -9.72574112e-05 9.99998068e-01 2.29494165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22439141799998 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:102.24, Y:5.77, Z:0.23 [[ 9.99589099e-01 -2.85966997e-02 -1.96529868e-03 1.02236095e+02] [ 2.85968196e-02 9.99591027e-01 3.29708689e-05 5.76559009e+00] [ 1.96355206e-03 -8.91586130e-05 9.99998068e-01 2.30526488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28439141799998 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:102.30, Y:5.77, Z:0.23 [[ 9.99724524e-01 -2.33883194e-02 -1.96529670e-03 1.02298017e+02] [ 2.33884296e-02 9.99726453e-01 3.30882893e-05 5.76519104e+00] [ 1.96398522e-03 -7.90443777e-05 9.99998068e-01 2.30251573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34439141799999 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:102.36, Y:5.77, Z:0.23 [[ 9.99866175e-01 -1.62410184e-02 -1.96529400e-03 1.02359510e+02] [ 1.62411151e-02 9.99868104e-01 3.32480721e-05 5.76804458e+00] [ 1.96449480e-03 -6.51621885e-05 9.99998068e-01 2.31293390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40439141799999 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:102.42, Y:5.77, Z:0.23 [[ 9.99938640e-01 -1.09020292e-02 -1.96529200e-03 1.02421806e+02] [ 1.09021158e-02 9.99940570e-01 3.33657259e-05 5.76844407e+00] [ 1.96481145e-03 -5.47895195e-05 9.99998068e-01 2.30417241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46439141799998 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:102.48, Y:5.77, Z:0.23 [[ 9.99978980e-01 -6.17874301e-03 -1.96528944e-03 1.02483352e+02] [ 6.17882081e-03 9.99980910e-01 3.35156759e-05 5.76990359e+00] [ 1.96504484e-03 -4.56581427e-05 9.99998068e-01 2.31135785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52439141799998 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:102.54, Y:5.77, Z:0.23 [[ 9.99996466e-01 1.79017244e-03 -1.96528802e-03 1.02544682e+02] [-1.79010986e-03 9.99998397e-01 3.35987847e-05 5.77303290e+00] [ 1.96534502e-03 -3.00805845e-05 9.99998068e-01 2.33412850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58439141799998 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:102.60, Y:5.77, Z:0.23 [[ 9.99976501e-01 6.56779423e-03 -1.96528662e-03 1.02602912e+02] [-6.56774072e-03 9.99978432e-01 3.36802732e-05 5.77364077e+00] [ 1.96546544e-03 -2.07719888e-05 9.99998068e-01 2.32533531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64439141799998 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:102.66, Y:5.77, Z:0.23 [[ 9.99902710e-01 1.38097397e-02 -1.96528867e-03 1.02661067e+02] [-1.38097004e-02 9.99904641e-01 3.35604461e-05 5.77147433e+00] [ 1.96556472e-03 -6.41713330e-06 9.99998068e-01 2.29761257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70439141799999 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:102.72, Y:5.77, Z:0.23 [[ 9.99784844e-01 2.06495365e-02 -1.96529961e-03 1.02719011e+02] [-2.06495117e-02 9.99786776e-01 3.29068883e-05 5.77326616e+00] [ 1.96556008e-03 7.68266923e-06 9.99998068e-01 2.31222873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76439141799999 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:102.78, Y:5.77, Z:0.23 [[ 9.99673317e-01 2.54832827e-02 -1.96531015e-03 1.02778104e+02] [-2.54832685e-02 9.99675248e-01 3.22650970e-05 5.77121125e+00] [ 1.96549413e-03 1.78279697e-05 9.99998068e-01 2.33382572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82439141799998 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:102.84, Y:5.76, Z:0.23 [[ 9.99687116e-01 2.49360619e-02 -1.96531275e-03 1.02836057e+02] [-2.49360470e-02 9.99689048e-01 3.21061501e-05 5.76398861e+00] [ 1.96550223e-03 1.69110264e-05 9.99998068e-01 2.31170689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88439141799998 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:102.89, Y:5.76, Z:0.23 [[ 9.99765129e-01 2.15829737e-02 -1.96531672e-03 1.02894220e+02] [-2.15829528e-02 9.99767060e-01 3.18607776e-05 5.76021663e+00] [ 1.96554657e-03 1.05640436e-05 9.99998068e-01 2.30547439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94439141799998 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:102.95, Y:5.75, Z:0.23 [[ 9.99924264e-01 1.21492131e-02 -1.96531996e-03 1.02952206e+02] [-1.21491743e-02 9.99926196e-01 3.16601203e-05 5.75288224e+00] [ 1.96555955e-03 -7.78070772e-06 9.99998068e-01 2.30451702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00439141799998 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:103.01, Y:5.75, Z:0.23 [[ 9.99990665e-01 3.84793346e-03 -1.96532308e-03 1.03010687e+02] [-3.84787905e-03 9.99992596e-01 3.14650567e-05 5.74679337e+00] [ 1.96542960e-03 -2.39024375e-05 9.99998068e-01 2.30523834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06439141799999 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:103.07, Y:5.74, Z:0.23 [[ 9.99986132e-01 -4.88612085e-03 -1.96532562e-03 1.03070642e+02] [ 4.88619181e-03 9.99988062e-01 3.13055581e-05 5.74270178e+00] [ 1.96514920e-03 -4.09080819e-05 9.99998068e-01 2.30695141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12439141799999 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:103.13, Y:5.74, Z:0.23 [[ 9.99877333e-01 -1.55388956e-02 -1.96532691e-03 1.03130653e+02] [ 1.55389870e-02 9.99879262e-01 3.12245870e-05 5.73612450e+00] [ 1.96460442e-03 -6.17599460e-05 9.99998068e-01 2.29838259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18439141799998 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:103.19, Y:5.73, Z:0.23 [[ 9.99779755e-01 -2.08944687e-02 -1.96532627e-03 1.03192790e+02] [ 2.08945705e-02 9.99781684e-01 3.12643986e-05 5.73104826e+00] [ 1.96424396e-03 -7.23221611e-05 9.99998068e-01 2.29809508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24439141799998 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:103.26, Y:5.73, Z:0.23 [[ 9.99676590e-01 -2.53545431e-02 -1.96532369e-03 1.03255355e+02] [ 2.53546538e-02 9.99678519e-01 3.14261158e-05 5.72749908e+00] [ 1.96389508e-03 -8.12460540e-05 9.99998068e-01 2.30031778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30439141799998 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:103.32, Y:5.73, Z:0.23 [[ 9.99552608e-01 -2.98449663e-02 -1.96532110e-03 1.03316488e+02] [ 2.98450860e-02 9.99554536e-01 3.15872486e-05 5.72569049e+00] [ 1.96350290e-03 -9.02282939e-05 9.99998068e-01 2.32604389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36439141799998 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:103.38, Y:5.73, Z:0.23 [[ 9.99477683e-01 -3.22567608e-02 -1.96531918e-03 1.03379855e+02] [ 3.22568854e-02 9.99479611e-01 3.17061732e-05 5.72573911e+00] [ 1.96327371e-03 -9.50846880e-05 9.99998068e-01 2.34220659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42439141799998 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:103.44, Y:5.72, Z:0.23 [[ 9.99449158e-01 -3.31288127e-02 -1.96531528e-03 1.03441947e+02] [ 3.31289394e-02 9.99451086e-01 3.19461551e-05 5.72343987e+00] [ 1.96317815e-03 -9.70373686e-05 9.99998068e-01 2.30282549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48439141799999 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:103.50, Y:5.72, Z:0.23 [[ 9.99405641e-01 -3.44165955e-02 -1.96531270e-03 1.03504578e+02] [ 3.44167250e-02 9.99407569e-01 3.21042213e-05 5.72148924e+00] [ 1.96304347e-03 -9.97247664e-05 9.99998068e-01 2.28574621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54439141799998 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:103.57, Y:5.72, Z:0.23 [[ 9.99385965e-01 -3.49832941e-02 -1.96530884e-03 1.03567204e+02] [ 3.49834252e-02 9.99387892e-01 3.23388421e-05 5.72422904e+00] [ 1.96297454e-03 -1.01072219e-04 9.99998068e-01 2.27862755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60439141799998 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:103.63, Y:5.73, Z:0.23 [[ 9.99464950e-01 -3.26489064e-02 -1.96530612e-03 1.03629274e+02] [ 3.26490333e-02 9.99466878e-01 3.25032203e-05 5.72904490e+00] [ 1.96319717e-03 -9.66511743e-05 9.99998068e-01 2.28582413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66439141799998 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:103.69, Y:5.73, Z:0.23 [[ 9.99622393e-01 -2.74081939e-02 -1.96530343e-03 1.03691618e+02] [ 2.74083110e-02 9.99624321e-01 3.26646821e-05 5.72880503e+00] [ 1.96366983e-03 -8.65179954e-05 9.99998068e-01 2.26100804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72439141799998 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:103.75, Y:5.74, Z:0.23 [[ 9.99819228e-01 -1.89115825e-02 -1.96530066e-03 1.03753394e+02] [ 1.89116836e-02 9.99821158e-01 3.28309188e-05 5.73569923e+00] [ 1.96432829e-03 -6.99921281e-05 9.99998068e-01 2.32143843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78439141799998 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:103.82, Y:5.74, Z:0.23 [[ 9.99932203e-01 -1.14772590e-02 -1.96529792e-03 1.03815651e+02] [ 1.14773460e-02 9.99934133e-01 3.29938356e-05 5.74011511e+00] [ 1.96478979e-03 -5.55480030e-05 9.99998068e-01 2.33195639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84439141799999 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:103.88, Y:5.74, Z:0.23 [[ 9.99995457e-01 -2.28538056e-03 -1.96529524e-03 1.03876980e+02] [ 2.28545012e-03 9.99997388e-01 3.31526322e-05 5.74451926e+00] [ 1.96521434e-03 -3.76440658e-05 9.99998068e-01 2.34778683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90439141799997 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:103.94, Y:5.75, Z:0.24 [[ 9.99993995e-01 2.85436071e-03 -1.96529326e-03 1.03937561e+02] [-2.85430084e-03 9.99995926e-01 3.32694646e-05 5.74926460e+00] [ 1.96538022e-03 -2.76597266e-05 9.99998068e-01 2.35336534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96439141799998 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:104.00, Y:5.75, Z:0.23 [[ 9.99989237e-01 4.20288478e-03 -1.96529326e-03 1.03996843e+02] [-4.20282751e-03 9.99991168e-01 3.32694646e-05 5.75156763e+00] [ 1.96541573e-03 -2.50093179e-05 9.99998068e-01 2.34637188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02439141799998 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:104.06, Y:5.75, Z:0.23 [[ 9.99981029e-01 5.83772154e-03 -1.96530171e-03 1.04055399e+02] [-5.83766842e-03 9.99982960e-01 3.27626236e-05 5.75054028e+00] [ 1.96545948e-03 -2.12892223e-05 9.99998068e-01 2.29570675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08439141799998 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:104.11, Y:5.75, Z:0.23 [[ 9.99966907e-01 7.89439937e-03 -1.96530430e-03 1.04114137e+02] [-7.89435053e-03 9.99968839e-01 3.26066605e-05 5.75217224e+00] [ 1.96550047e-03 -1.70907804e-05 9.99998068e-01 2.30240105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14439141799998 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:104.17, Y:5.76, Z:0.23 [[ 9.99951341e-01 9.66706829e-03 -1.96530693e-03 1.04172078e+02] [-9.66702319e-03 9.99953273e-01 3.24474681e-05 5.75529829e+00] [ 1.96552877e-03 -1.34472216e-05 9.99998068e-01 2.32369473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20439141799999 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:104.23, Y:5.75, Z:0.23 [[ 9.99919446e-01 1.25394925e-02 -1.96531014e-03 1.04231142e+02] [-1.25394534e-02 9.99921377e-01 3.22519960e-05 5.75436058e+00] [ 1.96556004e-03 -7.60548312e-06 9.99998068e-01 2.33307023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26439141799999 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:104.29, Y:5.75, Z:0.23 [[ 9.99909094e-01 1.33394497e-02 -1.96531276e-03 1.04290225e+02] [-1.33394124e-02 9.99911026e-01 3.20913300e-05 5.75324439e+00] [ 1.96556598e-03 -5.87229536e-06 9.99998068e-01 2.31897465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32439141799998 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:104.35, Y:5.75, Z:0.23 [[ 9.99915304e-01 1.28655630e-02 -1.96531535e-03 1.04348948e+02] [-1.28655251e-02 9.99917235e-01 3.19320792e-05 5.75164822e+00] [ 1.96556351e-03 -6.64456070e-06 9.99998068e-01 2.30682682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38439141799998 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:104.41, Y:5.75, Z:0.23 [[ 9.99937286e-01 1.10254750e-02 -1.96531788e-03 1.04407344e+02] [-1.10254338e-02 9.99939218e-01 3.17755498e-05 5.74832285e+00] [ 1.96554876e-03 -1.01050748e-05 9.99998068e-01 2.28453988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44439141799998 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:104.46, Y:5.75, Z:0.23 [[ 9.99974540e-01 6.85985085e-03 -1.96532036e-03 1.04464731e+02] [-6.85980195e-03 9.99976471e-01 3.16215423e-05 5.74502169e+00] [ 1.96549103e-03 -1.81390287e-05 9.99998068e-01 2.27122604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50439141799998 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:104.52, Y:5.74, Z:0.23 [[ 9.99986066e-01 4.89953215e-03 -1.96532361e-03 1.04523508e+02] [-4.89947987e-03 9.99987997e-01 3.14183200e-05 5.74391446e+00] [ 1.96545395e-03 -2.17888188e-05 9.99998068e-01 2.27494749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56439141799999 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:104.58, Y:5.74, Z:0.23 [[ 9.99982181e-01 5.63692162e-03 -1.96532599e-03 1.04581007e+02] [-5.63687105e-03 9.99984112e-01 3.12685706e-05 5.74346256e+00] [ 1.96547102e-03 -2.01897243e-05 9.99998068e-01 2.26612765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62439141799999 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:104.64, Y:5.74, Z:0.23 [[ 9.99934719e-01 1.12559002e-02 -1.96532837e-03 1.04638588e+02] [-1.12558608e-02 9.99936650e-01 3.11184515e-05 5.74108191e+00] [ 1.96555413e-03 -8.99495766e-06 9.99998068e-01 2.25847988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68439141799998 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:104.70, Y:5.74, Z:0.23 [[ 9.99867233e-01 1.61756925e-02 -1.96533130e-03 1.04697056e+02] [-1.61756629e-02 9.99869165e-01 3.09317923e-05 5.74315524e+00] [ 1.96557451e-03 8.62851080e-07 9.99998068e-01 2.27590895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74439141799998 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:104.75, Y:5.74, Z:0.23 [[ 9.99768376e-01 2.14320185e-02 -1.96533352e-03 1.04754977e+02] [-2.14319994e-02 9.99770308e-01 3.07905344e-05 5.74306612e+00] [ 1.96554200e-03 1.13376241e-05 9.99998068e-01 2.28506264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80439141799998 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:104.81, Y:5.74, Z:0.23 [[ 9.99764305e-01 2.16211153e-02 -1.96533622e-03 1.04814174e+02] [-2.16210969e-02 9.99766236e-01 3.06169550e-05 5.74074962e+00] [ 1.96553877e-03 1.18829861e-05 9.99998068e-01 2.27105419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86439141799998 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:104.87, Y:5.74, Z:0.22 [[ 9.99817988e-01 1.89770313e-02 -1.96533860e-03 1.04871736e+02] [-1.89770080e-02 9.99819920e-01 3.04637050e-05 5.73912267e+00] [ 1.96556279e-03 6.83808607e-06 9.99998068e-01 2.23685862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92439141799998 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:104.93, Y:5.74, Z:0.23 [[ 9.99938516e-01 1.09133435e-02 -1.96534150e-03 1.04930599e+02] [-1.09133051e-02 9.99940448e-01 3.02754902e-05 5.73710823e+00] [ 1.96555486e-03 -8.82525749e-06 9.99998068e-01 2.25897180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98439141799999 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:104.99, Y:5.74, Z:0.23 [[ 9.99993890e-01 2.89099728e-03 -1.96534396e-03 1.04989733e+02] [-2.89094367e-03 9.99995821e-01 3.01145705e-05 5.73768494e+00] [ 1.96542281e-03 -2.44326878e-05 9.99998068e-01 2.31829256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04439141799998 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:105.05, Y:5.73, Z:0.23 [[ 9.99982368e-01 -5.60366127e-03 -1.96534651e-03 1.05048071e+02] [ 5.60373095e-03 9.99984299e-01 2.99475629e-05 5.73187427e+00] [ 1.96514783e-03 -4.09603079e-05 9.99998068e-01 2.27429368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10439141799998 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:105.11, Y:5.73, Z:0.23 [[ 9.99961051e-01 -8.60432404e-03 -1.96534839e-03 1.05109748e+02] [ 8.60439927e-03 9.99962981e-01 2.98234323e-05 5.73030314e+00] [ 1.96501902e-03 -4.67329129e-05 9.99998068e-01 2.27302462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16439141799998 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:105.17, Y:5.73, Z:0.23 [[ 9.99850273e-01 -1.71921009e-02 -1.96534716e-03 1.05171278e+02] [ 1.71921928e-02 9.99852203e-01 2.99044008e-05 5.72969646e+00] [ 1.96454257e-03 -6.36885507e-05 9.99998068e-01 2.28343302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22439141799998 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:105.23, Y:5.73, Z:0.23 [[ 9.99611227e-01 -2.78124346e-02 -1.96533915e-03 1.05234393e+02] [ 2.78125480e-02 9.99613156e-01 3.04216354e-05 5.72748477e+00] [ 1.96373277e-03 -8.50708979e-05 9.99998068e-01 2.31075518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28439141799998 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:105.30, Y:5.72, Z:0.23 [[ 9.99381578e-01 -3.51083884e-02 -1.96532901e-03 1.05297440e+02] [ 3.51085172e-02 9.99383505e-01 3.10631061e-05 5.72439573e+00] [ 1.96302682e-03 -1.00043683e-04 9.99998068e-01 2.32156861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34439141799999 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:105.36, Y:5.72, Z:0.23 [[ 9.98999925e-01 -4.46686432e-02 -1.96532511e-03 1.05359896e+02] [ 4.46687909e-02 9.99001851e-01 3.13083102e-05 5.72317866e+00] [ 1.96196492e-03 -1.19065696e-04 9.99998068e-01 2.30890131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40439141799997 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:105.42, Y:5.72, Z:0.23 [[ 9.98696567e-01 -5.10029771e-02 -1.96532253e-03 1.05421846e+02] [ 5.10031374e-02 9.98698493e-01 3.14694432e-05 5.72486944e+00] [ 1.96115961e-03 -1.31666040e-04 9.99998068e-01 2.32850174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46439141799998 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:105.48, Y:5.72, Z:0.23 [[ 9.98933984e-01 -4.61197644e-02 -1.96531985e-03 1.05483345e+02] [ 4.61199155e-02 9.98935910e-01 3.16358896e-05 5.72194395e+00] [ 1.96176953e-03 -1.22242551e-04 9.99998068e-01 2.28134534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52439141799998 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:105.55, Y:5.73, Z:0.23 [[ 9.99269386e-01 -3.81684537e-02 -1.96531498e-03 1.05545280e+02] [ 3.81685901e-02 9.99271313e-01 3.19354661e-05 5.72806014e+00] [ 1.96266395e-03 -1.06925436e-04 9.99998068e-01 2.29350000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58439141799998 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:105.61, Y:5.73, Z:0.23 [[ 9.99510850e-01 -3.12121494e-02 -1.96531236e-03 1.05607939e+02] [ 3.12122727e-02 9.99512778e-01 3.20960951e-05 5.73198756e+00] [ 1.96335302e-03 -9.34222606e-05 9.99998068e-01 2.30209844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64439141799998 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:105.67, Y:5.74, Z:0.23 [[ 9.99803819e-01 -1.97094345e-02 -1.96530835e-03 1.05669972e+02] [ 1.97095361e-02 9.99805748e-01 3.23395988e-05 5.73707637e+00] [ 1.96428919e-03 -7.10685703e-05 9.99998068e-01 2.31328964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70439141799999 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:105.73, Y:5.74, Z:0.23 [[ 9.99929156e-01 -1.17397114e-02 -1.96530569e-03 1.05732677e+02] [ 1.17397979e-02 9.99931086e-01 3.25003812e-05 5.74076895e+00] [ 1.96478871e-03 -5.55703704e-05 9.99998068e-01 2.32961993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76439141799999 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:105.79, Y:5.75, Z:0.23 [[ 9.99997824e-01 -6.99091181e-04 -1.96530302e-03 1.05794848e+02] [ 6.99156720e-04 9.99999755e-01 3.26612606e-05 5.74641915e+00] [ 1.96527970e-03 -3.40352444e-05 9.99998068e-01 2.34507940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82439141799998 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:105.85, Y:5.74, Z:0.23 [[ 9.99911910e-01 1.31266469e-02 -1.96530033e-03 1.05854023e+02] [-1.31266077e-02 9.99913842e-01 3.28221398e-05 5.74342257e+00] [ 1.96556185e-03 -7.02152213e-06 9.99998068e-01 2.25800464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88439141799998 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:105.91, Y:5.75, Z:0.23 [[ 9.99923504e-01 1.22115977e-02 -1.96530033e-03 1.05912267e+02] [-1.22115568e-02 9.99925436e-01 3.28223672e-05 5.75048006e+00] [ 1.96555460e-03 -8.82047982e-06 9.99998068e-01 2.30995593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94439141799998 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:105.97, Y:5.75, Z:0.23 [[ 9.99845495e-01 1.74677739e-02 -1.96530354e-03 1.05970637e+02] [-1.74677435e-02 9.99847427e-01 3.26288634e-05 5.75074153e+00] [ 1.96557364e-03 1.70559595e-06 9.99998068e-01 2.27550526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00439141799998 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:106.03, Y:5.75, Z:0.23 [[ 9.99793709e-01 2.02157470e-02 -1.96530606e-03 1.06029751e+02] [-2.02157222e-02 9.99795641e-01 3.24762976e-05 5.75202680e+00] [ 1.96556096e-03 7.26048325e-06 9.99998068e-01 2.28834066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06439141799999 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:106.09, Y:5.76, Z:0.23 [[ 9.99738894e-01 2.27657960e-02 -1.96530861e-03 1.06088459e+02] [-2.27657764e-02 9.99740826e-01 3.23209505e-05 5.75575897e+00] [ 1.96553507e-03 1.24292652e-05 9.99998068e-01 2.28310413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12439141799999 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:106.15, Y:5.75, Z:0.23 [[ 9.99790878e-01 2.03552723e-02 -1.96531117e-03 1.06146821e+02] [-2.03552484e-02 9.99792810e-01 3.21645127e-05 5.75376256e+00] [ 1.96555870e-03 7.84661078e-06 9.99998068e-01 2.29381407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18439141799998 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:106.20, Y:5.75, Z:0.23 [[ 9.99889858e-01 1.47108409e-02 -1.96531398e-03 1.06204650e+02] [-1.47108064e-02 9.99891790e-01 3.19924606e-05 5.75165698e+00] [ 1.96557194e-03 -3.07758351e-06 9.99998068e-01 2.29139518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24439141799998 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:106.26, Y:5.74, Z:0.23 [[ 9.99984318e-01 5.24409831e-03 -1.96531745e-03 1.06261918e+02] [-5.24404599e-03 9.99986249e-01 3.17773749e-05 5.74478516e+00] [ 1.96545707e-03 -2.14706615e-05 9.99998068e-01 2.30459081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30439141799998 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:106.32, Y:5.74, Z:0.23 [[ 9.99994878e-01 -2.52601267e-03 -1.96532076e-03 1.06320274e+02] [ 2.52607959e-03 9.99996809e-01 3.15712508e-05 5.74121525e+00] [ 1.96523474e-03 -3.65356458e-05 9.99998068e-01 2.32261608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36439141799998 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:106.38, Y:5.74, Z:0.23 [[ 9.99991584e-01 -3.60140335e-03 -1.96532339e-03 1.06380873e+02] [ 3.60147203e-03 9.99993514e-01 3.14071745e-05 5.73953080e+00] [ 1.96519753e-03 -3.84849674e-05 9.99998068e-01 2.32180969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42439141799998 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:106.44, Y:5.74, Z:0.23 [[ 9.99992880e-01 -3.22142408e-03 -1.96532339e-03 1.06441435e+02] [ 3.22149203e-03 9.99994810e-01 3.14071745e-05 5.73719251e+00] [ 1.96521201e-03 -3.77382245e-05 9.99998068e-01 2.33268178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48439141799999 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:106.50, Y:5.73, Z:0.23 [[ 9.99996278e-01 1.89237179e-03 -1.96532339e-03 1.06501910e+02] [-1.89231372e-03 9.99998209e-01 3.14071745e-05 5.73362159e+00] [ 1.96537930e-03 -2.76880492e-05 9.99998068e-01 2.31046733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54439141799998 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:106.56, Y:5.73, Z:0.23 [[ 9.99970627e-01 7.40834708e-03 -1.96532274e-03 1.06560868e+02] [-7.40829958e-03 9.99972558e-01 3.14473187e-05 5.73225820e+00] [ 1.96550178e-03 -1.68866953e-05 9.99998068e-01 2.28223241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60439141799998 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:106.62, Y:5.73, Z:0.23 [[ 9.99927011e-01 1.19209673e-02 -1.96533212e-03 1.06618282e+02] [-1.19209297e-02 9.99928943e-01 3.08501056e-05 5.73132398e+00] [ 1.96556023e-03 -7.41926795e-06 9.99998068e-01 2.29043369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66439141799998 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:106.68, Y:5.73, Z:0.23 [[ 9.99896780e-01 1.42326071e-02 -1.96534240e-03 1.06675600e+02] [-1.42325753e-02 9.99898711e-01 3.01807861e-05 5.72920762e+00] [ 1.96557288e-03 -2.20578725e-06 9.99998068e-01 2.34838156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72439141799998 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:106.73, Y:5.72, Z:0.23 [[ 9.99885377e-01 1.50123240e-02 -1.96534551e-03 1.06734538e+02] [-1.50122941e-02 9.99887309e-01 2.99767465e-05 5.72132830e+00] [ 1.96557405e-03 -4.68965751e-07 9.99998068e-01 2.31042117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78439141799998 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:106.79, Y:5.72, Z:0.23 [[ 9.99877553e-01 1.55247005e-02 -1.96534786e-03 1.06793009e+02] [-1.55246719e-02 9.99879485e-01 2.98216305e-05 5.71686756e+00] [ 1.96557398e-03 6.93401744e-07 9.99998068e-01 2.27497221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84439141799999 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:106.85, Y:5.71, Z:0.23 [[ 9.99904297e-01 1.36943333e-02 -1.96535041e-03 1.06850431e+02] [-1.36943015e-02 9.99906228e-01 2.96527683e-05 5.71233892e+00] [ 1.96557219e-03 -2.73582943e-06 9.99998068e-01 2.29715890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90439141799997 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:106.91, Y:5.71, Z:0.23 [[ 9.99915016e-01 1.28879395e-02 -1.96535354e-03 1.06908759e+02] [-1.28879065e-02 9.99916947e-01 2.94439638e-05 5.70961128e+00] [ 1.96556978e-03 -4.11216888e-06 9.99998068e-01 2.33490766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96439141799998 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:106.97, Y:5.71, Z:0.24 [[ 9.99928451e-01 1.17995596e-02 -1.96535594e-03 1.06967677e+02] [-1.17995248e-02 9.99930383e-01 2.92829654e-05 5.70671206e+00] [ 1.96556464e-03 -6.09060407e-06 9.99998068e-01 2.35687608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02439141799998 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:107.03, Y:5.70, Z:0.23 [[ 9.99932042e-01 1.14912886e-02 -1.96535835e-03 1.07026209e+02] [-1.14912536e-02 9.99933973e-01 2.91200853e-05 5.70472041e+00] [ 1.96556321e-03 -6.53367521e-06 9.99998068e-01 2.32641547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08439141799998 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:107.09, Y:5.70, Z:0.23 [[ 9.99949501e-01 9.85557580e-03 -1.96536083e-03 1.07085023e+02] [-9.85553793e-03 9.99951433e-01 2.89517746e-05 5.69982789e+00] [ 1.96555071e-03 -9.58062440e-06 9.99998068e-01 2.30534011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14439141799998 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:107.14, Y:5.69, Z:0.23 [[ 9.99975441e-01 6.72711016e-03 -1.96536338e-03 1.07142465e+02] [-6.72706659e-03 9.99977373e-01 2.87774985e-05 5.69450027e+00] [ 1.96551250e-03 -1.55556615e-05 9.99998068e-01 2.33896147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20439141799999 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:107.20, Y:5.69, Z:0.23 [[ 9.99954785e-01 9.30408123e-03 -1.96536648e-03 1.07200468e+02] [-9.30404306e-03 9.99956716e-01 2.85642173e-05 5.69192410e+00] [ 1.96554718e-03 -1.02770714e-05 9.99998068e-01 2.30942192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26439141799997 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:107.26, Y:5.69, Z:0.23 [[ 9.99949479e-01 9.85781273e-03 -1.96536944e-03 1.07259221e+02] [-9.85777604e-03 9.99951411e-01 2.83590743e-05 5.69230666e+00] [ 1.96555350e-03 -8.98346983e-06 9.99998068e-01 2.32586633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32439141799998 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:107.32, Y:5.69, Z:0.23 [[ 9.99904560e-01 1.36751001e-02 -1.96537210e-03 1.07316906e+02] [-1.36750711e-02 9.99906491e-01 2.81739185e-05 5.68864870e+00] [ 1.96557360e-03 -1.29462647e-06 9.99998068e-01 2.34256938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38439141799998 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:107.38, Y:5.68, Z:0.23 [[ 9.99834715e-01 1.80742807e-02 -1.96537561e-03 1.07375053e+02] [-1.80742607e-02 9.99836647e-01 2.79266994e-05 5.68417124e+00] [ 1.96555931e-03 7.60062764e-06 9.99998068e-01 2.31095772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44439141799998 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:107.43, Y:5.68, Z:0.23 [[ 9.99768565e-01 2.14232007e-02 -1.96537895e-03 1.07434305e+02] [-2.14231876e-02 9.99770497e-01 2.76892466e-05 5.68394597e+00] [ 1.96552109e-03 1.44218438e-05 9.99998068e-01 2.30411897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50439141799998 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:107.49, Y:5.68, Z:0.23 [[ 9.99768691e-01 2.14173116e-02 -1.96538122e-03 1.07492111e+02] [-2.14172988e-02 9.99770623e-01 2.75276436e-05 5.68376747e+00] [ 1.96551997e-03 1.45718806e-05 9.99998068e-01 2.32842269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56439141799999 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:107.55, Y:5.68, Z:0.23 [[ 9.99823327e-01 1.86936495e-02 -1.96538457e-03 1.07550518e+02] [-1.86936319e-02 9.99825258e-01 2.72862472e-05 5.67636854e+00] [ 1.96555121e-03 9.45874931e-06 9.99998068e-01 2.33914133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62439141799999 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:107.61, Y:5.67, Z:0.23 [[ 9.99928505e-01 1.17949653e-02 -1.96538675e-03 1.07609143e+02] [-1.17949348e-02 9.99930437e-01 2.71282704e-05 5.66981627e+00] [ 1.96557001e-03 -3.94472227e-06 9.99998068e-01 2.33737083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68439141799998 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:107.67, Y:5.67, Z:0.23 [[ 9.99978100e-01 6.31950454e-03 -1.96538898e-03 1.07667453e+02] [-6.31946375e-03 9.99980032e-01 2.69657435e-05 5.66630119e+00] [ 1.96552014e-03 -1.45449486e-05 9.99998068e-01 2.33518734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74439141799998 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:107.73, Y:5.66, Z:0.23 [[ 9.99995020e-01 -2.46924007e-03 -1.96539116e-03 1.07725729e+02] [ 2.46929752e-03 9.99996951e-01 2.68058203e-05 5.65709518e+00] [ 1.96531898e-03 -3.16588224e-05 9.99998068e-01 2.32604474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80439141799998 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:107.79, Y:5.65, Z:0.23 [[ 9.99942250e-01 -1.05657136e-02 -1.96539331e-03 1.07786175e+02] [ 1.05657864e-02 9.99944180e-01 2.66474497e-05 5.65300522e+00] [ 1.96500205e-03 -4.74118367e-05 9.99998068e-01 2.34517988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86439141799998 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:107.85, Y:5.65, Z:0.24 [[ 9.99882593e-01 -1.51966013e-02 -1.96539331e-03 1.07847030e+02] [ 1.51966830e-02 9.99884523e-01 2.66474497e-05 5.65328228e+00] [ 1.96476140e-03 -5.65117802e-05 9.99998068e-01 2.35057069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92439141799998 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:107.91, Y:5.65, Z:0.23 [[ 9.99754352e-01 -2.20765302e-02 -1.96538616e-03 1.07910297e+02] [ 2.20766262e-02 9.99756281e-01 2.71645729e-05 5.64720226e+00] [ 1.96430746e-03 -7.05469956e-05 9.99998068e-01 2.33033329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98439141799999 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:107.97, Y:5.64, Z:0.23 [[ 9.99623291e-01 -2.73754113e-02 -1.96538295e-03 1.07972925e+02] [ 2.73755179e-02 9.99625220e-01 2.73949778e-05 5.64436172e+00] [ 1.96389641e-03 -8.11880340e-05 9.99998068e-01 2.33078028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04439141799998 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:108.03, Y:5.65, Z:0.23 [[ 9.99591115e-01 -2.85261195e-02 -1.96538068e-03 1.08034089e+02] [ 2.85262287e-02 9.99593044e-01 2.75565236e-05 5.64713848e+00] [ 1.96379478e-03 -8.36101550e-05 9.99998068e-01 2.32892295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10439141799998 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:108.10, Y:5.65, Z:0.23 [[ 9.99624830e-01 -2.73191520e-02 -1.96537901e-03 1.08097621e+02] [ 2.73192591e-02 9.99626759e-01 2.76756504e-05 5.64874716e+00] [ 1.96388937e-03 -8.13579657e-05 9.99998068e-01 2.34150394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16439141799998 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:108.16, Y:5.65, Z:0.23 [[ 9.99654723e-01 -2.62025255e-02 -1.96537551e-03 1.08158395e+02] [ 2.62026310e-02 9.99656652e-01 2.79217618e-05 5.64891111e+00] [ 1.96396908e-03 -7.94101303e-05 9.99998068e-01 2.34399747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22439141799998 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:108.22, Y:5.65, Z:0.23 [[ 9.99665571e-01 -2.57853218e-02 -1.96537379e-03 1.08220791e+02] [ 2.57854267e-02 9.99667500e-01 2.80421741e-05 5.65168222e+00] [ 1.96399723e-03 -7.87107978e-05 9.99998068e-01 2.34735040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28439141799998 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:108.28, Y:5.66, Z:0.23 [[ 9.99752560e-01 -2.21575162e-02 -1.96537151e-03 1.08283243e+02] [ 2.21576144e-02 9.99754490e-01 2.82010717e-05 5.65500991e+00] [ 1.96426413e-03 -7.17420377e-05 9.99998068e-01 2.32618419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34439141799999 meters Centerline goodness : 0.998836 with order 1 Centerline is valid? [True, True] Translation: X:108.35, Y:5.66, Z:0.23 [[ 9.99842548e-01 -1.76356566e-02 -1.96536919e-03 1.08345659e+02] [ 1.76357464e-02 9.99844478e-01 2.83617054e-05 5.65707744e+00] [ 1.96456336e-03 -6.30179923e-05 9.99998068e-01 2.32423536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40439141799997 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:108.41, Y:5.66, Z:0.24 [[ 9.99954125e-01 -9.37472028e-03 -1.96536688e-03 1.08406963e+02] [ 9.37479444e-03 9.99956055e-01 2.85211705e-05 5.66471075e+00] [ 1.96501313e-03 -4.69447726e-05 9.99998068e-01 2.35813673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46439141799998 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:108.47, Y:5.67, Z:0.24 [[ 9.99995776e-01 -2.14127870e-03 -1.96536517e-03 1.08468032e+02] [ 2.14133912e-03 9.99997707e-01 2.86386496e-05 5.66965769e+00] [ 1.96529934e-03 -3.28470420e-05 9.99998068e-01 2.37306558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52439141799998 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:108.53, Y:5.67, Z:0.24 [[ 9.99996536e-01 1.75091345e-03 -1.96536400e-03 1.08528795e+02] [-1.75086039e-03 9.99998467e-01 2.87183354e-05 5.67046262e+00] [ 1.96541127e-03 -2.52771579e-05 9.99998068e-01 2.35746906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58439141799998 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:108.59, Y:5.67, Z:0.23 [[ 9.99985984e-01 4.91624950e-03 -1.96536400e-03 1.08587511e+02] [-4.91620255e-03 9.99987915e-01 2.87183354e-05 5.67356031e+00] [ 1.96548144e-03 -1.90558053e-05 9.99998068e-01 2.34767849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64439141799998 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:108.65, Y:5.68, Z:0.23 [[ 9.99985910e-01 4.93121655e-03 -1.96536572e-03 1.08646118e+02] [-4.93116986e-03 9.99987841e-01 2.86002801e-05 5.67530334e+00] [ 1.96548286e-03 -1.89083249e-05 9.99998068e-01 2.34118351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70439141799999 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:108.70, Y:5.68, Z:0.23 [[ 9.99996261e-01 1.90115301e-03 -1.96536791e-03 1.08704858e+02] [-1.90110077e-03 9.99998193e-01 2.84489010e-05 5.67514435e+00] [ 1.96541845e-03 -2.47124322e-05 9.99998068e-01 2.34896745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76439141799997 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:108.76, Y:5.67, Z:0.23 [[ 9.99988935e-01 -4.27410376e-03 -1.96537018e-03 1.08763293e+02] [ 4.27416761e-03 9.99990865e-01 2.82915934e-05 5.67440404e+00] [ 1.96523130e-03 -3.66916019e-05 9.99998068e-01 2.34110637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82439141799998 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:108.82, Y:5.67, Z:0.23 [[ 9.99963049e-01 -8.36881628e-03 -1.96537138e-03 1.08823864e+02] [ 8.36888788e-03 9.99964980e-01 2.82078941e-05 5.67364375e+00] [ 1.96506648e-03 -4.46548245e-05 9.99998068e-01 2.33517272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88439141799998 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:108.89, Y:5.67, Z:0.23 [[ 9.99951340e-01 -9.66718662e-03 -1.96537138e-03 1.08885960e+02] [ 9.66726072e-03 9.99953271e-01 2.82078941e-05 5.67277144e+00] [ 1.96500685e-03 -4.72062790e-05 9.99998068e-01 2.34322957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94439141799998 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:108.95, Y:5.67, Z:0.23 [[ 9.99970786e-01 -7.38671847e-03 -1.96536904e-03 1.08948590e+02] [ 7.38678849e-03 9.99972717e-01 2.83699682e-05 5.67349744e+00] [ 1.96510586e-03 -4.28869048e-05 9.99998068e-01 2.33817884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00439141799998 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:109.01, Y:5.68, Z:0.24 [[ 9.99998050e-01 -1.95116535e-04 -1.96536673e-03 1.09009830e+02] [ 1.95172982e-04 9.99999981e-01 2.85293576e-05 5.67655138e+00] [ 1.96536112e-03 -2.89128885e-05 9.99998068e-01 2.35458614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06439141799999 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:109.07, Y:5.68, Z:0.24 [[ 9.99969865e-01 7.51047811e-03 -1.96536559e-03 1.09069524e+02] [-7.51043639e-03 9.99971796e-01 2.86073522e-05 5.67732557e+00] [ 1.96552501e-03 -1.38457369e-05 9.99998068e-01 2.35118464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12439141799999 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:109.13, Y:5.68, Z:0.23 [[ 9.99899462e-01 1.40429061e-02 -1.96536615e-03 1.09127928e+02] [-1.40428771e-02 9.99901394e-01 2.85690373e-05 5.67905663e+00] [ 1.96557354e-03 -9.66769772e-07 9.99998068e-01 2.34282353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18439141799998 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:109.19, Y:5.68, Z:0.23 [[ 9.99838573e-01 1.78596019e-02 -1.96537393e-03 1.09186614e+02] [-1.78595813e-02 9.99840505e-01 2.80233871e-05 5.68026588e+00] [ 1.96556095e-03 7.08189209e-06 9.99998068e-01 2.34758534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24439141799998 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:109.24, Y:5.68, Z:0.24 [[ 9.99775022e-01 2.11197282e-02 -1.96537613e-03 1.09244959e+02] [-2.11197142e-02 9.99776954e-01 2.78678172e-05 5.68229969e+00] [ 1.96552632e-03 1.36466347e-05 9.99998068e-01 2.35047263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30439141799998 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:109.30, Y:5.68, Z:0.24 [[ 9.99785651e-01 2.06104052e-02 -1.96537828e-03 1.09303939e+02] [-2.06103905e-02 9.99787583e-01 2.77152290e-05 5.68110268e+00] [ 1.96553203e-03 1.27979256e-05 9.99998068e-01 2.36150300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36439141799998 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:109.36, Y:5.68, Z:0.24 [[ 9.99875194e-01 1.56758743e-02 -1.96538050e-03 1.09361395e+02] [-1.56758504e-02 9.99877126e-01 2.75573454e-05 5.67884628e+00] [ 1.96557099e-03 3.25510451e-06 9.99998068e-01 2.36460764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42439141799998 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:109.42, Y:5.68, Z:0.24 [[ 9.99934621e-01 1.12646083e-02 -1.96538381e-03 1.09420279e+02] [-1.12645764e-02 9.99936552e-01 2.73189320e-05 5.67611579e+00] [ 1.96556685e-03 -5.17792987e-06 9.99998068e-01 2.35865538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48439141799999 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:109.48, Y:5.67, Z:0.23 [[ 9.99973471e-01 7.01383418e-03 -1.96538601e-03 1.09478947e+02] [-7.01379435e-03 9.99975403e-01 2.71601487e-05 5.66888467e+00] [ 1.96552816e-03 -1.33746149e-05 9.99998068e-01 2.31363022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54439141799998 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:109.54, Y:5.67, Z:0.24 [[ 9.99997599e-01 -9.69309263e-04 -1.96539025e-03 1.09537069e+02] [ 9.69363905e-04 9.99999530e-01 2.68496426e-05 5.66877653e+00] [ 1.96536330e-03 -2.87547565e-05 9.99998068e-01 2.36882636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60439141799998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:109.60, Y:5.67, Z:0.24 [[ 9.99988037e-01 -4.47922249e-03 -1.96539327e-03 1.09596636e+02] [ 4.47928347e-03 9.99989968e-01 2.66269894e-05 5.66758717e+00] [ 1.96525428e-03 -3.54302244e-05 9.99998068e-01 2.38057514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66439141799998 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:109.66, Y:5.66, Z:0.24 [[ 9.99944996e-01 -1.03025349e-02 -1.96539380e-03 1.09656773e+02] [ 1.03026071e-02 9.99946926e-01 2.65876184e-05 5.66346200e+00] [ 1.96501557e-03 -4.68348360e-05 9.99998068e-01 2.39216176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72439141799998 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:109.72, Y:5.66, Z:0.24 [[ 9.99870263e-01 -1.59873097e-02 -1.96539380e-03 1.09718780e+02] [ 1.59873928e-02 9.99872193e-01 2.65876184e-05 5.66093084e+00] [ 1.96471754e-03 -5.80056916e-05 9.99998068e-01 2.38198719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78439141799998 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:109.78, Y:5.66, Z:0.24 [[ 9.99787551e-01 -2.05180231e-02 -1.96538602e-03 1.09780184e+02] [ 2.05181161e-02 9.99789481e-01 2.71508452e-05 5.65990938e+00] [ 1.96441518e-03 -6.74710956e-05 9.99998068e-01 2.36122732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84439141799999 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:109.84, Y:5.66, Z:0.23 [[ 9.99586602e-01 -2.86838458e-02 -1.96538436e-03 1.09843281e+02] [ 2.86839548e-02 9.99588530e-01 2.72699724e-05 5.65837691e+00] [ 1.96379346e-03 -8.36336952e-05 9.99998068e-01 2.34844174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90439141799997 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:109.91, Y:5.66, Z:0.24 [[ 9.99425585e-01 -3.38324746e-02 -1.96538108e-03 1.09906295e+02] [ 3.38325940e-02 9.99427514e-01 2.75049590e-05 5.65737479e+00] [ 1.96332536e-03 -9.39830996e-05 9.99998068e-01 2.35095676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96439141799998 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:109.97, Y:5.66, Z:0.24 [[ 9.99229604e-01 -3.91961150e-02 -1.96537779e-03 1.09969042e+02] [ 3.91962452e-02 9.99231532e-01 2.77375743e-05 5.65867293e+00] [ 1.96278026e-03 -1.04751635e-04 9.99998068e-01 2.36210559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02439141799998 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:110.03, Y:5.66, Z:0.24 [[ 9.99207231e-01 -3.97623843e-02 -1.96537453e-03 1.10031965e+02] [ 3.97625160e-02 9.99209158e-01 2.79668688e-05 5.66017263e+00] [ 1.96270820e-03 -1.06092934e-04 9.99998068e-01 2.35809202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08439141799998 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:110.09, Y:5.66, Z:0.24 [[ 9.99356886e-01 -3.58043516e-02 -1.96537116e-03 1.10094559e+02] [ 3.58044762e-02 9.99358814e-01 2.82017452e-05 5.66402362e+00] [ 1.96310125e-03 -9.85526931e-05 9.99998068e-01 2.36075362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14439141799998 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:110.16, Y:5.67, Z:0.24 [[ 9.99493881e-01 -3.17508853e-02 -1.96536838e-03 1.10157871e+02] [ 3.17510024e-02 9.99495809e-01 2.83943147e-05 5.66808987e+00] [ 1.96347591e-03 -9.07823599e-05 9.99998068e-01 2.37333026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20439141799999 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:110.22, Y:5.67, Z:0.24 [[ 9.99720272e-01 -2.35693672e-02 -1.96536502e-03 1.10219777e+02] [ 2.35694689e-02 9.99722201e-01 2.86249786e-05 5.67266315e+00] [ 1.96414437e-03 -7.49395812e-05 9.99998068e-01 2.36948626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26439141799997 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:110.28, Y:5.68, Z:0.24 [[ 9.99836796e-01 -1.79587812e-02 -1.96536277e-03 1.10282201e+02] [ 1.79588724e-02 9.99838726e-01 2.87783372e-05 5.67631528e+00] [ 1.96452899e-03 -6.40693398e-05 9.99998068e-01 2.39466735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32439141799998 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:110.34, Y:5.68, Z:0.24 [[ 9.99939004e-01 -1.08685398e-02 -1.96536050e-03 1.10343353e+02] [ 1.08686177e-02 9.99940934e-01 2.89324737e-05 5.68049552e+00] [ 1.96492996e-03 -5.02914608e-05 9.99998068e-01 2.39326990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38439141799998 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:110.41, Y:5.69, Z:0.24 [[ 9.99997849e-01 6.62286032e-04 -1.96535882e-03 1.10405436e+02] [-6.62230225e-04 9.99999780e-01 2.90461457e-05 5.68615208e+00] [ 1.96537763e-03 -2.77445632e-05 9.99998068e-01 2.39948232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44439141799998 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:110.46, Y:5.69, Z:0.24 [[ 9.99937102e-01 1.10422018e-02 -1.96535661e-03 1.10464460e+02] [-1.10421658e-02 9.99939033e-01 2.91949990e-05 5.69142898e+00] [ 1.96555917e-03 -7.49136910e-06 9.99998068e-01 2.35594993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50439141799998 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:110.52, Y:5.69, Z:0.24 [[ 9.99857064e-01 1.67925066e-02 -1.96535823e-03 1.10522759e+02] [-1.67924818e-02 9.99858996e-01 2.90857500e-05 5.69393747e+00] [ 1.96556953e-03 3.92164975e-06 9.99998068e-01 2.41542675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56439141799999 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:110.58, Y:5.69, Z:0.24 [[ 9.99717490e-01 2.36870789e-02 -1.96536110e-03 1.10580446e+02] [-2.36870679e-02 9.99719422e-01 2.88901810e-05 5.69470854e+00] [ 1.96549399e-03 1.76716226e-05 9.99998068e-01 2.40850265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62439141799999 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:110.64, Y:5.69, Z:0.24 [[ 9.99601588e-01 2.81567657e-02 -1.96536451e-03 1.10638735e+02] [-2.81567637e-02 9.99603519e-01 2.86562181e-05 5.69346791e+00] [ 1.96539215e-03 2.66935032e-05 9.99998068e-01 2.40430885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68439141799998 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:110.70, Y:5.69, Z:0.24 [[ 9.99510818e-01 3.12131581e-02 -1.96536785e-03 1.10695384e+02] [-3.12131626e-02 9.99512750e-01 2.84252971e-05 5.69204955e+00] [ 1.96529747e-03 3.29339544e-05 9.99998068e-01 2.40364011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74439141799998 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:110.75, Y:5.69, Z:0.24 [[ 9.99544744e-01 3.01071726e-02 -1.96537164e-03 1.10753191e+02] [-3.01071754e-02 9.99546676e-01 2.81611275e-05 5.68843407e+00] [ 1.96532854e-03 3.10234818e-05 9.99998068e-01 2.40449648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80439141799998 meters Centerline goodness : 0.999368 with order 1 Centerline is valid? [True, True] Translation: X:110.81, Y:5.69, Z:0.24 [[ 9.99574183e-01 2.91134108e-02 -1.96537501e-03 1.10810266e+02] [-2.91134122e-02 9.99576114e-01 2.79240398e-05 5.68636791e+00] [ 1.96535488e-03 2.93066234e-05 9.99998068e-01 2.40000211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86439141799998 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:110.87, Y:5.68, Z:0.24 [[ 9.99684108e-01 2.50563855e-02 -1.96537883e-03 1.10868348e+02] [-2.50563796e-02 9.99686039e-01 2.76521683e-05 5.67929621e+00] [ 1.96545465e-03 2.16018449e-05 9.99998068e-01 2.38327313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92439141799998 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:110.93, Y:5.67, Z:0.24 [[ 9.99726051e-01 2.33229760e-02 -1.96538205e-03 1.10925788e+02] [-2.33229672e-02 9.99727982e-01 2.74219345e-05 5.67341951e+00] [ 1.96548699e-03 1.84241187e-05 9.99998068e-01 2.37106114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98439141799999 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:110.98, Y:5.67, Z:0.24 [[ 9.99727099e-01 2.32779967e-02 -1.96538522e-03 1.10982612e+02] [-2.32779882e-02 9.99729031e-01 2.71927260e-05 5.66534770e+00] [ 1.96548565e-03 1.85649089e-05 9.99998068e-01 2.36907013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04439141799998 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:111.04, Y:5.66, Z:0.24 [[ 9.99697466e-01 2.45176144e-02 -1.96538974e-03 1.11040587e+02] [-2.45176090e-02 9.99699398e-01 2.68620815e-05 5.66081994e+00] [ 1.96545753e-03 2.13327022e-05 9.99998068e-01 2.38609339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10439141799998 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:111.10, Y:5.65, Z:0.24 [[ 9.99641216e-01 2.67128601e-02 -1.96539276e-03 1.11098567e+02] [-2.67128593e-02 9.99643148e-01 2.66392611e-05 5.65206998e+00] [ 1.96540301e-03 2.58715569e-05 9.99998068e-01 2.39166872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16439141799998 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:111.16, Y:5.65, Z:0.24 [[ 9.99628561e-01 2.71822995e-02 -1.96539581e-03 1.11156512e+02] [-2.71823001e-02 9.99630493e-01 2.64123849e-05 5.64583710e+00] [ 1.96538753e-03 2.70214043e-05 9.99998068e-01 2.37998188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22439141799998 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:111.22, Y:5.64, Z:0.24 [[ 9.99678346e-01 2.52852250e-02 -1.96539896e-03 1.11215410e+02] [-2.52852224e-02 9.99680277e-01 2.61754337e-05 5.63689024e+00] [ 1.96543243e-03 2.35285356e-05 9.99998068e-01 2.35469541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28439141799998 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:111.27, Y:5.63, Z:0.23 [[ 9.99755678e-01 2.20163990e-02 -1.96540106e-03 1.11274206e+02] [-2.20163904e-02 9.99757610e-01 2.60168938e-05 5.62800580e+00] [ 1.96549746e-03 1.72604998e-05 9.99998068e-01 2.34469817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34439141799999 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:111.33, Y:5.62, Z:0.23 [[ 9.99791509e-01 2.03242460e-02 -1.96540314e-03 1.11333316e+02] [-2.03242345e-02 9.99793441e-01 2.58584471e-05 5.62274289e+00] [ 1.96552273e-03 1.40922585e-05 9.99998068e-01 2.34985119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40439141799997 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:111.39, Y:5.62, Z:0.24 [[ 9.99819137e-01 1.89164099e-02 -1.96540521e-03 1.11391134e+02] [-1.89163959e-02 9.99821069e-01 2.57006542e-05 5.61681243e+00] [ 1.96553970e-03 1.14823771e-05 9.99998068e-01 2.35919228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46439141799998 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:111.45, Y:5.61, Z:0.24 [[ 9.99824116e-01 1.86513973e-02 -1.96540772e-03 1.11449915e+02] [-1.86513832e-02 9.99826048e-01 2.55068486e-05 5.61184925e+00] [ 1.96554157e-03 1.11552101e-05 9.99998068e-01 2.37038911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52439141799998 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:111.51, Y:5.60, Z:0.24 [[ 9.99838686e-01 1.78532802e-02 -1.96540980e-03 1.11508594e+02] [-1.78532648e-02 9.99840617e-01 2.53458458e-05 5.60373053e+00] [ 1.96554905e-03 9.74722445e-06 9.99998068e-01 2.36801766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58439141799998 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:111.57, Y:5.60, Z:0.24 [[ 9.99870412e-01 1.59779751e-02 -1.96541185e-03 1.11565902e+02] [-1.59779565e-02 9.99872344e-01 2.51860927e-05 5.59559922e+00] [ 1.96556337e-03 6.22043605e-06 9.99998068e-01 2.37827090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64439141799998 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:111.62, Y:5.59, Z:0.24 [[ 9.99880187e-01 1.53540848e-02 -1.96541434e-03 1.11624498e+02] [-1.53540653e-02 9.99882119e-01 2.49901284e-05 5.59245505e+00] [ 1.96556635e-03 5.18996587e-06 9.99998068e-01 2.38130054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70439141799999 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:111.68, Y:5.58, Z:0.24 [[ 9.99909643e-01 1.32982418e-02 -1.96541625e-03 1.11683310e+02] [-1.32982187e-02 9.99911574e-01 2.48386604e-05 5.58431152e+00] [ 1.96557277e-03 1.30011915e-06 9.99998068e-01 2.38347029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76439141799997 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:111.74, Y:5.58, Z:0.24 [[ 9.99938467e-01 1.09178651e-02 -1.96541817e-03 1.11742379e+02] [-1.09178377e-02 9.99940398e-01 2.46859293e-05 5.57606265e+00] [ 1.96557055e-03 -3.22629368e-06 9.99998068e-01 2.36372571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82439141799998 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:111.80, Y:5.57, Z:0.23 [[ 9.99954924e-01 9.28906654e-03 -1.96542007e-03 1.11801481e+02] [-9.28903626e-03 9.99956856e-01 2.45336501e-05 5.57100577e+00] [ 1.96556317e-03 -6.27568594e-06 9.99998068e-01 2.34706638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88439141799998 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:111.86, Y:5.57, Z:0.23 [[ 9.99975553e-01 6.71043373e-03 -1.96542195e-03 1.11860245e+02] [-6.71039877e-03 9.99977485e-01 2.43826426e-05 5.56593716e+00] [ 1.96554131e-03 -1.11932815e-05 9.99998068e-01 2.34773261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94439141799998 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:111.92, Y:5.56, Z:0.24 [[ 9.99979469e-01 6.09914425e-03 -1.96542377e-03 1.11918559e+02] [-6.09910840e-03 9.99981400e-01 2.42348874e-05 5.56148835e+00] [ 1.96553502e-03 -1.22470572e-05 9.99998068e-01 2.37193635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00439141799998 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:111.98, Y:5.56, Z:0.24 [[ 9.99974852e-01 6.81419871e-03 -1.96542571e-03 1.11976813e+02] [-6.81416455e-03 9.99976783e-01 2.40766075e-05 5.55776301e+00] [ 1.96554414e-03 -1.06832678e-05 9.99998068e-01 2.36583098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06439141799999 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:112.04, Y:5.55, Z:0.24 [[ 9.99953975e-01 9.39073787e-03 -1.96542807e-03 1.12035253e+02] [-9.39070906e-03 9.99955906e-01 2.38821234e-05 5.55305137e+00] [ 1.96556568e-03 -5.42426101e-06 9.99998068e-01 2.36720649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12439141799997 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:112.09, Y:5.55, Z:0.24 [[ 9.99921371e-01 1.23850212e-02 -1.96542991e-03 1.12094069e+02] [-1.23849985e-02 9.99923303e-01 2.37297738e-05 5.54765707e+00] [ 1.96557306e-03 6.13938513e-07 9.99998068e-01 2.36014419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18439141799998 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:112.15, Y:5.54, Z:0.24 [[ 9.99937109e-01 1.10415625e-02 -1.96543186e-03 1.12151402e+02] [-1.10415375e-02 9.99939040e-01 2.35667092e-05 5.54329319e+00] [ 1.96557226e-03 -1.86383741e-06 9.99998068e-01 2.38301836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24439141799998 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:112.21, Y:5.54, Z:0.24 [[ 9.99951677e-01 9.63230167e-03 -1.96543429e-03 1.12210327e+02] [-9.63227436e-03 9.99953608e-01 2.33628600e-05 5.53767740e+00] [ 1.96556815e-03 -4.43012875e-06 9.99998068e-01 2.37064675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30439141799998 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:112.27, Y:5.53, Z:0.23 [[ 9.99960400e-01 8.67956605e-03 -1.96543617e-03 1.12268267e+02] [-8.67953721e-03 9.99962332e-01 2.32030098e-05 5.53210927e+00] [ 1.96556353e-03 -6.14301458e-06 9.99998068e-01 2.34869594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36439141799998 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:112.33, Y:5.53, Z:0.24 [[ 9.99966489e-01 7.94719085e-03 -1.96543851e-03 1.12326750e+02] [-7.94716099e-03 9.99968421e-01 2.30031794e-05 5.52732914e+00] [ 1.96555926e-03 -7.38275227e-06 9.99998068e-01 2.36533774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42439141799998 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:112.38, Y:5.52, Z:0.24 [[ 9.99973885e-01 6.95452905e-03 -1.96544051e-03 1.12384187e+02] [-6.95449761e-03 9.99975817e-01 2.28314248e-05 5.52164169e+00] [ 1.96555176e-03 -9.16217722e-06 9.99998068e-01 2.35853338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48439141799999 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:112.44, Y:5.52, Z:0.24 [[ 9.99980412e-01 5.94244091e-03 -1.96544293e-03 1.12443290e+02] [-5.94240793e-03 9.99982343e-01 2.26206891e-05 5.51910842e+00] [ 1.96554265e-03 -1.09407823e-05 9.99998068e-01 2.37070063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54439141799998 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:112.50, Y:5.51, Z:0.24 [[ 9.99989315e-01 4.18407479e-03 -1.96544488e-03 1.12500622e+02] [-4.18403875e-03 9.99991247e-01 2.24500521e-05 5.51436278e+00] [ 1.96552161e-03 -1.42263147e-05 9.99998068e-01 2.35423725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60439141799998 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:112.56, Y:5.51, Z:0.24 [[ 9.99996552e-01 1.74135613e-03 -1.96544725e-03 1.12559711e+02] [-1.74131578e-03 9.99998484e-01 2.22405575e-05 5.50802427e+00] [ 1.96548300e-03 -1.88180165e-05 9.99998068e-01 2.37541698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66439141799998 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:112.62, Y:5.50, Z:0.24 [[ 9.99998052e-01 -1.80767009e-04 -1.96544910e-03 1.12619609e+02] [ 1.80810747e-04 9.99999983e-01 2.20758448e-05 5.50387463e+00] [ 1.96544508e-03 -2.24311761e-05 9.99998068e-01 2.38336347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72439141799998 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:112.68, Y:5.50, Z:0.24 [[ 9.99995653e-01 -2.19783482e-03 -1.96545002e-03 1.12679619e+02] [ 2.19788229e-03 9.99997584e-01 2.19940566e-05 5.50120559e+00] [ 1.96539693e-03 -2.63137887e-05 9.99998068e-01 2.39974727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78439141799998 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:112.74, Y:5.50, Z:0.24 [[ 9.99990796e-01 -3.81373747e-03 -1.96545096e-03 1.12738882e+02] [ 3.81378790e-03 9.99992727e-01 2.19097314e-05 5.49874364e+00] [ 1.96535311e-03 -2.94053428e-05 9.99998068e-01 2.39952123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84439141799999 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:112.80, Y:5.49, Z:0.24 [[ 9.99983056e-01 -5.47947360e-03 -1.96545142e-03 1.12799720e+02] [ 5.47952716e-03 9.99984987e-01 2.18683062e-05 5.49447186e+00] [ 1.96530209e-03 -3.26376801e-05 9.99998068e-01 2.37989565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90439141799997 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:112.86, Y:5.49, Z:0.24 [[ 9.99974660e-01 -6.84230099e-03 -1.96545142e-03 1.12859856e+02] [ 6.84235718e-03 9.99976591e-01 2.18683062e-05 5.49291875e+00] [ 1.96525578e-03 -3.53160726e-05 9.99998068e-01 2.39398773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96439141799998 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:112.92, Y:5.49, Z:0.24 [[ 9.99981877e-01 -5.69057063e-03 -1.96545142e-03 1.12920170e+02] [ 5.69062460e-03 9.99983808e-01 2.18683062e-05 5.49144504e+00] [ 1.96529515e-03 -3.30525560e-05 9.99998068e-01 2.38898416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02439141799998 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:112.98, Y:5.49, Z:0.24 [[ 9.99998055e-01 -1.62830384e-04 -1.96545142e-03 1.12980533e+02] [ 1.62873680e-04 9.99999986e-01 2.18683062e-05 5.49105407e+00] [ 1.96544783e-03 -2.21883839e-05 9.99998068e-01 2.40931059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08439141799998 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:113.04, Y:5.49, Z:0.24 [[ 9.99985528e-01 5.00805898e-03 -1.96545142e-03 1.13040125e+02] [-5.00802567e-03 9.99987460e-01 2.18683062e-05 5.49094689e+00] [ 1.96553629e-03 -1.20249585e-05 9.99998068e-01 2.42569909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14439141799998 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:113.10, Y:5.49, Z:0.24 [[ 9.99919424e-01 1.25412502e-02 -1.96545240e-03 1.13099125e+02] [-1.25412316e-02 9.99921355e-01 2.17799139e-05 5.49169533e+00] [ 1.96557097e-03 2.87103486e-06 9.99998068e-01 2.43405890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20439141799999 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:113.16, Y:5.49, Z:0.24 [[ 9.99857060e-01 1.67927584e-02 -1.96545900e-03 1.13157978e+02] [-1.67927493e-02 9.99858992e-01 2.11669095e-05 5.49112003e+00] [ 1.96553731e-03 1.18415763e-05 9.99998068e-01 2.43289677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26439141799997 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:113.22, Y:5.49, Z:0.24 [[ 9.99897694e-01 1.41681966e-02 -1.96546087e-03 1.13216374e+02] [-1.41681828e-02 9.99899626e-01 2.09921240e-05 5.48870423e+00] [ 1.96556101e-03 6.85703234e-06 9.99998068e-01 2.42774583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32439141799998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:113.27, Y:5.49, Z:0.24 [[ 9.99954005e-01 9.38750390e-03 -1.96546276e-03 1.13274700e+02] [-9.38748112e-03 9.99955936e-01 2.08138201e-05 5.48702438e+00] [ 1.96557154e-03 -2.36211828e-06 9.99998068e-01 2.42718124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38439141799998 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:113.33, Y:5.49, Z:0.24 [[ 9.99996387e-01 1.83358411e-03 -1.96546460e-03 1.13333969e+02] [-1.83354709e-03 9.99998319e-01 2.06384386e-05 5.48637756e+00] [ 1.96549914e-03 -1.70345921e-05 9.99998068e-01 2.41578604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44439141799998 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:113.39, Y:5.48, Z:0.24 [[ 9.99973790e-01 -6.96827682e-03 -1.96546643e-03 1.13394074e+02] [ 6.96833049e-03 9.99975721e-01 2.04622711e-05 5.48488639e+00] [ 1.96527612e-03 -3.41577544e-05 9.99998068e-01 2.43863120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50439141799998 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:113.45, Y:5.48, Z:0.24 [[ 9.99968122e-01 -7.73898191e-03 -1.96546733e-03 1.13454142e+02] [ 7.73903690e-03 9.99970053e-01 2.03754163e-05 5.48338537e+00] [ 1.96525079e-03 -3.55855910e-05 9.99998068e-01 2.42855798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56439141799999 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:113.51, Y:5.48, Z:0.24 [[ 9.99873483e-01 -1.57846373e-02 -1.96546733e-03 1.13514401e+02] [ 1.57847078e-02 9.99875414e-01 2.03754163e-05 5.48310995e+00] [ 1.96490084e-03 -5.13971660e-05 9.99998068e-01 2.43912890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62439141799997 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:113.58, Y:5.48, Z:0.24 [[ 9.99792622e-01 -2.02694256e-02 -1.96546733e-03 1.13575960e+02] [ 2.02695048e-02 9.99794552e-01 2.03754163e-05 5.48357025e+00] [ 1.96465053e-03 -6.02102404e-05 9.99998068e-01 2.44102344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68439141799998 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:113.64, Y:5.48, Z:0.24 [[ 9.99629655e-01 -2.71420414e-02 -1.96546600e-03 1.13638101e+02] [ 2.71421341e-02 9.99631584e-01 2.05030822e-05 5.48366057e+00] [ 1.96418540e-03 -7.38424307e-05 9.99998068e-01 2.44947878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74439141799998 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:113.70, Y:5.49, Z:0.24 [[ 9.99455865e-01 -3.29258343e-02 -1.96546421e-03 1.13698861e+02] [ 3.29259385e-02 9.99457794e-01 2.06728134e-05 5.48618179e+00] [ 1.96371786e-03 -8.53763184e-05 9.99998068e-01 2.44215620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80439141799998 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:113.76, Y:5.49, Z:0.24 [[ 9.99398713e-01 -3.46171916e-02 -1.96546290e-03 1.13760882e+02] [ 3.46172993e-02 9.99400641e-01 2.07971261e-05 5.48954299e+00] [ 1.96356494e-03 -8.88236385e-05 9.99998068e-01 2.44878592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86439141799998 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:113.82, Y:5.50, Z:0.24 [[ 9.99464020e-01 -3.26773697e-02 -1.96546107e-03 1.13822130e+02] [ 3.26774740e-02 9.99465949e-01 2.09682684e-05 5.49538865e+00] [ 1.96372623e-03 -8.51833330e-05 9.99998068e-01 2.44390584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92439141799998 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:113.88, Y:5.50, Z:0.25 [[ 9.99646078e-01 -2.65302785e-02 -1.96545980e-03 1.13883717e+02] [ 2.65303711e-02 9.99648008e-01 2.10872015e-05 5.50418238e+00] [ 1.96420852e-03 -7.32241162e-05 9.99998068e-01 2.45746039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98439141799999 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:113.95, Y:5.51, Z:0.25 [[ 9.99767978e-01 -2.14505644e-02 -1.96545854e-03 1.13946279e+02] [ 2.14506475e-02 9.99769908e-01 2.12032870e-05 5.51124329e+00] [ 1.96455149e-03 -6.33587258e-05 9.99998068e-01 2.46518547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04439141799998 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:114.01, Y:5.52, Z:0.25 [[ 9.99853921e-01 -1.69786139e-02 -1.96545688e-03 1.14008663e+02] [ 1.69786886e-02 9.99855851e-01 2.13561457e-05 5.51736742e+00] [ 1.96481097e-03 -5.47239064e-05 9.99998068e-01 2.46339109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10439141799998 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:114.07, Y:5.53, Z:0.25 [[ 9.99915876e-01 -1.28209604e-02 -1.96545524e-03 1.14071075e+02] [ 1.28210274e-02 9.99917807e-01 2.15065466e-05 5.52598037e+00] [ 1.96501796e-03 -4.67038930e-05 9.99998068e-01 2.45707989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16439141799998 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:114.13, Y:5.53, Z:0.25 [[ 9.99900228e-01 -1.39882169e-02 -1.96545342e-03 1.14132259e+02] [ 1.39882865e-02 9.99902159e-01 2.16714043e-05 5.53024777e+00] [ 1.96495797e-03 -4.91625677e-05 9.99998068e-01 2.46135352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22439141799998 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:114.19, Y:5.54, Z:0.25 [[ 9.99831591e-01 -1.82462786e-02 -1.96545208e-03 1.14194481e+02] [ 1.82463567e-02 9.99833521e-01 2.17924032e-05 5.53587490e+00] [ 1.96472724e-03 -5.76510729e-05 9.99998068e-01 2.46641997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28439141799998 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:114.26, Y:5.54, Z:0.25 [[ 9.99698518e-01 -2.44746772e-02 -1.96545029e-03 1.14256370e+02] [ 2.44747676e-02 9.99700448e-01 2.19523909e-05 5.54064545e+00] [ 1.96432426e-03 -7.00497118e-05 9.99998068e-01 2.46915287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34439141799999 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:114.32, Y:5.54, Z:0.25 [[ 9.99611659e-01 -2.77969142e-02 -1.96544847e-03 1.14317409e+02] [ 2.77970113e-02 9.99613588e-01 2.21143729e-05 5.54388532e+00] [ 1.96407429e-03 -7.67393783e-05 9.99998068e-01 2.46621153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40439141799997 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:114.38, Y:5.55, Z:0.25 [[ 9.99518267e-01 -3.09737164e-02 -1.96544711e-03 1.14379690e+02] [ 3.09738199e-02 9.99520196e-01 2.22343009e-05 5.54863069e+00] [ 1.96381540e-03 -8.31009948e-05 9.99998068e-01 2.47620472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46439141799998 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:114.44, Y:5.55, Z:0.25 [[ 9.99452896e-01 -3.30158495e-02 -1.96544529e-03 1.14442951e+02] [ 3.30159573e-02 9.99454824e-01 2.23942881e-05 5.55364933e+00] [ 1.96363441e-03 -8.72730938e-05 9.99998068e-01 2.48283233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52439141799998 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:114.51, Y:5.56, Z:0.25 [[ 9.99439141e-01 -3.34296374e-02 -1.96544250e-03 1.14505268e+02] [ 3.34297464e-02 9.99441070e-01 2.26363970e-05 5.55812867e+00] [ 1.96358723e-03 -8.83279457e-05 9.99998068e-01 2.49194645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58439141799998 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:114.57, Y:5.56, Z:0.25 [[ 9.99423048e-01 -3.39073486e-02 -1.96543788e-03 1.14568379e+02] [ 3.39074594e-02 9.99424977e-01 2.30311432e-05 5.56208776e+00] [ 1.96352678e-03 -8.96608602e-05 9.99998068e-01 2.49697778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64439141799998 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:114.63, Y:5.56, Z:0.25 [[ 9.99414099e-01 -3.41700962e-02 -1.96543508e-03 1.14631182e+02] [ 3.41702079e-02 9.99416028e-01 2.32676863e-05 5.56470569e+00] [ 1.96349226e-03 -9.04133788e-05 9.99998068e-01 2.49667798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70439141799999 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:114.69, Y:5.57, Z:0.25 [[ 9.99395138e-01 -3.47202520e-02 -1.96543214e-03 1.14692081e+02] [ 3.47203652e-02 9.99397066e-01 2.35129038e-05 5.56906595e+00] [ 1.96343074e-03 -9.17392034e-05 9.99998068e-01 2.48085203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76439141799997 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:114.75, Y:5.57, Z:0.25 [[ 9.99393272e-01 -3.47739053e-02 -1.96543070e-03 1.14753985e+02] [ 3.47740188e-02 9.99395201e-01 2.36329449e-05 5.57310188e+00] [ 1.96342020e-03 -9.19645303e-05 9.99998068e-01 2.48750811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82439141799998 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:114.82, Y:5.58, Z:0.25 [[ 9.99460388e-01 -3.27882509e-02 -1.96542876e-03 1.14815768e+02] [ 3.27883609e-02 9.99462317e-01 2.37929109e-05 5.57789370e+00] [ 1.96359186e-03 -8.82232597e-05 9.99998068e-01 2.48593067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88439141799998 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:114.88, Y:5.58, Z:0.25 [[ 9.99592345e-01 -2.84829928e-02 -1.96542678e-03 1.14878204e+02] [ 2.84830949e-02 9.99594274e-01 2.39557386e-05 5.58387939e+00] [ 1.96394702e-03 -7.99274104e-05 9.99998068e-01 2.49542996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94439141799998 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:114.94, Y:5.59, Z:0.25 [[ 9.99780395e-01 -2.08637989e-02 -1.96542480e-03 1.14939083e+02] [ 2.08638866e-02 9.99782325e-01 2.41168800e-05 5.59056456e+00] [ 1.96449381e-03 -6.51179839e-05 9.99998068e-01 2.50792417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00439141799998 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:115.00, Y:5.59, Z:0.25 [[ 9.99900111e-01 -1.39966261e-02 -1.96542334e-03 1.14999879e+02] [ 1.39967008e-02 9.99902041e-01 2.42355720e-05 5.59326544e+00] [ 1.96489159e-03 -5.17425935e-05 9.99998068e-01 2.50654415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06439141799999 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:115.06, Y:5.60, Z:0.25 [[ 9.99990480e-01 -3.89582936e-03 -1.96542193e-03 1.15061705e+02] [ 3.89588474e-03 9.99992411e-01 2.43494291e-05 5.59824139e+00] [ 1.96531215e-03 -3.20062546e-05 9.99998068e-01 2.51668480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12439141799997 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:115.12, Y:5.60, Z:0.25 [[ 9.99996764e-01 1.61510583e-03 -1.96541991e-03 1.15121717e+02] [-1.61506078e-03 9.99998695e-01 2.45109004e-05 5.60172876e+00] [ 1.96545694e-03 -2.13365485e-05 9.99998068e-01 2.53505078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18439141799998 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:115.18, Y:5.60, Z:0.25 [[ 9.99975614e-01 6.70140703e-03 -1.96541942e-03 1.15181122e+02] [-6.70137172e-03 9.99977545e-01 2.45502827e-05 5.60425845e+00] [ 1.96553981e-03 -1.13786779e-05 9.99998068e-01 2.53578398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24439141799998 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:115.24, Y:5.60, Z:0.25 [[ 9.99968583e-01 7.67918652e-03 -1.96542038e-03 1.15240388e+02] [-7.67915325e-03 9.99970515e-01 2.44732786e-05 5.60387359e+00] [ 1.96555036e-03 -9.37974546e-06 9.99998068e-01 2.52603810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30439141799998 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:115.30, Y:5.60, Z:0.25 [[ 9.99981787e-01 5.70633052e-03 -1.96542229e-03 1.15299380e+02] [-5.70629374e-03 9.99983719e-01 2.43190152e-05 5.60379918e+00] [ 1.96552906e-03 -1.31032953e-05 9.99998068e-01 2.52205174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36439141799998 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:115.36, Y:5.60, Z:0.25 [[ 9.99997258e-01 1.27321485e-03 -1.96542422e-03 1.15357120e+02] [-1.27316982e-03 9.99999189e-01 2.41617774e-05 5.60145452e+00] [ 1.96545339e-03 -2.16593923e-05 9.99998068e-01 2.50206142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42439141799998 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:115.42, Y:5.60, Z:0.25 [[ 9.99992265e-01 -3.40695700e-03 -1.96542677e-03 1.15416360e+02] [ 3.40701065e-03 9.99994196e-01 2.39527654e-05 5.59895141e+00] [ 1.96533375e-03 -3.06488100e-05 9.99998068e-01 2.50116148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48439141799997 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:115.48, Y:5.60, Z:0.25 [[ 9.99976638e-01 -6.54674224e-03 -1.96542773e-03 1.15477028e+02] [ 6.54680181e-03 9.99978569e-01 2.38736291e-05 5.59710101e+00] [ 1.96522931e-03 -3.67403372e-05 9.99998068e-01 2.50069195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54439141799998 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:115.54, Y:5.59, Z:0.25 [[ 9.99955514e-01 -9.22539745e-03 -1.96542773e-03 1.15538806e+02] [ 9.22546219e-03 9.99957444e-01 2.38736291e-05 5.59367151e+00] [ 1.96512385e-03 -4.20045463e-05 9.99998068e-01 2.47354017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60439141799998 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:115.60, Y:5.59, Z:0.25 [[ 9.99905836e-01 -1.35814692e-02 -1.96542624e-03 1.15599888e+02] [ 1.35815426e-02 9.99907766e-01 2.39953733e-05 5.59188380e+00] [ 1.96491907e-03 -5.06866341e-05 9.99998068e-01 2.49270561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66439141799998 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:115.66, Y:5.59, Z:0.25 [[ 9.99827852e-01 -1.84500225e-02 -1.96542474e-03 1.15661887e+02] [ 1.84501055e-02 9.99829782e-01 2.41178319e-05 5.59036070e+00] [ 1.96464522e-03 -6.03759739e-05 9.99998068e-01 2.51778546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72439141799998 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:115.72, Y:5.59, Z:0.25 [[ 9.99761490e-01 -2.17508820e-02 -1.96542277e-03 1.15723717e+02] [ 2.17509717e-02 9.99763419e-01 2.42769794e-05 5.58883290e+00] [ 1.96442975e-03 -6.70210442e-05 9.99998068e-01 2.51603670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78439141799998 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:115.79, Y:5.59, Z:0.25 [[ 9.99657325e-01 -2.61030658e-02 -1.96542081e-03 1.15785751e+02] [ 2.61031643e-02 9.99659254e-01 2.44350737e-05 5.58689127e+00] [ 1.96411327e-03 -7.57304026e-05 9.99998068e-01 2.50240083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84439141799999 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:115.85, Y:5.59, Z:0.25 [[ 9.99429153e-01 -3.37269257e-02 -1.96541836e-03 1.15848371e+02] [ 3.37270392e-02 9.99431081e-01 2.46303682e-05 5.58565622e+00] [ 1.96346949e-03 -9.09040502e-05 9.99998068e-01 2.50119408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90439141799997 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:115.91, Y:5.59, Z:0.25 [[ 9.99169304e-01 -4.07042980e-02 -1.96541642e-03 1.15911523e+02] [ 4.07044253e-02 9.99171231e-01 2.47841190e-05 5.58529244e+00] [ 1.96277873e-03 -1.04764677e-04 9.99998068e-01 2.50725875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96439141799998 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:115.97, Y:5.59, Z:0.25 [[ 9.98969891e-01 -4.53353519e-02 -1.96541337e-03 1.15974096e+02] [ 4.53354886e-02 9.98971818e-01 2.50239993e-05 5.58543278e+00] [ 1.96225809e-03 -1.14101197e-04 9.99998068e-01 2.50955516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02439141799998 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:116.04, Y:5.59, Z:0.25 [[ 9.98893151e-01 -4.69958576e-02 -1.96541033e-03 1.16037341e+02] [ 4.69959979e-02 9.98895077e-01 2.52605705e-05 5.58624088e+00] [ 1.96205156e-03 -1.17599031e-04 9.99998068e-01 2.51702685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08439141799998 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:116.10, Y:5.59, Z:0.25 [[ 9.98881477e-01 -4.72433200e-02 -1.96540724e-03 1.16099405e+02] [ 4.72434613e-02 9.98883404e-01 2.54985690e-05 5.58945076e+00] [ 1.96200804e-03 -1.18322689e-04 9.99998068e-01 2.51531198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14439141799998 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:116.16, Y:5.59, Z:0.25 [[ 9.99053085e-01 -4.34634427e-02 -1.96540517e-03 1.16161120e+02] [ 4.34635771e-02 9.99055012e-01 2.56568858e-05 5.59189504e+00] [ 1.96243275e-03 -1.11056130e-04 9.99998068e-01 2.50881044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20439141799999 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:116.22, Y:5.60, Z:0.25 [[ 9.99273446e-01 -3.80620293e-02 -1.96540364e-03 1.16223254e+02] [ 3.80621534e-02 9.99275373e-01 2.57735482e-05 5.59566117e+00] [ 1.96299847e-03 -1.00562317e-04 9.99998068e-01 2.54065037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26439141799997 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:116.29, Y:5.60, Z:0.26 [[ 9.99635923e-01 -2.69101834e-02 -1.96540161e-03 1.16285800e+02] [ 2.69102863e-02 9.99637852e-01 2.59275987e-05 5.60241802e+00] [ 1.96399213e-03 -7.88076791e-05 9.99998068e-01 2.58389051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32439141799998 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:116.35, Y:5.60, Z:0.26 [[ 9.99801716e-01 -1.98158228e-02 -1.96539949e-03 1.16347828e+02] [ 1.98159124e-02 9.99803645e-01 2.60870665e-05 5.60438166e+00] [ 1.96449664e-03 -6.50280780e-05 9.99998068e-01 2.58661125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38439141799998 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:116.41, Y:5.61, Z:0.26 [[ 9.99945470e-01 -1.02563967e-02 -1.96539739e-03 1.16408914e+02] [ 1.02564681e-02 9.99947401e-01 2.62443406e-05 5.60567337e+00] [ 1.96502484e-03 -4.64009452e-05 9.99998068e-01 2.55741336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44439141799998 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:116.47, Y:5.61, Z:0.26 [[ 9.99997760e-01 -7.85492959e-04 -1.96539584e-03 1.16470798e+02] [ 7.85546284e-04 9.99999691e-01 2.63601806e-05 5.60791776e+00] [ 1.96537453e-03 -2.79040310e-05 9.99998068e-01 2.55755221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50439141799998 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:116.53, Y:5.61, Z:0.26 [[ 9.99995221e-01 2.38630062e-03 -1.96539373e-03 1.16530182e+02] [-2.38625312e-03 9.99997153e-01 2.65165178e-05 5.60818996e+00] [ 1.96545141e-03 -2.18264641e-05 9.99998068e-01 2.56005569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56439141799999 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:116.59, Y:5.61, Z:0.26 [[ 9.99932254e-01 1.14727696e-02 -1.96539479e-03 1.16588681e+02] [-1.14727398e-02 9.99934186e-01 2.64379408e-05 5.60856094e+00] [ 1.96556875e-03 -3.88768676e-06 9.99998068e-01 2.55716091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62439141799997 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:116.65, Y:5.61, Z:0.26 [[ 9.99865543e-01 1.62798490e-02 -1.96540194e-03 1.16647371e+02] [-1.62798295e-02 9.99867474e-01 2.58951637e-05 5.60819868e+00] [ 1.96556304e-03 6.10472662e-06 9.99998068e-01 2.55439298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68439141799998 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:116.70, Y:5.61, Z:0.26 [[ 9.99792203e-01 2.02900847e-02 -1.96540396e-03 1.16704776e+02] [-2.02900733e-02 9.99794135e-01 2.57409017e-05 5.60695617e+00] [ 1.96552164e-03 1.41426376e-05 9.99998068e-01 2.56861137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74439141799998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:116.76, Y:5.60, Z:0.26 [[ 9.99759105e-01 2.18602330e-02 -1.96540717e-03 1.16764024e+02] [-2.18602251e-02 9.99761036e-01 2.54938507e-05 5.60450993e+00] [ 1.96549481e-03 1.74765338e-05 9.99998068e-01 2.56959839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80439141799998 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:116.82, Y:5.60, Z:0.26 [[ 9.99809833e-01 1.94019190e-02 -1.96540919e-03 1.16823174e+02] [-1.94019067e-02 9.99811765e-01 2.53370194e-05 5.60077623e+00] [ 1.96553081e-03 1.28004845e-05 9.99998068e-01 2.57351999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86439141799998 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:116.88, Y:5.60, Z:0.26 [[ 9.99907028e-01 1.34934564e-02 -1.96541125e-03 1.16880921e+02] [-1.34934330e-02 9.99908959e-01 2.51762680e-05 5.59530364e+00] [ 1.96557203e-03 1.34621758e-06 9.99998068e-01 2.55665461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92439141799998 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:116.94, Y:5.59, Z:0.25 [[ 9.99963472e-01 8.31816775e-03 -1.96541416e-03 1.16939207e+02] [-8.31813478e-03 9.99965403e-01 2.49467685e-05 5.58961149e+00] [ 1.96555367e-03 -8.59727736e-06 9.99998068e-01 2.54327003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98439141799997 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:117.00, Y:5.58, Z:0.25 [[ 9.99995082e-01 2.44380231e-03 -1.96541594e-03 1.16996901e+02] [-2.44375828e-03 9.99997014e-01 2.48058320e-05 5.58214854e+00] [ 1.96547069e-03 -2.00027085e-05 9.99998068e-01 2.54357592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04439141799998 meters Centerline goodness : 0.999399 with order 1 Centerline is valid? [True, True] Translation: X:117.06, Y:5.58, Z:0.26 [[ 9.99991860e-01 3.52367628e-03 -1.96541812e-03 1.17055767e+02] [-3.52363467e-03 9.99993792e-01 2.46321006e-05 5.57634218e+00] [ 1.96549271e-03 -1.77064847e-05 9.99998068e-01 2.56681191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10439141799998 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:117.11, Y:5.57, Z:0.26 [[ 9.99972552e-01 7.14371204e-03 -1.96542494e-03 1.17114689e+02] [-7.14367852e-03 9.99974483e-01 2.40751880e-05 5.57286615e+00] [ 1.96554677e-03 -1.00341632e-05 9.99998068e-01 2.56206808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16439141799998 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:117.17, Y:5.57, Z:0.26 [[ 9.99910666e-01 1.32210874e-02 -1.96543150e-03 1.17171191e+02] [-1.32210667e-02 9.99912598e-01 2.35266155e-05 5.56739000e+00] [ 1.96557077e-03 2.46058722e-06 9.99998068e-01 2.55665621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22439141799998 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:117.23, Y:5.56, Z:0.26 [[ 9.99882694e-01 1.51899830e-02 -1.96543469e-03 1.17229648e+02] [-1.51899666e-02 9.99884626e-01 2.32573013e-05 5.56279099e+00] [ 1.96556121e-03 6.60031420e-06 9.99998068e-01 2.55170647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28439141799998 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:117.29, Y:5.56, Z:0.25 [[ 9.99895173e-01 1.43450095e-02 -1.96543646e-03 1.17288337e+02] [-1.43449918e-02 9.99897105e-01 2.31068026e-05 5.55542996e+00] [ 1.96556569e-03 5.08978951e-06 9.99998068e-01 2.52926777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34439141799999 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:117.35, Y:5.55, Z:0.25 [[ 9.99954931e-01 9.28831023e-03 -1.96543819e-03 1.17346976e+02] [-9.28828305e-03 9.99956863e-01 2.29590306e-05 5.54792695e+00] [ 1.96556665e-03 -4.70244971e-06 9.99998068e-01 2.52936490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40439141799997 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:117.41, Y:5.54, Z:0.25 [[ 9.99987923e-01 4.50455698e-03 -1.96544002e-03 1.17405871e+02] [-4.50452086e-03 9.99989854e-01 2.28005630e-05 5.54326758e+00] [ 1.96552279e-03 -1.39469220e-05 9.99998068e-01 2.53005802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46439141799998 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:117.47, Y:5.54, Z:0.25 [[ 9.99987238e-01 -4.65406430e-03 -1.96544183e-03 1.17465460e+02] [ 4.65411779e-03 9.99989169e-01 2.26442614e-05 5.53626619e+00] [ 1.96531515e-03 -3.17913702e-05 9.99998068e-01 2.54448070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52439141799998 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:117.53, Y:5.53, Z:0.26 [[ 9.99892504e-01 -1.45298840e-02 -1.96544272e-03 1.17525567e+02] [ 1.45299564e-02 9.99894434e-01 2.25663233e-05 5.52886806e+00] [ 1.96490735e-03 -5.11216947e-05 9.99998068e-01 2.56111077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58439141799998 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:117.59, Y:5.52, Z:0.26 [[ 9.99792672e-01 -2.02669459e-02 -1.96544287e-03 1.17587246e+02] [ 2.02670293e-02 9.99794602e-01 2.25530189e-05 5.52450850e+00] [ 1.96458209e-03 -6.23820314e-05 9.99998068e-01 2.57486028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64439141799998 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:117.65, Y:5.52, Z:0.26 [[ 9.99670234e-01 -2.56038942e-02 -1.96544095e-03 1.17649104e+02] [ 2.56039883e-02 9.99672164e-01 2.27190209e-05 5.51903294e+00] [ 1.96421492e-03 -7.30346561e-05 9.99998068e-01 2.56018643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70439141799999 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:117.71, Y:5.52, Z:0.26 [[ 9.99621518e-01 -2.74400925e-02 -1.96543908e-03 1.17710307e+02] [ 2.74401904e-02 9.99623447e-01 2.28799114e-05 5.51619715e+00] [ 1.96407116e-03 -7.68032745e-05 9.99998068e-01 2.56140548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76439141799997 meters Centerline goodness : 0.999431 with order 1 Centerline is valid? [True, True] Translation: X:117.77, Y:5.51, Z:0.26 [[ 9.99630198e-01 -2.71220287e-02 -1.96543769e-03 1.17772712e+02] [ 2.71221263e-02 9.99632127e-01 2.29987311e-05 5.51479471e+00] [ 1.96409089e-03 -7.62970754e-05 9.99998068e-01 2.56887885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82439141799998 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:117.84, Y:5.51, Z:0.26 [[ 9.99659577e-01 -2.60166824e-02 -1.96543586e-03 1.17835094e+02] [ 2.60167781e-02 9.99661506e-01 2.31538026e-05 5.51406339e+00] [ 1.96416819e-03 -7.42802292e-05 9.99998068e-01 2.56437662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88439141799998 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:117.90, Y:5.51, Z:0.25 [[ 9.99681582e-01 -2.51569487e-02 -1.96543395e-03 1.17897606e+02] [ 2.51570430e-02 9.99683511e-01 2.33148673e-05 5.51258449e+00] [ 1.96422538e-03 -7.27519500e-05 9.99998068e-01 2.54324748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94439141799998 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:117.96, Y:5.51, Z:0.25 [[ 9.99736083e-01 -2.28889145e-02 -1.96543204e-03 1.17959488e+02] [ 2.28890049e-02 9.99738012e-01 2.34750826e-05 5.51269156e+00] [ 1.96437980e-03 -6.84556707e-05 9.99998068e-01 2.54075877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00439141799998 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:118.02, Y:5.51, Z:0.26 [[ 9.99795502e-01 -2.01268974e-02 -1.96543009e-03 1.18021519e+02] [ 2.01269827e-02 9.99797431e-01 2.36369069e-05 5.51391414e+00] [ 1.96455622e-03 -6.31902508e-05 9.99998068e-01 2.55176083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06439141799999 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:118.08, Y:5.52, Z:0.26 [[ 9.99892955e-01 -1.44988200e-02 -1.96542811e-03 1.18083120e+02] [ 1.44988947e-02 9.99894885e-01 2.38003520e-05 5.51515036e+00] [ 1.96487644e-03 -5.22943397e-05 9.99998068e-01 2.55450840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12439141799997 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:118.15, Y:5.52, Z:0.26 [[ 9.99915547e-01 -1.28466563e-02 -1.96542658e-03 1.18145462e+02] [ 1.28467281e-02 9.99917477e-01 2.39265540e-05 5.51518567e+00] [ 1.96495701e-03 -4.91738343e-05 9.99998068e-01 2.59206254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18439141799998 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:118.21, Y:5.52, Z:0.26 [[ 9.99927618e-01 -1.18699440e-02 -1.96542448e-03 1.18207867e+02] [ 1.18700143e-02 9.99929549e-01 2.40976060e-05 5.51521131e+00] [ 1.96499998e-03 -4.74254785e-05 9.99998068e-01 2.59487956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24439141799998 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:118.27, Y:5.51, Z:0.26 [[ 9.99940295e-01 -1.07490974e-02 -1.96542250e-03 1.18270010e+02] [ 1.07491658e-02 9.99942226e-01 2.42580704e-05 5.51443060e+00] [ 1.96504820e-03 -4.53832745e-05 9.99998068e-01 2.58721498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30439141799998 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:118.33, Y:5.51, Z:0.26 [[ 9.99973810e-01 -6.96535348e-03 -1.96542047e-03 1.18331144e+02] [ 6.96541492e-03 9.99975741e-01 2.44213558e-05 5.51405855e+00] [ 1.96520269e-03 -3.81106853e-05 9.99998068e-01 2.57766438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36439141799998 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:118.39, Y:5.51, Z:0.26 [[ 9.99995106e-01 -2.43395858e-03 -1.96541947e-03 1.18392381e+02] [ 2.43401144e-03 9.99997037e-01 2.45014065e-05 5.51405063e+00] [ 1.96535402e-03 -2.92851401e-05 9.99998068e-01 2.59640955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42439141799998 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:118.45, Y:5.51, Z:0.26 [[ 9.99997203e-01 -1.31543882e-03 -1.96541848e-03 1.18453013e+02] [ 1.31548967e-03 9.99999134e-01 2.45807169e-05 5.51294052e+00] [ 1.96538445e-03 -2.71661358e-05 9.99998068e-01 2.60483935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48439141799997 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:118.51, Y:5.51, Z:0.26 [[ 9.99998056e-01 1.60903557e-04 -1.96541848e-03 1.18512427e+02] [-1.60855556e-04 9.99999987e-01 2.45807169e-05 5.50971639e+00] [ 1.96542241e-03 -2.42645206e-05 9.99998068e-01 2.58528139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54439141799998 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:118.57, Y:5.51, Z:0.26 [[ 9.99997949e-01 -4.89541677e-04 -1.96541950e-03 1.18571683e+02] [ 4.89590773e-04 9.99999880e-01 2.44988094e-05 5.50878106e+00] [ 1.96540727e-03 -2.54610104e-05 9.99998068e-01 2.57130864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60439141799998 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:118.63, Y:5.51, Z:0.26 [[ 9.99984124e-01 -5.28094965e-03 -1.96541901e-03 1.18631223e+02] [ 5.28100808e-03 9.99986055e-01 2.45380229e-05 5.50629453e+00] [ 1.96526202e-03 -3.49170271e-05 9.99998068e-01 2.55400791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66439141799998 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:118.69, Y:5.50, Z:0.26 [[ 9.99909632e-01 -1.32990305e-02 -1.96542001e-03 1.18691059e+02] [ 1.32991042e-02 9.99911563e-01 2.44581407e-05 5.50333372e+00] [ 1.96492092e-03 -5.05942560e-05 9.99998068e-01 2.55111929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72439141799998 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:118.75, Y:5.50, Z:0.25 [[ 9.99819979e-01 -1.88718422e-02 -1.96541952e-03 1.18753639e+02] [ 1.88719268e-02 9.99821909e-01 2.44974257e-05 5.50284911e+00] [ 1.96460718e-03 -6.15842688e-05 9.99998068e-01 2.54870949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78439141799998 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:118.82, Y:5.50, Z:0.26 [[ 9.99677037e-01 -2.53368894e-02 -1.96541757e-03 1.18816267e+02] [ 2.53369868e-02 9.99678967e-01 2.46526392e-05 5.50303509e+00] [ 1.96416198e-03 -7.44424363e-05 9.99998068e-01 2.55717774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84439141799997 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:118.88, Y:5.50, Z:0.26 [[ 9.99546503e-01 -3.00487287e-02 -1.96541563e-03 1.18877165e+02] [ 3.00488355e-02 9.99548431e-01 2.48063195e-05 5.50241846e+00] [ 1.96378271e-03 -8.38535209e-05 9.99998068e-01 2.55236413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90439141799997 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:118.94, Y:5.50, Z:0.26 [[ 9.99542933e-01 -3.01672469e-02 -1.96541259e-03 1.18939879e+02] [ 3.01673544e-02 9.99544861e-01 2.50451986e-05 5.50280639e+00] [ 1.96376251e-03 -8.43250493e-05 9.99998068e-01 2.56528886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96439141799998 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:119.00, Y:5.50, Z:0.26 [[ 9.99546872e-01 -3.00364289e-02 -1.96540954e-03 1.19002295e+02] [ 3.00365366e-02 9.99548801e-01 2.52820220e-05 5.50487002e+00] [ 1.96376337e-03 -8.43046616e-05 9.99998068e-01 2.56132213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02439141799998 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:119.06, Y:5.51, Z:0.26 [[ 9.99608488e-01 -2.79107153e-02 -1.96540702e-03 1.19064883e+02] [ 2.79108193e-02 9.99610417e-01 2.54762514e-05 5.50728449e+00] [ 1.96393027e-03 -8.03223974e-05 9.99998068e-01 2.56920613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08439141799998 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:119.13, Y:5.51, Z:0.26 [[ 9.99663961e-01 -2.58476673e-02 -1.96540513e-03 1.19127177e+02] [ 2.58477675e-02 9.99665890e-01 2.56215519e-05 5.50859141e+00] [ 1.96408621e-03 -7.64142769e-05 9.99998068e-01 2.58679322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14439141799998 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:119.19, Y:5.52, Z:0.27 [[ 9.99630700e-01 -2.71035119e-02 -1.96540303e-03 1.19188569e+02] [ 2.71036149e-02 9.99632629e-01 2.57813634e-05 5.52069716e+00] [ 1.96398223e-03 -7.90413692e-05 9.99998068e-01 2.67212003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20439141799999 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:119.25, Y:5.52, Z:0.26 [[ 9.99827710e-01 -1.84577144e-02 -1.96540249e-03 1.19248198e+02] [ 1.84578008e-02 9.99829640e-01 2.58226082e-05 5.51719578e+00] [ 1.96459104e-03 -6.20951669e-05 9.99998068e-01 2.55765940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26439141799997 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:119.31, Y:5.53, Z:0.26 [[ 9.99828708e-01 -1.84035855e-02 -1.96539995e-03 1.19309859e+02] [ 1.84036721e-02 9.99830638e-01 2.60145236e-05 5.52686320e+00] [ 1.96458832e-03 -6.21806438e-05 9.99998068e-01 2.63992057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32439141799998 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:119.37, Y:5.53, Z:0.26 [[ 9.99929560e-01 -1.17052634e-02 -1.96539834e-03 1.19370161e+02] [ 1.17053373e-02 9.99931490e-01 2.61357767e-05 5.52591172e+00] [ 1.96495776e-03 -4.91395862e-05 9.99998068e-01 2.60384830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38439141799998 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:119.43, Y:5.53, Z:0.26 [[ 9.99950698e-01 -9.73333608e-03 -1.96539780e-03 1.19432055e+02] [ 9.73340632e-03 9.99952629e-01 2.61760210e-05 5.52693047e+00] [ 1.96504992e-03 -4.53047459e-05 9.99998068e-01 2.61062223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44439141799998 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:119.49, Y:5.53, Z:0.26 [[ 9.99961228e-01 -8.58363547e-03 -1.96539572e-03 1.19493452e+02] [ 8.58370380e-03 9.99963159e-01 2.63315581e-05 5.52761685e+00] [ 1.96509729e-03 -4.32009119e-05 9.99998068e-01 2.61354116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50439141799998 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:119.56, Y:5.53, Z:0.26 [[ 9.99955934e-01 -9.17975283e-03 -1.96539417e-03 1.19556106e+02] [ 9.17982253e-03 9.99957864e-01 2.64463119e-05 5.52920903e+00] [ 1.96506859e-03 -4.44871162e-05 9.99998068e-01 2.61257821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56439141799999 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:119.62, Y:5.53, Z:0.26 [[ 9.99940812e-01 -1.07009070e-02 -1.96539214e-03 1.19617573e+02] [ 1.07009800e-02 9.99942743e-01 2.65966231e-05 5.52934014e+00] [ 1.96499500e-03 -4.76266709e-05 9.99998068e-01 2.60489470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62439141799997 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:119.68, Y:5.53, Z:0.26 [[ 9.99955817e-01 -9.19248809e-03 -1.96539063e-03 1.19679262e+02] [ 9.19255833e-03 9.99957747e-01 2.67076310e-05 5.52953076e+00] [ 1.96506208e-03 -4.47734190e-05 9.99998068e-01 2.59666477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68439141799998 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:119.74, Y:5.53, Z:0.26 [[ 9.99986748e-01 -4.75835211e-03 -1.96538865e-03 1.19740392e+02] [ 4.75841408e-03 9.99988678e-01 2.68527253e-05 5.53479782e+00] [ 1.96523862e-03 -3.62045024e-05 9.99998068e-01 2.64226516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74439141799998 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:119.80, Y:5.53, Z:0.26 [[ 9.99997858e-01 -6.48855835e-04 -1.96538766e-03 1.19801064e+02] [ 6.48910005e-04 9.99999789e-01 2.69245336e-05 5.53113941e+00] [ 1.96536978e-03 -2.81998357e-05 9.99998068e-01 2.62063494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80439141799998 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:119.86, Y:5.54, Z:0.27 [[ 9.99996515e-01 -1.76274241e-03 -1.96538712e-03 1.19861287e+02] [ 1.76279881e-03 9.99998446e-01 2.69642001e-05 5.53532199e+00] [ 1.96533654e-03 -3.04286882e-05 9.99998068e-01 2.67721259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86439141799998 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:119.92, Y:5.53, Z:0.26 [[ 9.99998064e-01 9.31825507e-05 -1.96538768e-03 1.19920686e+02] [-9.31298157e-05 9.99999995e-01 2.69234049e-05 5.52841422e+00] [ 1.96539018e-03 -2.67403166e-05 9.99998068e-01 2.62073652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92439141799998 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:119.98, Y:5.53, Z:0.26 [[ 9.99987449e-01 -4.60857886e-03 -1.96538815e-03 1.19980576e+02] [ 4.60864060e-03 9.99989380e-01 2.68888240e-05 5.52689087e+00] [ 1.96524336e-03 -3.59462542e-05 9.99998068e-01 2.63622802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98439141799997 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:120.04, Y:5.52, Z:0.26 [[ 9.99953786e-01 -9.41077065e-03 -1.96538926e-03 1.20041188e+02] [ 9.41084151e-03 9.99955717e-01 2.68078598e-05 5.52499764e+00] [ 1.96504994e-03 -4.53025877e-05 9.99998068e-01 2.63749890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04439141799998 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:120.10, Y:5.52, Z:0.26 [[ 9.99862378e-01 -1.64730910e-02 -1.96538926e-03 1.20102789e+02] [ 1.64731755e-02 9.99864308e-01 2.68078598e-05 5.52263451e+00] [ 1.96468096e-03 -5.91803726e-05 9.99998068e-01 2.61710602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10439141799998 meters Centerline goodness : 0.999384 with order 1 Centerline is valid? [True, True] Translation: X:120.17, Y:5.52, Z:0.26 [[ 9.99788668e-01 -2.04635504e-02 -1.96538216e-03 1.20165388e+02] [ 2.04636436e-02 9.99790597e-01 2.73181250e-05 5.52176993e+00] [ 1.96441158e-03 -6.75312321e-05 9.99998068e-01 2.62310498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16439141799998 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:120.23, Y:5.52, Z:0.26 [[ 9.99702639e-01 -2.43057914e-02 -1.96537998e-03 1.20227547e+02] [ 2.43058923e-02 9.99704568e-01 2.74745340e-05 5.52173511e+00] [ 1.96413155e-03 -7.52366782e-05 9.99998068e-01 2.63641726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22439141799998 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:120.29, Y:5.52, Z:0.26 [[ 9.99720672e-01 -2.35524074e-02 -1.96537777e-03 1.20290208e+02] [ 2.35525072e-02 9.99722601e-01 2.76313273e-05 5.52282371e+00] [ 1.96418179e-03 -7.39131832e-05 9.99998068e-01 2.64513702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28439141799998 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:120.35, Y:5.52, Z:0.27 [[ 9.99793579e-01 -2.02222061e-02 -1.96537558e-03 1.20352427e+02] [ 2.02222997e-02 9.99795508e-01 2.77862321e-05 5.52481411e+00] [ 1.96441178e-03 -6.75249106e-05 9.99998068e-01 2.65709624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34439141799997 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:120.41, Y:5.53, Z:0.27 [[ 9.99880100e-01 -1.53598117e-02 -1.96537342e-03 1.20414419e+02] [ 1.53598963e-02 9.99882029e-01 2.79387008e-05 5.52593544e+00] [ 1.96471243e-03 -5.81232828e-05 9.99998068e-01 2.67148574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40439141799997 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:120.48, Y:5.53, Z:0.27 [[ 9.99978649e-01 -6.23204735e-03 -1.96537118e-03 1.20476762e+02] [ 6.23211460e-03 9.99980580e-01 2.80950900e-05 5.52754543e+00] [ 1.96515792e-03 -4.03429086e-05 9.99998068e-01 2.67103570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46439141799998 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:120.54, Y:5.53, Z:0.27 [[ 9.99997786e-01 -7.52036626e-04 -1.96536892e-03 1.20538392e+02] [ 7.52093604e-04 9.99999717e-01 2.82521954e-05 5.52931409e+00] [ 1.96534712e-03 -2.97302742e-05 9.99998068e-01 2.66192208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52439141799998 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:120.60, Y:5.53, Z:0.26 [[ 9.99984360e-01 5.23606795e-03 -1.96536779e-03 1.20597115e+02] [-5.23602238e-03 9.99986292e-01 2.83303818e-05 5.53225292e+00] [ 1.96548919e-03 -1.80392289e-05 9.99998068e-01 2.64122645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58439141799998 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:120.66, Y:5.53, Z:0.26 [[ 9.99986231e-01 4.86565788e-03 -1.96536898e-03 1.20655746e+02] [-4.86561176e-03 9.99988162e-01 2.82482148e-05 5.53408710e+00] [ 1.96548316e-03 -1.86851034e-05 9.99998068e-01 2.64959963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64439141799998 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:120.71, Y:5.54, Z:0.27 [[ 9.99991654e-01 3.58183881e-03 -1.96537130e-03 1.20714809e+02] [-3.58179052e-03 9.99993585e-01 2.80858476e-05 5.53515750e+00] [ 1.96545929e-03 -2.10460649e-05 9.99998068e-01 2.66916733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70439141799999 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:120.77, Y:5.54, Z:0.27 [[ 9.99994829e-01 2.54536910e-03 -1.96537358e-03 1.20772557e+02] [-2.54531913e-03 9.99996760e-01 2.79250031e-05 5.53597621e+00] [ 1.96543829e-03 -2.29223558e-05 9.99998068e-01 2.67914768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76439141799997 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:120.83, Y:5.54, Z:0.27 [[ 9.99997705e-01 8.53279415e-04 -1.96537650e-03 1.20830940e+02] [-8.53226586e-04 9.99999636e-01 2.77178543e-05 5.53566929e+00] [ 1.96539944e-03 -2.60408792e-05 9.99998068e-01 2.68680682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82439141799998 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:120.89, Y:5.54, Z:0.27 [[ 9.99990659e-01 -3.84964017e-03 -1.96537879e-03 1.20890294e+02] [ 3.84970176e-03 9.99992589e-01 2.75546153e-05 5.53621825e+00] [ 1.96525815e-03 -3.51204801e-05 9.99998068e-01 2.68936844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88439141799998 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:120.95, Y:5.53, Z:0.27 [[ 9.99966942e-01 -7.89000145e-03 -1.96537994e-03 1.20950671e+02] [ 7.89007067e-03 9.99968873e-01 2.74725287e-05 5.53000139e+00] [ 1.96510200e-03 -4.29786072e-05 9.99998068e-01 2.69868357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94439141799998 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:121.01, Y:5.53, Z:0.27 [[ 9.99944460e-01 -1.03544488e-02 -1.96537733e-03 1.21012789e+02] [ 1.03545232e-02 9.99946390e-01 2.76579176e-05 5.52721212e+00] [ 1.96498558e-03 -4.80069266e-05 9.99998068e-01 2.69412413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00439141799998 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:121.07, Y:5.52, Z:0.26 [[ 9.99960832e-01 -8.62965906e-03 -1.96537509e-03 1.21074566e+02] [ 8.62973039e-03 9.99962763e-01 2.78159888e-05 5.52277336e+00] [ 1.96506187e-03 -4.47755564e-05 9.99998068e-01 2.63321653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06439141799999 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:121.14, Y:5.52, Z:0.27 [[ 9.99961979e-01 -8.49578037e-03 -1.96537283e-03 1.21136402e+02] [ 8.49585175e-03 9.99963909e-01 2.79751322e-05 5.52138849e+00] [ 1.96506423e-03 -4.46715847e-05 9.99998068e-01 2.67628548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12439141799997 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:121.20, Y:5.52, Z:0.27 [[ 9.99995295e-01 -2.35514864e-03 -1.96537060e-03 1.21197914e+02] [ 2.35520847e-03 9.99997226e-01 2.81307581e-05 5.51950422e+00] [ 1.96529890e-03 -3.27594833e-05 9.99998068e-01 2.68271487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18439141799998 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:121.26, Y:5.52, Z:0.27 [[ 9.99986562e-01 4.79729534e-03 -1.96536943e-03 1.21258418e+02] [-4.79724916e-03 9.99988493e-01 2.82122102e-05 5.51810773e+00] [ 1.96548216e-03 -1.87834643e-05 9.99998068e-01 2.69380620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24439141799998 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:121.32, Y:5.52, Z:0.27 [[ 9.99958629e-01 8.88132894e-03 -1.96536943e-03 1.21317083e+02] [-8.88129064e-03 9.99960560e-01 2.82122102e-05 5.51607698e+00] [ 1.96554248e-03 -1.07560259e-05 9.99998068e-01 2.70389300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30439141799998 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:121.38, Y:5.51, Z:0.27 [[ 9.99953232e-01 9.46948517e-03 -1.96537728e-03 1.21376107e+02] [-9.46944910e-03 9.99955163e-01 2.76547346e-05 5.51380553e+00] [ 1.96555103e-03 -9.04240115e-06 9.99998068e-01 2.70959423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36439141799998 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:121.43, Y:5.51, Z:0.27 [[ 9.99984734e-01 5.16428199e-03 -1.96537965e-03 1.21433779e+02] [-5.16423795e-03 9.99986665e-01 2.74847749e-05 5.50794026e+00] [ 1.96549538e-03 -1.73346671e-05 9.99998068e-01 2.70845226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42439141799998 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:121.49, Y:5.50, Z:0.27 [[ 9.99997112e-01 1.38340876e-03 -1.96538260e-03 1.21492760e+02] [-1.38335783e-03 9.99999043e-01 2.72723051e-05 5.50356162e+00] [ 1.96541845e-03 -2.45533990e-05 9.99998068e-01 2.71293005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48439141799997 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:121.55, Y:5.50, Z:0.27 [[ 9.99986016e-01 -4.90976858e-03 -1.96538486e-03 1.21551579e+02] [ 4.90983134e-03 9.99987946e-01 2.71088062e-05 5.49720697e+00] [ 1.96522807e-03 -3.67581353e-05 9.99998068e-01 2.71022309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54439141799998 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:121.61, Y:5.49, Z:0.27 [[ 9.99952841e-01 -9.51071164e-03 -1.96538651e-03 1.21611577e+02] [ 9.51078305e-03 9.99954771e-01 2.69883544e-05 5.49058473e+00] [ 1.96504094e-03 -4.56794463e-05 9.99998068e-01 2.69376846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60439141799998 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:121.67, Y:5.48, Z:0.27 [[ 9.99940881e-01 -1.06945077e-02 -1.96538396e-03 1.21673641e+02] [ 1.06945818e-02 9.99942811e-01 2.71729772e-05 5.48489676e+00] [ 1.96498096e-03 -4.81903302e-05 9.99998068e-01 2.68391418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66439141799998 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:121.74, Y:5.48, Z:0.27 [[ 9.99968751e-01 -7.65735272e-03 -1.96538176e-03 1.21735464e+02] [ 7.65742122e-03 9.99970681e-01 2.73309938e-05 5.48108417e+00] [ 1.96511485e-03 -4.23798957e-05 9.99998068e-01 2.68149184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72439141799998 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:121.80, Y:5.48, Z:0.27 [[ 9.99989149e-01 -4.22354876e-03 -1.96537950e-03 1.21797134e+02] [ 4.22361094e-03 9.99991080e-01 2.74923842e-05 5.47873290e+00] [ 1.96524586e-03 -3.57930843e-05 9.99998068e-01 2.69370979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78439141799998 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:121.86, Y:5.48, Z:0.27 [[ 9.99998040e-01 -2.39962373e-04 -1.96537837e-03 1.21857662e+02] [ 2.40017028e-04 9.99999971e-01 2.75730702e-05 5.47635035e+00] [ 1.96537170e-03 -2.80447405e-05 9.99998068e-01 2.69645738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84439141799997 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:121.92, Y:5.47, Z:0.27 [[ 9.99994630e-01 2.62226889e-03 -1.96537781e-03 1.21917299e+02] [-2.62221969e-03 9.99996562e-01 2.76126567e-05 5.47392396e+00] [ 1.96544346e-03 -2.24588560e-05 9.99998068e-01 2.69222154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90439141799997 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:121.98, Y:5.47, Z:0.27 [[ 9.99995627e-01 2.20994941e-03 -1.96537893e-03 1.21975653e+02] [-2.20989956e-03 9.99997558e-01 2.75330234e-05 5.46959169e+00] [ 1.96543498e-03 -2.31896129e-05 9.99998068e-01 2.67649948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96439141799998 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:122.03, Y:5.47, Z:0.27 [[ 9.99995722e-01 -2.16645055e-03 -1.96538127e-03 1.22034475e+02] [ 2.16650851e-03 9.99997653e-01 2.73649214e-05 5.46673788e+00] [ 1.96531737e-03 -3.16228196e-05 9.99998068e-01 2.67896132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02439141799998 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:122.09, Y:5.46, Z:0.27 [[ 9.99980182e-01 -5.98100010e-03 -1.96538302e-03 1.22094889e+02] [ 5.98106518e-03 9.99982113e-01 2.72389653e-05 5.46312143e+00] [ 1.96518494e-03 -3.89935094e-05 9.99998068e-01 2.67930699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08439141799998 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:122.15, Y:5.46, Z:0.27 [[ 9.99935030e-01 -1.12282432e-02 -1.96538302e-03 1.22154953e+02] [ 1.12283185e-02 9.99936960e-01 2.72389653e-05 5.45858315e+00] [ 1.96495327e-03 -4.93051420e-05 9.99998068e-01 2.69113642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14439141799998 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:122.22, Y:5.45, Z:0.27 [[ 9.99881414e-01 -1.52739904e-02 -1.96538248e-03 1.22217245e+02] [ 1.52740735e-02 9.99883344e-01 2.72776990e-05 5.45457540e+00] [ 1.96473657e-03 -5.72938607e-05 9.99998068e-01 2.69743520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20439141799997 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:122.28, Y:5.45, Z:0.27 [[ 9.99858108e-01 -1.67302563e-02 -1.96538025e-03 1.22279653e+02] [ 1.67303425e-02 9.99860038e-01 2.74374326e-05 5.45260239e+00] [ 1.96464613e-03 -6.03150241e-05 9.99998068e-01 2.69864385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26439141799997 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:122.34, Y:5.45, Z:0.27 [[ 9.99830097e-01 -1.83279753e-02 -1.96537801e-03 1.22340854e+02] [ 1.83280649e-02 9.99832027e-01 2.75969943e-05 5.44871650e+00] [ 1.96454208e-03 -6.36138812e-05 9.99998068e-01 2.68474919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32439141799998 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:122.40, Y:5.45, Z:0.27 [[ 9.99830970e-01 -1.82802684e-02 -1.96537635e-03 1.22403390e+02] [ 1.82803582e-02 9.99832900e-01 2.77146679e-05 5.44699438e+00] [ 1.96454130e-03 -6.36377669e-05 9.99998068e-01 2.68651077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38439141799998 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:122.47, Y:5.44, Z:0.26 [[ 9.99915056e-01 -1.28847804e-02 -1.96537405e-03 1.22465490e+02] [ 1.28848600e-02 9.99916986e-01 2.78766437e-05 5.44011271e+00] [ 1.96485171e-03 -5.31978453e-05 9.99998068e-01 2.64164772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44439141799998 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:122.53, Y:5.44, Z:0.27 [[ 9.99885788e-01 -1.49849618e-02 -1.96537168e-03 1.22526223e+02] [ 1.49850459e-02 9.99887718e-01 2.80424544e-05 5.44306078e+00] [ 1.96473079e-03 -5.74904364e-05 9.99998068e-01 2.67589164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50439141799998 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:122.59, Y:5.44, Z:0.27 [[ 9.99923127e-01 -1.22424466e-02 -1.96536983e-03 1.22588567e+02] [ 1.22425256e-02 9.99925057e-01 2.81720431e-05 5.44274456e+00] [ 1.96487764e-03 -5.22309679e-05 9.99998068e-01 2.68839611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56439141799999 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:122.65, Y:5.44, Z:0.27 [[ 9.99958454e-01 -8.90095745e-03 -1.96536739e-03 1.22649935e+02] [ 8.90103033e-03 9.99960385e-01 2.83409526e-05 5.44196519e+00] [ 1.96503727e-03 -4.58335699e-05 9.99998068e-01 2.67606092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62439141799997 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:122.71, Y:5.44, Z:0.27 [[ 9.99975723e-01 -6.68505217e-03 -1.96536628e-03 1.22710910e+02] [ 6.68512093e-03 9.99977654e-01 2.84180397e-05 5.44143642e+00] [ 1.96513238e-03 -4.15560611e-05 9.99998068e-01 2.68426600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68439141799998 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:122.77, Y:5.44, Z:0.27 [[ 9.99983344e-01 -5.42668401e-03 -1.96536517e-03 1.22771900e+02] [ 5.42675049e-03 9.99985275e-01 2.84946409e-05 5.44101768e+00] [ 1.96518159e-03 -3.91597126e-05 9.99998068e-01 2.69883570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74439141799998 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:122.83, Y:5.44, Z:0.27 [[ 9.99988986e-01 -4.26205169e-03 -1.96536401e-03 1.22832043e+02] [ 4.26211608e-03 9.99990917e-01 2.85744502e-05 5.44072696e+00] [ 1.96522437e-03 -3.69507450e-05 9.99998068e-01 2.70980692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80439141799998 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:122.89, Y:5.44, Z:0.27 [[ 9.99990015e-01 -4.01342593e-03 -1.96536344e-03 1.22892194e+02] [ 4.01348991e-03 9.99991946e-01 2.86136557e-05 5.44008450e+00] [ 1.96523277e-03 -3.65013364e-05 9.99998068e-01 2.69933315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86439141799998 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:122.95, Y:5.44, Z:0.27 [[ 9.99988654e-01 -4.33933205e-03 -1.96536344e-03 1.22952533e+02] [ 4.33939666e-03 9.99990584e-01 2.86136557e-05 5.43962487e+00] [ 1.96522077e-03 -3.71418226e-05 9.99998068e-01 2.68823631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92439141799998 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:123.01, Y:5.44, Z:0.27 [[ 9.99986507e-01 -4.80863856e-03 -1.96536344e-03 1.23012854e+02] [ 4.80870408e-03 9.99988438e-01 2.86136557e-05 5.43871065e+00] [ 1.96520312e-03 -3.80641208e-05 9.99998068e-01 2.69651860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98439141799997 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:123.07, Y:5.44, Z:0.27 [[ 9.99992849e-01 -3.23093407e-03 -1.96536286e-03 1.23073082e+02] [ 3.23099663e-03 9.99994780e-01 2.86534065e-05 5.43737840e+00] [ 1.96526002e-03 -3.50032824e-05 9.99998068e-01 2.70091834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04439141799998 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:123.13, Y:5.44, Z:0.27 [[ 9.99996327e-01 1.86614627e-03 -1.96536286e-03 1.23133731e+02] [-1.86609356e-03 9.99998258e-01 2.86534065e-05 5.43724792e+00] [ 1.96541290e-03 -2.49857503e-05 9.99998068e-01 2.71229465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10439141799998 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:123.19, Y:5.44, Z:0.27 [[ 9.99977912e-01 6.34923981e-03 -1.96536286e-03 1.23193345e+02] [-6.34919576e-03 9.99979843e-01 2.86534065e-05 5.43712107e+00] [ 1.96550517e-03 -1.61743001e-05 9.99998068e-01 2.71141554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16439141799998 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:123.25, Y:5.44, Z:0.27 [[ 9.99947584e-01 1.00482484e-02 -1.96536400e-03 1.23250858e+02] [-1.00482116e-02 9.99949515e-01 2.85749049e-05 5.43504812e+00] [ 1.96555190e-03 -8.82501370e-06 9.99998068e-01 2.69225108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22439141799998 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:123.31, Y:5.43, Z:0.27 [[ 9.99960900e-01 8.62187659e-03 -1.96537280e-03 1.23310123e+02] [-8.62183830e-03 9.99962831e-01 2.79557339e-05 5.43236129e+00] [ 1.96554078e-03 -1.10095143e-05 9.99998068e-01 2.67747474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28439141799998 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:123.37, Y:5.43, Z:0.27 [[ 9.99979852e-01 6.03601390e-03 -1.96537497e-03 1.23369406e+02] [-6.03597091e-03 9.99981783e-01 2.78025515e-05 5.43104005e+00] [ 1.96550698e-03 -1.59390451e-05 9.99998068e-01 2.68336861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34439141799997 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:123.43, Y:5.42, Z:0.26 [[ 9.99987496e-01 4.59845586e-03 -1.96537721e-03 1.23427957e+02] [-4.59841041e-03 9.99989427e-01 2.76432956e-05 5.42391526e+00] [ 1.96548355e-03 -1.86053389e-05 9.99998068e-01 2.63884402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40439141799997 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:123.49, Y:5.42, Z:0.27 [[ 9.99996806e-01 -1.58913589e-03 -1.96537950e-03 1.23485978e+02] [ 1.58919296e-03 9.99998737e-01 2.74795369e-05 5.42478821e+00] [ 1.96533335e-03 -3.06028164e-05 9.99998068e-01 2.69148864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46439141799998 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:123.55, Y:5.42, Z:0.27 [[ 9.99981507e-01 -5.75519436e-03 -1.96538231e-03 1.23545838e+02] [ 5.75525909e-03 9.99983438e-01 2.72773192e-05 5.42086174e+00] [ 1.96519277e-03 -3.85880992e-05 9.99998068e-01 2.69198994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52439141799998 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:123.61, Y:5.42, Z:0.27 [[ 9.99941019e-01 -1.06816087e-02 -1.96538171e-03 1.23606386e+02] [ 1.06816830e-02 9.99942949e-01 2.73202930e-05 5.41641948e+00] [ 1.96497776e-03 -4.83122660e-05 9.99998068e-01 2.69243195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58439141799998 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:123.67, Y:5.41, Z:0.27 [[ 9.99901055e-01 -1.39290016e-02 -1.96538171e-03 1.23668644e+02] [ 1.39290822e-02 9.99902985e-01 2.73202930e-05 5.41330525e+00] [ 1.96481049e-03 -5.46935531e-05 9.99998068e-01 2.68866891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64439141799998 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:123.73, Y:5.41, Z:0.27 [[ 9.99869019e-01 -1.60649555e-02 -1.96537947e-03 1.23729385e+02] [ 1.60650405e-02 9.99870949e-01 2.74802748e-05 5.41072829e+00] [ 1.96468437e-03 -5.90505763e-05 9.99998068e-01 2.67687339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70439141799997 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:123.79, Y:5.41, Z:0.27 [[ 9.99855105e-01 -1.69087891e-02 -1.96537781e-03 1.23792023e+02] [ 1.69088760e-02 9.99857034e-01 2.75984190e-05 5.40881727e+00] [ 1.96463018e-03 -6.08267498e-05 9.99998068e-01 2.69319763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76439141799997 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:123.85, Y:5.41, Z:0.27 [[ 9.99891314e-01 -1.46115724e-02 -1.96537562e-03 1.23854497e+02] [ 1.46116552e-02 9.99893244e-01 2.77538824e-05 5.40801532e+00] [ 1.96476027e-03 -5.64682568e-05 9.99998068e-01 2.68611592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82439141799998 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:123.92, Y:5.41, Z:0.27 [[ 9.99915081e-01 -1.28828966e-02 -1.96537320e-03 1.23916119e+02] [ 1.28829764e-02 9.99917011e-01 2.79238862e-05 5.40891399e+00] [ 1.96485036e-03 -5.32413715e-05 9.99998068e-01 2.68853472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88439141799998 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:123.98, Y:5.41, Z:0.27 [[ 9.99942978e-01 -1.04965921e-02 -1.96537138e-03 1.23978449e+02] [ 1.04966675e-02 9.99944908e-01 2.80516105e-05 5.40982118e+00] [ 1.96496866e-03 -4.86798608e-05 9.99998068e-01 2.68574537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94439141799998 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:124.04, Y:5.41, Z:0.27 [[ 9.99951626e-01 -9.63762786e-03 -1.96536909e-03 1.24039417e+02] [ 9.63770191e-03 9.99953556e-01 2.82112474e-05 5.40999995e+00] [ 1.96500592e-03 -4.71515241e-05 9.99998068e-01 2.69151829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00439141799998 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:124.10, Y:5.41, Z:0.27 [[ 9.99955247e-01 -9.25423232e-03 -1.96536739e-03 1.24100789e+02] [ 9.25430587e-03 9.99957178e-01 2.83287960e-05 5.41056795e+00] [ 1.96502107e-03 -4.65156393e-05 9.99998068e-01 2.68858783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06439141799999 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:124.16, Y:5.41, Z:0.27 [[ 9.99947915e-01 -1.00152630e-02 -1.96536628e-03 1.24162327e+02] [ 1.00153381e-02 9.99949845e-01 2.84058561e-05 5.41048422e+00] [ 1.96498322e-03 -4.80881844e-05 9.99998068e-01 2.69472604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12439141799997 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:124.22, Y:5.41, Z:0.27 [[ 9.99953225e-01 -9.47025538e-03 -1.96536463e-03 1.24223538e+02] [ 9.47032971e-03 9.99955155e-01 2.85199297e-05 5.40947640e+00] [ 1.96500640e-03 -4.71312467e-05 9.99998068e-01 2.69156336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18439141799998 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:124.28, Y:5.41, Z:0.27 [[ 9.99920064e-01 -1.24901162e-02 -1.96536276e-03 1.24284627e+02] [ 1.24901966e-02 9.99921994e-01 2.86479451e-05 5.40973407e+00] [ 1.96485163e-03 -5.31934224e-05 9.99998068e-01 2.71981861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24439141799998 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:124.35, Y:5.41, Z:0.27 [[ 9.99896562e-01 -1.42479292e-02 -1.96536147e-03 1.24345891e+02] [ 1.42480132e-02 9.99898491e-01 2.87361310e-05 5.41048554e+00] [ 1.96475254e-03 -5.67356546e-05 9.99998068e-01 2.71161066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30439141799998 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:124.41, Y:5.41, Z:0.27 [[ 9.99889231e-01 -1.47534011e-02 -1.96535759e-03 1.24408134e+02] [ 1.47534866e-02 9.99891161e-01 2.89990988e-05 5.41144526e+00] [ 1.96471585e-03 -5.79917634e-05 9.99998068e-01 2.71474397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36439141799998 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:124.47, Y:5.41, Z:0.27 [[ 9.99926942e-01 -1.19267892e-02 -1.96535521e-03 1.24469992e+02] [ 1.19268695e-02 9.99928872e-01 2.91598284e-05 5.41160047e+00] [ 1.96486763e-03 -5.25982331e-05 9.99998068e-01 2.70465896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42439141799998 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:124.53, Y:5.41, Z:0.27 [[ 9.99974599e-01 -6.85115087e-03 -1.96535271e-03 1.24531177e+02] [ 6.85122174e-03 9.99976530e-01 2.93268178e-05 5.41305294e+00] [ 1.96510566e-03 -4.27911401e-05 9.99998068e-01 2.72937291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48439141799997 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:124.59, Y:5.41, Z:0.27 [[ 9.99996434e-01 1.80829262e-03 -1.96535143e-03 1.24592546e+02] [-1.80823831e-03 9.99998365e-01 2.94124729e-05 5.41392228e+00] [ 1.96540140e-03 -2.58585443e-05 9.99998068e-01 2.72757764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54439141799998 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:124.65, Y:5.42, Z:0.28 [[ 9.99981038e-01 5.83625131e-03 -1.96535022e-03 1.24651919e+02] [-5.83620461e-03 9.99982969e-01 2.94928962e-05 5.41506599e+00] [ 1.96548888e-03 -1.80221509e-05 9.99998068e-01 2.76281123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60439141799998 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:124.71, Y:5.41, Z:0.28 [[ 9.99962521e-01 8.43167544e-03 -1.96535156e-03 1.24710969e+02] [-8.43163393e-03 9.99964453e-01 2.94039371e-05 5.41489527e+00] [ 1.96552962e-03 -1.28317102e-05 9.99998068e-01 2.82229161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66439141799998 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:124.77, Y:5.41, Z:0.27 [[ 9.99946577e-01 1.01479366e-02 -1.96535426e-03 1.24769149e+02] [-1.01478987e-02 9.99948508e-01 2.92222778e-05 5.40952584e+00] [ 1.96554960e-03 -9.27650067e-06 9.99998068e-01 2.72550962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72439141799998 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:124.83, Y:5.41, Z:0.27 [[ 9.99964932e-01 8.14080293e-03 -1.96535517e-03 1.24828308e+02] [-8.14076134e-03 9.99966863e-01 2.91606164e-05 5.40653152e+00] [ 1.96552744e-03 -1.31601064e-05 9.99998068e-01 2.71566689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78439141799998 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:124.89, Y:5.40, Z:0.27 [[ 9.99996073e-01 1.99786073e-03 -1.96535752e-03 1.24886864e+02] [-1.99780759e-03 9.99998004e-01 2.90015141e-05 5.40239795e+00] [ 1.96541154e-03 -2.50749941e-05 9.99998068e-01 2.71666138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84439141799997 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:124.95, Y:5.40, Z:0.28 [[ 9.99971553e-01 -7.28225594e-03 -1.96535984e-03 1.24946329e+02] [ 7.28232669e-03 9.99973483e-01 2.88430710e-05 5.39920558e+00] [ 1.96509769e-03 -4.31546429e-05 9.99998068e-01 2.76855197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90439141799997 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:125.01, Y:5.40, Z:0.27 [[ 9.99905019e-01 -1.36414644e-02 -1.96536118e-03 1.25006454e+02] [ 1.36415472e-02 9.99906949e-01 2.87516502e-05 5.39519345e+00] [ 1.96478609e-03 -5.55594868e-05 9.99998068e-01 2.74300532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96439141799998 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:125.07, Y:5.39, Z:0.27 [[ 9.99669388e-01 -2.56369181e-02 -1.96536051e-03 1.25068239e+02] [ 2.56370242e-02 9.99671317e-01 2.87973553e-05 5.38915478e+00] [ 1.96397626e-03 -7.91738295e-05 9.99998068e-01 2.74177149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02439141799998 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:125.13, Y:5.38, Z:0.27 [[ 9.99255588e-01 -3.85280098e-02 -1.96535223e-03 1.25131002e+02] [ 3.85281418e-02 9.99257515e-01 2.93519001e-05 5.38422600e+00] [ 1.96276212e-03 -1.05051420e-04 9.99998068e-01 2.74184876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08439141799998 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:125.19, Y:5.38, Z:0.27 [[ 9.98743198e-01 -5.00815546e-02 -1.96534242e-03 1.25191732e+02] [ 5.00817102e-02 9.98745123e-01 2.99947439e-05 5.38192961e+00] [ 1.96137397e-03 -1.28384756e-04 9.99998068e-01 2.73062223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14439141799998 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:125.25, Y:5.38, Z:0.27 [[ 9.98522152e-01 -5.43106723e-02 -1.96534060e-03 1.25254590e+02] [ 5.43108363e-02 9.98524077e-01 3.01133193e-05 5.38093884e+00] [ 1.96080444e-03 -1.36808108e-04 9.99998068e-01 2.74352281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20439141799997 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:125.32, Y:5.38, Z:0.27 [[ 9.98456621e-01 -5.55023787e-02 -1.96533677e-03 1.25316555e+02] [ 5.55025454e-02 9.98458545e-01 3.03612822e-05 5.38296394e+00] [ 1.96062217e-03 -1.39395617e-04 9.99998068e-01 2.73743429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26439141799997 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:125.38, Y:5.38, Z:0.27 [[ 9.98580854e-01 -5.32204364e-02 -1.96533044e-03 1.25379507e+02] [ 5.32205995e-02 9.98582779e-01 3.07659413e-05 5.38488154e+00] [ 1.96090775e-03 -1.35318344e-04 9.99998068e-01 2.73887170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32439141799998 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:125.44, Y:5.39, Z:0.27 [[ 9.98882926e-01 -4.72126795e-02 -1.96532665e-03 1.25443078e+02] [ 4.72128315e-02 9.98884852e-01 3.10061522e-05 5.38830681e+00] [ 1.96167113e-03 -1.23760152e-04 9.99998068e-01 2.73800314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38439141799998 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:125.51, Y:5.39, Z:0.27 [[ 9.99120940e-01 -4.18746287e-02 -1.96532270e-03 1.25506450e+02] [ 4.18747710e-02 9.99122867e-01 3.12544778e-05 5.39084705e+00] [ 1.96229008e-03 -1.13524441e-04 9.99998068e-01 2.73632289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44439141799998 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:125.57, Y:5.39, Z:0.27 [[ 9.99529224e-01 -3.06180998e-02 -1.96531879e-03 1.25569080e+02] [ 3.06182208e-02 9.99531152e-01 3.14986358e-05 5.39376526e+00] [ 1.96343292e-03 -9.16583714e-05 9.99998068e-01 2.70664480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50439141799998 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:125.63, Y:5.40, Z:0.27 [[ 9.99788797e-01 -2.04572511e-02 -1.96531611e-03 1.25631115e+02] [ 2.04573528e-02 9.99790726e-01 3.16646272e-05 5.40012853e+00] [ 1.96425705e-03 -7.18631047e-05 9.99998068e-01 2.70546613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56439141799999 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:125.69, Y:5.41, Z:0.28 [[ 9.99944909e-01 -1.03109422e-02 -1.96531341e-03 1.25692527e+02] [ 1.03110246e-02 9.99946839e-01 3.18310731e-05 5.40631505e+00] [ 1.96488073e-03 -5.20937145e-05 9.99998068e-01 2.75054385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62439141799997 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:125.75, Y:5.41, Z:0.28 [[ 9.99992524e-01 -3.32995361e-03 -1.96530898e-03 1.25754074e+02] [ 3.33002313e-03 9.99994455e-01 3.21026552e-05 5.40823444e+00] [ 1.96519118e-03 -3.86469396e-05 9.99998068e-01 2.75056995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68439141799998 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:125.81, Y:5.41, Z:0.27 [[ 9.99992216e-01 3.42134546e-03 -1.96530767e-03 1.25813719e+02] [-3.42128882e-03 9.99994147e-01 3.21826630e-05 5.40924800e+00] [ 1.96540627e-03 -2.54585274e-05 9.99998068e-01 2.73708985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74439141799998 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:125.87, Y:5.41, Z:0.27 [[ 9.99985111e-01 5.09064512e-03 -1.96530771e-03 1.25872938e+02] [-5.09059170e-03 9.99987042e-01 3.21798993e-05 5.40966784e+00] [ 1.96544606e-03 -2.21748411e-05 9.99998068e-01 2.74019080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80439141799998 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:125.93, Y:5.41, Z:0.27 [[ 9.99987083e-01 4.68746195e-03 -1.96531025e-03 1.25930936e+02] [-4.68740807e-03 9.99989014e-01 3.20243172e-05 5.41029155e+00] [ 1.96543877e-03 -2.28116925e-05 9.99998068e-01 2.74878841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86439141799998 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:125.99, Y:5.41, Z:0.27 [[ 9.99996495e-01 1.77388870e-03 -1.96531334e-03 1.25990155e+02] [-1.77382956e-03 9.99998426e-01 3.18336806e-05 5.40898577e+00] [ 1.96536671e-03 -2.83474381e-05 9.99998068e-01 2.74910914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92439141799998 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:126.05, Y:5.41, Z:0.28 [[ 9.99997932e-01 -5.23652197e-04 -1.96531593e-03 1.26048931e+02] [ 5.23715455e-04 9.99999862e-01 3.16727632e-05 5.40720698e+00] [ 1.96529907e-03 -3.27019640e-05 9.99998068e-01 2.75169440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98439141799997 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:126.11, Y:5.41, Z:0.28 [[ 9.99991329e-01 -3.67132512e-03 -1.96531729e-03 1.26108722e+02] [ 3.67139429e-03 9.99993260e-01 3.15881974e-05 5.40524355e+00] [ 1.96518807e-03 -3.88033782e-05 9.99998068e-01 2.75682715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04439141799998 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:126.17, Y:5.40, Z:0.28 [[ 9.99985286e-01 -5.05623247e-03 -1.96531858e-03 1.26169519e+02] [ 5.05630416e-03 9.99987216e-01 3.15075681e-05 5.40401161e+00] [ 1.96513415e-03 -4.14443530e-05 9.99998068e-01 2.76655550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10439141799998 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:126.23, Y:5.40, Z:0.28 [[ 9.99975807e-01 -6.67256053e-03 -1.96531795e-03 1.26230379e+02] [ 6.67263541e-03 9.99977737e-01 3.15471910e-05 5.40067043e+00] [ 1.96506369e-03 -4.46602779e-05 9.99998068e-01 2.75228775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16439141799998 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:126.29, Y:5.40, Z:0.27 [[ 9.99983169e-01 -5.45879764e-03 -1.96531795e-03 1.26290262e+02] [ 5.45887018e-03 9.99985100e-01 3.15471910e-05 5.39784969e+00] [ 1.96511645e-03 -4.22750756e-05 9.99998068e-01 2.74607423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22439141799998 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:126.35, Y:5.40, Z:0.27 [[ 9.99995306e-01 -2.35053859e-03 -1.96531732e-03 1.26351843e+02] [ 2.35060520e-03 9.99997237e-01 3.15863956e-05 5.39591066e+00] [ 1.96523764e-03 -3.62059325e-05 9.99998068e-01 2.73952072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28439141799998 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:126.41, Y:5.39, Z:0.27 [[ 9.99992742e-01 3.26403471e-03 -1.96531602e-03 1.26412372e+02] [-3.26397878e-03 9.99994673e-01 3.16666055e-05 5.39361474e+00] [ 1.96540891e-03 -2.52516258e-05 9.99998068e-01 2.72251426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34439141799997 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:126.47, Y:5.39, Z:0.27 [[ 9.99967419e-01 7.82930183e-03 -1.96531602e-03 1.26471004e+02] [-7.82925472e-03 9.99969350e-01 3.16666055e-05 5.39241710e+00] [ 1.96550371e-03 -1.62786140e-05 9.99998068e-01 2.71375135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40439141799997 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:126.53, Y:5.39, Z:0.27 [[ 9.99882898e-01 1.51765874e-02 -1.96531796e-03 1.26528944e+02] [-1.51765547e-02 9.99884829e-01 3.15462158e-05 5.39130040e+00] [ 1.96557037e-03 -1.71576611e-06 9.99998068e-01 2.71886422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46439141799998 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:126.59, Y:5.39, Z:0.27 [[ 9.99785447e-01 2.06203098e-02 -1.96532836e-03 1.26585362e+02] [-2.06202889e-02 9.99787379e-01 3.08842392e-05 5.38830954e+00] [ 1.96554733e-03 9.64802566e-06 9.99998068e-01 2.72450741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52439141799998 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:126.64, Y:5.38, Z:0.27 [[ 9.99756727e-01 2.19687213e-02 -1.96533274e-03 1.26644358e+02] [-2.19687036e-02 9.99758658e-01 3.06028656e-05 5.38439741e+00] [ 1.96553073e-03 1.25803917e-05 9.99998068e-01 2.72689060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58439141799998 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:126.70, Y:5.38, Z:0.27 [[ 9.99822406e-01 1.87428621e-02 -1.96533521e-03 1.26702620e+02] [-1.87428385e-02 9.99824337e-01 3.04434242e-05 5.37904086e+00] [ 1.96556057e-03 6.39794275e-06 9.99998068e-01 2.72471908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64439141799998 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:126.76, Y:5.37, Z:0.27 [[ 9.99927695e-01 1.18634623e-02 -1.96533887e-03 1.26761773e+02] [-1.18634258e-02 9.99929627e-01 3.02052434e-05 5.37065291e+00] [ 1.96555890e-03 -6.88740749e-06 9.99998068e-01 2.71554494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70439141799997 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:126.82, Y:5.36, Z:0.27 [[ 9.99974133e-01 6.91880243e-03 -1.96534131e-03 1.26820396e+02] [-6.91875674e-03 9.99976065e-01 3.00457252e-05 5.36387747e+00] [ 1.96550215e-03 -1.64472296e-05 9.99998068e-01 2.71694279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76439141799997 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:126.88, Y:5.36, Z:0.27 [[ 9.99997820e-01 -7.04951076e-04 -1.96534375e-03 1.26879355e+02] [ 7.05011173e-04 9.99999751e-01 2.98854615e-05 5.35671079e+00] [ 1.96532219e-03 -3.12709857e-05 9.99998068e-01 2.73374510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82439141799998 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:126.94, Y:5.35, Z:0.27 [[ 9.99965747e-01 -8.04006914e-03 -1.96534613e-03 1.26939080e+02] [ 8.04014309e-03 9.99967677e-01 2.97276554e-05 5.34901001e+00] [ 1.96504359e-03 -4.55283013e-05 9.99998068e-01 2.72855738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88439141799998 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:127.00, Y:5.34, Z:0.28 [[ 9.99885923e-01 -1.49759604e-02 -1.96534672e-03 1.26999569e+02] [ 1.49760477e-02 9.99887852e-01 2.96886435e-05 5.34269009e+00] [ 1.96468170e-03 -5.91183829e-05 9.99998068e-01 2.77177154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94439141799998 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:127.06, Y:5.34, Z:0.27 [[ 9.99856160e-01 -1.68462828e-02 -1.96534603e-03 1.27060597e+02] [ 1.68463738e-02 9.99858089e-01 2.97344083e-05 5.33745660e+00] [ 1.96456621e-03 -6.28390852e-05 9.99998068e-01 2.73780813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00439141799998 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:127.12, Y:5.34, Z:0.28 [[ 9.99764974e-01 -2.15901558e-02 -1.96534393e-03 1.27123185e+02] [ 2.15902562e-02 9.99766903e-01 2.98726550e-05 5.33581254e+00] [ 1.96424086e-03 -7.22979131e-05 9.99998068e-01 2.77608322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06439141799997 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:127.18, Y:5.33, Z:0.27 [[ 9.99758787e-01 -2.18747545e-02 -1.96534056e-03 1.27184140e+02] [ 2.18748558e-02 9.99760716e-01 3.00929033e-05 5.33130998e+00] [ 1.96421201e-03 -7.30771858e-05 9.99998068e-01 2.72431869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12439141799997 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:127.25, Y:5.33, Z:0.27 [[ 9.99714830e-01 -2.37990930e-02 -1.96533852e-03 1.27246028e+02] [ 2.37991984e-02 9.99716759e-01 3.02255209e-05 5.32933661e+00] [ 1.96406251e-03 -7.69903827e-05 9.99998068e-01 2.71371141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18439141799998 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:127.31, Y:5.33, Z:0.27 [[ 9.99701089e-01 -2.43694574e-02 -1.96533606e-03 1.27307113e+02] [ 2.43695642e-02 9.99703018e-01 3.03842457e-05 5.32873672e+00] [ 1.96401194e-03 -7.82695468e-05 9.99998068e-01 2.70087617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24439141799998 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:127.37, Y:5.33, Z:0.27 [[ 9.99739321e-01 -2.27470344e-02 -1.96533191e-03 1.27369388e+02] [ 2.27471386e-02 9.99741250e-01 3.06506503e-05 5.32996369e+00] [ 1.96412617e-03 -7.53483376e-05 9.99998068e-01 2.72612278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30439141799998 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:127.43, Y:5.33, Z:0.27 [[ 9.99790767e-01 -2.03607553e-02 -1.96532948e-03 1.27431514e+02] [ 2.03608551e-02 9.99792696e-01 3.08055515e-05 5.33121806e+00] [ 1.96429483e-03 -7.08148948e-05 9.99998068e-01 2.72951414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36439141799998 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:127.49, Y:5.34, Z:0.27 [[ 9.99887376e-01 -1.48786306e-02 -1.96532704e-03 1.27494009e+02] [ 1.48787202e-02 9.99889305e-01 3.09601485e-05 5.33500572e+00] [ 1.96464885e-03 -6.01982127e-05 9.99998068e-01 2.71878733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42439141799998 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:127.56, Y:5.34, Z:0.27 [[ 9.99964009e-01 -8.25340463e-03 -1.96532464e-03 1.27555731e+02] [ 8.25348170e-03 9.99965939e-01 3.11120940e-05 5.33840766e+00] [ 1.96500092e-03 -4.73317452e-05 9.99998068e-01 2.73496392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48439141799997 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:127.62, Y:5.34, Z:0.27 [[ 9.99991568e-01 -3.60574733e-03 -1.96532335e-03 1.27615779e+02] [ 3.60581559e-03 9.99993499e-01 3.11931497e-05 5.34102808e+00] [ 1.96519810e-03 -3.82794803e-05 9.99998068e-01 2.74885532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54439141799998 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:127.68, Y:5.34, Z:0.27 [[ 9.99995081e-01 -2.44452747e-03 -1.96532272e-03 1.27675834e+02] [ 2.44459357e-03 9.99997011e-01 3.12328338e-05 5.34172582e+00] [ 1.96524050e-03 -3.60370955e-05 9.99998068e-01 2.74554227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60439141799998 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:127.73, Y:5.34, Z:0.27 [[ 9.99996986e-01 -1.47188831e-03 -1.96532272e-03 1.27734893e+02] [ 1.47195253e-03 9.99998916e-01 3.12328338e-05 5.34239135e+00] [ 1.96527462e-03 -3.41256014e-05 9.99998068e-01 2.73735757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66439141799998 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:127.79, Y:5.34, Z:0.27 [[ 9.99998065e-01 8.95782018e-05 -1.96532259e-03 1.27794608e+02] [-8.95169759e-05 9.99999996e-01 3.12410958e-05 5.34178175e+00] [ 1.96532538e-03 -3.10651056e-05 9.99998068e-01 2.72535372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72439141799998 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:127.85, Y:5.34, Z:0.27 [[ 9.99996588e-01 1.72077560e-03 -1.96532380e-03 1.27853753e+02] [-1.72071768e-03 9.99998519e-01 3.11648506e-05 5.34120586e+00] [ 1.96537452e-03 -2.77829769e-05 9.99998068e-01 2.72490366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78439141799998 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:127.91, Y:5.34, Z:0.27 [[ 9.99992099e-01 3.45544847e-03 -1.96532439e-03 1.27913302e+02] [-3.45539396e-03 9.99994030e-01 3.11273737e-05 5.34037458e+00] [ 1.96542022e-03 -2.43361577e-05 9.99998068e-01 2.74168082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84439141799997 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:127.97, Y:5.34, Z:0.27 [[ 9.99993164e-01 3.13186652e-03 -1.96532555e-03 1.27972189e+02] [-3.13181154e-03 9.99995095e-01 3.10539573e-05 5.33741457e+00] [ 1.96541317e-03 -2.48987158e-05 9.99998068e-01 2.74600419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90439141799997 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:128.03, Y:5.34, Z:0.27 [[ 9.99996005e-01 2.03186356e-03 -1.96532806e-03 1.28030781e+02] [-2.03180676e-03 9.99997935e-01 3.08944402e-05 5.33516614e+00] [ 1.96538678e-03 -2.69011499e-05 9.99998068e-01 2.74678276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96439141799998 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:128.09, Y:5.33, Z:0.27 [[ 9.99996525e-01 1.75725968e-03 -1.96532950e-03 1.28090565e+02] [-1.75720253e-03 9.99998456e-01 3.08026085e-05 5.33391092e+00] [ 1.96538059e-03 -2.73490195e-05 9.99998068e-01 2.74461892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02439141799998 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:128.15, Y:5.33, Z:0.27 [[ 9.99995190e-01 2.39963298e-03 -1.96533071e-03 1.28150510e+02] [-2.39957723e-03 9.99997121e-01 3.07250548e-05 5.33196220e+00] [ 1.96539878e-03 -2.60089442e-05 9.99998068e-01 2.74696282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08439141799998 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:128.21, Y:5.33, Z:0.27 [[ 9.99984708e-01 5.16932084e-03 -1.96533196e-03 1.28208719e+02] [-5.16927059e-03 9.99986639e-01 3.06448024e-05 5.32881281e+00] [ 1.96546412e-03 -2.04850010e-05 9.99998068e-01 2.74451688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14439141799998 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:128.27, Y:5.33, Z:0.27 [[ 9.99957524e-01 9.00485983e-03 -1.96533380e-03 1.28266874e+02] [-9.00481722e-03 9.99959455e-01 3.05268737e-05 5.32577563e+00] [ 1.96552900e-03 -1.28281055e-05 9.99998068e-01 2.73403564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20439141799997 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:128.33, Y:5.32, Z:0.27 [[ 9.99940349e-01 1.07441051e-02 -1.96533677e-03 1.28326112e+02] [-1.07440662e-02 9.99942280e-01 3.03341471e-05 5.32312331e+00] [ 1.96554925e-03 -9.21662920e-06 9.99998068e-01 2.72476219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26439141799997 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:128.39, Y:5.32, Z:0.27 [[ 9.99922986e-01 1.22539963e-02 -1.96533905e-03 1.28385174e+02] [-1.22539606e-02 9.99924917e-01 3.01854626e-05 5.31863460e+00] [ 1.96556138e-03 -6.09995051e-06 9.99998068e-01 2.71971619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32439141799998 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:128.44, Y:5.32, Z:0.27 [[ 9.99929865e-01 1.16791748e-02 -1.96534140e-03 1.28443545e+02] [-1.16791383e-02 9.99931796e-01 3.00317375e-05 5.31500139e+00] [ 1.96555811e-03 -7.07613713e-06 9.99998068e-01 2.73333355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38439141799998 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:128.50, Y:5.31, Z:0.27 [[ 9.99954227e-01 9.36386172e-03 -1.96534382e-03 1.28501680e+02] [-9.36382109e-03 9.99956158e-01 2.98726363e-05 5.31205965e+00] [ 1.96553738e-03 -1.14681410e-05 9.99998068e-01 2.73913595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44439141799998 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:128.56, Y:5.31, Z:0.27 [[ 9.99995287e-01 2.35865849e-03 -1.96534677e-03 1.28560476e+02] [-2.35860472e-03 9.99997218e-01 2.96771605e-05 5.30530807e+00] [ 1.96541130e-03 -2.50415444e-05 9.99998068e-01 2.74421750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50439141799998 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:128.62, Y:5.30, Z:0.28 [[ 9.99988910e-01 -4.27995934e-03 -1.96534915e-03 1.28618696e+02] [ 4.28002562e-03 9.99990840e-01 2.95188867e-05 5.30118337e+00] [ 1.96520481e-03 -3.79303040e-05 9.99998068e-01 2.75304186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56439141799997 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:128.68, Y:5.30, Z:0.27 [[ 9.99894769e-01 -1.43732035e-02 -1.96535090e-03 1.28679203e+02] [ 1.43732890e-02 9.99896699e-01 2.94021376e-05 5.29599936e+00] [ 1.96472527e-03 -5.76476001e-05 9.99998068e-01 2.74061903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62439141799997 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:128.74, Y:5.29, Z:0.27 [[ 9.99743884e-01 -2.25455884e-02 -1.96535090e-03 1.28741375e+02] [ 2.25456897e-02 9.99745813e-01 2.94021376e-05 5.29178657e+00] [ 1.96418844e-03 -7.37047986e-05 9.99998068e-01 2.73065097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68439141799998 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:128.80, Y:5.29, Z:0.27 [[ 9.99667411e-01 -2.57139210e-02 -1.96534271e-03 1.28803432e+02] [ 2.57140295e-02 9.99669339e-01 2.99393101e-05 5.28944019e+00] [ 1.96392300e-03 -8.04662330e-05 9.99998068e-01 2.74508539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74439141799998 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:128.87, Y:5.29, Z:0.28 [[ 9.99711185e-01 -2.39516911e-02 -1.96534026e-03 1.28865941e+02] [ 2.39517965e-02 9.99713114e-01 3.00996144e-05 5.28903378e+00] [ 1.96405549e-03 -7.71643511e-05 9.99998068e-01 2.75686028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80439141799998 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:128.93, Y:5.29, Z:0.28 [[ 9.99770263e-01 -2.13438190e-02 -1.96533783e-03 1.28927745e+02] [ 2.13439197e-02 9.99772192e-01 3.02574595e-05 5.28856737e+00] [ 1.96424430e-03 -7.21985211e-05 9.99998068e-01 2.76041274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86439141799998 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:128.99, Y:5.29, Z:0.28 [[ 9.99818656e-01 -1.89418407e-02 -1.96533529e-03 1.28989456e+02] [ 1.89419371e-02 9.99820585e-01 3.04214178e-05 5.28932228e+00] [ 1.96440644e-03 -6.76431584e-05 9.99998068e-01 2.75329692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92439141799998 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:129.05, Y:5.29, Z:0.27 [[ 9.99851880e-01 -1.70984329e-02 -1.96533272e-03 1.29051076e+02] [ 1.70985260e-02 9.99853809e-01 3.05863251e-05 5.29089629e+00] [ 1.96452243e-03 -6.41860874e-05 9.99998068e-01 2.73565800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98439141799997 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:129.11, Y:5.29, Z:0.27 [[ 9.99831408e-01 -1.82563395e-02 -1.96533082e-03 1.29113057e+02] [ 1.82564351e-02 9.99833337e-01 3.07079469e-05 5.29304140e+00] [ 1.96444266e-03 -6.65827045e-05 9.99998068e-01 2.73883043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.044391418 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:129.18, Y:5.30, Z:0.27 [[ 9.99774110e-01 -2.11628669e-02 -1.96532824e-03 1.29175496e+02] [ 2.11629684e-02 9.99776039e-01 3.08722466e-05 5.29564343e+00] [ 1.96423474e-03 -7.24574524e-05 9.99998068e-01 2.74801300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.104391418 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:129.24, Y:5.30, Z:0.27 [[ 9.99732481e-01 -2.30456874e-02 -1.96532565e-03 1.29236759e+02] [ 2.30457929e-02 9.99734410e-01 3.10363051e-05 5.29860268e+00] [ 1.96408843e-03 -7.63204902e-05 9.99998068e-01 2.74959550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16439141799998 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:129.30, Y:5.30, Z:0.28 [[ 9.99753363e-01 -2.21212812e-02 -1.96532373e-03 1.29298646e+02] [ 2.21213851e-02 9.99755292e-01 3.11574861e-05 5.30024534e+00] [ 1.96415356e-03 -7.46254847e-05 9.99998068e-01 2.75171063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22439141799998 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:129.36, Y:5.30, Z:0.28 [[ 9.99824683e-01 -1.86209546e-02 -1.96532122e-03 1.29361127e+02] [ 1.86210521e-02 9.99826613e-01 3.13152556e-05 5.30493868e+00] [ 1.96439734e-03 -6.79061144e-05 9.99998068e-01 2.75154690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28439141799998 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:129.42, Y:5.31, Z:0.27 [[ 9.99894233e-01 -1.44104074e-02 -1.96531867e-03 1.29422062e+02] [ 1.44104971e-02 9.99896163e-01 3.14745655e-05 5.30935261e+00] [ 1.96466103e-03 -5.97924554e-05 9.99998068e-01 2.73957623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.344391418 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:129.48, Y:5.31, Z:0.27 [[ 9.99928505e-01 -1.17949886e-02 -1.96531678e-03 1.29483106e+02] [ 1.17950735e-02 9.99930435e-01 3.15919870e-05 5.31155911e+00] [ 1.96480743e-03 -5.47707842e-05 9.99998068e-01 2.73912464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.404391418 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:129.54, Y:5.31, Z:0.27 [[ 9.99971627e-01 -7.27205657e-03 -1.96531550e-03 1.29544281e+02] [ 7.27213285e-03 9.99973557e-01 3.16710120e-05 5.31482348e+00] [ 1.96503322e-03 -4.59621488e-05 9.99998068e-01 2.74714078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.464391418 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:129.61, Y:5.32, Z:0.27 [[ 9.99992078e-01 -3.46143569e-03 -1.96531419e-03 1.29605454e+02] [ 3.46150478e-03 9.99994008e-01 3.17523331e-05 5.31728541e+00] [ 1.96519251e-03 -3.85550260e-05 9.99998068e-01 2.72814016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.524391418 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:129.67, Y:5.32, Z:0.27 [[ 9.99998063e-01 1.04147781e-04 -1.96531281e-03 1.29665875e+02] [-1.04085411e-04 9.99999994e-01 3.18376917e-05 5.32010251e+00] [ 1.96531611e-03 -3.16330697e-05 9.99998068e-01 2.72842238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.584391418 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:129.73, Y:5.32, Z:0.27 [[ 9.99996279e-01 1.89217957e-03 -1.96531281e-03 1.29725645e+02] [-1.89212065e-03 9.99998209e-01 3.18376917e-05 5.32275443e+00] [ 1.96536953e-03 -2.81189643e-05 9.99998068e-01 2.73713633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.644391418 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:129.78, Y:5.32, Z:0.27 [[ 9.99997292e-01 1.24613753e-03 -1.96531410e-03 1.29784884e+02] [-1.24607752e-03 9.99999223e-01 3.17579376e-05 5.32382723e+00] [ 1.96535214e-03 -2.93089179e-05 9.99998068e-01 2.74264553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.704391418 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:129.84, Y:5.32, Z:0.27 [[ 9.99995332e-01 -2.33973236e-03 -1.96531539e-03 1.29843054e+02] [ 2.33979914e-03 9.99997262e-01 3.16778201e-05 5.32279907e+00] [ 1.96523589e-03 -3.62761154e-05 9.99998068e-01 2.74969023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.764391418 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:129.90, Y:5.32, Z:0.27 [[ 9.99981345e-01 -5.78343167e-03 -1.96531729e-03 1.29902651e+02] [ 5.78350486e-03 9.99983275e-01 3.15597119e-05 5.32099514e+00] [ 1.96510189e-03 -4.29255453e-05 9.99998068e-01 2.73851429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.824391418 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:129.96, Y:5.32, Z:0.28 [[ 9.99966473e-01 -7.94929020e-03 -1.96531653e-03 1.29963306e+02] [ 7.94936766e-03 9.99968403e-01 3.16065444e-05 5.32059587e+00] [ 1.96500318e-03 -4.72285084e-05 9.99998068e-01 2.75536892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88439141799998 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:130.02, Y:5.32, Z:0.28 [[ 9.99968378e-01 -7.70592376e-03 -1.96531653e-03 1.30024215e+02] [ 7.70600075e-03 9.99970308e-01 3.16065444e-05 5.31928814e+00] [ 1.96501462e-03 -4.67502756e-05 9.99998068e-01 2.76322509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94439141799998 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:130.08, Y:5.32, Z:0.28 [[ 9.99979808e-01 -6.04330034e-03 -1.96531518e-03 1.30084112e+02] [ 6.04337428e-03 9.99981738e-01 3.16901110e-05 5.31681056e+00] [ 1.96508778e-03 -4.35666063e-05 9.99998068e-01 2.75016102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00439141799998 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:130.15, Y:5.32, Z:0.27 [[ 9.99998058e-01 -1.43916116e-04 -1.96531290e-03 1.30145869e+02] [ 1.43978952e-04 9.99999989e-01 3.18309399e-05 5.31590862e+00] [ 1.96530830e-03 -3.21138418e-05 9.99998068e-01 2.74338714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06439141799999 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:130.21, Y:5.32, Z:0.27 [[ 9.99963440e-01 8.32202575e-03 -1.96531172e-03 1.30205803e+02] [-8.32197912e-03 9.99965371e-01 3.19039760e-05 5.31572020e+00] [ 1.96550917e-03 -1.55475265e-05 9.99998068e-01 2.73957282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.124391418 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:130.26, Y:5.31, Z:0.28 [[ 9.99878708e-01 1.54501085e-02 -1.96531230e-03 1.30264033e+02] [-1.54500757e-02 9.99880640e-01 3.18681496e-05 5.31453750e+00] [ 1.96557009e-03 -1.50006049e-06 9.99998068e-01 2.75401294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.184391418 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:130.32, Y:5.31, Z:0.28 [[ 9.99817683e-01 1.89930988e-02 -1.96532238e-03 1.30323062e+02] [-1.89930741e-02 9.99819615e-01 3.12340829e-05 5.31359675e+00] [ 1.96556109e-03 6.09912512e-06 9.99998068e-01 2.75623656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.244391418 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:130.38, Y:5.31, Z:0.28 [[ 9.99764585e-01 2.16081327e-02 -1.96532485e-03 1.30380495e+02] [-2.16081134e-02 9.99766517e-01 3.10775705e-05 5.31080888e+00] [ 1.96553751e-03 1.13967078e-05 9.99998068e-01 2.75569835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.304391418 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:130.44, Y:5.31, Z:0.28 [[ 9.99767997e-01 2.14496922e-02 -1.96532848e-03 1.30439607e+02] [-2.14496730e-02 9.99769929e-01 3.08462012e-05 5.30532764e+00] [ 1.96553796e-03 1.13166086e-05 9.99998068e-01 2.75965459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.364391418 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:130.50, Y:5.30, Z:0.27 [[ 9.99810976e-01 1.93429394e-02 -1.96533094e-03 1.30498756e+02] [-1.93429164e-02 9.99812908e-01 3.06884710e-05 5.29971414e+00] [ 1.96555685e-03 7.33256213e-06 9.99998068e-01 2.74981243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.424391418 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:130.56, Y:5.30, Z:0.27 [[ 9.99849740e-01 1.72231049e-02 -1.96533337e-03 1.30557485e+02] [-1.72230781e-02 9.99851671e-01 3.05324151e-05 5.29545263e+00] [ 1.96556772e-03 3.32126286e-06 9.99998068e-01 2.74963393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.484391418 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:130.62, Y:5.29, Z:0.27 [[ 9.99898094e-01 1.41399780e-02 -1.96533588e-03 1.30616121e+02] [-1.41399456e-02 9.99900026e-01 3.03698927e-05 5.28810436e+00] [ 1.96556883e-03 -2.57705529e-06 9.99998068e-01 2.74319006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.544391418 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:130.67, Y:5.28, Z:0.28 [[ 9.99926509e-01 1.19630424e-02 -1.96533852e-03 1.30673436e+02] [-1.19630062e-02 9.99928440e-01 3.01982141e-05 5.28281541e+00] [ 1.96555914e-03 -6.68463796e-06 9.99998068e-01 2.75128795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.604391418 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:130.73, Y:5.28, Z:0.28 [[ 9.99964723e-01 8.16643148e-03 -1.96534209e-03 1.30731016e+02] [-8.16638836e-03 9.99966654e-01 2.99642799e-05 5.27599184e+00] [ 1.96552125e-03 -1.39134762e-05 9.99998068e-01 2.76522439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66439141799998 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:130.79, Y:5.27, Z:0.28 [[ 9.99995956e-01 2.05548634e-03 -1.96534526e-03 1.30789701e+02] [-2.05543183e-03 9.99997887e-01 2.97545853e-05 5.26726343e+00] [ 1.96540227e-03 -2.57148318e-05 9.99998068e-01 2.76262616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72439141799998 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:130.85, Y:5.26, Z:0.27 [[ 9.99972481e-01 -7.15371490e-03 -1.96534791e-03 1.30848029e+02] [ 7.15378685e-03 9.99974411e-01 2.95787072e-05 5.25859927e+00] [ 1.96508602e-03 -4.36375732e-05 9.99998068e-01 2.73213765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78439141799998 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:130.91, Y:5.25, Z:0.28 [[ 9.99867307e-01 -1.61711454e-02 -1.96534984e-03 1.30908828e+02] [ 1.61712345e-02 9.99869237e-01 2.94495256e-05 5.25118367e+00] [ 1.96461661e-03 -6.12277511e-05 9.99998068e-01 2.75150817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.844391418 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:130.97, Y:5.25, Z:0.28 [[ 9.99787329e-01 -2.05288574e-02 -1.96534984e-03 1.30971405e+02] [ 2.05289549e-02 9.99789258e-01 2.94495256e-05 5.24585491e+00] [ 1.96433110e-03 -6.97898408e-05 9.99998068e-01 2.76262675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.904391418 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:131.03, Y:5.24, Z:0.28 [[ 9.99674298e-01 -2.54447435e-02 -1.96534743e-03 1.31032256e+02] [ 2.54448508e-02 9.99676227e-01 2.96097341e-05 5.23969828e+00] [ 1.96395769e-03 -7.96080622e-05 9.99998068e-01 2.75695711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.964391418 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:131.09, Y:5.24, Z:0.28 [[ 9.99608101e-01 -2.79245584e-02 -1.96534494e-03 1.31094535e+02] [ 2.79246708e-02 9.99610030e-01 2.97740562e-05 5.23673118e+00] [ 1.96374709e-03 -8.46439982e-05 9.99998068e-01 2.75886197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.024391418 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:131.16, Y:5.23, Z:0.28 [[ 9.99551942e-01 -2.98672554e-02 -1.96534242e-03 1.31156209e+02] [ 2.98673719e-02 9.99553870e-01 2.99391691e-05 5.23365811e+00] [ 1.96357143e-03 -8.86253676e-05 9.99998068e-01 2.75706650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.084391418 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:131.22, Y:5.23, Z:0.28 [[ 9.99555921e-01 -2.97337901e-02 -1.96533919e-03 1.31217320e+02] [ 2.97339067e-02 9.99557849e-01 3.01497116e-05 5.23142589e+00] [ 1.96357375e-03 -8.85735351e-05 9.99998068e-01 2.77313001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.144391418 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:131.28, Y:5.23, Z:0.28 [[ 9.99580132e-01 -2.89084138e-02 -1.96533724e-03 1.31279938e+02] [ 2.89085291e-02 9.99582061e-01 3.02764663e-05 5.23084224e+00] [ 1.96364061e-03 -8.70787631e-05 9.99998068e-01 2.76054225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.204391418 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:131.34, Y:5.23, Z:0.28 [[ 9.99636536e-01 -2.68874021e-02 -1.96533460e-03 1.31341783e+02] [ 2.68875139e-02 9.99638465e-01 3.04471398e-05 5.23138540e+00] [ 1.96380542e-03 -8.32790346e-05 9.99998068e-01 2.76352360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.264391418 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:131.40, Y:5.23, Z:0.28 [[ 9.99693694e-01 -2.46709668e-02 -1.96533182e-03 1.31404177e+02] [ 2.46710746e-02 9.99695622e-01 3.06254102e-05 5.23145484e+00] [ 1.96397806e-03 -7.91028773e-05 9.99998068e-01 2.76274544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.324391418 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:131.47, Y:5.23, Z:0.28 [[ 9.99791492e-01 -2.03250886e-02 -1.96532916e-03 1.31466527e+02] [ 2.03251883e-02 9.99793422e-01 3.07951523e-05 5.23368533e+00] [ 1.96429725e-03 -7.07344165e-05 9.99998068e-01 2.76358436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38439141799998 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:131.53, Y:5.24, Z:0.28 [[ 9.99887750e-01 -1.48534256e-02 -1.96532651e-03 1.31528578e+02] [ 1.48535151e-02 9.99889680e-01 3.09632085e-05 5.23678353e+00] [ 1.96464979e-03 -6.01517399e-05 9.99998068e-01 2.76074426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44439141799998 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:131.59, Y:5.24, Z:0.28 [[ 9.99938748e-01 -1.08921311e-02 -1.96532384e-03 1.31589977e+02] [ 1.08922134e-02 9.99940678e-01 3.11321770e-05 5.23874989e+00] [ 1.96486815e-03 -5.25369966e-05 9.99998068e-01 2.76788600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50439141799998 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:131.65, Y:5.24, Z:0.28 [[ 9.99980794e-01 -5.87780552e-03 -1.96532252e-03 1.31651433e+02] [ 5.87787822e-03 9.99982725e-01 3.12148454e-05 5.24147941e+00] [ 1.96510510e-03 -4.27661724e-05 9.99998068e-01 2.78872247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56439141799999 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:131.71, Y:5.24, Z:0.28 [[ 9.99997157e-01 -1.35071189e-03 -1.96532116e-03 1.31711840e+02] [ 1.35077601e-03 9.99999087e-01 3.13001066e-05 5.24248751e+00] [ 1.96527709e-03 -3.39547263e-05 9.99998068e-01 2.78271075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.624391418 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:131.77, Y:5.24, Z:0.28 [[ 9.99998049e-01 -1.99793074e-04 -1.96532050e-03 1.31771206e+02] [ 1.99855056e-04 9.99999980e-01 3.13416542e-05 5.24306953e+00] [ 1.96531420e-03 -3.17343723e-05 9.99998068e-01 2.78349420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.684391418 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:131.83, Y:5.24, Z:0.28 [[ 9.99991214e-01 3.70262087e-03 -1.96532037e-03 1.31831136e+02] [-3.70256641e-03 9.99993145e-01 3.13499185e-05 5.24327896e+00] [ 1.96542298e-03 -2.40729139e-05 9.99998068e-01 2.77808454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.744391418 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:131.89, Y:5.24, Z:0.28 [[ 9.99987006e-01 4.70383370e-03 -1.96532023e-03 1.31890207e+02] [-4.70378115e-03 9.99988937e-01 3.13587049e-05 5.24265421e+00] [ 1.96544599e-03 -2.21138612e-05 9.99998068e-01 2.79287014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.804391418 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:131.95, Y:5.24, Z:0.28 [[ 9.99970429e-01 7.43494075e-03 -1.96532296e-03 1.31948911e+02] [-7.43489381e-03 9.99972360e-01 3.11863853e-05 5.24165695e+00] [ 1.96550051e-03 -1.65734956e-05 9.99998068e-01 2.80102907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.864391418 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:132.01, Y:5.24, Z:0.28 [[ 9.99967004e-01 7.88212281e-03 -1.96533246e-03 1.32007187e+02] [-7.88207794e-03 9.99968935e-01 3.05760140e-05 5.23960776e+00] [ 1.96551241e-03 -1.50841015e-05 9.99998068e-01 2.80442780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.924391418 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:132.07, Y:5.24, Z:0.28 [[ 9.99986196e-01 4.87294519e-03 -1.96533602e-03 1.32065721e+02] [-4.87289496e-03 9.99988127e-01 3.03452299e-05 5.23646582e+00] [ 1.96546056e-03 -2.07679350e-05 9.99998068e-01 2.80137671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.984391418 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:132.12, Y:5.23, Z:0.28 [[ 9.99992401e-01 -3.36671497e-03 -1.96533860e-03 1.32124936e+02] [ 3.36678078e-03 9.99994332e-01 3.01774058e-05 5.23095882e+00] [ 1.96522586e-03 -3.67940407e-05 9.99998068e-01 2.80797863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.044391418 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:132.18, Y:5.22, Z:0.28 [[ 9.99909087e-01 -1.33399525e-02 -1.96534001e-03 1.32184707e+02] [ 1.33400374e-02 9.99911017e-01 3.00851154e-05 5.22417806e+00] [ 1.96476380e-03 -5.63000896e-05 9.99998068e-01 2.76983515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10439141799998 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:132.25, Y:5.22, Z:0.28 [[ 9.99782496e-01 -2.07628986e-02 -1.96534071e-03 1.32245361e+02] [ 2.07629977e-02 9.99784425e-01 3.00397229e-05 5.21986103e+00] [ 1.96429332e-03 -7.08395538e-05 9.99998068e-01 2.77545916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16439141799998 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:132.31, Y:5.22, Z:0.28 [[ 9.99444559e-01 -3.32672548e-02 -1.96533878e-03 1.32307809e+02] [ 3.32673782e-02 9.99446487e-01 3.01655707e-05 5.21567976e+00] [ 1.96324741e-03 -9.55304839e-05 9.99998068e-01 2.83425301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22439141799998 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:132.37, Y:5.21, Z:0.28 [[ 9.99328140e-01 -3.65979063e-02 -1.96532897e-03 1.32368887e+02] [ 3.65980374e-02 9.99330067e-01 3.07914207e-05 5.21158897e+00] [ 1.96288543e-03 -1.02697916e-04 9.99998068e-01 2.78888750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28439141799998 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:132.43, Y:5.21, Z:0.28 [[ 9.99175543e-01 -4.05508655e-02 -1.96532631e-03 1.32431485e+02] [ 4.05510046e-02 9.99177469e-01 3.09604968e-05 5.20971528e+00] [ 1.96245429e-03 -1.10630927e-04 9.99998068e-01 2.79817062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.344391418 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:132.49, Y:5.21, Z:0.28 [[ 9.99173088e-01 -4.06113042e-02 -1.96532359e-03 1.32492582e+02] [ 4.06114437e-02 9.99175015e-01 3.11319123e-05 5.20953979e+00] [ 1.96243792e-03 -1.10920797e-04 9.99998068e-01 2.79478898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.404391418 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:132.55, Y:5.21, Z:0.28 [[ 9.99268564e-01 -3.81899768e-02 -1.96532159e-03 1.32554298e+02] [ 3.81901119e-02 9.99270491e-01 3.12575540e-05 5.21068363e+00] [ 1.96269415e-03 -1.06290543e-04 9.99998068e-01 2.79786271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.464391418 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:132.62, Y:5.21, Z:0.28 [[ 9.99384459e-01 -3.50262755e-02 -1.96531905e-03 1.32616537e+02] [ 3.50264048e-02 9.99386387e-01 3.14163721e-05 5.21292581e+00] [ 1.96301271e-03 -1.00235095e-04 9.99998068e-01 2.78952912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.524391418 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:132.68, Y:5.22, Z:0.28 [[ 9.99524740e-01 -3.07641199e-02 -1.96531649e-03 1.32677345e+02] [ 3.07642413e-02 9.99526668e-01 3.15761766e-05 5.21572187e+00] [ 1.96341483e-03 -9.20226404e-05 9.99998068e-01 2.77939939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.584391418 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:132.74, Y:5.22, Z:0.28 [[ 9.99625151e-01 -2.73074310e-02 -1.96531459e-03 1.32739104e+02] [ 2.73075460e-02 9.99627079e-01 3.16940114e-05 5.21806565e+00] [ 1.96371620e-03 -8.53500495e-05 9.99998068e-01 2.78184107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.644391418 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:132.80, Y:5.22, Z:0.28 [[ 9.99794274e-01 -2.01878217e-02 -1.96531127e-03 1.32801638e+02] [ 2.01879233e-02 9.99796203e-01 3.18983998e-05 5.22261460e+00] [ 1.96426678e-03 -7.15673907e-05 9.99998068e-01 2.79099670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.704391418 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:132.86, Y:5.23, Z:0.28 [[ 9.99899434e-01 -1.40448966e-02 -1.96530854e-03 1.32863218e+02] [ 1.40449867e-02 9.99901364e-01 3.20656569e-05 5.22518664e+00] [ 1.96466433e-03 -5.96651645e-05 9.99998068e-01 2.78801701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.764391418 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:132.92, Y:5.23, Z:0.28 [[ 9.99967717e-01 -7.79114307e-03 -1.96530719e-03 1.32924272e+02] [ 7.79122129e-03 9.99969647e-01 3.21480192e-05 5.22843636e+00] [ 1.96499707e-03 -4.74591246e-05 9.99998068e-01 2.81946271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.824391418 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:132.99, Y:5.23, Z:0.28 [[ 9.99992847e-01 -3.23162145e-03 -1.96530579e-03 1.32985575e+02] [ 3.23169103e-03 9.99994778e-01 3.22332903e-05 5.23125770e+00] [ 1.96519137e-03 -3.85843208e-05 9.99998068e-01 2.83399072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88439141799998 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:133.05, Y:5.23, Z:0.28 [[ 9.99997383e-01 -1.17075970e-03 -1.96530449e-03 1.33045590e+02] [ 1.17082547e-03 9.99999314e-01 3.23123613e-05 5.23185677e+00] [ 1.96526532e-03 -3.46133053e-05 9.99998068e-01 2.82134195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94439141799998 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:133.11, Y:5.23, Z:0.28 [[ 9.99998066e-01 -7.04468716e-05 -1.96530518e-03 1.33105247e+02] [ 7.05104288e-05 9.99999997e-01 3.22704164e-05 5.23233795e+00] [ 1.96530290e-03 -3.24089285e-05 9.99998068e-01 2.80797430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00439141799998 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:133.17, Y:5.23, Z:0.28 [[ 9.99997332e-01 -1.21350231e-03 -1.96530587e-03 1.33165107e+02] [ 1.21356799e-03 9.99999263e-01 3.22284325e-05 5.23129459e+00] [ 1.96526531e-03 -3.46133789e-05 9.99998068e-01 2.81142482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06439141799999 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:133.22, Y:5.23, Z:0.28 [[ 9.99988004e-01 -4.48653234e-03 -1.96530725e-03 1.33224354e+02] [ 4.48660418e-03 9.99989935e-01 3.21440076e-05 5.22979194e+00] [ 1.96514326e-03 -4.09611778e-05 9.99998068e-01 2.82975931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.124391418 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:133.29, Y:5.23, Z:0.28 [[ 9.99974825e-01 -6.81819720e-03 -1.96530866e-03 1.33285179e+02] [ 6.81827337e-03 9.99976755e-01 3.20575634e-05 5.22802453e+00] [ 1.96504440e-03 -4.54567681e-05 9.99998068e-01 2.83316423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.184391418 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:133.35, Y:5.23, Z:0.28 [[ 9.99966050e-01 -8.00231736e-03 -1.96530866e-03 1.33345688e+02] [ 8.00239581e-03 9.99967980e-01 3.20575635e-05 5.22606010e+00] [ 1.96498920e-03 -4.77836529e-05 9.99998068e-01 2.80504448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.244391418 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:133.41, Y:5.22, Z:0.28 [[ 9.99983487e-01 -5.40030946e-03 -1.96530801e-03 1.33407376e+02] [ 5.40038296e-03 9.99985417e-01 3.20972707e-05 5.22447591e+00] [ 1.96510602e-03 -4.27101566e-05 9.99998068e-01 2.82331250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.304391418 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:133.47, Y:5.22, Z:0.28 [[ 9.99998031e-01 2.73235366e-04 -1.96530670e-03 1.33467822e+02] [-2.73172654e-04 9.99999962e-01 3.21776054e-05 5.22379382e+00] [ 1.96531542e-03 -3.16406740e-05 9.99998068e-01 2.83170194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.364391418 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:133.53, Y:5.22, Z:0.28 [[ 9.99990355e-01 3.92777761e-03 -1.96530670e-03 1.33527716e+02] [-3.92772196e-03 9.99992286e-01 3.21776054e-05 5.22173458e+00] [ 1.96541792e-03 -2.44581168e-05 9.99998068e-01 2.82147196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.424391418 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:133.59, Y:5.22, Z:0.28 [[ 9.99978173e-01 6.30794886e-03 -1.96530808e-03 1.33586712e+02] [-6.30789797e-03 9.99980105e-01 3.20931907e-05 5.22019808e+00] [ 1.96547142e-03 -1.96955274e-05 9.99998068e-01 2.81777833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.484391418 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:133.65, Y:5.22, Z:0.28 [[ 9.99986600e-01 4.78939096e-03 -1.96531090e-03 1.33645635e+02] [-4.78933748e-03 9.99988531e-01 3.19192139e-05 5.21863733e+00] [ 1.96544124e-03 -2.25062490e-05 9.99998068e-01 2.80830464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.544391418 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:133.70, Y:5.22, Z:0.28 [[ 9.99997223e-01 1.30066221e-03 -1.96531368e-03 1.33704664e+02] [-1.30060233e-03 9.99999154e-01 3.17475376e-05 5.21740870e+00] [ 1.96535331e-03 -2.91913579e-05 9.99998068e-01 2.80833743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60439141799998 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:133.76, Y:5.22, Z:0.28 [[ 9.99974614e-01 -6.84897565e-03 -1.96531645e-03 1.33763247e+02] [ 6.84905093e-03 9.99976544e-01 3.15749974e-05 5.21539404e+00] [ 1.96505409e-03 -4.50347483e-05 9.99998068e-01 2.80167779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66439141799998 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:133.82, Y:5.21, Z:0.28 [[ 9.99947540e-01 -1.00525838e-02 -1.96531787e-03 1.33824226e+02] [ 1.00526651e-02 9.99949470e-01 3.14861447e-05 5.21436643e+00] [ 1.96490205e-03 -5.12411754e-05 9.99998068e-01 2.83178011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72439141799998 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:133.89, Y:5.21, Z:0.28 [[ 9.99862635e-01 -1.64574897e-02 -1.96531787e-03 1.33885370e+02] [ 1.64575834e-02 9.99864564e-01 3.14861447e-05 5.21317018e+00] [ 1.96453351e-03 -6.38262024e-05 9.99998068e-01 2.84126337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78439141799998 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:133.95, Y:5.21, Z:0.28 [[ 9.99628906e-01 -2.71696061e-02 -1.96531660e-03 1.33947525e+02] [ 2.71697206e-02 9.99630835e-01 3.15651323e-05 5.21192268e+00] [ 1.96373346e-03 -8.49505216e-05 9.99998068e-01 2.84454776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.844391418 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:134.01, Y:5.21, Z:0.29 [[ 9.99279435e-01 -3.79044620e-02 -1.96530755e-03 1.34010079e+02] [ 3.79045983e-02 9.99281362e-01 3.21190990e-05 5.21328394e+00] [ 1.96267775e-03 -1.06590148e-04 9.99998068e-01 2.85631939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.904391418 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:134.07, Y:5.22, Z:0.29 [[ 9.98944871e-01 -4.58833565e-02 -1.96530498e-03 1.34072238e+02] [ 4.58835084e-02 9.98946797e-01 3.22758132e-05 5.21683543e+00] [ 1.96175419e-03 -1.22416846e-04 9.99998068e-01 2.86242907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.964391418 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:134.13, Y:5.22, Z:0.29 [[ 9.98752589e-01 -4.98939203e-02 -1.96529856e-03 1.34133991e+02] [ 4.98940808e-02 9.98754514e-01 3.26616510e-05 5.21938258e+00] [ 1.96122119e-03 -1.30677674e-04 9.99998068e-01 2.86408916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.024391418 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:134.20, Y:5.23, Z:0.29 [[ 9.98613346e-01 -5.26072493e-02 -1.96529605e-03 1.34196688e+02] [ 5.26074152e-02 9.98615271e-01 3.28123276e-05 5.22579581e+00] [ 1.96084848e-03 -1.36155973e-04 9.99998068e-01 2.87346243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.084391418 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:134.26, Y:5.23, Z:0.29 [[ 9.98622576e-01 -5.24317407e-02 -1.96529223e-03 1.34258152e+02] [ 5.24319068e-02 9.98624501e-01 3.30391511e-05 5.23347518e+00] [ 1.96085668e-03 -1.36037661e-04 9.99998068e-01 2.86656286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.144391418 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:134.32, Y:5.24, Z:0.29 [[ 9.98746076e-01 -5.00241201e-02 -1.96529036e-03 1.34320422e+02] [ 5.00242818e-02 9.98748001e-01 3.31505227e-05 5.23846380e+00] [ 1.96117149e-03 -1.31421193e-04 9.99998068e-01 2.86367216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.204391418 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:134.38, Y:5.24, Z:0.29 [[ 9.98929710e-01 -4.62122436e-02 -1.96528725e-03 1.34383590e+02] [ 4.62123983e-02 9.98931636e-01 3.33333955e-05 5.24398743e+00] [ 1.96164720e-03 -1.24118356e-04 9.99998068e-01 2.88585224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.264391418 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:134.45, Y:5.25, Z:0.29 [[ 9.99271066e-01 -3.81244705e-02 -1.96528315e-03 1.34445948e+02] [ 3.81246101e-02 9.99272992e-01 3.35738934e-05 5.25494308e+00] [ 1.96257438e-03 -1.08475074e-04 9.99998068e-01 2.89207223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.324391418 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:134.51, Y:5.26, Z:0.29 [[ 9.99585153e-01 -2.87343007e-02 -1.96528038e-03 1.34506902e+02] [ 2.87344225e-02 9.99587081e-01 3.37351778e-05 5.26465979e+00] [ 1.96349952e-03 -9.01923795e-05 9.99998068e-01 2.90426804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38439141799998 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:134.57, Y:5.28, Z:0.30 [[ 9.99723394e-01 -2.34365826e-02 -1.96527833e-03 1.34569145e+02] [ 2.34366943e-02 9.99725322e-01 3.38538052e-05 5.27900608e+00] [ 1.96394510e-03 -7.99040686e-05 9.99998068e-01 2.98145390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44439141799998 meters Centerline goodness : 0.998817 with order 1 Centerline is valid? [True, True] Translation: X:134.63, Y:5.28, Z:0.29 [[ 9.99949876e-01 -9.81746981e-03 -1.96527618e-03 1.34631513e+02] [ 9.81755554e-03 9.99951806e-01 3.39785176e-05 5.28085480e+00] [ 1.96484788e-03 -5.32710225e-05 9.99998068e-01 2.93221568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50439141799998 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:134.69, Y:5.28, Z:0.29 [[ 9.99986247e-01 -4.86249071e-03 -1.96527333e-03 1.34692344e+02] [ 4.86256720e-03 9.99988177e-01 3.41423906e-05 5.28437209e+00] [ 1.96508408e-03 -4.36981947e-05 9.99998068e-01 2.92622805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56439141799999 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:134.75, Y:5.29, Z:0.29 [[ 9.99997570e-01 9.98571021e-04 -1.96527264e-03 1.34752599e+02] [-9.98505772e-04 9.99999501e-01 3.41820548e-05 5.28867316e+00] [ 1.96530579e-03 -3.22196357e-05 9.99998068e-01 2.93163360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.624391418 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:134.81, Y:5.29, Z:0.29 [[ 9.99988681e-01 4.33308135e-03 -1.96527264e-03 1.34812466e+02] [-4.33302254e-03 9.99990612e-01 3.41820548e-05 5.29214154e+00] [ 1.96540230e-03 -2.56660972e-05 9.99998068e-01 2.94045763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.684391418 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:134.87, Y:5.29, Z:0.29 [[ 9.99996720e-01 1.64256879e-03 -1.96527403e-03 1.34871767e+02] [-1.64250495e-03 9.99998651e-01 3.41017181e-05 5.29279933e+00] [ 1.96532740e-03 -3.08736339e-05 9.99998068e-01 2.93494013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.744391418 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:134.93, Y:5.29, Z:0.29 [[ 9.99994666e-01 -2.60873016e-03 -1.96527609e-03 1.34930927e+02] [ 2.60880199e-03 9.99996596e-01 3.39827818e-05 5.29474720e+00] [ 1.96518075e-03 -3.91096167e-05 9.99998068e-01 2.93700766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.804391418 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:134.99, Y:5.30, Z:0.29 [[ 9.99952508e-01 -9.54562053e-03 -1.96527828e-03 1.34991864e+02] [ 9.54570549e-03 9.99954438e-01 3.38559517e-05 5.29559112e+00] [ 1.96486556e-03 -5.26143115e-05 9.99998068e-01 2.93701201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.864391418 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:135.05, Y:5.29, Z:0.29 [[ 9.99812971e-01 -1.92395490e-02 -1.96527828e-03 1.35053286e+02] [ 1.92396527e-02 9.99814900e-01 3.38559517e-05 5.29128006e+00] [ 1.96426313e-03 -7.16608911e-05 9.99998068e-01 2.93139457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.924391418 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:135.12, Y:5.29, Z:0.29 [[ 9.99611698e-01 -2.77955223e-02 -1.96526891e-03 1.35116000e+02] [ 2.77956435e-02 9.99613626e-01 3.43912543e-05 5.28954282e+00] [ 1.96355366e-03 -8.90038140e-05 9.99998068e-01 2.94315704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.984391418 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:135.18, Y:5.29, Z:0.29 [[ 9.99489544e-01 -3.18871265e-02 -1.96525750e-03 1.35178716e+02] [ 3.18872569e-02 9.99491472e-01 3.50310724e-05 5.28872005e+00] [ 1.96314107e-03 -9.76798616e-05 9.99998068e-01 2.94537065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.044391418 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:135.24, Y:5.29, Z:0.29 [[ 9.99453437e-01 -3.29994621e-02 -1.96525270e-03 1.35241724e+02] [ 3.29995951e-02 9.99455364e-01 3.52984117e-05 5.28800575e+00] [ 1.96301753e-03 -1.00131662e-04 9.99998068e-01 2.94734776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10439141799998 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:135.30, Y:5.29, Z:0.29 [[ 9.99497237e-01 -3.16450814e-02 -1.96524826e-03 1.35302548e+02] [ 3.16452123e-02 9.99499164e-01 3.55441154e-05 5.28795013e+00] [ 1.96313920e-03 -9.77169435e-05 9.99998068e-01 2.94660156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16439141799998 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:135.37, Y:5.29, Z:0.30 [[ 9.99572577e-01 -2.91684873e-02 -1.96524607e-03 1.35365629e+02] [ 2.91686136e-02 9.99574505e-01 3.56644624e-05 5.28910390e+00] [ 1.96336959e-03 -9.29727220e-05 9.99998068e-01 2.96353784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22439141799998 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:135.43, Y:5.29, Z:0.30 [[ 9.99636830e-01 -2.68764860e-02 -1.96524155e-03 1.35427472e+02] [ 2.68766084e-02 9.99638758e-01 3.59118606e-05 5.29006546e+00] [ 1.96356644e-03 -8.87178462e-05 9.99998068e-01 2.95749520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28439141799998 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:135.49, Y:5.29, Z:0.30 [[ 9.99690025e-01 -2.48191628e-02 -1.96523783e-03 1.35489716e+02] [ 2.48192816e-02 9.99691954e-01 3.61143272e-05 5.29059120e+00] [ 1.96373612e-03 -8.48789239e-05 9.99998068e-01 2.95429816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.344391418 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:135.55, Y:5.29, Z:0.30 [[ 9.99762660e-01 -2.16970218e-02 -1.96523485e-03 1.35552420e+02] [ 2.16971350e-02 9.99764589e-01 3.62760370e-05 5.29209199e+00] [ 1.96398513e-03 -7.89073931e-05 9.99998068e-01 2.95474335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.404391418 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:135.62, Y:5.29, Z:0.30 [[ 9.99814520e-01 -1.91589177e-02 -1.96523041e-03 1.35615085e+02] [ 1.91590264e-02 9.99816448e-01 3.65150389e-05 5.29369099e+00] [ 1.96417010e-03 -7.41601674e-05 9.99998068e-01 2.96548930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.464391418 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:135.68, Y:5.29, Z:0.30 [[ 9.99835637e-01 -1.80232436e-02 -1.96522746e-03 1.35677505e+02] [ 1.80233504e-02 9.99837566e-01 3.66728752e-05 5.29357668e+00] [ 1.96424728e-03 -7.20868307e-05 9.99998068e-01 2.97420475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.524391418 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:135.74, Y:5.29, Z:0.30 [[ 9.99853895e-01 -1.69801993e-02 -1.96522455e-03 1.35740026e+02] [ 1.69803045e-02 9.99855824e-01 3.68283079e-05 5.29385691e+00] [ 1.96431586e-03 -7.01930382e-05 9.99998068e-01 2.98954440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.584391418 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:135.80, Y:5.29, Z:0.30 [[ 9.99866131e-01 -1.62437280e-02 -1.96522154e-03 1.35802648e+02] [ 1.62438320e-02 9.99868060e-01 3.69881808e-05 5.29280094e+00] [ 1.96436142e-03 -6.89059578e-05 9.99998068e-01 2.99169517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.644391418 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:135.86, Y:5.29, Z:0.30 [[ 9.99904420e-01 -1.36853153e-02 -1.96521853e-03 1.35863971e+02] [ 1.36854148e-02 9.99906350e-01 3.71472166e-05 5.29270171e+00] [ 1.96452612e-03 -6.40384968e-05 9.99998068e-01 2.99390188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.704391418 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:135.93, Y:5.29, Z:0.30 [[ 9.99926996e-01 -1.19223080e-02 -1.96521631e-03 1.35926172e+02] [ 1.19224042e-02 9.99928925e-01 3.72643448e-05 5.29154507e+00] [ 1.96463236e-03 -6.06917276e-05 9.99998068e-01 2.99924081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.764391418 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:135.99, Y:5.29, Z:0.30 [[ 9.99944859e-01 -1.03158326e-02 -1.96521328e-03 1.35988383e+02] [ 1.03159261e-02 9.99946789e-01 3.74233802e-05 5.28910458e+00] [ 1.96472266e-03 -5.76943116e-05 9.99998068e-01 2.99849802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.824391418 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:136.05, Y:5.29, Z:0.30 [[ 9.99974068e-01 -6.92831200e-03 -1.96521027e-03 1.36049439e+02] [ 6.92839923e-03 9.99975998e-01 3.75808993e-05 5.28686326e+00] [ 1.96490273e-03 -5.11956861e-05 9.99998068e-01 2.99436991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88439141799998 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:136.11, Y:5.29, Z:0.30 [[ 9.99993949e-01 -2.87042771e-03 -1.96520557e-03 1.36111036e+02] [ 2.87050758e-03 9.99995879e-01 3.78251065e-05 5.28548172e+00] [ 1.96508890e-03 -4.34660152e-05 9.99998068e-01 2.99457605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94439141799998 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:136.17, Y:5.28, Z:0.30 [[ 9.99988186e-01 4.44594272e-03 -1.96520402e-03 1.36170559e+02] [-4.44587681e-03 9.99990116e-01 3.79053597e-05 5.28236067e+00] [ 1.96535313e-03 -2.91678569e-05 9.99998068e-01 2.99226660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00439141799998 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:136.23, Y:5.28, Z:0.30 [[ 9.99949506e-01 9.85515316e-03 -1.96520478e-03 1.36228785e+02] [-9.85509777e-03 9.99951437e-01 3.78659739e-05 5.27970331e+00] [ 1.96548252e-03 -1.84967766e-05 9.99998068e-01 2.97930727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06439141799999 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:136.29, Y:5.27, Z:0.30 [[ 9.99943965e-01 1.04021415e-02 -1.96521582e-03 1.36286369e+02] [-1.04020883e-02 9.99945896e-01 3.72842311e-05 5.27435704e+00] [ 1.96549733e-03 -1.68397934e-05 9.99998068e-01 2.97540881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.124391418 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:136.34, Y:5.27, Z:0.30 [[ 9.99960241e-01 8.69798531e-03 -1.96521967e-03 1.36344762e+02] [-8.69792924e-03 9.99962172e-01 3.70799805e-05 5.26720627e+00] [ 1.96546785e-03 -1.99851646e-05 9.99998068e-01 2.96572188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.184391418 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:136.40, Y:5.26, Z:0.30 [[ 9.99986771e-01 4.75358048e-03 -1.96522268e-03 1.36403211e+02] [-4.75351710e-03 9.99988701e-01 3.69200710e-05 5.26036636e+00] [ 1.96537598e-03 -2.75778630e-05 9.99998068e-01 2.96860684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.244391418 meters Centerline goodness : 0.998900 with order 1 Centerline is valid? [True, True] Translation: X:136.46, Y:5.25, Z:0.30 [[ 9.99997259e-01 -1.27285273e-03 -1.96522568e-03 1.36461853e+02] [ 1.27292743e-03 9.99999189e-01 3.67598169e-05 5.25250326e+00] [ 1.96517729e-03 -3.92613058e-05 9.99998068e-01 2.96717262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.304391418 meters Centerline goodness : 0.998730 with order 1 Centerline is valid? [True, True] Translation: X:136.52, Y:5.25, Z:0.30 [[ 9.99979129e-01 -6.15457291e-03 -1.96522861e-03 1.36521225e+02] [ 6.15465672e-03 9.99981059e-01 3.66020950e-05 5.24712433e+00] [ 1.96496612e-03 -4.86966386e-05 9.99998068e-01 2.96280188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.364391418 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:136.58, Y:5.24, Z:0.30 [[ 9.99920604e-01 -1.24468497e-02 -1.96523012e-03 1.36582188e+02] [ 1.24469455e-02 9.99922533e-01 3.65210980e-05 5.24019779e+00] [ 1.96462331e-03 -6.09793104e-05 9.99998068e-01 2.96270189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.424391418 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:136.64, Y:5.23, Z:0.30 [[ 9.99846062e-01 -1.74352857e-02 -1.96522862e-03 1.36644767e+02] [ 1.74353913e-02 9.99847991e-01 3.66015551e-05 5.23451894e+00] [ 1.96429173e-03 -7.08604508e-05 9.99998068e-01 2.96198333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.484391418 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:136.71, Y:5.23, Z:0.30 [[ 9.99788086e-01 -2.04919506e-02 -1.96522560e-03 1.36706441e+02] [ 2.04920624e-02 9.99790015e-01 3.67627777e-05 5.23065678e+00] [ 1.96405959e-03 -7.70265129e-05 9.99998068e-01 2.95542616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.544391418 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:136.77, Y:5.23, Z:0.30 [[ 9.99656706e-01 -2.61267646e-02 -1.96522263e-03 1.36767655e+02] [ 2.61268876e-02 9.99658634e-01 3.69211741e-05 5.22699820e+00] [ 1.96358714e-03 -8.82536499e-05 9.99998068e-01 2.95294559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60439141799998 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:136.83, Y:5.22, Z:0.30 [[ 9.99515951e-01 -3.10483673e-02 -1.96522042e-03 1.36829637e+02] [ 3.10485000e-02 9.99517878e-01 3.70381250e-05 5.22430758e+00] [ 1.96312298e-03 -9.80373430e-05 9.99998068e-01 2.96154816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66439141799998 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:136.89, Y:5.22, Z:0.30 [[ 9.99310112e-01 -3.70868978e-02 -1.96521318e-03 1.36893080e+02] [ 3.70870428e-02 9.99312038e-01 3.74188072e-05 5.22113978e+00] [ 1.96247344e-03 -1.10276938e-04 9.99998068e-01 2.95205766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72439141799998 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:136.96, Y:5.22, Z:0.29 [[ 9.99134685e-01 -4.15453870e-02 -1.96520857e-03 1.36955938e+02] [ 4.15455412e-02 9.99136611e-01 3.76590358e-05 5.21946029e+00] [ 1.96194727e-03 -1.19272102e-04 9.99998068e-01 2.94951867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78439141799998 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:137.02, Y:5.22, Z:0.29 [[ 9.99020070e-01 -4.42158017e-02 -1.96520390e-03 1.37018198e+02] [ 4.42159615e-02 9.99021995e-01 3.79013796e-05 5.21927458e+00] [ 1.96160608e-03 -1.24757619e-04 9.99998068e-01 2.94680765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.844391418 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:137.08, Y:5.22, Z:0.30 [[ 9.98895985e-01 -4.69355764e-02 -1.96519619e-03 1.37080915e+02] [ 4.69357422e-02 9.98897910e-01 3.82966837e-05 5.22327491e+00] [ 1.96123289e-03 -1.30492346e-04 9.99998068e-01 2.98971898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.904391418 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:137.14, Y:5.22, Z:0.30 [[ 9.99256935e-01 -3.84930566e-02 -1.96519039e-03 1.37142719e+02] [ 3.84932066e-02 9.99258861e-01 3.85922087e-05 5.22310726e+00] [ 1.96224838e-03 -1.14210012e-04 9.99998068e-01 2.97494136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.964391418 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:137.20, Y:5.22, Z:0.30 [[ 9.99543652e-01 -3.01434197e-02 -1.96518784e-03 1.37204017e+02] [ 3.01435540e-02 9.99545579e-01 3.87215020e-05 5.22322936e+00] [ 1.96312762e-03 -9.79415773e-05 9.99998068e-01 2.96521005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.024391418 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:137.27, Y:5.23, Z:0.30 [[ 9.99853666e-01 -1.69936611e-02 -1.96518534e-03 1.37266160e+02] [ 1.69937702e-02 9.99855595e-01 3.88482297e-05 5.22737886e+00] [ 1.96424138e-03 -7.22384529e-05 9.99998068e-01 2.97398286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.084391418 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:137.33, Y:5.23, Z:0.30 [[ 9.99971115e-01 -7.34211480e-03 -1.96518223e-03 1.37327128e+02] [ 7.34220562e-03 9.99973045e-01 3.90046958e-05 5.23022332e+00] [ 1.96484288e-03 -5.34323412e-05 9.99998068e-01 2.97695332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.144391418 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:137.39, Y:5.23, Z:0.30 [[ 9.99976491e-01 6.56926602e-03 -1.96517994e-03 1.37388077e+02] [-6.56920182e-03 9.99978422e-01 3.91198844e-05 5.23393464e+00] [ 1.96539452e-03 -2.62093011e-05 9.99998068e-01 2.97105444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.204391418 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:137.45, Y:5.24, Z:0.29 [[ 9.99846195e-01 1.74277179e-02 -1.96517994e-03 1.37445667e+02] [-1.74276747e-02 9.99848126e-01 3.91198844e-05 5.23658728e+00] [ 1.96556325e-03 -4.86535092e-06 9.99998068e-01 2.94848375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.264391418 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:137.50, Y:5.24, Z:0.30 [[ 9.99715463e-01 2.37724647e-02 -1.96519232e-03 1.37504819e+02] [-2.37724349e-02 9.99717395e-01 3.84879849e-05 5.23816495e+00] [ 1.96555190e-03 8.24037278e-06 9.99998068e-01 2.95097741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.324391418 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:137.56, Y:5.24, Z:0.30 [[ 9.99679742e-01 2.52299600e-02 -1.96519533e-03 1.37563957e+02] [-2.52299334e-02 9.99681674e-01 3.83335077e-05 5.23804644e+00] [ 1.96553691e-03 1.12605163e-05 9.99998068e-01 2.95781076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38439141799998 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:137.62, Y:5.24, Z:0.30 [[ 9.99779884e-01 2.08883019e-02 -1.96519828e-03 1.37623150e+02] [-2.08882672e-02 9.99781816e-01 3.81816258e-05 5.23932778e+00] [ 1.96556705e-03 2.87636528e-06 9.99998068e-01 3.00359498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44439141799998 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:137.68, Y:5.24, Z:0.30 [[ 9.99811245e-01 1.93290343e-02 -1.96520139e-03 1.37681245e+02] [-1.93289969e-02 9.99813177e-01 3.80206401e-05 5.23500465e+00] [ 1.96556915e-03 -2.80918088e-08 9.99998068e-01 2.96427936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50439141799998 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:137.74, Y:5.23, Z:0.30 [[ 9.99977901e-01 6.35109682e-03 -1.96520527e-03 1.37739751e+02] [-6.35103476e-03 9.99979831e-01 3.78193898e-05 5.23090777e+00] [ 1.96540583e-03 -2.53374671e-05 9.99998068e-01 2.97263535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56439141799999 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:137.80, Y:5.22, Z:0.30 [[ 9.99942341e-01 -1.05571100e-02 -1.96520825e-03 1.37798265e+02] [ 1.05572044e-02 9.99944270e-01 3.76638332e-05 5.22464898e+00] [ 1.96470111e-03 -5.84087667e-05 9.99998068e-01 2.97362753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.624391418 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:137.86, Y:5.22, Z:0.30 [[ 9.99775163e-01 -2.11130445e-02 -1.96520981e-03 1.37860430e+02] [ 2.11131591e-02 9.99777092e-01 3.75819522e-05 5.21977504e+00] [ 1.96397828e-03 -7.90652899e-05 9.99998068e-01 2.96992144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.684391418 meters Centerline goodness : 0.998735 with order 1 Centerline is valid? [True, True] Translation: X:137.92, Y:5.21, Z:0.30 [[ 9.99435167e-01 -3.35482493e-02 -1.96519932e-03 1.37922345e+02] [ 3.35483890e-02 9.99437094e-01 3.81228519e-05 5.21459703e+00] [ 1.96281414e-03 -1.04030590e-04 9.99998068e-01 2.95814775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.744391418 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:137.98, Y:5.21, Z:0.29 [[ 9.99241771e-01 -3.88847042e-02 -1.96518807e-03 1.37983866e+02] [ 3.88848553e-02 9.99243697e-01 3.86941837e-05 5.21165326e+00] [ 1.96219718e-03 -1.15080898e-04 9.99998068e-01 2.94841653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.804391418 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:138.05, Y:5.21, Z:0.29 [[ 9.99009632e-01 -4.44510097e-02 -1.96518584e-03 1.38045513e+02] [ 4.44511717e-02 9.99011557e-01 3.88069644e-05 5.20963930e+00] [ 1.96151836e-03 -1.26123345e-04 9.99998068e-01 2.93238148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.864391418 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:138.11, Y:5.21, Z:0.29 [[ 9.98902535e-01 -4.67959779e-02 -1.96518292e-03 1.38107800e+02] [ 4.67961447e-02 9.98904460e-01 3.89545406e-05 5.20937944e+00] [ 1.96120707e-03 -1.30874774e-04 9.99998068e-01 2.93086165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.924391418 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:138.17, Y:5.21, Z:0.29 [[ 9.98784973e-01 -4.92414040e-02 -1.96518002e-03 1.38169123e+02] [ 4.92415758e-02 9.98786897e-01 3.91002991e-05 5.21069594e+00] [ 1.96087070e-03 -1.35821352e-04 9.99998068e-01 2.92418402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.984391418 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:138.23, Y:5.21, Z:0.29 [[ 9.98869888e-01 -4.74877372e-02 -1.96517787e-03 1.38230814e+02] [ 4.74879058e-02 9.98871812e-01 3.92078445e-05 5.21234328e+00] [ 1.96109889e-03 -1.32485717e-04 9.99998068e-01 2.93935211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.044391418 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:138.29, Y:5.22, Z:0.29 [[ 9.98885446e-01 -4.71593516e-02 -1.96517576e-03 1.38292883e+02] [ 4.71595198e-02 9.98887370e-01 3.93137215e-05 5.21644077e+00] [ 1.96113523e-03 -1.31946649e-04 9.99998068e-01 2.90489624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10439141799998 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:138.35, Y:5.22, Z:0.29 [[ 9.99108672e-01 -4.21663339e-02 -1.96517292e-03 1.38354760e+02] [ 4.21664928e-02 9.99110597e-01 3.94549992e-05 5.22176220e+00] [ 1.96176142e-03 -1.22284281e-04 9.99998068e-01 2.94315673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16439141799998 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:138.42, Y:5.22, Z:0.29 [[ 9.99302838e-01 -3.72823794e-02 -1.96516978e-03 1.38417121e+02] [ 3.72825291e-02 9.99304764e-01 3.96106092e-05 5.22438544e+00] [ 1.96232675e-03 -1.12849494e-04 9.99998068e-01 2.91668805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22439141799998 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:138.48, Y:5.23, Z:0.30 [[ 9.99617408e-01 -2.75894269e-02 -1.96516590e-03 1.38479775e+02] [ 2.75895584e-02 9.99619335e-01 3.98024970e-05 5.22953938e+00] [ 1.96331970e-03 -9.40053281e-05 9.99998068e-01 2.96307909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28439141799998 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:138.54, Y:5.23, Z:0.30 [[ 9.99796540e-01 -2.00752725e-02 -1.96516278e-03 1.38542076e+02] [ 2.00753898e-02 9.99798468e-01 3.99556301e-05 5.23293578e+00] [ 1.96396462e-03 -7.93989095e-05 9.99998068e-01 2.98959603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.344391418 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:138.60, Y:5.24, Z:0.30 [[ 9.99959285e-01 -8.80713551e-03 -1.96515947e-03 1.38604805e+02] [ 8.80723134e-03 9.99961215e-01 4.01180211e-05 5.23789018e+00] [ 1.96472992e-03 -5.74240018e-05 9.99998068e-01 2.99597187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.404391418 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:138.67, Y:5.24, Z:0.30 [[ 9.99997380e-01 1.17416871e-03 -1.96515617e-03 1.38666205e+02] [-1.17409183e-03 9.99999310e-01 4.02788885e-05 5.24139554e+00] [ 1.96520211e-03 -3.79715092e-05 9.99998068e-01 2.99337572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.464391418 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:138.73, Y:5.24, Z:0.30 [[ 9.99978545e-01 6.24884148e-03 -1.96515068e-03 1.38725945e+02] [-6.24877387e-03 9.99980475e-01 4.05449027e-05 5.24331065e+00] [ 1.96536567e-03 -2.82642506e-05 9.99998068e-01 2.99258719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.524391418 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:138.78, Y:5.24, Z:0.30 [[ 9.99937552e-01 1.10013745e-02 -1.96515230e-03 1.38783750e+02] [-1.10013162e-02 9.99939483e-01 4.04664183e-05 5.24445796e+00] [ 1.96547856e-03 -1.88446295e-05 9.99998068e-01 2.99474328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.584391418 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:138.84, Y:5.24, Z:0.30 [[ 9.99914978e-01 1.28908748e-02 -1.96516518e-03 1.38842819e+02] [-1.28908214e-02 9.99916909e-01 3.98310649e-05 5.24383437e+00] [ 1.96551535e-03 -1.44950850e-05 9.99998068e-01 2.99861255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.644391418 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:138.90, Y:5.24, Z:0.30 [[ 9.99920175e-01 1.24812189e-02 -1.96516835e-03 1.38902039e+02] [-1.24811651e-02 9.99922106e-01 3.96737556e-05 5.24466263e+00] [ 1.96551045e-03 -1.51429981e-05 9.99998068e-01 3.00879806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.704391418 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:138.96, Y:5.24, Z:0.30 [[ 9.99966297e-01 7.97137471e-03 -1.96517180e-03 1.38960248e+02] [-7.97131247e-03 9.99968228e-01 3.95023776e-05 5.24113591e+00] [ 1.96542425e-03 -2.38360478e-05 9.99998068e-01 3.02226988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.764391418 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:139.02, Y:5.24, Z:0.30 [[ 9.99997520e-01 -1.04783434e-03 -1.96517523e-03 1.39018547e+02] [ 1.04791365e-03 9.99999450e-01 3.93309323e-05 5.23594865e+00] [ 1.96513293e-03 -4.13901687e-05 9.99998068e-01 3.02787809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82439141799998 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:139.08, Y:5.23, Z:0.30 [[ 9.99967703e-01 -7.79295930e-03 -1.96517840e-03 1.39077996e+02] [ 7.79305132e-03 9.99969633e-01 3.91719386e-05 5.23210642e+00] [ 1.96481345e-03 -5.44854096e-05 9.99998068e-01 3.03264144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88439141799998 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:139.14, Y:5.23, Z:0.30 [[ 9.99862666e-01 -1.64555940e-02 -1.96517998e-03 1.39139334e+02] [ 1.64557025e-02 9.99864595e-01 3.90923225e-05 5.22642361e+00] [ 1.96427060e-03 -7.14253710e-05 9.99998068e-01 3.02435656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94439141799998 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:139.20, Y:5.22, Z:0.30 [[ 9.99781929e-01 -2.07901996e-02 -1.96517841e-03 1.39200356e+02] [ 2.07903167e-02 9.99783857e-01 3.91712955e-05 5.22074502e+00] [ 1.96393927e-03 -8.00194348e-05 9.99998068e-01 3.00440782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00439141799998 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:139.26, Y:5.22, Z:0.30 [[ 9.99794607e-01 -2.01713345e-02 -1.96517606e-03 1.39262811e+02] [ 2.01714506e-02 9.99796535e-01 3.92885302e-05 5.21708234e+00] [ 1.96398372e-03 -7.89209125e-05 9.99998068e-01 3.00293795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06439141799999 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:139.32, Y:5.21, Z:0.30 [[ 9.99900607e-01 -1.39611377e-02 -1.96517301e-03 1.39324743e+02] [ 1.39612422e-02 9.99902536e-01 3.94404462e-05 5.21456895e+00] [ 1.96443085e-03 -6.68727825e-05 9.99998068e-01 3.02269342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.124391418 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:139.39, Y:5.21, Z:0.30 [[ 9.99987403e-01 -4.61855031e-03 -1.96516979e-03 1.39386741e+02] [ 4.61863704e-03 9.99989333e-01 3.96002388e-05 5.21247322e+00] [ 1.96496594e-03 -4.86761459e-05 9.99998068e-01 3.02940146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.184391418 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:139.45, Y:5.21, Z:0.30 [[ 9.99996726e-01 1.63863663e-03 -1.96516660e-03 1.39447608e+02] [-1.63856166e-03 9.99998657e-01 3.97579959e-05 5.20916533e+00] [ 1.96522911e-03 -3.65378191e-05 9.99998068e-01 3.02625451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.244391418 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:139.51, Y:5.21, Z:0.30 [[ 9.99958986e-01 8.84104940e-03 -1.96516660e-03 1.39505934e+02] [-8.84098834e-03 9.99960917e-01 3.97579959e-05 5.20518413e+00] [ 1.96544130e-03 -2.23823502e-05 9.99998068e-01 3.01787438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.304391418 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:139.56, Y:5.20, Z:0.30 [[ 9.99917955e-01 1.26578613e-02 -1.96516894e-03 1.39564731e+02] [-1.26578079e-02 9.99919886e-01 3.96420265e-05 5.20186304e+00] [ 1.96551329e-03 -1.47640432e-05 9.99998068e-01 3.00468773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.364391418 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:139.62, Y:5.20, Z:0.30 [[ 9.99886085e-01 1.49651637e-02 -1.96517125e-03 1.39623000e+02] [-1.49651149e-02 9.99888016e-01 3.95274565e-05 5.19810332e+00] [ 1.96554271e-03 -1.01139402e-05 9.99998068e-01 3.02895772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.424391418 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:139.68, Y:5.19, Z:0.30 [[ 9.99846291e-01 1.74221581e-02 -1.96517454e-03 1.39681766e+02] [-1.74221144e-02 9.99848223e-01 3.93631920e-05 5.19375541e+00] [ 1.96556206e-03 -5.11964606e-06 9.99998068e-01 3.04146421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.484391418 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:139.74, Y:5.19, Z:0.31 [[ 9.99780378e-01 2.08646639e-02 -1.96517774e-03 1.39740094e+02] [-2.08646271e-02 9.99782309e-01 3.92025186e-05 5.18911268e+00] [ 1.96556789e-03 1.80879192e-06 9.99998068e-01 3.06082479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.544391418 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:139.80, Y:5.18, Z:0.31 [[ 9.99764252e-01 2.16235716e-02 -1.96518090e-03 1.39798264e+02] [-2.16235367e-02 9.99766183e-01 3.90435823e-05 5.18218483e+00] [ 1.96556567e-03 3.45978333e-06 9.99998068e-01 3.05894475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60439141799998 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:139.86, Y:5.18, Z:0.30 [[ 9.99801489e-01 1.98272877e-02 -1.96518486e-03 1.39855636e+02] [-1.98272496e-02 9.99803420e-01 3.88429388e-05 5.17625700e+00] [ 1.96556870e-03 1.28982886e-07 9.99998068e-01 3.04932157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66439141799998 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:139.91, Y:5.17, Z:0.31 [[ 9.99876346e-01 1.56022376e-02 -1.96518874e-03 1.39913802e+02] [-1.56021918e-02 9.99878278e-01 3.86459820e-05 5.16779735e+00] [ 1.96555249e-03 -7.97995177e-06 9.99998068e-01 3.05219385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72439141799998 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:139.97, Y:5.16, Z:0.31 [[ 9.99924513e-01 1.21287753e-02 -1.96519256e-03 1.39972962e+02] [-1.21287232e-02 9.99926444e-01 3.84508181e-05 5.16089421e+00] [ 1.96551437e-03 -1.46126391e-05 9.99998068e-01 3.05488130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78439141799998 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:140.03, Y:5.15, Z:0.31 [[ 9.99972378e-01 7.16800247e-03 -1.96519566e-03 1.40031557e+02] [-7.16794106e-03 9.99974309e-01 3.82917289e-05 5.15046028e+00] [ 1.96541964e-03 -2.42042646e-05 9.99998068e-01 3.05385353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.844391418 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:140.09, Y:5.14, Z:0.30 [[ 9.99984790e-01 5.15336076e-03 -1.96519876e-03 1.40090653e+02] [-5.15329577e-03 9.99986721e-01 3.81319930e-05 5.14102146e+00] [ 1.96536917e-03 -2.80041626e-05 9.99998068e-01 3.04697151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.904391418 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:140.15, Y:5.13, Z:0.31 [[ 9.99979400e-01 6.11040961e-03 -1.96520189e-03 1.40149438e+02] [-6.11034679e-03 9.99981331e-01 3.79697979e-05 5.13438086e+00] [ 1.96539721e-03 -2.59609507e-05 9.99998068e-01 3.05293981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.964391418 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:140.21, Y:5.13, Z:0.30 [[ 9.99960577e-01 8.65920660e-03 -1.96520499e-03 1.40207390e+02] [-8.65914902e-03 9.99962508e-01 3.78087154e-05 5.12509232e+00] [ 1.96545870e-03 -2.07902220e-05 9.99998068e-01 3.04628333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.024391418 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:140.27, Y:5.12, Z:0.30 [[ 9.99953508e-01 9.44028765e-03 -1.96520876e-03 1.40266496e+02] [-9.44023196e-03 9.99955439e-01 3.76114770e-05 5.11588814e+00] [ 1.96547626e-03 -1.90577018e-05 9.99998068e-01 3.03584837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.084391418 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:140.33, Y:5.11, Z:0.31 [[ 9.99972691e-01 7.12424770e-03 -1.96521202e-03 1.40325641e+02] [-7.12418787e-03 9.99974622e-01 3.74404015e-05 5.10950142e+00] [ 1.96542888e-03 -2.34388394e-05 9.99998068e-01 3.05058552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.144391418 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:140.38, Y:5.10, Z:0.31 [[ 9.99997742e-01 8.08259378e-04 -1.96521533e-03 1.40384296e+02] [-8.08187703e-04 9.99999673e-01 3.72658429e-05 5.09950387e+00] [ 1.96524481e-03 -3.56774959e-05 9.99998068e-01 3.05194594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.204391418 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:140.44, Y:5.09, Z:0.31 [[ 9.99985385e-01 -5.03657020e-03 -1.96521836e-03 1.40442531e+02] [ 5.03665284e-03 9.99987315e-01 3.71056079e-05 5.09232374e+00] [ 1.96500655e-03 -4.70031883e-05 9.99998068e-01 3.05467989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.264391418 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:140.50, Y:5.08, Z:0.31 [[ 9.99890561e-01 -1.46630164e-02 -1.96522058e-03 1.40502275e+02] [ 1.46631174e-02 9.99892490e-01 3.69874364e-05 5.08279468e+00] [ 1.96446695e-03 -6.57996487e-05 9.99998068e-01 3.05165381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32439141799998 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:140.56, Y:5.07, Z:0.31 [[ 9.99762153e-01 -2.17203834e-02 -1.96521986e-03 1.40563945e+02] [ 2.17204981e-02 9.99764081e-01 3.70259307e-05 5.07486023e+00] [ 1.96395201e-03 -7.97026783e-05 9.99998068e-01 3.05831750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38439141799998 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:140.63, Y:5.07, Z:0.31 [[ 9.99723352e-01 -2.34383713e-02 -1.96520986e-03 1.40625630e+02] [ 2.34384903e-02 9.99725280e-01 3.75490230e-05 5.07110007e+00] [ 1.96378989e-03 -8.36001874e-05 9.99998068e-01 3.06817601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44439141799998 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:140.69, Y:5.07, Z:0.31 [[ 9.99777244e-01 -2.10142762e-02 -1.96520681e-03 1.40686330e+02] [ 2.10143909e-02 9.99779173e-01 3.77082481e-05 5.06732715e+00] [ 1.96398042e-03 -7.89974724e-05 9.99998068e-01 3.06572812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50439141799998 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:140.75, Y:5.07, Z:0.31 [[ 9.99909166e-01 -1.33340814e-02 -1.96520455e-03 1.40748649e+02] [ 1.33341815e-02 9.99911095e-01 3.78257870e-05 5.06615660e+00] [ 1.96452546e-03 -6.40267452e-05 9.99998068e-01 3.06937685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56439141799999 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:140.81, Y:5.07, Z:0.31 [[ 9.99974891e-01 -6.80841224e-03 -1.96520144e-03 1.40810192e+02] [ 6.80850003e-03 9.99976821e-01 3.79864839e-05 5.06613455e+00] [ 1.96489726e-03 -5.13656042e-05 9.99998068e-01 3.06435801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.624391418 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:140.87, Y:5.07, Z:0.31 [[ 9.99995237e-01 2.37985594e-03 -1.96519991e-03 1.40870453e+02] [-2.37978572e-03 9.99997168e-01 3.80653084e-05 5.06643121e+00] [ 1.96528494e-03 -3.33883724e-05 9.99998068e-01 3.05681503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.684391418 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:140.93, Y:5.07, Z:0.30 [[ 9.99965390e-01 8.08434791e-03 -1.96519909e-03 1.40928632e+02] [-8.08428862e-03 9.99967321e-01 3.81075387e-05 5.06644491e+00] [ 1.96544295e-03 -2.22189831e-05 9.99998068e-01 3.04412583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.744391418 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:140.99, Y:5.07, Z:0.30 [[ 9.99957786e-01 8.97576462e-03 -1.96520154e-03 1.40986747e+02] [-8.97570731e-03 9.99959717e-01 3.79807023e-05 5.06604047e+00] [ 1.96546329e-03 -2.03400251e-05 9.99998068e-01 3.03864965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.804391418 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:141.05, Y:5.06, Z:0.30 [[ 9.99967973e-01 7.75832062e-03 -1.96520554e-03 1.41045243e+02] [-7.75826136e-03 9.99969904e-01 3.77727180e-05 5.06453919e+00] [ 1.96543945e-03 -2.25249300e-05 9.99998068e-01 3.04421876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.864391418 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:141.10, Y:5.06, Z:0.30 [[ 9.99982208e-01 5.63216267e-03 -1.96520890e-03 1.41102689e+02] [-5.63209966e-03 9.99984139e-01 3.75971746e-05 5.06212581e+00] [ 1.96538948e-03 -2.65282534e-05 9.99998068e-01 3.04278868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.924391418 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:141.16, Y:5.06, Z:0.31 [[ 9.99997981e-01 4.18939200e-04 -1.96521300e-03 1.41161405e+02] [-4.18866545e-04 9.99999912e-01 3.73817669e-05 5.06012417e+00] [ 1.96522848e-03 -3.65585295e-05 9.99998068e-01 3.05596688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.984391418 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:141.22, Y:5.06, Z:0.31 [[ 9.99980226e-01 -5.97373605e-03 -1.96521526e-03 1.41220743e+02] [ 5.97382081e-03 9.99982156e-01 3.72626272e-05 5.05756072e+00] [ 1.96495759e-03 -4.90017341e-05 9.99998068e-01 3.06459917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.044391418 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:141.28, Y:5.05, Z:0.31 [[ 9.99929246e-01 -1.17320764e-02 -1.96521684e-03 1.41280814e+02] [ 1.17321721e-02 9.99931175e-01 3.71787567e-05 5.05343698e+00] [ 1.96464540e-03 -6.02323884e-05 9.99998068e-01 3.06342745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10439141799998 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:141.34, Y:5.05, Z:0.31 [[ 9.99893963e-01 -1.44291847e-02 -1.96521684e-03 1.41341902e+02] [ 1.44292856e-02 9.99895892e-01 3.71787567e-05 5.05143208e+00] [ 1.96447579e-03 -6.55314895e-05 9.99998068e-01 3.05906437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16439141799998 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:141.40, Y:5.05, Z:0.30 [[ 9.99892594e-01 -1.45237092e-02 -1.96521523e-03 1.41404035e+02] [ 1.45238105e-02 9.99894523e-01 3.72638722e-05 5.05008140e+00] [ 1.96446674e-03 -6.58022834e-05 9.99998068e-01 3.04729975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22439141799998 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:141.47, Y:5.05, Z:0.30 [[ 9.99917420e-01 -1.27000815e-02 -1.96521192e-03 1.41465072e+02] [ 1.27001796e-02 9.99919349e-01 3.74375032e-05 5.04898228e+00] [ 1.96457797e-03 -6.23929560e-05 9.99998068e-01 3.03308191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28439141799998 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:141.53, Y:5.05, Z:0.30 [[ 9.99954009e-01 -9.38710199e-03 -1.96521030e-03 1.41526814e+02] [ 9.38719384e-03 9.99955939e-01 3.75224780e-05 5.04778361e+00] [ 1.96477148e-03 -5.59685623e-05 9.99998068e-01 3.02816662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.344391418 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:141.59, Y:5.05, Z:0.30 [[ 9.99992516e-01 -3.33259995e-03 -1.96520870e-03 1.41586705e+02] [ 3.33268029e-03 9.99994446e-01 3.76061761e-05 5.04863727e+00] [ 1.96507246e-03 -4.41553069e-05 9.99998068e-01 3.01690056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.404391418 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:141.65, Y:5.05, Z:0.30 [[ 9.99997751e-01 7.97735501e-04 -1.96520791e-03 1.41647188e+02] [-7.97663056e-04 9.99999681e-01 3.76473884e-05 5.04906997e+00] [ 1.96523731e-03 -3.60797300e-05 9.99998068e-01 3.01840928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.464391418 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:141.71, Y:5.05, Z:0.30 [[ 9.99968231e-01 7.72489429e-03 -1.96520791e-03 1.41705669e+02] [-7.72483521e-03 9.99970162e-01 3.76473884e-05 5.05045223e+00] [ 1.96544009e-03 -2.24652852e-05 9.99998068e-01 3.02255924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.524391418 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:141.76, Y:5.05, Z:0.30 [[ 9.99920898e-01 1.24231777e-02 -1.96521023e-03 1.41764094e+02] [-1.24231279e-02 9.99922829e-01 3.75259411e-05 5.05232145e+00] [ 1.96552476e-03 -1.31089146e-05 9.99998068e-01 3.03438734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.584391418 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:141.82, Y:5.05, Z:0.30 [[ 9.99912671e-01 1.30685917e-02 -1.96522268e-03 1.41823112e+02] [-1.30685445e-02 9.99914602e-01 3.68618640e-05 5.05180574e+00] [ 1.96553659e-03 -1.11760449e-05 9.99998068e-01 3.03256409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.644391418 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:141.88, Y:5.05, Z:0.30 [[ 9.99949303e-01 9.87574080e-03 -1.96522575e-03 1.41882287e+02] [-9.87568775e-03 9.99951234e-01 3.66976956e-05 5.04938235e+00] [ 1.96549233e-03 -1.72878792e-05 9.99998068e-01 3.02146278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.704391418 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:141.94, Y:5.05, Z:0.30 [[ 9.99988912e-01 4.27937818e-03 -1.96522884e-03 1.41941044e+02] [-4.27931465e-03 9.99990843e-01 3.65314043e-05 5.04666754e+00] [ 1.96536718e-03 -2.81211667e-05 9.99998068e-01 3.02259648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.764391418 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:142.00, Y:5.04, Z:0.30 [[ 9.99996540e-01 1.74894866e-03 -1.96523195e-03 1.41999948e+02] [-1.74888057e-03 9.99998470e-01 3.63633151e-05 5.04398641e+00] [ 1.96529254e-03 -3.29262333e-05 9.99998068e-01 3.02189712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82439141799998 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:142.06, Y:5.04, Z:0.30 [[ 9.99992603e-01 -3.30640882e-03 -1.96523434e-03 1.42059676e+02] [ 3.30648641e-03 9.99994533e-01 3.62336517e-05 5.04056712e+00] [ 1.96510379e-03 -4.27314044e-05 9.99998068e-01 3.02273652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88439141799998 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:142.12, Y:5.04, Z:0.30 [[ 9.99987041e-01 -4.69635299e-03 -1.96523594e-03 1.42119767e+02] [ 4.69643309e-03 9.99988971e-01 3.61467728e-05 5.03863759e+00] [ 1.96504451e-03 -4.53759035e-05 9.99998068e-01 3.03293469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94439141799998 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:142.18, Y:5.04, Z:0.31 [[ 9.99991374e-01 -3.65911594e-03 -1.96523594e-03 1.42180513e+02] [ 3.65919404e-03 9.99993304e-01 3.61467728e-05 5.03696084e+00] [ 1.96509052e-03 -4.33376407e-05 9.99998068e-01 3.05182010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00439141799998 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:142.24, Y:5.03, Z:0.30 [[ 9.99994221e-01 -2.77427369e-03 -1.96523594e-03 1.42240313e+02] [ 2.77435008e-03 9.99996151e-01 3.61467728e-05 5.03456695e+00] [ 1.96512809e-03 -4.15988164e-05 9.99998068e-01 3.03103360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06439141799999 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:142.30, Y:5.03, Z:0.30 [[ 9.99998033e-01 -2.69589609e-04 -1.96523674e-03 1.42300697e+02] [ 2.69661081e-04 9.99999963e-01 3.61033005e-05 5.03191157e+00] [ 1.96522693e-03 -3.66331773e-05 9.99998068e-01 3.02974768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.124391418 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:142.36, Y:5.03, Z:0.30 [[ 9.99990542e-01 3.87986178e-03 -1.96523674e-03 1.42360018e+02] [-3.87979832e-03 9.99992473e-01 3.61033005e-05 5.02960691e+00] [ 1.96536202e-03 -2.84782368e-05 9.99998068e-01 3.03714299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.184391418 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:142.42, Y:5.03, Z:0.30 [[ 9.99969475e-01 7.56219592e-03 -1.96523751e-03 1.42418584e+02] [-7.56213965e-03 9.99971406e-01 3.60611328e-05 5.02752050e+00] [ 1.96545402e-03 -2.11986316e-05 9.99998068e-01 3.03556424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.244391418 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:142.48, Y:5.02, Z:0.30 [[ 9.99881625e-01 1.52601881e-02 -1.96524798e-03 1.42477602e+02] [-1.52601479e-02 9.99883557e-01 3.54812540e-05 5.02402083e+00] [ 1.96556059e-03 -5.48707917e-06 9.99998068e-01 3.01392911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.304391418 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:142.54, Y:5.02, Z:0.30 [[ 9.99836365e-01 1.79827817e-02 -1.96525886e-03 1.42536653e+02] [-1.79827479e-02 9.99838297e-01 3.48683120e-05 5.02067515e+00] [ 1.96556810e-03 4.78148298e-07 9.99998068e-01 3.02870903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.364391418 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:142.60, Y:5.01, Z:0.30 [[ 9.99824653e-01 1.86226128e-02 -1.96526194e-03 1.42595004e+02] [-1.86225805e-02 9.99826584e-01 3.46933609e-05 5.01415907e+00] [ 1.96556722e-03 1.91097134e-06 9.99998068e-01 3.04817236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.424391418 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:142.65, Y:5.01, Z:0.30 [[ 9.99883258e-01 1.51528476e-02 -1.96526510e-03 1.42652734e+02] [-1.51528090e-02 9.99885189e-01 3.45135905e-05 5.00744076e+00] [ 1.96556245e-03 -4.73027457e-06 9.99998068e-01 3.01879238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.484391418 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:142.71, Y:5.00, Z:0.30 [[ 9.99972666e-01 7.12777744e-03 -1.96526899e-03 1.42710984e+02] [-7.12772382e-03 9.99974597e-01 3.42908300e-05 4.99989801e+00] [ 1.96546348e-03 -2.02819981e-05 9.99998068e-01 3.04328316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.544391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.77, Y:4.99, Z:0.31 [[ 9.99997830e-01 -6.91030331e-04 -1.96527212e-03 1.42770135e+02] [ 6.91098702e-04 9.99999761e-01 3.41105495e-05 4.99280315e+00] [ 1.96524808e-03 -3.54686725e-05 9.99998068e-01 3.06170221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.83, Y:4.99, Z:0.30 [[ 9.99993744e-01 -2.94100500e-03 -1.96527369e-03 1.42829493e+02] [ 2.94107753e-03 9.99995674e-01 3.40198768e-05 4.98708133e+00] [ 1.96516513e-03 -3.97996862e-05 9.99998068e-01 3.04023741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.89, Y:4.98, Z:0.31 [[ 9.99951942e-01 -9.60471287e-03 -1.96527444e-03 1.42889140e+02] [ 9.60479818e-03 9.99953872e-01 3.39762561e-05 4.98058521e+00] [ 1.96485746e-03 -5.28506877e-05 9.99998068e-01 3.06086695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.95, Y:4.97, Z:0.30 [[ 9.99868533e-01 -1.60951783e-02 -1.96527610e-03 1.42949418e+02] [ 1.60952759e-02 9.99870462e-01 3.38799840e-05 4.97439618e+00] [ 1.96447622e-03 -6.55071911e-05 9.99998068e-01 3.04994531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78439141799998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:143.01, Y:4.97, Z:0.31 [[ 9.99709589e-01 -2.40182139e-02 -1.96527221e-03 1.43010598e+02] [ 2.40183273e-02 9.99711518e-01 3.41039654e-05 4.97098703e+00] [ 1.96388615e-03 -8.12966126e-05 9.99998068e-01 3.05300471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.844391418 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:143.07, Y:4.97, Z:0.31 [[ 9.99567118e-01 -2.93549862e-02 -1.96527072e-03 1.43072420e+02] [ 2.93551101e-02 9.99569045e-01 3.41898925e-05 4.96895744e+00] [ 1.96342013e-03 -9.18658306e-05 9.99998068e-01 3.05184790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.904391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.13, Y:4.97, Z:0.31 [[ 9.99399990e-01 -3.45803201e-02 -1.96526764e-03 1.43134109e+02] [ 3.45804543e-02 9.99401917e-01 3.43659969e-05 4.96795531e+00] [ 1.96290386e-03 -1.02305225e-04 9.99998068e-01 3.05016536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.964391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.20, Y:4.97, Z:0.30 [[ 9.99360484e-01 -3.57038028e-02 -1.96526458e-03 1.43195616e+02] [ 3.57039396e-02 9.99362410e-01 3.45399261e-05 4.96954618e+00] [ 1.96277834e-03 -1.04685525e-04 9.99998068e-01 3.04491420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.024391418 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:143.26, Y:4.97, Z:0.30 [[ 9.99414267e-01 -3.41651822e-02 -1.96526233e-03 1.43258167e+02] [ 3.41653162e-02 9.99416195e-01 3.46677079e-05 4.97491405e+00] [ 1.96293057e-03 -1.01791211e-04 9.99998068e-01 3.04736089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.084391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.32, Y:4.98, Z:0.31 [[ 9.99540373e-01 -3.02519648e-02 -1.96525929e-03 1.43320450e+02] [ 3.02520916e-02 9.99542300e-01 3.48389199e-05 4.98241035e+00] [ 1.96330585e-03 -9.42761112e-05 9.99998068e-01 3.05307300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.144391418 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:143.38, Y:4.99, Z:0.31 [[ 9.99682705e-01 -2.51122981e-02 -1.96525628e-03 1.43382787e+02] [ 2.51124154e-02 9.99684633e-01 3.50081605e-05 4.98950999e+00] [ 1.96375737e-03 -8.43493846e-05 9.99998068e-01 3.06446077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.204391418 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:143.45, Y:4.99, Z:0.31 [[ 9.99717011e-01 -2.37072710e-02 -1.96525327e-03 1.43445031e+02] [ 2.37073859e-02 9.99718940e-01 3.51763167e-05 4.99111186e+00] [ 1.96386698e-03 -8.17573799e-05 9.99998068e-01 3.06935439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.264391418 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:143.51, Y:5.00, Z:0.31 [[ 9.99767626e-01 -2.14670045e-02 -1.96525028e-03 1.43507069e+02] [ 2.14671153e-02 9.99769554e-01 3.53423847e-05 4.99545314e+00] [ 1.96403870e-03 -7.75224265e-05 9.99998068e-01 3.06702210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32439141799998 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:143.57, Y:5.00, Z:0.31 [[ 9.99810369e-01 -1.93743325e-02 -1.96524733e-03 1.43568648e+02] [ 1.93744397e-02 9.99812297e-01 3.55058944e-05 5.00340627e+00] [ 1.96419054e-03 -7.35747272e-05 9.99998068e-01 3.06915098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38439141799998 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:143.63, Y:5.01, Z:0.31 [[ 9.99817084e-01 -1.90246466e-02 -1.96524514e-03 1.43630689e+02] [ 1.90247533e-02 9.99819012e-01 3.56265024e-05 5.01114768e+00] [ 1.96421168e-03 -7.30082898e-05 9.99998068e-01 3.07997252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44439141799998 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:143.69, Y:5.02, Z:0.31 [[ 9.99825768e-01 -1.85626282e-02 -1.96524226e-03 1.43693371e+02] [ 1.85627343e-02 9.99827697e-01 3.57846569e-05 5.01810269e+00] [ 1.96423939e-03 -7.22586920e-05 9.99998068e-01 3.09138432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50439141799998 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:143.76, Y:5.02, Z:0.31 [[ 9.99849715e-01 -1.72245307e-02 -1.96523928e-03 1.43755161e+02] [ 1.72246346e-02 9.99851644e-01 3.59474690e-05 5.02242743e+00] [ 1.96432855e-03 -6.97925952e-05 9.99998068e-01 3.08984131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56439141799999 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:143.82, Y:5.03, Z:0.31 [[ 9.99912000e-01 -1.31198362e-02 -1.96523631e-03 1.43816706e+02] [ 1.31199325e-02 9.99913929e-01 3.61092774e-05 5.03001605e+00] [ 1.96459341e-03 -6.18898674e-05 9.99998068e-01 3.12336814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.624391418 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:143.88, Y:5.04, Z:0.31 [[ 9.99954766e-01 -9.30607603e-03 -1.96523479e-03 1.43877464e+02] [ 9.30616512e-03 9.99956696e-01 3.61917997e-05 5.03531854e+00] [ 1.96481289e-03 -5.44789621e-05 9.99998068e-01 3.08664760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.684391418 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:143.94, Y:5.04, Z:0.31 [[ 9.99977206e-01 -6.45945884e-03 -1.96523404e-03 1.43939078e+02] [ 6.45954251e-03 9.99979136e-01 3.62325308e-05 5.03998734e+00] [ 1.96495900e-03 -4.89262178e-05 9.99998068e-01 3.09052035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.744391418 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:144.00, Y:5.04, Z:0.31 [[ 9.99976639e-01 -6.54673947e-03 -1.96523259e-03 1.43999933e+02] [ 6.54682347e-03 9.99978569e-01 3.63112642e-05 5.04132205e+00] [ 1.96495275e-03 -4.91764468e-05 9.99998068e-01 3.08476902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.804391418 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:144.06, Y:5.04, Z:0.31 [[ 9.99950428e-01 -9.76112870e-03 -1.96523259e-03 1.44059903e+02] [ 9.76121890e-03 9.99952358e-01 3.63112642e-05 5.04299345e+00] [ 1.96478452e-03 -5.54925297e-05 9.99998068e-01 3.08296236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.864391418 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:144.12, Y:5.04, Z:0.31 [[ 9.99895659e-01 -1.43111593e-02 -1.96523187e-03 1.44120868e+02] [ 1.43112583e-02 9.99897588e-01 3.63498165e-05 5.04360369e+00] [ 1.96451040e-03 -6.44709647e-05 9.99998068e-01 3.06015203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.924391418 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:144.18, Y:5.04, Z:0.31 [[ 9.99851376e-01 -1.71278900e-02 -1.96523021e-03 1.44182921e+02] [ 1.71279947e-02 9.99853304e-01 3.64397097e-05 5.04382161e+00] [ 1.96431778e-03 -7.00947464e-05 9.99998068e-01 3.08098468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.984391418 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:144.24, Y:5.04, Z:0.31 [[ 9.99848216e-01 -1.73113759e-02 -1.96522727e-03 1.44244877e+02] [ 1.73114812e-02 9.99850144e-01 3.65974524e-05 5.04331136e+00] [ 1.96429922e-03 -7.06128924e-05 9.99998068e-01 3.08597080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.044391418 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:144.31, Y:5.04, Z:0.31 [[ 9.99905722e-01 -1.35898994e-02 -1.96522425e-03 1.44307198e+02] [ 1.35899979e-02 9.99907651e-01 3.67586547e-05 5.04461403e+00] [ 1.96454322e-03 -6.34625827e-05 9.99998068e-01 3.08336737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10439141799998 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:144.37, Y:5.05, Z:0.31 [[ 9.99970362e-01 -7.44396699e-03 -1.96522121e-03 1.44368251e+02] [ 7.44405392e-03 9.99972292e-01 3.69208734e-05 5.04714677e+00] [ 1.96489192e-03 -5.15489917e-05 9.99998068e-01 3.09004062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16439141799998 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:144.43, Y:5.05, Z:0.31 [[ 9.99994533e-01 -2.65934931e-03 -1.96521896e-03 1.44429923e+02] [ 2.65942724e-03 9.99996463e-01 3.70400468e-05 5.04787981e+00] [ 1.96511351e-03 -4.22662011e-05 9.99998068e-01 3.09377308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22439141799998 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:144.49, Y:5.05, Z:0.31 [[ 9.99990969e-01 3.76830797e-03 -1.96521751e-03 1.44489310e+02] [-3.76824230e-03 9.99992899e-01 3.71169773e-05 5.04873525e+00] [ 1.96534342e-03 -2.97112263e-05 9.99998068e-01 3.08442135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28439141799998 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:144.55, Y:5.05, Z:0.31 [[ 9.99971530e-01 7.28535513e-03 -1.96521822e-03 1.44547715e+02] [-7.28529632e-03 9.99973461e-01 3.70793168e-05 5.04856526e+00] [ 1.96543620e-03 -2.27610641e-05 9.99998068e-01 3.08738636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.344391418 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:144.61, Y:5.05, Z:0.31 [[ 9.99939353e-01 1.08363995e-02 -1.96522856e-03 1.44605709e+02] [-1.08363486e-02 9.99941284e-01 3.65227448e-05 5.04743447e+00] [ 1.96550895e-03 -1.52246280e-05 9.99998068e-01 3.07645271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.404391418 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:144.66, Y:5.05, Z:0.31 [[ 9.99935015e-01 1.12296213e-02 -1.96523215e-03 1.44664926e+02] [-1.12295716e-02 9.99936946e-01 3.63283708e-05 5.04537596e+00] [ 1.96551619e-03 -1.42572949e-05 9.99998068e-01 3.07663379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.464391418 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:144.72, Y:5.04, Z:0.31 [[ 9.99964081e-01 8.24469902e-03 -1.96523514e-03 1.44724132e+02] [-8.24464387e-03 9.99966012e-01 3.61660150e-05 5.04274256e+00] [ 1.96546652e-03 -1.99620520e-05 9.99998068e-01 3.08524817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.524391418 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:144.78, Y:5.04, Z:0.31 [[ 9.99982034e-01 5.66294420e-03 -1.96523816e-03 1.44782437e+02] [-5.66288439e-03 9.99983965e-01 3.60011375e-05 5.04030442e+00] [ 1.96541052e-03 -2.48715742e-05 9.99998068e-01 3.09328543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.584391418 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:144.84, Y:5.04, Z:0.31 [[ 9.99997054e-01 1.42501451e-03 -1.96524114e-03 1.44840890e+02] [-1.42494683e-03 9.99998984e-01 3.58379290e-05 5.03744118e+00] [ 1.96529021e-03 -3.30374593e-05 9.99998068e-01 3.10896838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.644391418 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:144.90, Y:5.03, Z:0.31 [[ 9.99984707e-01 -5.16955623e-03 -1.96524406e-03 1.44899830e+02] [ 5.16963632e-03 9.99986637e-01 3.56771913e-05 5.03338502e+00] [ 1.96503336e-03 -4.58362427e-05 9.99998068e-01 3.10871060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.704391418 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:144.96, Y:5.03, Z:0.31 [[ 9.99920227e-01 -1.24771039e-02 -1.96524620e-03 1.44959843e+02] [ 1.24771978e-02 9.99922156e-01 3.55588370e-05 5.02817873e+00] [ 1.96464954e-03 -6.00767660e-05 9.99998068e-01 3.09741646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.764391418 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:145.02, Y:5.03, Z:0.31 [[ 9.99817110e-01 -1.90232491e-02 -1.96524620e-03 1.45020680e+02] [ 1.90233557e-02 9.99819039e-01 3.55588370e-05 5.02540818e+00] [ 1.96421412e-03 -7.29379112e-05 9.99998068e-01 3.10166003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82439141799998 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:145.08, Y:5.02, Z:0.31 [[ 9.99783428e-01 -2.07179972e-02 -1.96523685e-03 1.45083142e+02] [ 2.07181081e-02 9.99785356e-01 3.60684074e-05 5.02338778e+00] [ 1.96406775e-03 -7.67765853e-05 9.99998068e-01 3.10347676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88439141799998 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:145.15, Y:5.02, Z:0.31 [[ 9.99790702e-01 -2.03639340e-02 -1.96523405e-03 1.45145341e+02] [ 2.03640445e-02 9.99792631e-01 3.62203280e-05 5.02244361e+00] [ 1.96408893e-03 -7.62328607e-05 9.99998068e-01 3.10419106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94439141799998 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:145.21, Y:5.02, Z:0.31 [[ 9.99835611e-01 -1.80246825e-02 -1.96523125e-03 1.45207241e+02] [ 1.80247888e-02 9.99837540e-01 3.63714422e-05 5.02320807e+00] [ 1.96425639e-03 -7.17883413e-05 9.99998068e-01 3.09483629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00439141799998 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:145.27, Y:5.02, Z:0.31 [[ 9.99858359e-01 -1.67152460e-02 -1.96522849e-03 1.45269023e+02] [ 1.67153500e-02 9.99860288e-01 3.65200708e-05 5.02413162e+00] [ 1.96434348e-03 -6.93643800e-05 9.99998068e-01 3.08744526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06439141799999 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:145.33, Y:5.02, Z:0.31 [[ 9.99861629e-01 -1.65185040e-02 -1.96522572e-03 1.45331187e+02] [ 1.65186079e-02 9.99863558e-01 3.66684847e-05 5.02358764e+00] [ 1.96435187e-03 -6.91262039e-05 9.99998068e-01 3.09809532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.124391418 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:145.39, Y:5.02, Z:0.31 [[ 9.99852999e-01 -1.70328321e-02 -1.96522283e-03 1.45393446e+02] [ 1.70329373e-02 9.99854928e-01 3.68223092e-05 5.02378163e+00] [ 1.96431055e-03 -7.02904137e-05 9.99998068e-01 3.11864058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.184391418 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:145.46, Y:5.02, Z:0.31 [[ 9.99838606e-01 -1.78577776e-02 -1.96521983e-03 1.45455720e+02] [ 1.78578847e-02 9.99840535e-01 3.69820298e-05 5.02357638e+00] [ 1.96424603e-03 -7.20707303e-05 9.99998068e-01 3.12782487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.244391418 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:145.52, Y:5.02, Z:0.31 [[ 9.99828005e-01 -1.84417357e-02 -1.96521684e-03 1.45517734e+02] [ 1.84418443e-02 9.99829934e-01 3.71400332e-05 5.02403787e+00] [ 1.96419770e-03 -7.33758683e-05 9.99998068e-01 3.13470585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.304391418 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:145.58, Y:5.02, Z:0.31 [[ 9.99854447e-01 -1.69476271e-02 -1.96521387e-03 1.45580278e+02] [ 1.69477331e-02 9.99856376e-01 3.72968325e-05 5.02452800e+00] [ 1.96429952e-03 -7.05973240e-05 9.99998068e-01 3.14133898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.364391418 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:145.64, Y:5.03, Z:0.32 [[ 9.99909251e-01 -1.33276848e-02 -1.96521086e-03 1.45642220e+02] [ 1.33277841e-02 9.99911180e-01 3.74548354e-05 5.02622821e+00] [ 1.96453712e-03 -6.36433424e-05 9.99998068e-01 3.15042663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.424391418 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:145.70, Y:5.03, Z:0.32 [[ 9.99981229e-01 -5.80340601e-03 -1.96520773e-03 1.45703832e+02] [ 5.80349114e-03 9.99983159e-01 3.76183626e-05 5.02775463e+00] [ 1.96495631e-03 -4.90227221e-05 9.99998068e-01 3.15329072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.484391418 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:145.76, Y:5.03, Z:0.32 [[ 9.99998053e-01 1.77134570e-04 -1.96520544e-03 1.45764133e+02] [-1.77060751e-04 9.99999984e-01 3.77372803e-05 5.02858719e+00] [ 1.96521209e-03 -3.73892461e-05 9.99998068e-01 3.15507498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.544391418 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:145.82, Y:5.03, Z:0.31 [[ 9.99981959e-01 5.67618467e-03 -1.96520544e-03 1.45823460e+02] [-5.67612147e-03 9.99983890e-01 3.77372803e-05 5.02977535e+00] [ 1.96538799e-03 -2.65818547e-05 9.99998068e-01 3.14992302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60439141799998 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:145.88, Y:5.03, Z:0.31 [[ 9.99917726e-01 1.26759081e-02 -1.96520617e-03 1.45881813e+02] [-1.26758585e-02 9.99919657e-01 3.76994195e-05 5.02990886e+00] [ 1.96552615e-03 -1.27856426e-05 9.99998068e-01 3.14642585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66439141799998 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:145.94, Y:5.03, Z:0.31 [[ 9.99897841e-01 1.41578868e-02 -1.96521656e-03 1.45940378e+02] [-1.41578411e-02 9.99899772e-01 3.71496484e-05 5.02860514e+00] [ 1.96554555e-03 -9.32262930e-06 9.99998068e-01 3.14491234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72439141799998 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:146.00, Y:5.03, Z:0.32 [[ 9.99956454e-01 9.12298487e-03 -1.96521895e-03 1.45998368e+02] [-9.12292973e-03 9.99958385e-01 3.70230302e-05 5.02664991e+00] [ 1.96547492e-03 -1.90928636e-05 9.99998068e-01 3.15432656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78439141799998 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:146.06, Y:5.02, Z:0.32 [[ 9.99987442e-01 4.61011758e-03 -1.96522290e-03 1.46056968e+02] [-4.61005414e-03 9.99989373e-01 3.68118397e-05 5.02358609e+00] [ 1.96537172e-03 -2.77515934e-05 9.99998068e-01 3.16204609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.844391418 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:146.12, Y:5.02, Z:0.33 [[ 9.99987538e-01 -4.58941145e-03 -1.96522571e-03 1.46116531e+02] [ 4.58949236e-03 9.99989468e-01 3.66615768e-05 5.02406644e+00] [ 1.96503675e-03 -4.56805083e-05 9.99998068e-01 3.25685085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.904391418 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:146.18, Y:5.02, Z:0.32 [[ 9.99974212e-01 -6.90749011e-03 -1.96522723e-03 1.46177062e+02] [ 6.90757533e-03 9.99976142e-01 3.65796677e-05 5.02014561e+00] [ 1.96492767e-03 -5.01536795e-05 9.99998068e-01 3.17934720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.964391418 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:146.24, Y:5.01, Z:0.32 [[ 9.99956817e-01 -9.08301146e-03 -1.96522643e-03 1.46237502e+02] [ 9.08310096e-03 9.99958747e-01 3.66225947e-05 5.01476816e+00] [ 1.96481272e-03 -5.44713633e-05 9.99998068e-01 3.16111756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.024391418 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:146.30, Y:5.01, Z:0.32 [[ 9.99943953e-01 -1.04033201e-02 -1.96522571e-03 1.46299075e+02] [ 1.04034123e-02 9.99945882e-01 3.66613210e-05 5.01256729e+00] [ 1.96473796e-03 -5.71043194e-05 9.99998068e-01 3.18148763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.084391418 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:146.36, Y:5.01, Z:0.32 [[ 9.99936552e-01 -1.10919240e-02 -1.96522419e-03 1.46359830e+02] [ 1.10920176e-02 9.99938481e-01 3.67425005e-05 5.01017731e+00] [ 1.96469575e-03 -5.85384706e-05 9.99998068e-01 3.17006772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.144391418 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:146.42, Y:5.01, Z:0.32 [[ 9.99890670e-01 -1.46555752e-02 -1.96522263e-03 1.46422130e+02] [ 1.46556758e-02 9.99892599e-01 3.68259695e-05 5.00726251e+00] [ 1.96447185e-03 -6.56236090e-05 9.99998068e-01 3.17552586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.204391418 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:146.48, Y:5.00, Z:0.32 [[ 9.99852550e-01 -1.70592068e-02 -1.96521943e-03 1.46484709e+02] [ 1.70593125e-02 9.99854479e-01 3.69957880e-05 5.00399517e+00] [ 1.96430233e-03 -7.05156252e-05 9.99998068e-01 3.15827146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.264391418 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:146.55, Y:5.00, Z:0.32 [[ 9.99850306e-01 -1.71902355e-02 -1.96521648e-03 1.46547141e+02] [ 1.71903417e-02 9.99852234e-01 3.71520193e-05 5.00263394e+00] [ 1.96428743e-03 -7.09292005e-05 9.99998068e-01 3.15046697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32439141799998 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:146.61, Y:5.00, Z:0.32 [[ 9.99885440e-01 -1.50081506e-02 -1.96521352e-03 1.46608065e+02] [ 1.50082529e-02 9.99887369e-01 3.73077773e-05 5.00226523e+00] [ 1.96443225e-03 -6.67979248e-05 9.99998068e-01 3.15776452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38439141799998 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:146.67, Y:5.00, Z:0.32 [[ 9.99928080e-01 -1.18310138e-02 -1.96521133e-03 1.46669916e+02] [ 1.18311102e-02 9.99930009e-01 3.74226913e-05 5.00203493e+00] [ 1.96463104e-03 -6.06706316e-05 9.99998068e-01 3.17815143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44439141799998 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:146.73, Y:5.00, Z:0.32 [[ 9.99971542e-01 -7.28370109e-03 -1.96520827e-03 1.46730643e+02] [ 7.28378901e-03 9.99973472e-01 3.75828884e-05 5.00341220e+00] [ 1.96488239e-03 -5.18959812e-05 9.99998068e-01 3.18676696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50439141799998 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:146.79, Y:5.00, Z:0.32 [[ 9.99986517e-01 -4.80660491e-03 -1.96520752e-03 1.46791968e+02] [ 4.80668812e-03 9.99988447e-01 3.76219717e-05 5.00467329e+00] [ 1.96500398e-03 -4.70676041e-05 9.99998068e-01 3.19553444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56439141799999 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:146.85, Y:5.00, Z:0.32 [[ 9.99977601e-01 -6.39807223e-03 -1.96520598e-03 1.46852328e+02] [ 6.39815867e-03 9.99979531e-01 3.77021863e-05 5.00418105e+00] [ 1.96492453e-03 -5.02750415e-05 9.99998068e-01 3.18527843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.624391418 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:146.91, Y:5.00, Z:0.32 [[ 9.99951912e-01 -9.60791169e-03 -1.96520522e-03 1.46913642e+02] [ 9.60800440e-03 9.99953841e-01 3.77415271e-05 5.00364128e+00] [ 1.96475190e-03 -5.66214126e-05 9.99998068e-01 3.19509416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.684391418 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:146.98, Y:5.00, Z:0.32 [[ 9.99878666e-01 -1.54529031e-02 -1.96520364e-03 1.46975318e+02] [ 1.54530073e-02 9.99880594e-01 3.78237842e-05 5.00354295e+00] [ 1.96438450e-03 -6.81875011e-05 9.99998068e-01 3.19071217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.744391418 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:147.04, Y:5.00, Z:0.32 [[ 9.99771110e-01 -2.13041218e-02 -1.96520206e-03 1.47036606e+02] [ 2.13042374e-02 9.99773038e-01 3.79057888e-05 5.00303793e+00] [ 1.96394848e-03 -7.97642438e-05 9.99998068e-01 3.16845123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.804391418 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:147.10, Y:5.00, Z:0.32 [[ 9.99683804e-01 -2.50685069e-02 -1.96519890e-03 1.47098914e+02] [ 2.50686301e-02 9.99685732e-01 3.80686973e-05 5.00190156e+00] [ 1.96362698e-03 -8.73215046e-05 9.99998068e-01 3.16839345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.864391418 meters Centerline goodness : 0.998826 with order 1 Centerline is valid? [True, True] Translation: X:147.16, Y:5.00, Z:0.32 [[ 9.99517700e-01 -3.09920094e-02 -1.96519575e-03 1.47160938e+02] [ 3.09921443e-02 9.99519627e-01 3.82310128e-05 5.00368400e+00] [ 1.96306686e-03 -9.91182042e-05 9.99998068e-01 3.17627444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.924391418 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:147.22, Y:5.01, Z:0.32 [[ 9.99402737e-01 -3.45008217e-02 -1.96519261e-03 1.47223522e+02] [ 3.45009637e-02 9.99404664e-01 3.83917291e-05 5.00568271e+00] [ 1.96269811e-03 -1.06169838e-04 9.99998068e-01 3.18459598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.984391418 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:147.28, Y:5.01, Z:0.33 [[ 9.99136593e-01 -4.14994715e-02 -1.96518939e-03 1.47284763e+02] [ 4.14996273e-02 9.99138519e-01 3.85555741e-05 5.01331715e+00] [ 1.96189638e-03 -1.20076912e-04 9.99998068e-01 3.27636018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04439141799998 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:147.35, Y:5.01, Z:0.33 [[ 9.99193259e-01 -4.01119523e-02 -1.96518774e-03 1.47347390e+02] [ 4.01121056e-02 9.99195185e-01 3.86393757e-05 5.01484464e+00] [ 1.96205623e-03 -1.17436022e-04 9.99998068e-01 3.26434153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10439141799998 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:147.41, Y:5.02, Z:0.33 [[ 9.99241772e-01 -3.88846953e-02 -1.96518444e-03 1.47409186e+02] [ 3.88848466e-02 9.99243698e-01 3.88066838e-05 5.01882417e+00] [ 1.96218918e-03 -1.15193155e-04 9.99998068e-01 3.25715401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16439141799998 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:147.47, Y:5.02, Z:0.32 [[ 9.99348378e-01 -3.60410420e-02 -1.96518199e-03 1.47471507e+02] [ 3.60411880e-02 9.99350305e-01 3.89305632e-05 5.02221364e+00] [ 1.96250212e-03 -1.09732689e-04 9.99998068e-01 3.24320527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22439141799998 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:147.53, Y:5.02, Z:0.32 [[ 9.99608987e-01 -2.78928637e-02 -1.96517867e-03 1.47532711e+02] [ 2.78929943e-02 9.99610914e-01 3.90969977e-05 5.01826193e+00] [ 1.96332352e-03 -9.38964278e-05 9.99998068e-01 3.16166544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28439141799998 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:147.59, Y:5.03, Z:0.32 [[ 9.99622990e-01 -2.73864201e-02 -1.96517360e-03 1.47594385e+02] [ 2.73865502e-02 9.99624917e-01 3.93503343e-05 5.03032477e+00] [ 1.96335883e-03 -9.31548244e-05 9.99998068e-01 3.23054573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.344391418 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:147.65, Y:5.03, Z:0.32 [[ 9.99860768e-01 -1.65705630e-02 -1.96517199e-03 1.47654957e+02] [ 1.65706725e-02 9.99862696e-01 3.94308563e-05 5.03054943e+00] [ 1.96424877e-03 -7.19895876e-05 9.99998068e-01 3.18098096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.404391418 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:147.72, Y:5.04, Z:0.33 [[ 9.99885439e-01 -1.50081981e-02 -1.96517041e-03 1.47717072e+02] [ 1.50083047e-02 9.99887368e-01 3.95094418e-05 5.04453233e+00] [ 1.96435610e-03 -6.89987919e-05 9.99998068e-01 3.26322933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.464391418 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:147.78, Y:5.05, Z:0.33 [[ 9.99955326e-01 -9.24572869e-03 -1.96516797e-03 1.47778045e+02] [ 9.24582442e-03 9.99957256e-01 3.96304302e-05 5.04720311e+00] [ 1.96471755e-03 -5.77982578e-05 9.99998068e-01 3.25590306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.524391418 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:147.84, Y:5.05, Z:0.33 [[ 9.99997908e-01 5.67543355e-04 -1.96516565e-03 1.47839779e+02] [-5.67466345e-04 9.99999838e-01 3.97448305e-05 5.05210515e+00] [ 1.96518789e-03 -3.86295820e-05 9.99998068e-01 3.25983828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.584391418 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:147.90, Y:5.05, Z:0.32 [[ 9.99983431e-01 5.41071484e-03 -1.96516338e-03 1.47898504e+02] [-5.41064696e-03 9.99985362e-01 3.98570176e-05 5.04701077e+00] [ 1.96535027e-03 -2.92235519e-05 9.99998068e-01 3.17301336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.644391418 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:147.96, Y:5.05, Z:0.32 [[ 9.99989153e-01 4.22269424e-03 -1.96516560e-03 1.47957672e+02] [-4.22262428e-03 9.99991084e-01 3.97472537e-05 5.04700332e+00] [ 1.96531592e-03 -3.14486666e-05 9.99998068e-01 3.16187106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.704391418 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:148.02, Y:5.05, Z:0.32 [[ 9.99992777e-01 -3.25325823e-03 -1.96516849e-03 1.48017425e+02] [ 3.25334234e-03 9.99994707e-01 3.96038272e-05 5.05184284e+00] [ 1.96502924e-03 -4.59969070e-05 9.99998068e-01 3.20662355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.764391418 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:148.08, Y:5.05, Z:0.31 [[ 9.99958961e-01 -8.84392957e-03 -1.96516920e-03 1.48077917e+02] [ 8.84402440e-03 9.99960890e-01 3.95683283e-05 5.04631251e+00] [ 1.96474241e-03 -5.69467088e-05 9.99998068e-01 3.13236025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82439141799998 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:148.14, Y:5.05, Z:0.31 [[ 9.99865959e-01 -1.62543224e-02 -1.96516920e-03 1.48140553e+02] [ 1.62544316e-02 9.99867887e-01 3.95683283e-05 5.04624937e+00] [ 1.96426642e-03 -7.15057328e-05 9.99998068e-01 3.14980984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88439141799998 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:148.20, Y:5.05, Z:0.32 [[ 9.99791704e-01 -2.03146761e-02 -1.96515833e-03 1.48202351e+02] [ 2.03147941e-02 9.99793632e-01 4.01010821e-05 5.04647823e+00] [ 1.96393815e-03 -8.00145161e-05 9.99998068e-01 3.15740689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94439141799998 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:148.26, Y:5.05, Z:0.32 [[ 9.99715525e-01 -2.37698657e-02 -1.96515524e-03 1.48264810e+02] [ 2.37699906e-02 9.99717453e-01 4.02519512e-05 5.04652425e+00] [ 1.96364321e-03 -8.69522222e-05 9.99998068e-01 3.15815856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00439141799998 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:148.33, Y:5.05, Z:0.32 [[ 9.99635279e-01 -2.69341269e-02 -1.96515217e-03 1.48326595e+02] [ 2.69342583e-02 9.99637206e-01 4.04012380e-05 5.04622433e+00] [ 1.96335105e-03 -9.33164190e-05 9.99998068e-01 3.16057963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06439141799999 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:148.39, Y:5.05, Z:0.32 [[ 9.99504846e-01 -3.14038473e-02 -1.96514900e-03 1.48387753e+02] [ 3.14039876e-02 9.99506772e-01 4.05550384e-05 5.04721624e+00] [ 1.96290615e-03 -1.02248472e-04 9.99998068e-01 3.17313205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.124391418 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:148.45, Y:5.05, Z:0.32 [[ 9.99288978e-01 -3.76520421e-02 -1.96514661e-03 1.48449431e+02] [ 3.76521947e-02 9.99290904e-01 4.06705700e-05 5.04981244e+00] [ 1.96222180e-03 -1.14633735e-04 9.99998068e-01 3.17755288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.184391418 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:148.51, Y:5.05, Z:0.32 [[ 9.99311393e-01 -3.70523708e-02 -1.96514278e-03 1.48512640e+02] [ 3.70525226e-02 9.99313319e-01 4.08546583e-05 5.05104845e+00] [ 1.96227959e-03 -1.13640023e-04 9.99998068e-01 3.18651056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.244391418 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:148.58, Y:5.06, Z:0.32 [[ 9.99463295e-01 -3.26995351e-02 -1.96513804e-03 1.48575254e+02] [ 3.26996789e-02 9.99465222e-01 4.10813341e-05 5.05501469e+00] [ 1.96274379e-03 -1.05318669e-04 9.99998068e-01 3.17877515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.304391418 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:148.64, Y:5.06, Z:0.32 [[ 9.99704483e-01 -2.42298492e-02 -1.96513488e-03 1.48636120e+02] [ 2.42299770e-02 9.99706410e-01 4.12321338e-05 5.05951996e+00] [ 1.96355888e-03 -8.88351219e-05 9.99998068e-01 3.16127190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.364391418 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:148.70, Y:5.06, Z:0.32 [[ 9.99913414e-01 -1.30116098e-02 -1.96513254e-03 1.48698900e+02] [ 1.30117161e-02 9.99915343e-01 4.13433982e-05 5.06480515e+00] [ 1.96442823e-03 -6.69095651e-05 9.99998068e-01 3.18225425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.424391418 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:148.76, Y:5.07, Z:0.32 [[ 9.99990184e-01 -3.97112200e-03 -1.96512912e-03 1.48760291e+02] [ 3.97121123e-03 9.99992114e-01 4.15050215e-05 5.06841725e+00] [ 1.96494880e-03 -4.93085569e-05 9.99998068e-01 3.18380866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.484391418 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:148.82, Y:5.07, Z:0.32 [[ 9.99955308e-01 9.24773326e-03 -1.96512345e-03 1.48820956e+02] [-9.24766902e-03 9.99957239e-01 4.17720339e-05 5.07299699e+00] [ 1.96542571e-03 -2.35973558e-05 9.99998068e-01 3.19585672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54439141799998 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:148.88, Y:5.07, Z:0.32 [[ 9.99855213e-01 1.69024152e-02 -1.96512345e-03 1.48879822e+02] [-1.69023657e-02 9.99857144e-01 4.17720339e-05 5.07461659e+00] [ 1.96554877e-03 -8.55075073e-06 9.99998068e-01 3.20800175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60439141799998 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:148.94, Y:5.08, Z:0.32 [[ 9.99643531e-01 2.66261133e-02 -1.96513469e-03 1.48937616e+02] [-2.66260837e-02 9.99645462e-01 4.12364612e-05 5.07723320e+00] [ 1.96553594e-03 1.11020790e-05 9.99998068e-01 3.22889830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66439141799998 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:148.99, Y:5.08, Z:0.32 [[ 9.99435140e-01 3.35490519e-02 -1.96514795e-03 1.48994695e+02] [-3.35490369e-02 9.99437072e-01 4.05942692e-05 5.07761496e+00] [ 1.96540361e-03 2.53574821e-05 9.99998068e-01 3.21117109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72439141799998 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:149.05, Y:5.08, Z:0.32 [[ 9.99539864e-01 3.02687846e-02 -1.96515294e-03 1.49052405e+02] [-3.02687637e-02 9.99541795e-01 4.03511172e-05 5.07533009e+00] [ 1.96547388e-03 1.91502000e-05 9.99998068e-01 3.19602895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78439141799998 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:149.11, Y:5.08, Z:0.32 [[ 9.99768677e-01 2.14179926e-02 -1.96515797e-03 1.49110501e+02] [-2.14179551e-02 9.99770608e-01 4.01049820e-05 5.07510386e+00] [ 1.96556614e-03 1.99396041e-06 9.99998068e-01 3.19700538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.844391418 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:149.17, Y:5.07, Z:0.32 [[ 9.99959058e-01 8.83295924e-03 -1.96516118e-03 1.49168892e+02] [-8.83289779e-03 9.99960988e-01 3.99467233e-05 5.06653314e+00] [ 1.96543737e-03 -2.25870199e-05 9.99998068e-01 3.18892068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.904391418 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:149.23, Y:5.06, Z:0.32 [[ 9.99997497e-01 1.06931117e-03 -1.96516442e-03 1.49227524e+02] [-1.06923505e-03 9.99999428e-01 3.97870667e-05 5.06203118e+00] [ 1.96520584e-03 -3.76857445e-05 9.99998068e-01 3.19333525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.964391418 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:149.29, Y:5.05, Z:0.32 [[ 9.99997612e-01 -9.56306204e-04 -1.96516758e-03 1.49286635e+02] [ 9.56385930e-04 9.99999542e-01 3.96302547e-05 5.05313565e+00] [ 1.96512878e-03 -4.15096187e-05 9.99998068e-01 3.16733545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.024391418 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:149.35, Y:5.05, Z:0.32 [[ 9.99954159e-01 -9.37112588e-03 -1.96516924e-03 1.49345802e+02] [ 9.37122168e-03 9.99956088e-01 3.95478328e-05 5.05145407e+00] [ 1.96471234e-03 -5.79620565e-05 9.99998068e-01 3.21078093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.084391418 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:149.41, Y:5.05, Z:0.32 [[ 9.99950496e-01 -9.75417059e-03 -1.96517006e-03 1.49407796e+02] [ 9.75426705e-03 9.99952425e-01 3.95070052e-05 5.04719636e+00] [ 1.96469121e-03 -5.86738430e-05 9.99998068e-01 3.21921383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.144391418 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:149.47, Y:5.04, Z:0.32 [[ 9.99977478e-01 -6.41725250e-03 -1.96516690e-03 1.49469959e+02] [ 6.41734283e-03 9.99979408e-01 3.96633782e-05 5.04299331e+00] [ 1.96487191e-03 -5.22736346e-05 9.99998068e-01 3.21990935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.204391418 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:149.53, Y:5.04, Z:0.32 [[ 9.99997376e-01 1.17724980e-03 -1.96516372e-03 1.49531527e+02] [-1.17717382e-03 9.99999306e-01 3.98204671e-05 5.03976366e+00] [ 1.96520923e-03 -3.75070234e-05 9.99998068e-01 3.20973720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.264391418 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:149.59, Y:5.04, Z:0.32 [[ 9.99938137e-01 1.09480757e-02 -1.96516212e-03 1.49591033e+02] [-1.09480185e-02 9.99940068e-01 3.98994021e-05 5.03723047e+00] [ 1.96548116e-03 -1.83823027e-05 9.99998068e-01 3.19708972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32439141799998 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:149.65, Y:5.04, Z:0.32 [[ 9.99821604e-01 1.87855749e-02 -1.96516370e-03 1.49648634e+02] [-1.87855329e-02 9.99823536e-01 3.98213115e-05 5.03515802e+00] [ 1.96556498e-03 -2.89756018e-06 9.99998068e-01 3.18980025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38439141799998 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:149.71, Y:5.03, Z:0.32 [[ 9.99764025e-01 2.16340645e-02 -1.96517595e-03 1.49706357e+02] [-2.16340292e-02 9.99765956e-01 3.92069924e-05 5.03330961e+00] [ 1.96556422e-03 3.31693341e-06 9.99998068e-01 3.19195813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44439141799998 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:149.76, Y:5.03, Z:0.32 [[ 9.99767913e-01 2.14536097e-02 -1.96518066e-03 1.49764768e+02] [-2.14535746e-02 9.99769845e-01 3.89695636e-05 5.03126578e+00] [ 1.96556440e-03 3.19963067e-06 9.99998068e-01 3.19384685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50439141799998 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:149.82, Y:5.03, Z:0.32 [[ 9.99836830e-01 1.79569067e-02 -1.96518531e-03 1.49822942e+02] [-1.79568652e-02 9.99838762e-01 3.87336976e-05 5.02719223e+00] [ 1.96556399e-03 -3.43880967e-06 9.99998068e-01 3.20255638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56439141799999 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:149.88, Y:5.02, Z:0.32 [[ 9.99913665e-01 1.29923161e-02 -1.96518989e-03 1.49880350e+02] [-1.29922655e-02 9.99915596e-01 3.85002448e-05 5.02142385e+00] [ 1.96552422e-03 -1.29646522e-05 9.99998068e-01 3.20340020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.624391418 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:149.94, Y:5.02, Z:0.32 [[ 9.99959363e-01 8.79829483e-03 -1.96519435e-03 1.49938956e+02] [-8.79823661e-03 9.99961294e-01 3.82711636e-05 5.01622892e+00] [ 1.96545500e-03 -2.09793636e-05 9.99998068e-01 3.21110814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.684391418 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:150.00, Y:5.01, Z:0.32 [[ 9.99974250e-01 6.90195911e-03 -1.96519741e-03 1.49998155e+02] [-6.90189753e-03 9.99976181e-01 3.81133874e-05 5.01194093e+00] [ 1.96541365e-03 -2.45488149e-05 9.99998068e-01 3.21042320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.744391418 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:150.06, Y:5.01, Z:0.32 [[ 9.99981914e-01 5.68412835e-03 -1.96520049e-03 1.50056153e+02] [-5.68406473e-03 9.99983845e-01 3.79538990e-05 5.00613966e+00] [ 1.96538447e-03 -2.67828858e-05 9.99998068e-01 3.21266937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.804391418 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:150.11, Y:5.00, Z:0.32 [[ 9.99963905e-01 8.26598276e-03 -1.96520425e-03 1.50113670e+02] [-8.26592452e-03 9.99965836e-01 3.77581399e-05 5.00209728e+00] [ 1.96544922e-03 -2.15125470e-05 9.99998068e-01 3.20756981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.864391418 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:150.17, Y:5.00, Z:0.32 [[ 9.99925567e-01 1.20415592e-02 -1.96521645e-03 1.50171802e+02] [-1.20415095e-02 9.99927498e-01 3.71121656e-05 4.99962964e+00] [ 1.96552085e-03 -1.34452307e-05 9.99998068e-01 3.20695525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.924391418 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:150.23, Y:5.00, Z:0.32 [[ 9.99834085e-01 1.81091446e-02 -1.96522830e-03 1.50229995e+02] [-1.81091078e-02 9.99836016e-01 3.64735708e-05 4.99609725e+00] [ 1.96556654e-03 -8.78988090e-07 9.99998068e-01 3.20048704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.984391418 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:150.29, Y:4.99, Z:0.32 [[ 9.99775380e-01 2.11027815e-02 -1.96524006e-03 1.50288152e+02] [-2.11027519e-02 9.99777311e-01 3.58282306e-05 4.99042030e+00] [ 1.96555850e-03 5.65179053e-06 9.99998068e-01 3.18290839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04439141799998 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:150.35, Y:4.99, Z:0.32 [[ 9.99802520e-01 1.97751977e-02 -1.96524437e-03 1.50345956e+02] [-1.97751660e-02 9.99804452e-01 3.55905683e-05 4.98506203e+00] [ 1.96556388e-03 3.27949361e-06 9.99998068e-01 3.16638736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10439141799998 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:150.40, Y:4.98, Z:0.31 [[ 9.99906777e-01 1.35120573e-02 -1.96524861e-03 1.50403483e+02] [-1.35120139e-02 9.99908708e-01 3.53546102e-05 4.97672134e+00] [ 1.96554692e-03 -8.79684761e-06 9.99998068e-01 3.14582734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16439141799998 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:150.46, Y:4.97, Z:0.31 [[ 9.99980536e-01 5.92163616e-03 -1.96525277e-03 1.50460935e+02] [-5.92157857e-03 9.99982467e-01 3.51218541e-05 4.96760636e+00] [ 1.96542629e-03 -2.34837718e-05 9.99998068e-01 3.13174876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22439141799998 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:150.52, Y:4.96, Z:0.31 [[ 9.99997695e-01 8.65261405e-04 -1.96525617e-03 1.50519631e+02] [-8.65194427e-04 9.99999625e-01 3.49306562e-05 4.95893053e+00] [ 1.96528566e-03 -3.32302470e-05 9.99998068e-01 3.13285814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28439141799998 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:150.58, Y:4.95, Z:0.31 [[ 9.99998037e-01 2.53873074e-04 -1.96525883e-03 1.50578456e+02] [-2.53805211e-04 9.99999967e-01 3.47806775e-05 4.95272000e+00] [ 1.96526759e-03 -3.42818163e-05 9.99998068e-01 3.13677689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.344391418 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:150.64, Y:4.94, Z:0.31 [[ 9.99993517e-01 3.01725855e-03 -1.96526037e-03 1.50637643e+02] [-3.01719619e-03 9.99995448e-01 3.46934365e-05 4.94457344e+00] [ 1.96535610e-03 -2.87636355e-05 9.99998068e-01 3.13739497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.404391418 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:150.70, Y:4.94, Z:0.31 [[ 9.99973619e-01 6.99280377e-03 -1.96526165e-03 1.50696694e+02] [-6.99274923e-03 9.99975550e-01 3.46207093e-05 4.93647610e+00] [ 1.96545569e-03 -2.08772140e-05 9.99998068e-01 3.13494741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.464391418 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:150.76, Y:4.93, Z:0.31 [[ 9.99950255e-01 9.77877954e-03 -1.96527151e-03 1.50755490e+02] [-9.77873150e-03 9.99952186e-01 3.40515182e-05 4.93032938e+00] [ 1.96551052e-03 -1.48319619e-05 9.99998068e-01 3.12603737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.524391418 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:150.81, Y:4.92, Z:0.31 [[ 9.99899752e-01 1.40222851e-02 -1.96527428e-03 1.50813434e+02] [-1.40222456e-02 9.99901683e-01 3.38909328e-05 4.92198587e+00] [ 1.96555629e-03 -6.32997679e-06 9.99998068e-01 3.10911370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.584391418 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:150.87, Y:4.91, Z:0.31 [[ 9.99820532e-01 1.88425328e-02 -1.96527765e-03 1.50872258e+02] [-1.88425030e-02 9.99822464e-01 3.36942683e-05 4.91354058e+00] [ 1.96556363e-03 3.34252874e-06 9.99998068e-01 3.09112077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.644391418 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:150.93, Y:4.91, Z:0.31 [[ 9.99729768e-01 2.31630937e-02 -1.96527975e-03 1.50931003e+02] [-2.31630725e-02 9.99731699e-01 3.35712932e-05 4.90670203e+00] [ 1.96553008e-03 1.19596962e-05 9.99998068e-01 3.08445770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.704391418 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:150.99, Y:4.90, Z:0.31 [[ 9.99637076e-01 2.68673287e-02 -1.96528255e-03 1.50989366e+02] [-2.68673150e-02 9.99639008e-01 3.34064935e-05 4.89744639e+00] [ 1.96547064e-03 1.94074958e-05 9.99998068e-01 3.08530278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.764391418 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:151.05, Y:4.89, Z:0.31 [[ 9.99644996e-01 2.65710284e-02 -1.96528531e-03 1.51046550e+02] [-2.65710144e-02 9.99646928e-01 3.32434410e-05 4.88784207e+00] [ 1.96547473e-03 1.89879847e-05 9.99998068e-01 3.08127001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82439141799998 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:151.11, Y:4.88, Z:0.31 [[ 9.99693301e-01 2.46868648e-02 -1.96528868e-03 1.51105754e+02] [-2.46868475e-02 9.99695233e-01 3.30428101e-05 4.88398042e+00] [ 1.96550545e-03 1.54841062e-05 9.99998068e-01 3.07004894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88439141799998 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:151.16, Y:4.87, Z:0.31 [[ 9.99820921e-01 1.88218964e-02 -1.96529135e-03 1.51164386e+02] [-1.88218681e-02 9.99822852e-01 3.28835612e-05 4.87280769e+00] [ 1.96556213e-03 4.11278219e-06 9.99998068e-01 3.11284803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94439141799998 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:151.22, Y:4.87, Z:0.31 [[ 9.99904947e-01 1.36467458e-02 -1.96529423e-03 1.51223024e+02] [-1.36467078e-02 9.99906879e-01 3.27105537e-05 4.86548646e+00] [ 1.96555761e-03 -5.88764835e-06 9.99998068e-01 3.13462684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00439141799998 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:151.28, Y:4.86, Z:0.32 [[ 9.99971216e-01 7.32832605e-03 -1.96529703e-03 1.51282150e+02] [-7.32827624e-03 9.99973147e-01 3.25413533e-05 4.85604732e+00] [ 1.96548273e-03 -1.81381771e-05 9.99998068e-01 3.15268855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06439141799999 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:151.34, Y:4.85, Z:0.31 [[ 9.99992225e-01 3.41881289e-03 -1.96529986e-03 1.51339550e+02] [-3.41875588e-03 9.99994156e-01 3.23695897e-05 4.84677775e+00] [ 1.96539904e-03 -2.56504576e-05 9.99998068e-01 3.14489904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.124391418 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:151.40, Y:4.84, Z:0.32 [[ 9.99993235e-01 3.10931165e-03 -1.96530331e-03 1.51397939e+02] [-3.10925445e-03 9.99995166e-01 3.21587624e-05 4.84196096e+00] [ 1.96539380e-03 -2.60479168e-05 9.99998068e-01 3.15239138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.184391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.46, Y:4.84, Z:0.31 [[ 9.99981356e-01 5.78148015e-03 -1.96530606e-03 1.51456607e+02] [-5.78142844e-03 9.99983287e-01 3.19899245e-05 4.83739258e+00] [ 1.96545816e-03 -2.06270518e-05 9.99998068e-01 3.14112893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.244391418 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:151.52, Y:4.83, Z:0.32 [[ 9.99929442e-01 1.17152938e-02 -1.96530863e-03 1.51515201e+02] [-1.17152539e-02 9.99931374e-01 3.18311127e-05 4.83306352e+00] [ 1.96554667e-03 -8.80477727e-06 9.99998068e-01 3.15906478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.304391418 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:151.57, Y:4.83, Z:0.32 [[ 9.99838202e-01 1.78803731e-02 -1.96531806e-03 1.51572922e+02] [-1.78803463e-02 9.99840133e-01 3.12376773e-05 4.82945766e+00] [ 1.96556241e-03 3.90794435e-06 9.99998068e-01 3.16493929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.364391418 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:151.63, Y:4.83, Z:0.32 [[ 9.99806860e-01 1.95545247e-02 -1.96532134e-03 1.51631537e+02] [-1.95545015e-02 9.99808792e-01 3.10302481e-05 4.82682980e+00] [ 1.96555233e-03 7.40662413e-06 9.99998068e-01 3.15737333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.424391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.69, Y:4.82, Z:0.31 [[ 9.99875572e-01 1.56517465e-02 -1.96532390e-03 1.51689986e+02] [-1.56517161e-02 9.99877504e-01 3.08671924e-05 4.82160020e+00] [ 1.96556628e-03 -1.02660118e-07 9.99998068e-01 3.14182118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.484391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.75, Y:4.82, Z:0.31 [[ 9.99981884e-01 5.68945409e-03 -1.96532658e-03 1.51748806e+02] [-5.68940475e-03 9.99983815e-01 3.06954478e-05 4.81600771e+00] [ 1.96546941e-03 -1.95133533e-05 9.99998068e-01 3.13104062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.81, Y:4.81, Z:0.31 [[ 9.99996639e-01 -1.69081420e-03 -1.96532919e-03 1.51808600e+02] [ 1.69087746e-03 9.99998570e-01 3.05273503e-05 4.81275119e+00] [ 1.96527476e-03 -3.38503785e-05 9.99998068e-01 3.14496449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.87, Y:4.81, Z:0.32 [[ 9.99950601e-01 -9.74339792e-03 -1.96533047e-03 1.51868132e+02] [ 9.74347656e-03 9.99952531e-01 3.04448302e-05 4.80894378e+00] [ 1.96494054e-03 -4.95924776e-05 9.99998068e-01 3.18183290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.93, Y:4.81, Z:0.32 [[ 9.99877524e-01 -1.55265473e-02 -1.96533178e-03 1.51928695e+02] [ 1.55266369e-02 9.99879454e-01 3.03598464e-05 4.80855377e+00] [ 1.96462348e-03 -6.08711211e-05 9.99998068e-01 3.22267899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.99, Y:4.80, Z:0.32 [[ 9.99889609e-01 -1.47277486e-02 -1.96533178e-03 1.51988648e+02] [ 1.47278367e-02 9.99891539e-01 3.03598464e-05 4.80478586e+00] [ 1.96467149e-03 -5.93015804e-05 9.99998068e-01 3.20762852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.05, Y:4.80, Z:0.32 [[ 9.99917211e-01 -1.27164863e-02 -1.96533111e-03 1.52049993e+02] [ 1.27165706e-02 9.99919141e-01 3.04032379e-05 4.80354397e+00] [ 1.96478557e-03 -5.53929927e-05 9.99998068e-01 3.21074922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.844391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.11, Y:4.80, Z:0.32 [[ 9.99976508e-01 -6.56670327e-03 -1.96532982e-03 1.52111071e+02] [ 6.56677587e-03 9.99978438e-01 3.04862145e-05 4.80399683e+00] [ 1.96508725e-03 -4.33913788e-05 9.99998068e-01 3.20675225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.904391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.17, Y:4.80, Z:0.32 [[ 9.99996826e-01 -1.57683081e-03 -1.96532855e-03 1.52171748e+02] [ 1.57689393e-03 9.99998756e-01 3.05678740e-05 4.80442120e+00] [ 1.96527791e-03 -3.36668917e-05 9.99998068e-01 3.21265667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.964391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.23, Y:4.81, Z:0.32 [[ 9.99976329e-01 6.59390409e-03 -1.96532855e-03 1.52231117e+02] [-6.59385674e-03 9.99978260e-01 3.05678740e-05 4.80644629e+00] [ 1.96548739e-03 -1.76080555e-05 9.99998068e-01 3.19589013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.024391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.29, Y:4.81, Z:0.32 [[ 9.99968344e-01 7.71029476e-03 -1.96532987e-03 1.52290057e+02] [-7.71024974e-03 9.99970275e-01 3.04832235e-05 4.80723488e+00] [ 1.96550648e-03 -1.53290744e-05 9.99998068e-01 3.18175770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.084391418 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:152.35, Y:4.81, Z:0.31 [[ 9.99950145e-01 9.79007296e-03 -1.96533250e-03 1.52347626e+02] [-9.79003229e-03 9.99952076e-01 3.03126173e-05 4.80688024e+00] [ 1.96553507e-03 -1.10704374e-05 9.99998068e-01 3.13889596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.144391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.41, Y:4.81, Z:0.32 [[ 9.99991652e-01 3.58232374e-03 -1.96533570e-03 1.52407598e+02] [-3.58227150e-03 9.99993583e-01 3.01038398e-05 4.80615941e+00] [ 1.96543093e-03 -2.30632225e-05 9.99998068e-01 3.19302552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.204391418 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:152.47, Y:4.81, Z:0.32 [[ 9.99990724e-01 -3.83266361e-03 -1.96533697e-03 1.52467668e+02] [ 3.83273001e-03 9.99992655e-01 3.00206108e-05 4.80867463e+00] [ 1.96520747e-03 -3.75529383e-05 9.99998068e-01 3.18607392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.264391418 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:152.53, Y:4.81, Z:0.32 [[ 9.99958282e-01 -8.92026653e-03 -1.96533824e-03 1.52528066e+02] [ 8.92034259e-03 9.99960213e-01 2.99372368e-05 4.80698939e+00] [ 1.96499299e-03 -4.74674783e-05 9.99998068e-01 3.21980901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.59, Y:4.80, Z:0.32 [[ 9.99932740e-01 -1.14303843e-02 -1.96533824e-03 1.52588028e+02] [ 1.14304652e-02 9.99934670e-01 2.99372368e-05 4.80010600e+00] [ 1.96486765e-03 -5.23999535e-05 9.99998068e-01 3.22415014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.65, Y:4.80, Z:0.32 [[ 9.99922494e-01 -1.22940194e-02 -1.96533757e-03 1.52648369e+02] [ 1.22941020e-02 9.99924424e-01 2.99807982e-05 4.79841661e+00] [ 1.96482046e-03 -5.41405351e-05 9.99998068e-01 3.22891653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.71, Y:4.80, Z:0.32 [[ 9.99941209e-01 -1.06637818e-02 -1.96533693e-03 1.52709828e+02] [ 1.06638614e-02 9.99943139e-01 3.00230709e-05 4.80088997e+00] [ 1.96490502e-03 -5.09793863e-05 9.99998068e-01 3.23981815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.77, Y:4.80, Z:0.32 [[ 9.99978053e-01 -6.32695828e-03 -1.96533557e-03 1.52770313e+02] [ 6.32702967e-03 9.99979984e-01 3.01114070e-05 4.79938783e+00] [ 1.96510572e-03 -4.25454827e-05 9.99998068e-01 3.22088444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56439141799999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:152.83, Y:4.80, Z:0.32 [[ 9.99996285e-01 1.88855345e-03 -1.96533490e-03 1.52831003e+02] [-1.88849783e-03 9.99998216e-01 3.01552137e-05 4.80131822e+00] [ 1.96538834e-03 -2.64435710e-05 9.99998068e-01 3.22003714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.624391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.89, Y:4.80, Z:0.32 [[ 9.99962972e-01 8.37808553e-03 -1.96533490e-03 1.52889743e+02] [-8.37804245e-03 9.99964903e-01 3.01552137e-05 4.80266809e+00] [ 1.96551857e-03 -1.36884379e-05 9.99998068e-01 3.22488701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.684391418 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:152.95, Y:4.80, Z:0.32 [[ 9.99951385e-01 9.66252173e-03 -1.96533671e-03 1.52948258e+02] [-9.66248136e-03 9.99953317e-01 3.00366857e-05 4.80218733e+00] [ 1.96553519e-03 -1.10451961e-05 9.99998068e-01 3.21822030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.744391418 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:153.01, Y:4.80, Z:0.32 [[ 9.99965267e-01 8.09951354e-03 -1.96533925e-03 1.53007251e+02] [-8.09947048e-03 9.99967198e-01 2.98697622e-05 4.80097783e+00] [ 1.96551671e-03 -1.39505175e-05 9.99998068e-01 3.21121901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.804391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.07, Y:4.80, Z:0.32 [[ 9.99997351e-01 -1.19778154e-03 -1.96534176e-03 1.53067174e+02] [ 1.19784223e-03 9.99999282e-01 2.97035443e-05 4.79863810e+00] [ 1.96530477e-03 -3.20576350e-05 9.99998068e-01 3.22575599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.864391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.13, Y:4.80, Z:0.32 [[ 9.99956459e-01 -9.12234625e-03 -1.96534308e-03 1.53126380e+02] [ 9.12242206e-03 9.99958389e-01 2.96158636e-05 4.79644715e+00] [ 1.96499114e-03 -4.75432632e-05 9.99998068e-01 3.24499664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.924391418 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:153.19, Y:4.79, Z:0.33 [[ 9.99778780e-01 -2.09410810e-02 -1.96534442e-03 1.53186862e+02] [ 2.09411795e-02 9.99780709e-01 2.95265671e-05 4.79440088e+00] [ 1.96429512e-03 -7.06766655e-05 9.99998068e-01 3.27273621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.984391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.25, Y:4.79, Z:0.33 [[ 9.99660636e-01 -2.59759576e-02 -1.96534442e-03 1.53248857e+02] [ 2.59760657e-02 9.99662565e-01 2.95265671e-05 4.79258221e+00] [ 1.96391427e-03 -8.05684628e-05 9.99998068e-01 3.27884197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.31, Y:4.79, Z:0.33 [[ 9.99664970e-01 -2.58086304e-02 -1.96534170e-03 1.53310812e+02] [ 2.58087386e-02 9.99666899e-01 2.97064926e-05 4.79238431e+00] [ 1.96392036e-03 -8.04195303e-05 9.99998068e-01 3.27365514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10439141799998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:153.37, Y:4.79, Z:0.32 [[ 9.99785122e-01 -2.06360825e-02 -1.96533899e-03 1.53372138e+02] [ 2.06361811e-02 9.99787051e-01 2.98849532e-05 4.79238985e+00] [ 1.96430377e-03 -7.04356229e-05 9.99998068e-01 3.24764293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.43, Y:4.79, Z:0.32 [[ 9.99905657e-01 -1.35946823e-02 -1.96533765e-03 1.53432624e+02] [ 1.35947674e-02 9.99907586e-01 2.99727442e-05 4.79329702e+00] [ 1.96474856e-03 -5.66882247e-05 9.99998068e-01 3.22720277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.49, Y:4.80, Z:0.32 [[ 9.99968906e-01 -7.63707455e-03 -1.96533700e-03 1.53494082e+02] [ 7.63714828e-03 9.99970836e-01 3.00153890e-05 4.79612722e+00] [ 1.96505045e-03 -4.50240258e-05 9.99998068e-01 3.24550663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28439141799998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:153.55, Y:4.80, Z:0.32 [[ 9.99997967e-01 4.50525456e-04 -1.96533567e-03 1.53554334e+02] [-4.50467164e-04 9.99999898e-01 3.01023808e-05 4.79890869e+00] [ 1.96534903e-03 -2.92170004e-05 9.99998068e-01 3.23304896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.344391418 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:153.61, Y:4.80, Z:0.32 [[ 9.99983557e-01 5.38735829e-03 -1.96533348e-03 1.53613883e+02] [-5.38730926e-03 9.99985488e-01 3.02444424e-05 4.80060842e+00] [ 1.96546790e-03 -1.96560858e-05 9.99998068e-01 3.23430380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.404391418 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:153.67, Y:4.80, Z:0.32 [[ 9.99925161e-01 1.20751573e-02 -1.96533480e-03 1.53672249e+02] [-1.20751213e-02 9.99927093e-01 3.01583204e-05 4.80225142e+00] [ 1.96555568e-03 -6.42440726e-06 9.99998068e-01 3.22331785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.464391418 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:153.73, Y:4.80, Z:0.32 [[ 9.99904008e-01 1.37153868e-02 -1.96534381e-03 1.53731220e+02] [-1.37153552e-02 9.99905940e-01 2.95596178e-05 4.80235667e+00] [ 1.96556437e-03 -2.60139197e-06 9.99998068e-01 3.23518035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.524391418 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:153.79, Y:4.80, Z:0.32 [[ 9.99892938e-01 1.45000260e-02 -1.96534642e-03 1.53789060e+02] [-1.44999962e-02 9.99894869e-01 2.93850257e-05 4.80152530e+00] [ 1.96556588e-03 -8.84363979e-07 9.99998068e-01 3.24005870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.584391418 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:153.85, Y:4.80, Z:0.33 [[ 9.99890798e-01 1.46468502e-02 -1.96534955e-03 1.53847426e+02] [-1.46468212e-02 9.99892729e-01 2.91741934e-05 4.79934462e+00] [ 1.96556603e-03 -3.84884186e-07 9.99998068e-01 3.25141764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.644391418 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:153.91, Y:4.80, Z:0.33 [[ 9.99886981e-01 1.49051238e-02 -1.96535205e-03 1.53906450e+02] [-1.49050956e-02 9.99888912e-01 2.90046026e-05 4.79626627e+00] [ 1.96556604e-03 2.92435650e-07 9.99998068e-01 3.25815866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.704391418 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:153.96, Y:4.79, Z:0.32 [[ 9.99864288e-01 1.63567645e-02 -1.96535456e-03 1.53963926e+02] [-1.63567394e-02 9.99866219e-01 2.88338862e-05 4.79215047e+00] [ 1.96556326e-03 3.31681922e-06 9.99998068e-01 3.24357812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.02, Y:4.79, Z:0.33 [[ 9.99826297e-01 1.85341144e-02 -1.96535760e-03 1.54022547e+02] [-1.85340940e-02 9.99828229e-01 2.86248718e-05 4.78657397e+00] [ 1.96555054e-03 7.80622290e-06 9.99998068e-01 3.25313698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.08, Y:4.78, Z:0.33 [[ 9.99776672e-01 2.10414516e-02 -1.96536010e-03 1.54080028e+02] [-2.10414363e-02 9.99778604e-01 2.84521489e-05 4.78277284e+00] [ 1.96552365e-03 1.29082046e-05 9.99998068e-01 3.25697902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.14, Y:4.78, Z:0.33 [[ 9.99718710e-01 2.36355308e-02 -1.96536314e-03 1.54138383e+02] [-2.36355210e-02 9.99720642e-01 2.82402733e-05 4.78116231e+00] [ 1.96548158e-03 1.82200522e-05 9.99998068e-01 3.27933180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.20, Y:4.77, Z:0.33 [[ 9.99627484e-01 2.72218890e-02 -1.96536550e-03 1.54196977e+02] [-2.72218864e-02 9.99629415e-01 2.80756490e-05 4.77183131e+00] [ 1.96540143e-03 2.54357660e-05 9.99998068e-01 3.27488225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.25, Y:4.76, Z:0.32 [[ 9.99571270e-01 2.92132316e-02 -1.96536802e-03 1.54254995e+02] [-2.92132332e-02 9.99573202e-01 2.78976621e-05 4.76246922e+00] [ 1.96534419e-03 2.95290529e-05 9.99998068e-01 3.23915859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06439141799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.31, Y:4.75, Z:0.32 [[ 9.99653781e-01 2.62384444e-02 -1.96537113e-03 1.54313476e+02] [-2.62384407e-02 9.99655712e-01 2.76768026e-05 4.75368040e+00] [ 1.96542068e-03 2.39010536e-05 9.99998068e-01 3.23826765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.124391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.37, Y:4.74, Z:0.33 [[ 9.99723568e-01 2.34291318e-02 -1.96537367e-03 1.54372283e+02] [-2.34291230e-02 9.99725500e-01 2.74957570e-05 4.74158304e+00] [ 1.96547837e-03 1.85588251e-05 9.99998068e-01 3.25501445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.184391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.43, Y:4.73, Z:0.33 [[ 9.99735326e-01 2.29219410e-02 -1.96537619e-03 1.54430807e+02] [-2.29219316e-02 9.99737258e-01 2.73143171e-05 4.73274847e+00] [ 1.96548590e-03 1.77431309e-05 9.99998068e-01 3.25521780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.244391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.49, Y:4.72, Z:0.33 [[ 9.99692960e-01 2.47006601e-02 -1.96537870e-03 1.54489720e+02] [-2.47006545e-02 9.99694892e-01 2.71323342e-05 4.72165777e+00] [ 1.96544923e-03 2.14221367e-05 9.99998068e-01 3.25513141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.304391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.55, Y:4.71, Z:0.33 [[ 9.99646642e-01 2.65090267e-02 -1.96538121e-03 1.54548640e+02] [-2.65090249e-02 9.99648574e-01 2.69495809e-05 4.71019717e+00] [ 1.96540493e-03 2.51602813e-05 9.99998068e-01 3.26239278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.364391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.61, Y:4.70, Z:0.33 [[ 9.99697053e-01 2.45344492e-02 -1.96538371e-03 1.54607140e+02] [-2.45344440e-02 9.99698985e-01 2.67659497e-05 4.70130627e+00] [ 1.96544878e-03 2.14617554e-05 9.99998068e-01 3.28113885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.424391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.67, Y:4.69, Z:0.33 [[ 9.99877313e-01 1.55401302e-02 -1.96538620e-03 1.54666978e+02] [-1.55401080e-02 9.99879245e-01 2.65816850e-05 4.68803641e+00] [ 1.96556195e-03 3.96389004e-06 9.99998068e-01 3.31287518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.484391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.73, Y:4.68, Z:0.33 [[ 9.99970011e-01 7.49099641e-03 -1.96538745e-03 1.54725728e+02] [-7.49095882e-03 9.99971942e-01 2.64891753e-05 4.67971177e+00] [ 1.96553073e-03 -1.17657445e-05 9.99998068e-01 3.29193417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54439141799998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:154.78, Y:4.67, Z:0.33 [[ 9.99995351e-01 -2.33133875e-03 -1.96538927e-03 1.54784147e+02] [ 2.33139505e-03 9.99997282e-01 2.63534002e-05 4.66804947e+00] [ 1.96532249e-03 -3.09353765e-05 9.99998068e-01 3.29573662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60439141799998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:154.84, Y:4.66, Z:0.33 [[ 9.99973119e-01 -7.06391431e-03 -1.96539095e-03 1.54844235e+02] [ 7.06397950e-03 9.99975049e-01 2.62273166e-05 4.66153298e+00] [ 1.96515664e-03 -4.01100929e-05 9.99998068e-01 3.29156216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.90, Y:4.65, Z:0.33 [[ 9.99911748e-01 -1.31390063e-02 -1.96539153e-03 1.54903472e+02] [ 1.31390831e-02 9.99913678e-01 2.61835359e-05 4.65304949e+00] [ 1.96487785e-03 -5.20046678e-05 9.99998068e-01 3.25486632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.96, Y:4.65, Z:0.33 [[ 9.99841225e-01 -1.77104913e-02 -1.96539210e-03 1.54963665e+02] [ 1.77105769e-02 9.99843155e-01 2.61406179e-05 4.64980550e+00] [ 1.96462088e-03 -6.09446954e-05 9.99998068e-01 3.31076182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.02, Y:4.65, Z:0.33 [[ 9.99769618e-01 -2.13740275e-02 -1.96539268e-03 1.55023262e+02] [ 2.13741200e-02 9.99771547e-01 2.60971613e-05 4.64590232e+00] [ 1.96438588e-03 -6.80996880e-05 9.99998068e-01 3.27893295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.844391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.08, Y:4.64, Z:0.33 [[ 9.99692708e-01 -2.47108442e-02 -1.96539325e-03 1.55082630e+02] [ 2.47109431e-02 9.99694638e-01 2.60542928e-05 4.64492634e+00] [ 1.96414927e-03 -7.46130072e-05 9.99998068e-01 3.28404628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.904391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.14, Y:4.65, Z:0.33 [[ 9.99514717e-01 -3.10880503e-02 -1.96539434e-03 1.55142333e+02] [ 3.10881614e-02 9.99516646e-01 2.59715866e-05 4.64601883e+00] [ 1.96363695e-03 -8.70594795e-05 9.99998068e-01 3.28171476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.964391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.20, Y:4.65, Z:0.33 [[ 9.99507366e-01 -3.13235016e-02 -1.96539488e-03 1.55201921e+02] [ 3.13236131e-02 9.99509295e-01 2.59310119e-05 4.64864824e+00] [ 1.96361820e-03 -8.74815061e-05 9.99998068e-01 3.28172138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.024391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.26, Y:4.65, Z:0.33 [[ 9.99615994e-01 -2.76405669e-02 -1.96539593e-03 1.55261801e+02] [ 2.76406710e-02 9.99617923e-01 2.58511306e-05 4.65463961e+00] [ 1.96393046e-03 -8.01660659e-05 9.99998068e-01 3.29802538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.084391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.32, Y:4.66, Z:0.33 [[ 9.99717541e-01 -2.36849097e-02 -1.96539695e-03 1.55321923e+02] [ 2.36850061e-02 9.99719471e-01 2.57729575e-05 4.65978022e+00] [ 1.96423517e-03 -7.23161165e-05 9.99998068e-01 3.31529631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.144391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.38, Y:4.67, Z:0.34 [[ 9.99826905e-01 -1.85013003e-02 -1.96539798e-03 1.55382085e+02] [ 1.85013865e-02 9.99828834e-01 2.56944634e-05 4.66787366e+00] [ 1.96458619e-03 -6.20526035e-05 9.99998068e-01 3.35980293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.204391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.44, Y:4.68, Z:0.33 [[ 9.99907139e-01 -1.34851822e-02 -1.96539798e-03 1.55443171e+02] [ 1.34852587e-02 9.99909069e-01 2.56944634e-05 4.67687037e+00] [ 1.96487277e-03 -5.21959775e-05 9.99998068e-01 3.34325298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26439141799997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:155.50, Y:4.68, Z:0.33 [[ 9.99954739e-01 -9.30899887e-03 -1.96539798e-03 1.55503576e+02] [ 9.30906734e-03 9.99956669e-01 2.56944634e-05 4.68085816e+00] [ 1.96507363e-03 -4.39893225e-05 9.99998068e-01 3.32060799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.56, Y:4.69, Z:0.33 [[ 9.99992530e-01 -3.32817627e-03 -1.96539798e-03 1.55563687e+02] [ 3.32823320e-03 9.99994461e-01 2.56944634e-05 4.68757492e+00] [ 1.96530158e-03 -3.22355742e-05 9.99998068e-01 3.30592135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.62, Y:4.69, Z:0.33 [[ 9.99993290e-01 3.09134698e-03 -1.96539798e-03 1.55622858e+02] [-3.09130245e-03 9.99995222e-01 2.56944634e-05 4.69164814e+00] [ 1.96546802e-03 -1.96186514e-05 9.99998068e-01 3.30460209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.68, Y:4.70, Z:0.33 [[ 9.99984521e-01 5.20531039e-03 -1.96539855e-03 1.55682621e+02] [-5.20527003e-03 9.99986452e-01 2.56503159e-05 4.69571197e+00] [ 1.96550545e-03 -1.54194887e-05 9.99998068e-01 3.31365012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.74, Y:4.70, Z:0.33 [[ 9.99971845e-01 7.24195018e-03 -1.96539971e-03 1.55742545e+02] [-7.24191393e-03 9.99973777e-01 2.55615268e-05 4.69633274e+00] [ 1.96553329e-03 -1.13275516e-05 9.99998068e-01 3.28869241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56439141799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.80, Y:4.70, Z:0.33 [[ 9.99984732e-01 5.16468229e-03 -1.96540089e-03 1.55801162e+02] [-5.16464220e-03 9.99986663e-01 2.54700420e-05 4.69629043e+00] [ 1.96550623e-03 -1.53190607e-05 9.99998068e-01 3.27603736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.624391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.86, Y:4.70, Z:0.33 [[ 9.99995901e-01 2.08201650e-03 -1.96540324e-03 1.55859831e+02] [-2.08197082e-03 9.99997832e-01 2.52877344e-05 4.69668561e+00] [ 1.96545163e-03 -2.11957186e-05 9.99998068e-01 3.32042482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.684391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.92, Y:4.70, Z:0.33 [[ 9.99997928e-01 -5.30695266e-04 -1.96540499e-03 1.55919334e+02] [ 5.30745723e-04 9.99999859e-01 2.51509959e-05 4.69595070e+00] [ 1.96539137e-03 -2.61940741e-05 9.99998068e-01 3.27696044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.744391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.98, Y:4.69, Z:0.33 [[ 9.99979493e-01 -6.09507919e-03 -1.96540615e-03 1.55979058e+02] [ 6.09514021e-03 9.99981424e-01 2.50602183e-05 4.69346168e+00] [ 1.96521689e-03 -3.70391305e-05 9.99998068e-01 3.29774931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.804391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.04, Y:4.69, Z:0.33 [[ 9.99950490e-01 -9.75470049e-03 -1.96540672e-03 1.56039733e+02] [ 9.75476849e-03 9.99952421e-01 2.50153299e-05 4.69257252e+00] [ 1.96506919e-03 -4.41861789e-05 9.99998068e-01 3.29129470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.864391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.10, Y:4.69, Z:0.33 [[ 9.99908676e-01 -1.33707564e-02 -1.96540672e-03 1.56099963e+02] [ 1.33708314e-02 9.99910606e-01 2.50153299e-05 4.69131034e+00] [ 1.96489655e-03 -5.12921672e-05 9.99998068e-01 3.29896733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.924391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.16, Y:4.69, Z:0.33 [[ 9.99877212e-01 -1.55466618e-02 -1.96540672e-03 1.56160579e+02] [ 1.55467410e-02 9.99879142e-01 2.50153299e-05 4.69238909e+00] [ 1.96478028e-03 -5.55679276e-05 9.99998068e-01 3.29448363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.984391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.22, Y:4.69, Z:0.33 [[ 9.99851185e-01 -1.71389787e-02 -1.96540672e-03 1.56220775e+02] [ 1.71390610e-02 9.99853115e-01 2.50153299e-05 4.69246038e+00] [ 1.96468929e-03 -5.86968329e-05 9.99998068e-01 3.29935194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.28, Y:4.69, Z:0.33 [[ 9.99888756e-01 -1.47855418e-02 -1.96540619e-03 1.56281449e+02] [ 1.47856196e-02 9.99890686e-01 2.50568535e-05 4.69302514e+00] [ 1.96482087e-03 -5.41138143e-05 9.99998068e-01 3.31332781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.34, Y:4.70, Z:0.33 [[ 9.99968125e-01 -7.73865573e-03 -1.96540619e-03 1.56341997e+02] [ 7.73871992e-03 9.99970055e-01 2.50568536e-05 4.69538632e+00] [ 1.96515343e-03 -4.02657829e-05 9.99998068e-01 3.31660662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.40, Y:4.70, Z:0.33 [[ 9.99996126e-01 -1.97122461e-03 -1.96540619e-03 1.56401078e+02] [ 1.97127766e-03 9.99998057e-01 2.50568536e-05 4.69659271e+00] [ 1.96535298e-03 -2.89311178e-05 9.99998068e-01 3.28466579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.46, Y:4.70, Z:0.33 [[ 9.99993646e-01 2.97406317e-03 -1.96540605e-03 1.56460316e+02] [-2.97401964e-03 9.99995577e-01 2.50679974e-05 4.69843340e+00] [ 1.96547191e-03 -1.92226820e-05 9.99998068e-01 3.26784130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.52, Y:4.70, Z:0.33 [[ 9.99989481e-01 4.14437086e-03 -1.96540720e-03 1.56519917e+02] [-4.14432977e-03 9.99991412e-01 2.49773304e-05 4.69883781e+00] [ 1.96549384e-03 -1.68317721e-05 9.99998068e-01 3.26681408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.344391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.58, Y:4.70, Z:0.33 [[ 9.99992010e-01 3.48107024e-03 -1.96540835e-03 1.56579928e+02] [-3.48102805e-03 9.99993941e-01 2.48866514e-05 4.70003613e+00] [ 1.96548307e-03 -1.80448110e-05 9.99998068e-01 3.28434884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.404391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.64, Y:4.70, Z:0.33 [[ 9.99997569e-01 -9.99233878e-04 -1.96540949e-03 1.56638903e+02] [ 9.99284542e-04 9.99999500e-01 2.47959843e-05 4.69979046e+00] [ 1.96538373e-03 -2.67599273e-05 9.99998068e-01 3.29051389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.464391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.70, Y:4.70, Z:0.33 [[ 9.99962036e-01 -8.48901723e-03 -1.96541116e-03 1.56698634e+02] [ 8.48908209e-03 9.99963967e-01 2.46629271e-05 4.69945971e+00] [ 1.96513098e-03 -4.13465275e-05 9.99998068e-01 3.30808362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.524391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.76, Y:4.70, Z:0.33 [[ 9.99939120e-01 -1.08578829e-02 -1.96541229e-03 1.56758627e+02] [ 1.08579521e-02 9.99941050e-01 2.45727366e-05 4.69889503e+00] [ 1.96502962e-03 -4.59115931e-05 9.99998068e-01 3.31238765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.584391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.82, Y:4.70, Z:0.33 [[ 9.99855128e-01 -1.69073973e-02 -1.96541285e-03 1.56819299e+02] [ 1.69074782e-02 9.99857058e-01 2.45275325e-05 4.69896720e+00] [ 1.96471722e-03 -5.77541540e-05 9.99998068e-01 3.34776618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.644391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.88, Y:4.70, Z:0.34 [[ 9.99812816e-01 -1.92475960e-02 -1.96541285e-03 1.56879308e+02] [ 1.92476814e-02 9.99814746e-01 2.45275325e-05 4.69910924e+00] [ 1.96457666e-03 -6.23525818e-05 9.99998068e-01 3.35847404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.704391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.94, Y:4.70, Z:0.34 [[ 9.99785154e-01 -2.06344914e-02 -1.96541230e-03 1.56940527e+02] [ 2.06345795e-02 9.99787084e-01 2.45717228e-05 4.69946737e+00] [ 1.96448681e-03 -6.51219001e-05 9.99998068e-01 3.35210707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.00, Y:4.70, Z:0.33 [[ 9.99810513e-01 -1.93668436e-02 -1.96541125e-03 1.57002113e+02] [ 1.93669295e-02 9.99812443e-01 2.46554715e-05 4.69963987e+00] [ 1.96456513e-03 -6.27147807e-05 9.99998068e-01 3.34223740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82439141799998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:157.06, Y:4.70, Z:0.33 [[ 9.99912461e-01 -1.30846351e-02 -1.96541020e-03 1.57062563e+02] [ 1.30847090e-02 9.99914391e-01 2.47385341e-05 4.70303302e+00] [ 1.96491825e-03 -5.04531891e-05 9.99998068e-01 3.32028851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.12, Y:4.71, Z:0.33 [[ 9.99997525e-01 -1.04295443e-03 -1.96541020e-03 1.57122552e+02] [ 1.04300507e-03 9.99999456e-01 2.47385341e-05 4.70855651e+00] [ 1.96538333e-03 -2.67884057e-05 9.99998068e-01 3.29894338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.18, Y:4.71, Z:0.33 [[ 9.99924219e-01 1.21528878e-02 -1.96541005e-03 1.57182281e+02] [-1.21528626e-02 9.99926151e-01 2.47510045e-05 4.71179020e+00] [ 1.96556570e-03 -8.63770541e-07 9.99998068e-01 3.30699424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.24, Y:4.71, Z:0.33 [[ 9.99835961e-01 1.80052352e-02 -1.96541112e-03 1.57241622e+02] [-1.80052215e-02 9.99837893e-01 2.46655502e-05 4.71336341e+00] [ 1.96553662e-03 1.07261585e-05 9.99998068e-01 3.31026360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06439141799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.30, Y:4.71, Z:0.33 [[ 9.99833196e-01 1.81581220e-02 -1.96541324e-03 1.57300737e+02] [-1.81581089e-02 9.99835128e-01 2.44958472e-05 4.71419934e+00] [ 1.96553399e-03 1.11964264e-05 9.99998068e-01 3.29474518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.124391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.36, Y:4.71, Z:0.33 [[ 9.99925878e-01 1.20156292e-02 -1.96541548e-03 1.57360005e+02] [-1.20156046e-02 9.99927810e-01 2.43142811e-05 4.71180149e+00] [ 1.96556575e-03 -6.96823477e-07 9.99998068e-01 3.29507890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.184391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.42, Y:4.71, Z:0.33 [[ 9.99996422e-01 -1.81487923e-03 -1.96541770e-03 1.57419783e+02] [ 1.81493017e-03 9.99998353e-01 2.41337921e-05 4.70659214e+00] [ 1.96537066e-03 -2.77008016e-05 9.99998068e-01 3.31850750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.244391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.48, Y:4.70, Z:0.34 [[ 9.99890984e-01 -1.46341141e-02 -1.96541880e-03 1.57479570e+02] [ 1.46341896e-02 9.99892914e-01 2.40433822e-05 4.70206793e+00] [ 1.96485648e-03 -5.28030724e-05 9.99998068e-01 3.36287306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.304391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.54, Y:4.70, Z:0.34 [[ 9.99768191e-01 -2.14406277e-02 -1.96541992e-03 1.57539769e+02] [ 2.14407161e-02 9.99770121e-01 2.39515316e-05 4.69982210e+00] [ 1.96445458e-03 -6.60859901e-05 9.99998068e-01 3.37709581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.364391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.60, Y:4.70, Z:0.34 [[ 9.99781292e-01 -2.08208132e-02 -1.96541937e-03 1.57600654e+02] [ 2.08209005e-02 9.99783221e-01 2.39965672e-05 4.69830542e+00] [ 1.96449368e-03 -6.49131202e-05 9.99998068e-01 3.35694745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.424391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.66, Y:4.70, Z:0.33 [[ 9.99879104e-01 -1.54245058e-02 -1.96541833e-03 1.57660657e+02] [ 1.54245829e-02 9.99881034e-01 2.40819305e-05 4.69893536e+00] [ 1.96481306e-03 -5.43947771e-05 9.99998068e-01 3.33215300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.484391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.72, Y:4.70, Z:0.33 [[ 9.99947400e-01 -1.00664930e-02 -1.96541781e-03 1.57721601e+02] [ 1.00665599e-02 9.99949331e-01 2.41238816e-05 4.70056755e+00] [ 1.96507538e-03 -4.39076088e-05 9.99998068e-01 3.31979728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.78, Y:4.70, Z:0.34 [[ 9.99997765e-01 7.78929246e-04 -1.96541725e-03 1.57782139e+02] [-7.78883247e-04 9.99999696e-01 2.41695667e-05 4.70252131e+00] [ 1.96543548e-03 -2.26386821e-05 9.99998068e-01 3.35123583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60439141799998 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:157.84, Y:4.71, Z:0.34 [[ 9.99939156e-01 1.08545413e-02 -1.96541725e-03 1.57841381e+02] [-1.08545148e-02 9.99941088e-01 2.41695667e-05 4.70517879e+00] [ 1.96556381e-03 -2.83444552e-06 9.99998068e-01 3.36430214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.90, Y:4.71, Z:0.34 [[ 9.99768847e-01 2.14100354e-02 -1.96541836e-03 1.57899872e+02] [-2.14100295e-02 9.99770779e-01 2.40791686e-05 4.70740509e+00] [ 1.96548338e-03 1.80060623e-05 9.99998068e-01 3.35636651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.96, Y:4.71, Z:0.33 [[ 9.99581445e-01 2.88629900e-02 -1.96542596e-03 1.57958557e+02] [-2.88629997e-02 9.99583377e-01 2.34413876e-05 4.70587313e+00] [ 1.96528371e-03 3.32965129e-05 9.99998068e-01 3.34757448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.02, Y:4.70, Z:0.33 [[ 9.99326401e-01 3.66453503e-02 -1.96542825e-03 1.58015841e+02] [-3.66453754e-02 9.99328332e-01 2.32484561e-05 4.70264713e+00] [ 1.96496008e-03 4.87910600e-05 9.99998068e-01 3.34371246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.844391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.07, Y:4.70, Z:0.33 [[ 9.99215173e-01 3.95622968e-02 -1.96543163e-03 1.58073641e+02] [-3.95623281e-02 9.99217104e-01 2.29592158e-05 4.69748667e+00] [ 1.96480122e-03 5.48158541e-05 9.99998068e-01 3.33860870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.904391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.13, Y:4.69, Z:0.34 [[ 9.99102535e-01 4.23114780e-02 -1.96543425e-03 1.58132392e+02] [-4.23115150e-02 9.99104467e-01 2.27322335e-05 4.68867757e+00] [ 1.96463597e-03 6.04486688e-05 9.99998068e-01 3.38004312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.964391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.19, Y:4.68, Z:0.34 [[ 9.98982549e-01 4.50555675e-02 -1.96543628e-03 1.58191363e+02] [-4.50556102e-02 9.98984480e-01 2.25552307e-05 4.67819799e+00] [ 1.96445658e-03 6.60216492e-05 9.99998068e-01 3.38751220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.024391418 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:158.25, Y:4.67, Z:0.34 [[ 9.98937226e-01 4.60494956e-02 -1.96543832e-03 1.58249467e+02] [-4.60495406e-02 9.98939157e-01 2.23762858e-05 4.67021705e+00] [ 1.96438371e-03 6.81550268e-05 9.99998068e-01 3.37268047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.084391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.31, Y:4.66, Z:0.34 [[ 9.98926773e-01 4.62756890e-02 -1.96544080e-03 1.58308480e+02] [-4.62757348e-02 9.98928704e-01 2.21559137e-05 4.65636830e+00] [ 1.96436052e-03 6.88200821e-05 9.99998068e-01 3.36961057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.144391418 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:158.37, Y:4.64, Z:0.34 [[ 9.98961280e-01 4.55246932e-02 -1.96544277e-03 1.58366874e+02] [-4.55247380e-02 9.98963211e-01 2.19798190e-05 4.64297558e+00] [ 1.96440565e-03 6.75192792e-05 9.99998068e-01 3.38088255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.204391418 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:158.43, Y:4.63, Z:0.34 [[ 9.98979337e-01 4.51267290e-02 -1.96544470e-03 1.58425959e+02] [-4.51267733e-02 9.98981268e-01 2.18060118e-05 4.63403996e+00] [ 1.96442647e-03 6.69104223e-05 9.99998068e-01 3.38998795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26439141799997 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:158.48, Y:4.62, Z:0.34 [[ 9.99030452e-01 4.39806081e-02 -1.96544659e-03 1.58484173e+02] [-4.39806506e-02 9.99032383e-01 2.16348069e-05 4.62019845e+00] [ 1.96449630e-03 6.48277886e-05 9.99998068e-01 3.36450453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32439141799998 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:158.54, Y:4.61, Z:0.33 [[ 9.99092593e-01 4.25455997e-02 -1.96544797e-03 1.58543875e+02] [-4.25456396e-02 9.99094524e-01 2.15086407e-05 4.61087935e+00] [ 1.96458340e-03 6.21321173e-05 9.99998068e-01 3.34259759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38439141799998 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:158.60, Y:4.60, Z:0.34 [[ 9.99187085e-01 4.02654408e-02 -1.96544887e-03 1.58603362e+02] [-4.02654764e-02 9.99189017e-01 2.14254485e-05 4.59770736e+00] [ 1.96471763e-03 5.77317039e-05 9.99998068e-01 3.35791361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44439141799998 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:158.66, Y:4.59, Z:0.34 [[ 9.99241394e-01 3.88943803e-02 -1.96544983e-03 1.58662079e+02] [-3.88944136e-02 9.99243326e-01 2.13373124e-05 4.59327380e+00] [ 1.96479253e-03 5.51238927e-05 9.99998068e-01 3.36185260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50439141799998 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:158.72, Y:4.58, Z:0.34 [[ 9.99489672e-01 3.18831200e-02 -1.96545079e-03 1.58722340e+02] [-3.18831399e-02 9.99491603e-01 2.12485544e-05 4.57885728e+00] [ 1.96512903e-03 4.14270318e-05 9.99998068e-01 3.39293963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56439141799999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:158.78, Y:4.56, Z:0.34 [[ 9.99704356e-01 2.42350329e-02 -1.96545079e-03 1.58782930e+02] [-2.42350379e-02 9.99706288e-01 2.12485544e-05 4.56431668e+00] [ 1.96538847e-03 2.63905021e-05 9.99998068e-01 3.41757758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.624391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.84, Y:4.55, Z:0.34 [[ 9.99839139e-01 1.78279000e-02 -1.96545079e-03 1.58842452e+02] [-1.78278927e-02 9.99841070e-01 2.12485544e-05 4.55189899e+00] [ 1.96551724e-03 1.37947095e-05 9.99998068e-01 3.41514555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.684391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.90, Y:4.54, Z:0.34 [[ 9.99902704e-01 1.38101484e-02 -1.96545123e-03 1.58902884e+02] [-1.38101334e-02 9.99904635e-01 2.12078302e-05 4.54389008e+00] [ 1.96555668e-03 5.93737679e-06 9.99998068e-01 3.40281096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.744391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.96, Y:4.53, Z:0.34 [[ 9.99930410e-01 1.16323474e-02 -1.96545123e-03 1.58962378e+02] [-1.16323282e-02 9.99932342e-01 2.12078302e-05 4.53404216e+00] [ 1.96556495e-03 1.65641940e-06 9.99998068e-01 3.40682510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.804391418 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:159.02, Y:4.53, Z:0.34 [[ 9.99915217e-01 1.28722956e-02 -1.96545165e-03 1.59022729e+02] [-1.28722789e-02 9.99917149e-01 2.11687343e-05 4.52886823e+00] [ 1.96556130e-03 4.13290220e-06 9.99998068e-01 3.42490661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.864391418 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:159.08, Y:4.52, Z:0.34 [[ 9.99861069e-01 1.65523104e-02 -1.96545165e-03 1.59082497e+02] [-1.65523008e-02 9.99863001e-01 2.11687343e-05 4.52288012e+00] [ 1.96553278e-03 1.13669536e-05 9.99998068e-01 3.43731654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.924391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.14, Y:4.52, Z:0.34 [[ 9.99864656e-01 1.63342182e-02 -1.96545206e-03 1.59142704e+02] [-1.63342082e-02 9.99866588e-01 2.11309971e-05 4.51692380e+00] [ 1.96553500e-03 1.09759661e-05 9.99998068e-01 3.42829406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.984391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.20, Y:4.51, Z:0.34 [[ 9.99917677e-01 1.26797182e-02 -1.96545206e-03 1.59203207e+02] [-1.26797012e-02 9.99919609e-01 2.11309971e-05 4.51246458e+00] [ 1.96556199e-03 3.79208725e-06 9.99998068e-01 3.43377752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.26, Y:4.51, Z:0.34 [[ 9.99990498e-01 3.89121184e-03 -1.96545206e-03 1.59263706e+02] [-3.89117782e-03 9.99992429e-01 2.11309971e-05 4.50593107e+00] [ 1.96551940e-03 -1.34828728e-05 9.99998068e-01 3.44361229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.32, Y:4.50, Z:0.35 [[ 9.99992471e-01 -3.34586332e-03 -1.96545206e-03 1.59323554e+02] [ 3.34591132e-03 9.99994402e-01 2.11309971e-05 4.50111740e+00] [ 1.96537035e-03 -2.77070662e-05 9.99998068e-01 3.45455797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.38, Y:4.50, Z:0.35 [[ 9.99983105e-01 -5.47045282e-03 -1.96545253e-03 1.59382566e+02] [ 5.47050483e-03 9.99985036e-01 2.10869994e-05 4.49812439e+00] [ 1.96530776e-03 -3.18386607e-05 9.99998068e-01 3.46073576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.44, Y:4.50, Z:0.35 [[ 9.99978592e-01 -6.24124151e-03 -1.96545379e-03 1.59441993e+02] [ 6.24129478e-03 9.99980523e-01 2.09691747e-05 4.49713483e+00] [ 1.96528463e-03 -3.32357023e-05 9.99998068e-01 3.45788894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.50, Y:4.50, Z:0.34 [[ 9.99974099e-01 -6.92372932e-03 -1.96545473e-03 1.59500736e+02] [ 6.92378373e-03 9.99976030e-01 2.08805248e-05 4.49744408e+00] [ 1.96526304e-03 -3.44883674e-05 9.99998068e-01 3.39162137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.344391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.56, Y:4.50, Z:0.34 [[ 9.99965827e-01 -8.03000320e-03 -1.96545639e-03 1.59560268e+02] [ 8.03005943e-03 9.99967758e-01 2.07226639e-05 4.49744054e+00] [ 1.96522662e-03 -3.65046874e-05 9.99998068e-01 3.41249951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.404391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.62, Y:4.50, Z:0.34 [[ 9.99944039e-01 -1.03950013e-02 -1.96545730e-03 1.59619379e+02] [ 1.03950619e-02 9.99945970e-01 2.06358205e-05 4.49847358e+00] [ 1.96513660e-03 -4.10657160e-05 9.99998068e-01 3.44740992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.464391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.68, Y:4.50, Z:0.35 [[ 9.99910163e-01 -1.32590593e-02 -1.96545864e-03 1.59678404e+02] [ 1.32591252e-02 9.99912094e-01 2.05081280e-05 4.50085911e+00] [ 1.96501394e-03 -4.65665477e-05 9.99998068e-01 3.47289148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.524391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.74, Y:4.50, Z:0.35 [[ 9.99886525e-01 -1.49356764e-02 -1.96545993e-03 1.59737229e+02] [ 1.49357453e-02 9.99888455e-01 2.03835897e-05 4.50247791e+00] [ 1.96493625e-03 -4.97368855e-05 9.99998068e-01 3.45765181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.584391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.80, Y:4.51, Z:0.35 [[ 9.99863248e-01 -1.64201992e-02 -1.96546575e-03 1.59795270e+02] [ 1.64202698e-02 9.99865178e-01 1.98058215e-05 4.50613086e+00] [ 1.96487555e-03 -5.20765908e-05 9.99998068e-01 3.47181841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.644391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.85, Y:4.51, Z:0.35 [[ 9.99909371e-01 -1.33186786e-02 -1.96546780e-03 1.59854428e+02] [ 1.33187428e-02 9.99911301e-01 1.96000362e-05 4.51197016e+00] [ 1.96503242e-03 -4.57758200e-05 9.99998068e-01 3.50203914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.704391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.91, Y:4.52, Z:0.35 [[ 9.99934292e-01 -1.12937354e-02 -1.96547360e-03 1.59913267e+02] [ 1.12937945e-02 9.99936223e-01 1.90002971e-05 4.51562214e+00] [ 1.96513366e-03 -4.11967036e-05 9.99998068e-01 3.51667504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76439141799997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:159.97, Y:4.52, Z:0.35 [[ 9.99917265e-01 -1.27121778e-02 -1.96547914e-03 1.59971734e+02] [ 1.27122386e-02 9.99919196e-01 1.84087625e-05 4.52101890e+00] [ 1.96508631e-03 -4.33928792e-05 9.99998068e-01 3.49827555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.03, Y:4.53, Z:0.35 [[ 9.99823948e-01 -1.86603857e-02 -1.96548029e-03 1.60030588e+02] [ 1.86604577e-02 9.99825878e-01 1.82848229e-05 4.52560402e+00] [ 1.96479686e-03 -5.49583656e-05 9.99998068e-01 3.49121728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.09, Y:4.53, Z:0.35 [[ 9.99724006e-01 -2.34104398e-02 -1.96548579e-03 1.60089101e+02] [ 2.34105197e-02 9.99725936e-01 1.76730238e-05 4.52859658e+00] [ 1.96453339e-03 -6.36811901e-05 9.99998068e-01 3.47229643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.15, Y:4.53, Z:0.35 [[ 9.99616914e-01 -2.76072975e-02 -1.96549101e-03 1.60147373e+02] [ 2.76073843e-02 9.99618843e-01 1.70721131e-05 4.53475333e+00] [ 1.96427054e-03 -7.13276388e-05 9.99998068e-01 3.45513475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.21, Y:4.54, Z:0.35 [[ 9.99589153e-01 -2.85947837e-02 -1.96549280e-03 1.60206203e+02] [ 2.85948721e-02 9.99591083e-01 1.68633190e-05 4.53891858e+00] [ 1.96420688e-03 -7.30594061e-05 9.99998068e-01 3.47212552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06439141799999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:160.26, Y:4.55, Z:0.35 [[ 9.99651016e-01 -2.63435665e-02 -1.96549792e-03 1.60264650e+02] [ 2.63436493e-02 9.99652946e-01 1.62441539e-05 4.54696499e+00] [ 1.96438786e-03 -6.80168729e-05 9.99998068e-01 3.49650774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.124391418 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:160.32, Y:4.56, Z:0.35 [[ 9.99788439e-01 -2.04747108e-02 -1.96550279e-03 1.60324536e+02] [ 2.04747811e-02 9.99790370e-01 1.56321775e-05 4.55611922e+00] [ 1.96477070e-03 -5.58721096e-05 9.99998068e-01 3.52337272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.184391418 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:160.38, Y:4.56, Z:0.35 [[ 9.99884674e-01 -1.50590447e-02 -1.96550346e-03 1.60383912e+02] [ 1.50591044e-02 9.99886605e-01 1.55469586e-05 4.56152944e+00] [ 1.96504646e-03 -4.51438874e-05 9.99998068e-01 3.53025695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.244391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.44, Y:4.57, Z:0.35 [[ 9.99981526e-01 -5.75182463e-03 -1.96550413e-03 1.60443998e+02] [ 5.75186613e-03 9.99983458e-01 1.54616856e-05 4.56916502e+00] [ 1.96538269e-03 -2.67667166e-05 9.99998068e-01 3.51827459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.304391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.50, Y:4.57, Z:0.35 [[ 9.99995076e-01 -2.44642041e-03 -1.96550479e-03 1.60503423e+02] [ 2.44645536e-03 9.99997007e-01 1.53775284e-05 4.57134294e+00] [ 1.96546129e-03 -2.01859724e-05 9.99998068e-01 3.51192836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.364391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.56, Y:4.58, Z:0.35 [[ 9.99962368e-01 8.44983139e-03 -1.96550544e-03 1.60562739e+02] [-8.44981765e-03 9.99964300e-01 1.52944167e-05 4.57737453e+00] [ 1.96556450e-03 1.31432140e-06 9.99998068e-01 3.51363989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.424391418 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:160.62, Y:4.58, Z:0.35 [[ 9.99880032e-01 1.53642056e-02 -1.96550611e-03 1.60622088e+02] [-1.53642054e-02 9.99881964e-01 1.52078525e-05 4.58081568e+00] [ 1.96550776e-03 1.49924115e-05 9.99998068e-01 3.51468896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.484391418 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:160.68, Y:4.58, Z:0.35 [[ 9.99705710e-01 2.41791453e-02 -1.96550678e-03 1.60680799e+02] [-2.41791623e-02 9.99707641e-01 1.51206106e-05 4.58438772e+00] [ 1.96529775e-03 3.24081468e-05 9.99998068e-01 3.50496290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54439141799998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:160.74, Y:4.58, Z:0.35 [[ 9.99537975e-01 3.03310694e-02 -1.96550749e-03 1.60739601e+02] [-3.03310985e-02 9.99539906e-01 1.50272766e-05 4.58374131e+00] [ 1.96505897e-03 4.45956677e-05 9.99998068e-01 3.48891930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.80, Y:4.58, Z:0.35 [[ 9.99420001e-01 3.39970303e-02 -1.96550877e-03 1.60798654e+02] [-3.39970668e-02 9.99421933e-01 1.48590586e-05 4.58075008e+00] [ 1.96487773e-03 5.19710924e-05 9.99998068e-01 3.48068189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66439141799998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:160.86, Y:4.58, Z:0.35 [[ 9.99380541e-01 3.51378954e-02 -1.96550969e-03 1.60858240e+02] [-3.51379344e-02 9.99382472e-01 1.47351172e-05 4.57691588e+00] [ 1.96481370e-03 5.43379613e-05 9.99998068e-01 3.48930125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.92, Y:4.57, Z:0.35 [[ 9.99309328e-01 3.71080134e-02 -1.96551031e-03 1.60917748e+02] [-3.71080563e-02 9.99311259e-01 1.46523239e-05 4.56863278e+00] [ 1.96470030e-03 5.82940633e-05 9.99998068e-01 3.53084094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.98, Y:4.56, Z:0.35 [[ 9.99266039e-01 3.82559690e-02 -1.96551091e-03 1.60977170e+02] [-3.82560143e-02 9.99267971e-01 1.45709309e-05 4.56376543e+00] [ 1.96462953e-03 6.06323773e-05 9.99998068e-01 3.53913138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.844391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.04, Y:4.55, Z:0.35 [[ 9.99169913e-01 4.06893218e-02 -1.96551151e-03 1.61037075e+02] [-4.06893719e-02 9.99171844e-01 1.44903810e-05 4.55463226e+00] [ 1.96447336e-03 6.54970760e-05 9.99998068e-01 3.51770356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.904391418 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:161.10, Y:4.55, Z:0.35 [[ 9.99126363e-01 4.17450264e-02 -1.96551209e-03 1.61097218e+02] [-4.17450787e-02 9.99128294e-01 1.44111571e-05 4.54733276e+00] [ 1.96440034e-03 6.76518898e-05 9.99998068e-01 3.48940100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.964391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.16, Y:4.54, Z:0.35 [[ 9.99215700e-01 3.95489799e-02 -1.96551209e-03 1.61157699e+02] [-3.95490280e-02 9.99217631e-01 1.44111571e-05 4.53595445e+00] [ 1.96454428e-03 6.33342382e-05 9.99998068e-01 3.46739453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.024391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.22, Y:4.52, Z:0.35 [[ 9.99520145e-01 3.09130611e-02 -1.96551209e-03 1.61219131e+02] [-3.09130925e-02 9.99522076e-01 1.44111571e-05 4.52281171e+00] [ 1.96501822e-03 4.63558152e-05 9.99998068e-01 3.48168350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.084391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.28, Y:4.51, Z:0.35 [[ 9.99868560e-01 1.60934841e-02 -1.96551143e-03 1.61279781e+02] [-1.60934867e-02 9.99870491e-01 1.45000173e-05 4.50994233e+00] [ 1.96549024e-03 1.71338208e-05 9.99998068e-01 3.50238310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.144391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.34, Y:4.50, Z:0.35 [[ 9.99984076e-01 5.29010979e-03 -1.96551111e-03 1.61339973e+02] [-5.29009142e-03 9.99986007e-01 1.45436107e-05 4.50132929e+00] [ 1.96556055e-03 -4.14564563e-06 9.99998068e-01 3.50138248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.204391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.40, Y:4.49, Z:0.35 [[ 9.99940239e-01 -1.07542982e-02 -1.96551111e-03 1.61400751e+02] [ 1.07543476e-02 9.99942170e-01 1.45436107e-05 4.49008973e+00] [ 1.96524104e-03 -3.56805312e-05 9.99998068e-01 3.48911172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.46, Y:4.48, Z:0.35 [[ 9.99795312e-01 -2.01362992e-02 -1.96551111e-03 1.61459282e+02] [ 2.01363667e-02 9.99797243e-01 1.45436107e-05 4.48456987e+00] [ 1.96481974e-03 -5.41188862e-05 9.99998068e-01 3.51025918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.52, Y:4.48, Z:0.35 [[ 9.99508586e-01 -3.12845685e-02 -1.96551183e-03 1.61516902e+02] [ 3.12846573e-02 9.99510515e-01 1.44455625e-05 4.48149671e+00] [ 1.96409782e-03 -7.59288278e-05 9.99998068e-01 3.54850192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.57, Y:4.48, Z:0.36 [[ 9.99332227e-01 -3.64861055e-02 -1.96551648e-03 1.61574940e+02] [ 3.64862031e-02 9.99334157e-01 1.37821704e-05 4.48134345e+00] [ 1.96370490e-03 -8.54872006e-05 9.99998068e-01 3.55274736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.63, Y:4.48, Z:0.35 [[ 9.99196403e-01 -4.00335486e-02 -1.96552132e-03 1.61633269e+02] [ 4.00336516e-02 9.99198332e-01 1.30537834e-05 4.48447391e+00] [ 1.96342304e-03 -9.17302891e-05 9.99998068e-01 3.54037064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.69, Y:4.49, Z:0.35 [[ 9.99208056e-01 -3.97416453e-02 -1.96552277e-03 1.61691840e+02] [ 3.97417472e-02 9.99209985e-01 1.28318813e-05 4.49280909e+00] [ 1.96346002e-03 -9.09350282e-05 9.99998068e-01 3.49228835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56439141799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.75, Y:4.50, Z:0.35 [[ 9.99265586e-01 -3.82678005e-02 -1.96552652e-03 1.61749570e+02] [ 3.82678985e-02 9.99267516e-01 1.22286068e-05 4.49938128e+00] [ 1.96361884e-03 -8.74361954e-05 9.99998068e-01 3.47475442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.624391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.81, Y:4.51, Z:0.35 [[ 9.99323747e-01 -3.67176379e-02 -1.96553051e-03 1.61807333e+02] [ 3.67177315e-02 9.99325677e-01 1.15506048e-05 4.51031026e+00] [ 1.96378099e-03 -8.37126151e-05 9.99998068e-01 3.48493846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.684391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.87, Y:4.52, Z:0.35 [[ 9.99359638e-01 -3.57274367e-02 -1.96553437e-03 1.61865816e+02] [ 3.57275270e-02 9.99361568e-01 1.08511338e-05 4.51843360e+00] [ 1.96389183e-03 -8.10678673e-05 9.99998068e-01 3.50693012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.744391418 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:161.92, Y:4.53, Z:0.35 [[ 9.99398170e-01 -3.46328511e-02 -1.96553808e-03 1.61923365e+02] [ 3.46329379e-02 9.99400100e-01 1.01311916e-05 4.53162158e+00] [ 1.96400808e-03 -7.81974527e-05 9.99998068e-01 3.52670283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.804391418 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:161.98, Y:4.54, Z:0.35 [[ 9.99435250e-01 -3.35457455e-02 -1.96553919e-03 1.61982127e+02] [ 3.35458298e-02 9.99437180e-01 9.91167660e-06 4.54411739e+00] [ 1.96410045e-03 -7.58417220e-05 9.99998068e-01 3.52997654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.864391418 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:162.04, Y:4.55, Z:0.35 [[ 9.99490289e-01 -3.18637552e-02 -1.96554210e-03 1.62040881e+02] [ 3.18638350e-02 9.99492219e-01 9.29550007e-06 4.55415602e+00] [ 1.96424785e-03 -7.19204713e-05 9.99998068e-01 3.52030226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.924391418 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:162.10, Y:4.57, Z:0.35 [[ 9.99542938e-01 -3.01670498e-02 -1.96554270e-03 1.62100624e+02] [ 3.01671261e-02 9.99544869e-01 9.16667060e-06 4.56918462e+00] [ 1.96437159e-03 -6.84572554e-05 9.99998068e-01 3.49322902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98439141799997 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:162.16, Y:4.58, Z:0.35 [[ 9.99628284e-01 -2.71924876e-02 -1.96554312e-03 1.62160148e+02] [ 2.71925579e-02 9.99630214e-01 9.07578771e-06 4.57716035e+00] [ 1.96456950e-03 -6.25205593e-05 9.99998068e-01 3.51638798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04439141799998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:162.22, Y:4.59, Z:0.35 [[ 9.99716388e-01 -2.37335148e-02 -1.96554332e-03 1.62220952e+02] [ 2.37335784e-02 9.99718319e-01 9.03166039e-06 4.58902614e+00] [ 1.96477531e-03 -5.56784755e-05 9.99998068e-01 3.53139013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10439141799998 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:162.28, Y:4.60, Z:0.35 [[ 9.99802399e-01 -1.97812765e-02 -1.96554332e-03 1.62281665e+02] [ 1.97813325e-02 9.99804330e-01 9.03166039e-06 4.59927676e+00] [ 1.96498007e-03 -4.79109418e-05 9.99998068e-01 3.50435549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16439141799998 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:162.34, Y:4.61, Z:0.35 [[ 9.99875250e-01 -1.56723026e-02 -1.96554332e-03 1.62341331e+02] [ 1.56723506e-02 9.99877181e-01 9.03166039e-06 4.60577662e+00] [ 1.96516037e-03 -3.98352178e-05 9.99998068e-01 3.48449725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22439141799998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:162.40, Y:4.61, Z:0.35 [[ 9.99928347e-01 -1.18083252e-02 -1.96554353e-03 1.62401814e+02] [ 1.18083657e-02 9.99930279e-01 8.98613329e-06 4.61120294e+00] [ 1.96530038e-03 -3.21953462e-05 9.99998068e-01 3.49350868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28439141799998 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:162.46, Y:4.62, Z:0.35 [[ 9.99965855e-01 -8.02650550e-03 -1.96554353e-03 1.62462639e+02] [ 8.02653866e-03 9.99967787e-01 8.98613329e-06 4.61658832e+00] [ 1.96540809e-03 -2.47623376e-05 9.99998068e-01 3.51477167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.344391418 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:162.52, Y:4.62, Z:0.35 [[ 9.99983852e-01 -5.33223941e-03 -1.96554353e-03 1.62523371e+02] [ 5.33226737e-03 9.99985783e-01 8.98613329e-06 4.62363832e+00] [ 1.96546767e-03 -1.94667918e-05 9.99998068e-01 3.53610661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.404391418 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:162.58, Y:4.63, Z:0.35 [[ 9.99980637e-01 -5.90439352e-03 -1.96554353e-03 1.62583540e+02] [ 5.90442259e-03 9.99982569e-01 8.98613329e-06 4.62743228e+00] [ 1.96545621e-03 -2.05913589e-05 9.99998068e-01 3.53346423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.464391418 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:162.64, Y:4.63, Z:0.35 [[ 9.99969045e-01 -7.61878865e-03 -1.96554395e-03 1.62643341e+02] [ 7.61882085e-03 9.99970976e-01 8.89343718e-06 4.63108685e+00] [ 1.96541915e-03 -2.38682891e-05 9.99998068e-01 3.51004382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.524391418 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:162.70, Y:4.63, Z:0.35 [[ 9.99926319e-01 -1.19788518e-02 -1.96554389e-03 1.62702937e+02] [ 1.19788924e-02 9.99928250e-01 8.90794660e-06 4.63328656e+00] [ 1.96529615e-03 -3.24523290e-05 9.99998068e-01 3.45260372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.584391418 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:162.76, Y:4.63, Z:0.35 [[ 9.99889965e-01 -1.47035861e-02 -1.96554408e-03 1.62763267e+02] [ 1.47036319e-02 9.99891896e-01 8.86584140e-06 4.63419955e+00] [ 1.96520123e-03 -3.77655025e-05 9.99998068e-01 3.45200239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.644391418 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:162.82, Y:4.63, Z:0.35 [[ 9.99854312e-01 -1.69555884e-02 -1.96554408e-03 1.62823382e+02] [ 1.69556386e-02 9.99856243e-01 8.86584140e-06 4.63443748e+00] [ 1.96511119e-03 -4.21916048e-05 9.99998068e-01 3.47289705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.704391418 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:162.88, Y:4.64, Z:0.35 [[ 9.99853054e-01 -1.70295825e-02 -1.96554408e-03 1.62883660e+02] [ 1.70296328e-02 9.99854985e-01 8.86584140e-06 4.63625087e+00] [ 1.96510806e-03 -4.23370324e-05 9.99998068e-01 3.46552911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.94, Y:4.64, Z:0.35 [[ 9.99900714e-01 -1.39534304e-02 -1.96554337e-03 1.62944230e+02] [ 1.39534751e-02 9.99902645e-01 9.01890361e-06 4.63862807e+00] [ 1.96522617e-03 -3.64441687e-05 9.99998068e-01 3.47886725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.00, Y:4.64, Z:0.35 [[ 9.99938663e-01 -1.08998336e-02 -1.96554318e-03 1.63004339e+02] [ 1.08998725e-02 9.99940595e-01 9.06081521e-06 4.64005726e+00] [ 1.96532766e-03 -3.04844295e-05 9.99998068e-01 3.49550709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.07, Y:4.64, Z:0.35 [[ 9.99982937e-01 -5.50117017e-03 -1.96554318e-03 1.63065155e+02] [ 5.50119861e-03 9.99984868e-01 9.06081521e-06 4.64238334e+00] [ 1.96546359e-03 -1.98735040e-05 9.99998068e-01 3.50806164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94439141799998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:163.13, Y:4.64, Z:0.35 [[ 9.99997058e-01 -1.42142068e-03 -1.96554318e-03 1.63125733e+02] [ 1.42144123e-03 9.99998990e-01 9.06081522e-06 4.64392005e+00] [ 1.96552832e-03 -1.18546927e-05 9.99998068e-01 3.51888129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.19, Y:4.64, Z:0.35 [[ 9.99993052e-01 3.16757979e-03 -1.96554318e-03 1.63185478e+02] [-3.16756810e-03 9.99994983e-01 9.06081522e-06 4.64482765e+00] [ 1.96556202e-03 -2.83476038e-06 9.99998068e-01 3.52775487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06439141799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.25, Y:4.64, Z:0.35 [[ 9.99993721e-01 2.94852245e-03 -1.96554358e-03 1.63245180e+02] [-2.94851051e-03 9.99995653e-01 8.97291847e-06 4.64309851e+00] [ 1.96556149e-03 -3.17743622e-06 9.99998068e-01 3.50347738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.124391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.31, Y:4.64, Z:0.35 [[ 9.99998052e-01 1.81094119e-04 -1.96554397e-03 1.63305011e+02] [-1.81077002e-04 9.99999984e-01 8.88630761e-06 4.64159409e+00] [ 1.96554555e-03 -8.53037549e-06 9.99998068e-01 3.47786367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.184391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.36, Y:4.64, Z:0.35 [[ 9.99993257e-01 -3.10196145e-03 -1.96554436e-03 1.63364424e+02] [ 3.10198474e-03 9.99995189e-01 8.80013190e-06 4.63916204e+00] [ 1.96550760e-03 -1.48971612e-05 9.99998068e-01 3.46465291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.244391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.42, Y:4.64, Z:0.35 [[ 9.99987658e-01 -4.56293078e-03 -1.96554474e-03 1.63424287e+02] [ 4.56295672e-03 9.99989590e-01 8.71400071e-06 4.63755204e+00] [ 1.96548452e-03 -1.76825888e-05 9.99998068e-01 3.47948136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.304391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.48, Y:4.64, Z:0.35 [[ 9.99989665e-01 -4.09959652e-03 -1.96554513e-03 1.63484147e+02] [ 4.09962139e-03 9.99991596e-01 8.62505151e-06 4.63536847e+00] [ 1.96549325e-03 -1.66829532e-05 9.99998068e-01 3.49864157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.364391418 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:163.54, Y:4.63, Z:0.35 [[ 9.99992473e-01 -3.34523657e-03 -1.96554513e-03 1.63543684e+02] [ 3.34525998e-03 9.99994405e-01 8.62591550e-06 4.63398796e+00] [ 1.96550527e-03 -1.52011100e-05 9.99998068e-01 3.51073241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.424391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.60, Y:4.63, Z:0.35 [[ 9.99990013e-01 -4.01385915e-03 -1.96554550e-03 1.63603212e+02] [ 4.01388368e-03 9.99991944e-01 8.53992821e-06 4.63152406e+00] [ 1.96549539e-03 -1.64293139e-05 9.99998068e-01 3.54039300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.66, Y:4.63, Z:0.35 [[ 9.99990599e-01 -3.86505817e-03 -1.96554589e-03 1.63663298e+02] [ 3.86508225e-03 9.99992531e-01 8.44919355e-06 4.62663606e+00] [ 1.96549855e-03 -1.60461107e-05 9.99998068e-01 3.53679912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.72, Y:4.62, Z:0.35 [[ 9.99994353e-01 -2.72596626e-03 -1.96554628e-03 1.63722723e+02] [ 2.72598795e-03 9.99996284e-01 8.35867959e-06 4.62462268e+00] [ 1.96551619e-03 -1.37166879e-05 9.99998068e-01 3.53919937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.78, Y:4.62, Z:0.35 [[ 9.99997448e-01 1.11413971e-03 -1.96554666e-03 1.63782116e+02] [-1.11412561e-03 9.99999379e-01 8.26676022e-06 4.62150140e+00] [ 1.96555465e-03 -6.07687325e-06 9.99998068e-01 3.52304576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.84, Y:4.62, Z:0.35 [[ 9.99994015e-01 2.84720478e-03 -1.96554704e-03 1.63841113e+02] [-2.84719421e-03 9.99995947e-01 8.17560481e-06 4.61950023e+00] [ 1.96556235e-03 -2.57926172e-06 9.99998068e-01 3.50477064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.90, Y:4.62, Z:0.35 [[ 9.99996189e-01 1.93880706e-03 -1.96554759e-03 1.63899690e+02] [-1.93879500e-03 9.99998121e-01 8.04200662e-06 4.61623563e+00] [ 1.96555949e-03 -4.23118213e-06 9.99998068e-01 3.52318911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.96, Y:4.61, Z:0.35 [[ 9.99998039e-01 2.41925922e-04 -1.96554811e-03 1.63959714e+02] [-2.41910837e-04 9.99999971e-01 7.91251228e-06 4.61387748e+00] [ 1.96554997e-03 -7.43700938e-06 9.99998068e-01 3.51376417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.844391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.02, Y:4.61, Z:0.35 [[ 9.99991333e-01 -3.67020527e-03 -1.96554845e-03 1.64019624e+02] [ 3.67022775e-03 9.99993265e-01 7.82785231e-06 4.61005346e+00] [ 1.96550648e-03 -1.50417949e-05 9.99998068e-01 3.50845103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.904391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.08, Y:4.61, Z:0.35 [[ 9.99951785e-01 -9.62102699e-03 -1.96554878e-03 1.64079075e+02] [ 9.62106080e-03 9.99953716e-01 7.74396763e-06 4.60635802e+00] [ 1.96538330e-03 -2.66542585e-05 9.99998068e-01 3.54534369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.964391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.14, Y:4.60, Z:0.36 [[ 9.99903599e-01 -1.37451468e-02 -1.96554912e-03 1.64139190e+02] [ 1.37451884e-02 9.99905530e-01 7.65663243e-06 4.60428582e+00] [ 1.96525819e-03 -3.46727373e-05 9.99998068e-01 3.56731290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.024391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.20, Y:4.60, Z:0.36 [[ 9.99870180e-01 -1.59925046e-02 -1.96554912e-03 1.64199804e+02] [ 1.59925506e-02 9.99872111e-01 7.65663242e-06 4.60273042e+00] [ 1.96517530e-03 -3.90897821e-05 9.99998068e-01 3.58830528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.084391418 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:164.26, Y:4.60, Z:0.36 [[ 9.99895936e-01 -1.42917314e-02 -1.96554912e-03 1.64260293e+02] [ 1.42917741e-02 9.99897867e-01 7.65663242e-06 4.60167878e+00] [ 1.96523894e-03 -3.57470196e-05 9.99998068e-01 3.58466845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.144391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.32, Y:4.60, Z:0.36 [[ 9.99913703e-01 -1.29893691e-02 -1.96554912e-03 1.64320962e+02] [ 1.29894092e-02 9.99915634e-01 7.65663243e-06 4.60159469e+00] [ 1.96528384e-03 -3.31872935e-05 9.99998068e-01 3.57552915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.204391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.38, Y:4.60, Z:0.36 [[ 9.99963785e-01 -8.28037144e-03 -1.96554912e-03 1.64380582e+02] [ 8.28040248e-03 9.99965717e-01 7.65663243e-06 4.60154036e+00] [ 1.96541833e-03 -2.39318929e-05 9.99998068e-01 3.55243776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.44, Y:4.60, Z:0.36 [[ 9.99989819e-01 -4.06194424e-03 -1.96554928e-03 1.64441290e+02] [ 4.06196705e-03 9.99991750e-01 7.61466958e-06 4.60137948e+00] [ 1.96550213e-03 -1.55985885e-05 9.99998068e-01 3.56159093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.50, Y:4.60, Z:0.36 [[ 9.99992183e-01 3.43067948e-03 -1.96554928e-03 1.64500929e+02] [-3.43067114e-03 9.99994115e-01 7.61466958e-06 4.60213332e+00] [ 1.96556384e-03 -8.71456872e-07 9.99998068e-01 3.57440265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.56, Y:4.60, Z:0.36 [[ 9.99968887e-01 7.63952422e-03 -1.96554961e-03 1.64560083e+02] [-7.63952418e-03 9.99970818e-01 7.52727754e-06 4.60251778e+00] [ 1.96554976e-03 7.48882046e-06 9.99998068e-01 3.56943864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.62, Y:4.60, Z:0.36 [[ 9.99925701e-01 1.20303574e-02 -1.96555010e-03 1.64619702e+02] [-1.20303661e-02 9.99927633e-01 7.39823218e-06 4.59934807e+00] [ 1.96549686e-03 1.62486047e-05 9.99998068e-01 3.55202174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.68, Y:4.60, Z:0.35 [[ 9.99931751e-01 1.15165303e-02 -1.96555044e-03 1.64678772e+02] [-1.15165382e-02 9.99933682e-01 7.30663989e-06 4.59894146e+00] [ 1.96550424e-03 1.53301954e-05 9.99998068e-01 3.54377591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56439141799999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:164.74, Y:4.59, Z:0.36 [[ 9.99980037e-01 6.00522677e-03 -1.96555110e-03 1.64738122e+02] [-6.00522436e-03 9.99981968e-01 7.12464103e-06 4.59486946e+00] [ 1.96555844e-03 4.67907655e-06 9.99998068e-01 3.56875197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.624391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.80, Y:4.59, Z:0.36 [[ 9.99997685e-01 -8.75149856e-04 -1.96555144e-03 1.64797995e+02] [ 8.75165365e-04 9.99999617e-01 7.03008342e-06 4.59149360e+00] [ 1.96554453e-03 -8.75024969e-06 9.99998068e-01 3.60842149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.684391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.86, Y:4.59, Z:0.36 [[ 9.99929354e-01 -1.17227586e-02 -1.96555177e-03 1.64857588e+02] [ 1.17227949e-02 9.99931286e-01 6.93638671e-06 4.58666388e+00] [ 1.96533539e-03 -2.99776570e-05 9.99998068e-01 3.64281886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.744391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.92, Y:4.58, Z:0.36 [[ 9.99753945e-01 -2.20949229e-02 -1.96555165e-03 1.64916933e+02] [ 2.20949793e-02 9.99755876e-01 6.97025055e-06 4.58262687e+00] [ 1.96491780e-03 -5.03973584e-05 9.99998068e-01 3.62710404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.804391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.98, Y:4.58, Z:0.36 [[ 9.99634660e-01 -2.69570644e-02 -1.96555180e-03 1.64977632e+02] [ 2.69571300e-02 9.99636591e-01 6.92855965e-06 4.58153583e+00] [ 1.96465072e-03 -5.99116638e-05 9.99998068e-01 3.59642027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.864391418 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:165.04, Y:4.58, Z:0.36 [[ 9.99546019e-01 -3.00647990e-02 -1.96555180e-03 1.65038496e+02] [ 3.00648707e-02 9.99547950e-01 6.92855965e-06 4.58244843e+00] [ 1.96445496e-03 -6.60194748e-05 9.99998068e-01 3.57825900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.924391418 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:165.10, Y:4.58, Z:0.36 [[ 9.99560536e-01 -2.95782340e-02 -1.96555180e-03 1.65099196e+02] [ 2.95783047e-02 9.99562466e-01 6.92855965e-06 4.58453977e+00] [ 1.96448687e-03 -6.50632047e-05 9.99998068e-01 3.60031054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98439141799997 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:165.16, Y:4.59, Z:0.36 [[ 9.99620243e-01 -2.74864870e-02 -1.96555180e-03 1.65158631e+02] [ 2.74865537e-02 9.99622173e-01 6.92855965e-06 4.58945023e+00] [ 1.96461872e-03 -6.09521734e-05 9.99998068e-01 3.62554927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04439141799998 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:165.22, Y:4.59, Z:0.36 [[ 9.99654780e-01 -2.62003336e-02 -1.96555194e-03 1.65218100e+02] [ 2.62003978e-02 9.99656711e-01 6.88885837e-06 4.59475132e+00] [ 1.96469669e-03 -5.83847228e-05 9.99998068e-01 3.61243273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10439141799998 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:165.28, Y:4.60, Z:0.36 [[ 9.99630323e-01 -2.71174287e-02 -1.96555190e-03 1.65278560e+02] [ 2.71174946e-02 9.99632253e-01 6.89930362e-06 4.59847581e+00] [ 1.96464198e-03 -6.01975962e-05 9.99998068e-01 3.59425033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.34, Y:4.61, Z:0.36 [[ 9.99489199e-01 -3.18979301e-02 -1.96555190e-03 1.65339508e+02] [ 3.18980053e-02 9.99491129e-01 6.89930362e-06 4.60513033e+00] [ 1.96433161e-03 -6.95929644e-05 9.99998068e-01 3.59717020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22439141799998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:165.40, Y:4.61, Z:0.36 [[ 9.99383125e-01 -3.50643093e-02 -1.96555190e-03 1.65400507e+02] [ 3.50643905e-02 9.99385055e-01 6.89930362e-06 4.60995989e+00] [ 1.96410127e-03 -7.58159270e-05 9.99998068e-01 3.64329548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.46, Y:4.62, Z:0.37 [[ 9.99197318e-01 -4.00107093e-02 -1.96555159e-03 1.65462185e+02] [ 4.00108003e-02 9.99199247e-01 6.98749799e-06 4.61971693e+00] [ 1.96369809e-03 -8.56251813e-05 9.99998068e-01 3.65405537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.344391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.52, Y:4.63, Z:0.36 [[ 9.99158163e-01 -4.09768375e-02 -1.96555126e-03 1.65523767e+02] [ 4.09769306e-02 9.99160093e-01 7.07755616e-06 4.62628228e+00] [ 1.96361036e-03 -8.76138556e-05 9.99998068e-01 3.63115369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.404391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.58, Y:4.64, Z:0.36 [[ 9.99277140e-01 -3.79649131e-02 -1.96555094e-03 1.65584814e+02] [ 3.79650005e-02 9.99279069e-01 7.16647684e-06 4.63781375e+00] [ 1.96386184e-03 -8.17834388e-05 9.99998068e-01 3.59131799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.464391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.64, Y:4.65, Z:0.36 [[ 9.99408243e-01 -3.43409502e-02 -1.96555061e-03 1.65644904e+02] [ 3.43410308e-02 9.99410173e-01 7.25467116e-06 4.64616797e+00] [ 1.96414214e-03 -7.47494122e-05 9.99998068e-01 3.56727024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.524391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.71, Y:4.66, Z:0.36 [[ 9.99640800e-01 -2.67283987e-02 -1.96555045e-03 1.65706217e+02] [ 2.67284647e-02 9.99642731e-01 7.29823720e-06 4.65675067e+00] [ 1.96465315e-03 -5.98317615e-05 9.99998068e-01 3.62822468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.584391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.77, Y:4.66, Z:0.36 [[ 9.99733849e-01 -2.29862403e-02 -1.96555013e-03 1.65767379e+02] [ 2.29862992e-02 9.99735780e-01 7.38248792e-06 4.66410881e+00] [ 1.96486110e-03 -5.25612465e-05 9.99998068e-01 3.61989634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.644391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.83, Y:4.67, Z:0.36 [[ 9.99795703e-01 -2.01168586e-02 -1.96554979e-03 1.65829148e+02] [ 2.01169121e-02 9.99797634e-01 7.47243719e-06 4.67412014e+00] [ 1.96500171e-03 -4.70117030e-05 9.99998068e-01 3.61170338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.704391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.89, Y:4.68, Z:0.36 [[ 9.99814146e-01 -1.91783808e-02 -1.96554945e-03 1.65889756e+02] [ 1.91784327e-02 9.99816077e-01 7.56186916e-06 4.68069684e+00] [ 1.96504291e-03 -4.52566215e-05 9.99998068e-01 3.60921422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.95, Y:4.69, Z:0.36 [[ 9.99881982e-01 -1.52367286e-02 -1.96554928e-03 1.65951095e+02] [ 1.52367730e-02 9.99883914e-01 7.60578405e-06 4.69028031e+00] [ 1.96520522e-03 -3.75535145e-05 9.99998068e-01 3.58568457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82439141799998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:166.01, Y:4.70, Z:0.36 [[ 9.99939718e-01 -1.08026556e-02 -1.96554895e-03 1.66012434e+02] [ 1.08026916e-02 9.99941649e-01 7.68971745e-06 4.69837417e+00] [ 1.96535119e-03 -2.89224730e-05 9.99998068e-01 3.60812873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.07, Y:4.70, Z:0.36 [[ 9.99964627e-01 -8.17813795e-03 -1.96554861e-03 1.66074269e+02] [ 8.17816903e-03 9.99966558e-01 7.77551341e-06 4.70235554e+00] [ 1.96541929e-03 -2.38498271e-05 9.99998068e-01 3.62409155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94439141799998 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:166.14, Y:4.71, Z:0.36 [[ 9.99941107e-01 -1.06733328e-02 -1.96554827e-03 1.66135037e+02] [ 1.06733689e-02 9.99943038e-01 7.85980664e-06 4.70751740e+00] [ 1.96535242e-03 -2.88383656e-05 9.99998068e-01 3.61337385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00439141799998 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:166.20, Y:4.71, Z:0.36 [[ 9.99868446e-01 -1.61005253e-02 -1.96554827e-03 1.66196657e+02] [ 1.61005719e-02 9.99870377e-01 7.85980664e-06 4.71027437e+00] [ 1.96516695e-03 -3.95052239e-05 9.99998068e-01 3.62168535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06439141799999 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:166.26, Y:4.71, Z:0.36 [[ 9.99791599e-01 -2.03198330e-02 -1.96554791e-03 1.66257780e+02] [ 2.03198879e-02 9.99793530e-01 7.94996205e-06 4.71186547e+00] [ 1.96498054e-03 -4.78880184e-05 9.99998068e-01 3.61845160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.124391418 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:166.32, Y:4.71, Z:0.36 [[ 9.99700696e-01 -2.43855656e-02 -1.96554738e-03 1.66319465e+02] [ 2.43856286e-02 9.99702626e-01 8.07904480e-06 4.71276703e+00] [ 1.96476586e-03 -5.60077350e-05 9.99998068e-01 3.62616640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.184391418 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:166.38, Y:4.71, Z:0.36 [[ 9.99583402e-01 -2.87951081e-02 -1.96554685e-03 1.66380596e+02] [ 2.87951799e-02 9.99585333e-01 8.20608546e-06 4.71470717e+00] [ 1.96449550e-03 -6.48009418e-05 9.99998068e-01 3.64436366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.244391418 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:166.44, Y:4.72, Z:0.36 [[ 9.99588956e-01 -2.86016599e-02 -1.96554632e-03 1.66442381e+02] [ 2.86017315e-02 9.99590887e-01 8.33000426e-06 4.71580768e+00] [ 1.96450394e-03 -6.45446085e-05 9.99998068e-01 3.64972541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.304391418 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:166.50, Y:4.72, Z:0.36 [[ 9.99732834e-01 -2.30303668e-02 -1.96554562e-03 1.66503720e+02] [ 2.30304280e-02 9.99734764e-01 8.49227013e-06 4.71830920e+00] [ 1.96482871e-03 -5.37573582e-05 9.99998068e-01 3.63256631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.364391418 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:166.57, Y:4.72, Z:0.36 [[ 9.99880347e-01 -1.53436783e-02 -1.96554510e-03 1.66565052e+02] [ 1.53437249e-02 9.99882278e-01 8.61194603e-06 4.72088777e+00] [ 1.96518157e-03 -3.87696987e-05 9.99998068e-01 3.60884671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.424391418 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:166.63, Y:4.72, Z:0.36 [[ 9.99996579e-01 -1.72586985e-03 -1.96554475e-03 1.66625878e+02] [ 1.72589027e-03 9.99998511e-01 8.69117701e-06 4.72433633e+00] [ 1.96552682e-03 -1.20834618e-05 9.99998068e-01 3.58880528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48439141799997 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:166.69, Y:4.73, Z:0.36 [[ 9.99961085e-01 8.60025083e-03 -1.96554457e-03 1.66685620e+02] [-8.60025028e-03 9.99963017e-01 8.73080444e-06 4.72533602e+00] [ 1.96554697e-03 8.17371055e-06 9.99998068e-01 3.62054904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54439141799998 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:166.74, Y:4.72, Z:0.36 [[ 9.99912535e-01 1.30789433e-02 -1.96554493e-03 1.66744301e+02] [-1.30789516e-02 9.99914467e-01 8.64791753e-06 4.72440666e+00] [ 1.96548992e-03 1.70601059e-05 9.99998068e-01 3.63430219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60439141799998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:166.80, Y:4.72, Z:0.36 [[ 9.99861907e-01 1.65016146e-02 -1.96554564e-03 1.66801925e+02] [-1.65016298e-02 9.99863839e-01 8.48492322e-06 4.72111382e+00] [ 1.96541802e-03 2.39509550e-05 9.99998068e-01 3.61787878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66439141799998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:166.86, Y:4.72, Z:0.36 [[ 9.99885169e-01 1.50261746e-02 -1.96554648e-03 1.66861061e+02] [-1.50261873e-02 9.99887100e-01 8.28436249e-06 4.71693990e+00] [ 1.96544906e-03 2.12512585e-05 9.99998068e-01 3.59395031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72439141799998 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:166.92, Y:4.71, Z:0.36 [[ 9.99939011e-01 1.08678781e-02 -1.96554714e-03 1.66919618e+02] [-1.08678831e-02 9.99940943e-01 8.12549046e-06 4.71194713e+00] [ 1.96551937e-03 1.32363416e-05 9.99998068e-01 3.57139787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78439141799998 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:166.98, Y:4.70, Z:0.36 [[ 9.99988041e-01 4.47814358e-03 -1.96554777e-03 1.66978242e+02] [-4.47813657e-03 9.99989973e-01 7.96927130e-06 4.70407431e+00] [ 1.96556375e-03 8.32815366e-07 9.99998068e-01 3.58784105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.844391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.04, Y:4.70, Z:0.36 [[ 9.99996585e-01 1.72262253e-03 -1.96554823e-03 1.67036976e+02] [-1.72261042e-03 9.99998516e-01 7.85425052e-06 4.69857675e+00] [ 1.96555885e-03 -4.46834983e-06 9.99998068e-01 3.61180181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.904391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.10, Y:4.69, Z:0.36 [[ 9.99997305e-01 1.23564990e-03 -1.96554883e-03 1.67095459e+02] [-1.23563714e-03 9.99999237e-01 7.70285751e-06 4.69074876e+00] [ 1.96555684e-03 -5.27413162e-06 9.99998068e-01 3.63178860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.964391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.15, Y:4.68, Z:0.36 [[ 9.99996558e-01 -1.73791236e-03 -1.96554914e-03 1.67154885e+02] [ 1.73793070e-03 9.99998490e-01 7.62186578e-06 4.68287584e+00] [ 1.96553293e-03 -1.10378277e-05 9.99998068e-01 3.60826227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.024391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.21, Y:4.68, Z:0.36 [[ 9.99995552e-01 -2.24322857e-03 -1.96554942e-03 1.67214119e+02] [ 2.24324774e-03 9.99997484e-01 7.54780691e-06 4.67618996e+00] [ 1.96552755e-03 -1.19569876e-05 9.99998068e-01 3.60755097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.084391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.27, Y:4.67, Z:0.36 [[ 9.99955060e-01 -9.27435700e-03 -1.96554956e-03 1.67273650e+02] [ 9.27438968e-03 9.99956992e-01 7.51126365e-06 4.66722891e+00] [ 1.96539537e-03 -2.57401987e-05 9.99998068e-01 3.63282446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.144391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.33, Y:4.66, Z:0.37 [[ 9.99900907e-01 -1.39395981e-02 -1.96554942e-03 1.67334205e+02] [ 1.39396399e-02 9.99902838e-01 7.54954690e-06 4.66165990e+00] [ 1.96525320e-03 -3.49478498e-05 9.99998068e-01 3.65004558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.204391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.40, Y:4.65, Z:0.36 [[ 9.99826106e-01 -1.85443627e-02 -1.96554942e-03 1.67395076e+02] [ 1.85444134e-02 9.99828038e-01 7.54954691e-06 4.65491988e+00] [ 1.96507142e-03 -4.39981950e-05 9.99998068e-01 3.63460308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.46, Y:4.65, Z:0.36 [[ 9.99815691e-01 -1.90976865e-02 -1.96554911e-03 1.67456143e+02] [ 1.90977383e-02 9.99817622e-01 7.62802466e-06 4.65186819e+00] [ 1.96504496e-03 -4.51641614e-05 9.99998068e-01 3.60858126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.52, Y:4.65, Z:0.36 [[ 9.99848713e-01 -1.72825829e-02 -1.96554878e-03 1.67517806e+02] [ 1.72826314e-02 9.99850644e-01 7.71363383e-06 4.64999492e+00] [ 1.96512190e-03 -4.16823219e-05 9.99998068e-01 3.55485971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.58, Y:4.65, Z:0.36 [[ 9.99927265e-01 -1.18996452e-02 -1.96554842e-03 1.67577705e+02] [ 1.18996835e-02 9.99929196e-01 7.80395925e-06 4.65048777e+00] [ 1.96531639e-03 -3.11927958e-05 9.99998068e-01 3.56156736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.64, Y:4.65, Z:0.36 [[ 9.99960709e-01 -8.64395396e-03 -1.96554824e-03 1.67637559e+02] [ 8.64398608e-03 9.99962640e-01 7.84794921e-06 4.64997815e+00] [ 1.96540697e-03 -2.48378125e-05 9.99998068e-01 3.60012647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.70, Y:4.65, Z:0.36 [[ 9.99975447e-01 -6.72627288e-03 -1.96554807e-03 1.67698280e+02] [ 6.72630138e-03 9.99977378e-01 7.89164033e-06 4.64960114e+00] [ 1.96545052e-03 -2.11123153e-05 9.99998068e-01 3.61993093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56439141799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.76, Y:4.65, Z:0.36 [[ 9.99965648e-01 -8.05223238e-03 -1.96554807e-03 1.67758868e+02] [ 8.05226344e-03 9.99967580e-01 7.89164033e-06 4.64942817e+00] [ 1.96542080e-03 -2.37184801e-05 9.99998068e-01 3.61584443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.624391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.82, Y:4.65, Z:0.36 [[ 9.99942048e-01 -1.05847903e-02 -1.96554807e-03 1.67819360e+02] [ 1.05848262e-02 9.99943979e-01 7.89164033e-06 4.64976400e+00] [ 1.96535442e-03 -2.86961677e-05 9.99998068e-01 3.62158546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.684391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.88, Y:4.65, Z:0.36 [[ 9.99933400e-01 -1.13724006e-02 -1.96554807e-03 1.67879966e+02] [ 1.13724381e-02 9.99935332e-01 7.89164033e-06 4.64997275e+00] [ 1.96533121e-03 -3.02441885e-05 9.99998068e-01 3.63461959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.744391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.94, Y:4.65, Z:0.37 [[ 9.99922916e-01 -1.22596439e-02 -1.96554790e-03 1.67940014e+02] [ 1.22596832e-02 9.99924847e-01 7.93345783e-06 4.65127788e+00] [ 1.96530292e-03 -3.20298409e-05 9.99998068e-01 3.66079522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.804391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.00, Y:4.65, Z:0.37 [[ 9.99925917e-01 -1.20123466e-02 -1.96554790e-03 1.68000766e+02] [ 1.20123854e-02 9.99927849e-01 7.93345783e-06 4.65110199e+00] [ 1.96531078e-03 -3.15437890e-05 9.99998068e-01 3.65149733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.864391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.06, Y:4.65, Z:0.37 [[ 9.99921864e-01 -1.23451119e-02 -1.96554790e-03 1.68061082e+02] [ 1.23451514e-02 9.99923796e-01 7.93345783e-06 4.65444137e+00] [ 1.96530018e-03 -3.21978243e-05 9.99998068e-01 3.65883321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.924391418 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:168.12, Y:4.65, Z:0.37 [[ 9.99922346e-01 -1.23060036e-02 -1.96554772e-03 1.68122730e+02] [ 1.23060431e-02 9.99924278e-01 7.97836928e-06 4.65497695e+00] [ 1.96530070e-03 -3.21658646e-05 9.99998068e-01 3.65580760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.18, Y:4.66, Z:0.36 [[ 9.99905125e-01 -1.36336803e-02 -1.96554736e-03 1.68183613e+02] [ 1.36337225e-02 9.99907056e-01 8.06576822e-06 4.65803266e+00] [ 1.96525471e-03 -3.48627301e-05 9.99998068e-01 3.63859068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.24, Y:4.66, Z:0.36 [[ 9.99843042e-01 -1.76075922e-02 -1.96554700e-03 1.68244661e+02] [ 1.76076422e-02 9.99844973e-01 8.15190634e-06 4.65895585e+00] [ 1.96509875e-03 -4.27592752e-05 9.99998068e-01 3.63168334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.31, Y:4.66, Z:0.36 [[ 9.99659169e-01 -2.60323373e-02 -1.96554664e-03 1.68306235e+02] [ 2.60324038e-02 9.99661100e-01 8.23737322e-06 4.66120547e+00] [ 1.96466608e-03 -5.94024695e-05 9.99998068e-01 3.64756748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.37, Y:4.66, Z:0.37 [[ 9.99578371e-01 -2.89692446e-02 -1.96554628e-03 1.68367038e+02] [ 2.89693169e-02 9.99580301e-01 8.32213612e-06 4.66399098e+00] [ 1.96448026e-03 -6.52591603e-05 9.99998068e-01 3.66578635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.43, Y:4.67, Z:0.37 [[ 9.99663877e-01 -2.58509198e-02 -1.96554508e-03 1.68427655e+02] [ 2.58509866e-02 9.99665807e-01 8.59831053e-06 4.67058724e+00] [ 1.96466593e-03 -5.94066999e-05 9.99998068e-01 3.69031748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.49, Y:4.68, Z:0.37 [[ 9.99795962e-01 -2.01039832e-02 -1.96554490e-03 1.68488686e+02] [ 2.01040390e-02 9.99797893e-01 8.63870851e-06 4.67510399e+00] [ 1.96497398e-03 -4.81523371e-05 9.99998068e-01 3.69471032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.344391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.55, Y:4.68, Z:0.37 [[ 9.99922307e-01 -1.23092218e-02 -1.96554455e-03 1.68548803e+02] [ 1.23092627e-02 9.99924238e-01 8.71786426e-06 4.68267330e+00] [ 1.96528832e-03 -3.29115911e-05 9.99998068e-01 3.68760676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.404391418 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:168.61, Y:4.69, Z:0.37 [[ 9.99939625e-01 -1.08112749e-02 -1.96554437e-03 1.68609493e+02] [ 1.08113129e-02 9.99941556e-01 8.75671377e-06 4.68890882e+00] [ 1.96533483e-03 -3.00063004e-05 9.99998068e-01 3.67688074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.464391418 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:168.67, Y:4.69, Z:0.37 [[ 9.99901617e-01 -1.38885867e-02 -1.96554420e-03 1.68670624e+02] [ 1.38886308e-02 9.99903548e-01 8.79508191e-06 4.69196675e+00] [ 1.96523247e-03 -3.60929343e-05 9.99998068e-01 3.67201913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.524391418 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:168.73, Y:4.69, Z:0.37 [[ 9.99774669e-01 -2.11364034e-02 -1.96554386e-03 1.68731942e+02] [ 2.11364617e-02 9.99776600e-01 8.87005018e-06 4.69499121e+00] [ 1.96491728e-03 -5.04126941e-05 9.99998068e-01 3.65930160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.584391418 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:168.79, Y:4.70, Z:0.36 [[ 9.99683249e-01 -2.50906154e-02 -1.96554348e-03 1.68793827e+02] [ 2.50906815e-02 9.99685179e-01 8.95467355e-06 4.69717729e+00] [ 1.96470001e-03 -5.82686625e-05 9.99998068e-01 3.64552004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.644391418 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:168.85, Y:4.70, Z:0.36 [[ 9.99602288e-01 -2.81318881e-02 -1.96554268e-03 1.68854637e+02] [ 2.81319604e-02 9.99604218e-01 9.12699235e-06 4.70202699e+00] [ 1.96450799e-03 -6.44179312e-05 9.99998068e-01 3.64121319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70439141799997 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:168.92, Y:4.71, Z:0.37 [[ 9.99649162e-01 -2.64138191e-02 -1.96554208e-03 1.68917252e+02] [ 2.64138883e-02 9.99651092e-01 9.25388771e-06 4.70800876e+00] [ 1.96461186e-03 -6.11682501e-05 9.99998068e-01 3.66791585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76439141799997 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:168.98, Y:4.71, Z:0.37 [[ 9.99699260e-01 -2.44443350e-02 -1.96554127e-03 1.68978218e+02] [ 2.44444007e-02 9.99701191e-01 9.42287485e-06 4.71154737e+00] [ 1.96472361e-03 -5.74665195e-05 9.99998068e-01 3.69511715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82439141799998 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:169.04, Y:4.72, Z:0.37 [[ 9.99786761e-01 -2.05564973e-02 -1.96554067e-03 1.69040028e+02] [ 2.05565557e-02 9.99788692e-01 9.54699257e-06 4.71692264e+00] [ 1.96492908e-03 -4.99497031e-05 9.99998068e-01 3.70687675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88439141799998 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:169.10, Y:4.72, Z:0.37 [[ 9.99856974e-01 -1.67978675e-02 -1.96553985e-03 1.69102543e+02] [ 1.67979190e-02 9.99858905e-01 9.71183636e-06 4.72000789e+00] [ 1.96509939e-03 -4.27274266e-05 9.99998068e-01 3.69009788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94439141799998 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:169.16, Y:4.73, Z:0.37 [[ 9.99910775e-01 -1.32128409e-02 -1.96553908e-03 1.69163442e+02] [ 1.32128858e-02 9.99912706e-01 9.86536739e-06 4.72521313e+00] [ 1.96523715e-03 -3.58349306e-05 9.99998068e-01 3.67534781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00439141799998 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:169.22, Y:4.73, Z:0.37 [[ 9.99944255e-01 -1.03741638e-02 -1.96553868e-03 1.69224276e+02] [ 1.03742034e-02 9.99946186e-01 9.94568216e-06 4.72693179e+00] [ 1.96532973e-03 -3.03360258e-05 9.99998068e-01 3.66524416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06439141799999 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:169.29, Y:4.73, Z:0.37 [[ 9.99960547e-01 -8.66259289e-03 -1.96553795e-03 1.69285307e+02] [ 8.66262944e-03 9.99962479e-01 1.00874335e-05 4.73116672e+00] [ 1.96537682e-03 -2.71137624e-05 9.99998068e-01 3.66721156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.124391418 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:169.35, Y:4.73, Z:0.36 [[ 9.99973096e-01 -7.06715438e-03 -1.96553752e-03 1.69346362e+02] [ 7.06718802e-03 9.99975027e-01 1.01696640e-05 4.73357965e+00] [ 1.96541657e-03 -2.40602136e-05 9.99998068e-01 3.64111291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.184391418 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:169.41, Y:4.74, Z:0.37 [[ 9.99939774e-01 -1.07974552e-02 -1.96553709e-03 1.69406568e+02] [ 1.07974962e-02 9.99941705e-01 1.02521990e-05 4.73534474e+00] [ 1.96531181e-03 -3.14744608e-05 9.99998068e-01 3.66092438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.244391418 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:169.47, Y:4.74, Z:0.37 [[ 9.99904763e-01 -1.36601837e-02 -1.96553709e-03 1.69467566e+02] [ 1.36602302e-02 9.99906695e-01 1.02521990e-05 4.73694346e+00] [ 1.96521365e-03 -3.71009118e-05 9.99998068e-01 3.70109873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.304391418 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:169.53, Y:4.74, Z:0.37 [[ 9.99893367e-01 -1.44703847e-02 -1.96553666e-03 1.69530069e+02] [ 1.44704330e-02 9.99895298e-01 1.03352356e-05 4.73729219e+00] [ 1.96518130e-03 -3.87762999e-05 9.99998068e-01 3.69668376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.364391418 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:169.59, Y:4.74, Z:0.37 [[ 9.99814658e-01 -1.91516780e-02 -1.96553578e-03 1.69591750e+02] [ 1.91517356e-02 9.99816589e-01 1.04993919e-05 4.73697258e+00] [ 1.96497420e-03 -4.81408675e-05 9.99998068e-01 3.72862888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.424391418 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:169.65, Y:4.74, Z:0.37 [[ 9.99788918e-01 -2.04513017e-02 -1.96553511e-03 1.69653886e+02] [ 2.04513621e-02 9.99790849e-01 1.06239097e-05 4.73601425e+00] [ 1.96490674e-03 -5.08195373e-05 9.99998068e-01 3.72592377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48439141799997 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:169.72, Y:4.74, Z:0.37 [[ 9.99810883e-01 -1.93477147e-02 -1.96553427e-03 1.69716366e+02] [ 1.93477732e-02 9.99812814e-01 1.07754746e-05 4.73589567e+00] [ 1.96495787e-03 -4.88021483e-05 9.99998068e-01 3.71585200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54439141799998 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:169.78, Y:4.74, Z:0.37 [[ 9.99863052e-01 -1.64321246e-02 -1.96553342e-03 1.69778543e+02] [ 1.64321778e-02 9.99864983e-01 1.09297664e-05 4.73584924e+00] [ 1.96508844e-03 -4.32262642e-05 9.99998068e-01 3.70132931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60439141799998 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:169.84, Y:4.74, Z:0.37 [[ 9.99933483e-01 -1.13651026e-02 -1.96553255e-03 1.69839286e+02] [ 1.13651463e-02 9.99935415e-01 1.10830864e-05 4.73637697e+00] [ 1.96527965e-03 -3.34209142e-05 9.99998068e-01 3.67764480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66439141799998 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:169.90, Y:4.74, Z:0.37 [[ 9.99967795e-01 -7.78114442e-03 -1.96553190e-03 1.69900781e+02] [ 7.78118145e-03 9.99969726e-01 1.11971043e-05 4.73676125e+00] [ 1.96538527e-03 -2.64909041e-05 9.99998068e-01 3.67985735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72439141799998 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:169.96, Y:4.74, Z:0.37 [[ 9.99998005e-01 -3.55398165e-04 -1.96553121e-03 1.69961599e+02] [ 3.55421095e-04 9.99999937e-01 1.13165932e-05 4.73769990e+00] [ 1.96552707e-03 -1.20151618e-05 9.99998068e-01 3.69466143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78439141799998 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:170.02, Y:4.74, Z:0.37 [[ 9.99971414e-01 7.30125814e-03 -1.96553098e-03 1.70021162e+02] [-7.30124993e-03 9.99973345e-01 1.13564660e-05 4.73707302e+00] [ 1.96556151e-03 2.99469161e-06 9.99998068e-01 3.71113162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.844391418 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:170.08, Y:4.74, Z:0.37 [[ 9.99957114e-01 9.05028382e-03 -1.96553143e-03 1.70079659e+02] [-9.05027913e-03 9.99959045e-01 1.12786698e-05 4.73665240e+00] [ 1.96555301e-03 6.51042195e-06 9.99998068e-01 3.71274799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.904391418 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:170.14, Y:4.73, Z:0.37 [[ 9.99953052e-01 9.48848155e-03 -1.96553233e-03 1.70137959e+02] [-9.48847802e-03 9.99954983e-01 1.11201193e-05 4.73394540e+00] [ 1.96554936e-03 7.53031302e-06 9.99998068e-01 3.71474304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.964391418 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:170.20, Y:4.73, Z:0.37 [[ 9.99977838e-01 6.36077262e-03 -1.96553321e-03 1.70196773e+02] [-6.36076336e-03 9.99979770e-01 1.09617375e-05 4.73031743e+00] [ 1.96556317e-03 1.54079709e-06 9.99998068e-01 3.71882784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.024391418 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:170.26, Y:4.73, Z:0.37 [[ 9.99997157e-01 1.35019278e-03 -1.96553410e-03 1.70255861e+02] [-1.35017416e-03 9.99999088e-01 1.08007836e-05 4.72604257e+00] [ 1.96554689e-03 -8.14693952e-06 9.99998068e-01 3.71817382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.084391418 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:170.32, Y:4.72, Z:0.37 [[ 9.99965609e-01 -8.05715299e-03 -1.96553499e-03 1.70315669e+02] [ 8.05718945e-03 9.99967540e-01 1.06350846e-05 4.72099068e+00] [ 1.96538550e-03 -2.64714067e-05 9.99998068e-01 3.70999916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.144391418 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:170.38, Y:4.72, Z:0.37 [[ 9.99852780e-01 -1.70456544e-02 -1.96553543e-03 1.70376518e+02] [ 1.70457081e-02 9.99854711e-01 1.05533426e-05 4.71619586e+00] [ 1.96506997e-03 -4.40557322e-05 9.99998068e-01 3.69990946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20439141799997 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:170.44, Y:4.71, Z:0.37 [[ 9.99758492e-01 -2.18882313e-02 -1.96553498e-03 1.70438638e+02] [ 2.18882944e-02 9.99760423e-01 1.06360610e-05 4.71353384e+00] [ 1.96483128e-03 -5.36557008e-05 9.99998068e-01 3.70431598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26439141799997 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:170.50, Y:4.71, Z:0.37 [[ 9.99615168e-01 -2.76704336e-02 -1.96553409e-03 1.70500499e+02] [ 2.76705083e-02 9.99617098e-01 1.07983055e-05 4.71110206e+00] [ 1.96448269e-03 -6.51814774e-05 9.99998068e-01 3.72295888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32439141799998 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:170.56, Y:4.71, Z:0.37 [[ 9.99587119e-01 -2.86658190e-02 -1.96553318e-03 1.70561420e+02] [ 2.86658959e-02 9.99589049e-01 1.09616797e-05 4.70851169e+00] [ 1.96441122e-03 -6.73009234e-05 9.99998068e-01 3.71337922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38439141799998 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:170.62, Y:4.71, Z:0.37 [[ 9.99517615e-01 -3.09947281e-02 -1.96553221e-03 1.70623193e+02] [ 3.09948098e-02 9.99519545e-01 1.11331134e-05 4.70754848e+00] [ 1.96424279e-03 -7.20490400e-05 9.99998068e-01 3.72074091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44439141799998 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:170.68, Y:4.71, Z:0.37 [[ 9.99481372e-01 -3.21422419e-02 -1.96553116e-03 1.70683905e+02] [ 3.21423262e-02 9.99483302e-01 1.13159069e-05 4.70831597e+00] [ 1.96415185e-03 -7.44867817e-05 9.99998068e-01 3.71601926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50439141799998 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:170.75, Y:4.71, Z:0.37 [[ 9.99545128e-01 -3.00944285e-02 -1.96552938e-03 1.70746000e+02] [ 3.00945094e-02 9.99547058e-01 1.16161175e-05 4.70883845e+00] [ 1.96428953e-03 -7.07624762e-05 9.99998068e-01 3.70939554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56439141799999 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:170.81, Y:4.71, Z:0.37 [[ 9.99607318e-01 -2.79525910e-02 -1.96552790e-03 1.70808643e+02] [ 2.79526683e-02 9.99609248e-01 1.18620541e-05 4.71341585e+00] [ 1.96442829e-03 -6.67991455e-05 9.99998068e-01 3.72396958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.624391418 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:170.87, Y:4.72, Z:0.37 [[ 9.99647265e-01 -2.64855285e-02 -1.96552669e-03 1.70869918e+02] [ 2.64856033e-02 9.99649195e-01 1.20588277e-05 4.71651094e+00] [ 1.96451779e-03 -6.41127344e-05 9.99998068e-01 3.72537043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.684391418 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:170.93, Y:4.72, Z:0.37 [[ 9.99652963e-01 -2.62695709e-02 -1.96552491e-03 1.70931841e+02] [ 2.62696459e-02 9.99654893e-01 1.23424070e-05 4.72126198e+00] [ 1.96452237e-03 -6.39717672e-05 9.99998068e-01 3.72912684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.744391418 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:170.99, Y:4.72, Z:0.37 [[ 9.99611447e-01 -2.78045359e-02 -1.96552392e-03 1.70993554e+02] [ 2.78046142e-02 9.99613377e-01 1.24989004e-05 4.72415356e+00] [ 1.96441647e-03 -6.71446781e-05 9.99998068e-01 3.73018112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.804391418 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:171.06, Y:4.73, Z:0.38 [[ 9.99450210e-01 -3.30970598e-02 -1.96552292e-03 1.71055824e+02] [ 3.30971486e-02 9.99452139e-01 1.26540691e-05 4.73048373e+00] [ 1.96402727e-03 -7.77003161e-05 9.99998068e-01 3.75465656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.864391418 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:171.12, Y:4.74, Z:0.38 [[ 9.99208967e-01 -3.97187263e-02 -1.96552188e-03 1.71117743e+02] [ 3.97188281e-02 9.99210896e-01 1.28128089e-05 4.73772844e+00] [ 1.96346197e-03 -9.08708993e-05 9.99998068e-01 3.78120986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.924391418 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:171.18, Y:4.74, Z:0.38 [[ 9.99180309e-01 -4.04332362e-02 -1.96552079e-03 1.71179480e+02] [ 4.04333398e-02 9.99182238e-01 1.29779967e-05 4.74470324e+00] [ 1.96338872e-03 -9.24399289e-05 9.99998068e-01 3.80672006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98439141799997 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:171.24, Y:4.74, Z:0.37 [[ 9.99412103e-01 -3.42284146e-02 -1.96551971e-03 1.71240990e+02] [ 3.42285065e-02 9.99414033e-01 1.31397301e-05 4.74054361e+00] [ 1.96391823e-03 -8.04088094e-05 9.99998068e-01 3.71346902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04439141799998 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:171.30, Y:4.74, Z:0.37 [[ 9.99491676e-01 -3.18202225e-02 -1.96551894e-03 1.71301995e+02] [ 3.18203100e-02 9.99493606e-01 1.32532578e-05 4.74454610e+00] [ 1.96410190e-03 -7.57899431e-05 9.99998068e-01 3.72714126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10439141799998 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:171.36, Y:4.75, Z:0.38 [[ 9.99606498e-01 -2.79818858e-02 -1.96551791e-03 1.71363983e+02] [ 2.79819662e-02 9.99608428e-01 1.34046163e-05 4.75156657e+00] [ 1.96437318e-03 -6.83983973e-05 9.99998068e-01 3.81947929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16439141799998 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:171.43, Y:4.76, Z:0.38 [[ 9.99800497e-01 -1.98771857e-02 -1.96551672e-03 1.71425574e+02] [ 1.98772508e-02 9.99802428e-01 1.35769097e-05 4.75721502e+00] [ 1.96485852e-03 -5.26432699e-05 9.99998068e-01 3.75318416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22439141799998 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:171.49, Y:4.76, Z:0.37 [[ 9.99872128e-01 -1.58702357e-02 -1.96551586e-03 1.71487608e+02] [ 1.58702933e-02 9.99874059e-01 1.37000359e-05 4.76065863e+00] [ 1.96505090e-03 -4.48915973e-05 9.99998068e-01 3.74410530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28439141799998 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:171.55, Y:4.76, Z:0.37 [[ 9.99931835e-01 -1.15092178e-02 -1.96551488e-03 1.71548937e+02] [ 1.15092672e-02 9.99933766e-01 1.38404486e-05 4.76453469e+00] [ 1.96522540e-03 -3.64611411e-05 9.99998068e-01 3.72667882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.344391418 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:171.61, Y:4.77, Z:0.37 [[ 9.99970027e-01 -7.48876339e-03 -1.96551414e-03 1.71610190e+02] [ 7.48880526e-03 9.99971958e-01 1.39440152e-05 4.76682918e+00] [ 1.96535460e-03 -2.86629499e-05 9.99998068e-01 3.69170009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.404391418 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:171.67, Y:4.77, Z:0.37 [[ 9.99957028e-01 -9.05969886e-03 -1.96551354e-03 1.71671035e+02] [ 9.05974393e-03 9.99958960e-01 1.40286401e-05 4.76871214e+00] [ 1.96530578e-03 -3.18350866e-05 9.99998068e-01 3.73344652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.464391418 meters Centerline goodness : 0.998784 with order 1 Centerline is valid? [True, True] Translation: X:171.73, Y:4.77, Z:0.37 [[ 9.99944613e-01 -1.03395789e-02 -1.96551297e-03 1.71732329e+02] [ 1.03396266e-02 9.99946545e-01 1.41070707e-05 4.77092793e+00] [ 1.96526205e-03 -3.44289596e-05 9.99998068e-01 3.74230124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.524391418 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:171.79, Y:4.77, Z:0.37 [[ 9.99917015e-01 -1.27318144e-02 -1.96551238e-03 1.71793048e+02] [ 1.27318669e-02 9.99918946e-01 1.41892094e-05 4.77154720e+00] [ 1.96517241e-03 -3.92126738e-05 9.99998068e-01 3.74451939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.584391418 meters Centerline goodness : 0.998826 with order 1 Centerline is valid? [True, True] Translation: X:171.85, Y:4.77, Z:0.37 [[ 9.99874088e-01 -1.57462486e-02 -1.96551154e-03 1.71854907e+02] [ 1.57463072e-02 9.99876019e-01 1.43051094e-05 4.77233314e+00] [ 1.96504260e-03 -4.52528567e-05 9.99998068e-01 3.74867289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.644391418 meters Centerline goodness : 0.998889 with order 1 Centerline is valid? [True, True] Translation: X:171.92, Y:4.77, Z:0.38 [[ 9.99839242e-01 -1.78220721e-02 -1.96551043e-03 1.71917178e+02] [ 1.78221350e-02 9.99841173e-01 1.44554298e-05 4.77323630e+00] [ 1.96494063e-03 -4.94826982e-05 9.99998068e-01 3.77142416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70439141799997 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:171.98, Y:4.77, Z:0.38 [[ 9.99815844e-01 -1.90896509e-02 -1.96550930e-03 1.71978948e+02] [ 1.90897165e-02 9.99817775e-01 1.46074406e-05 4.77353444e+00] [ 1.96487229e-03 -5.21257659e-05 9.99998068e-01 3.77837856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76439141799997 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:172.04, Y:4.77, Z:0.38 [[ 9.99822353e-01 -1.87456202e-02 -1.96550815e-03 1.72040179e+02] [ 1.87456854e-02 9.99824284e-01 1.47612874e-05 4.77398196e+00] [ 1.96488607e-03 -5.16034626e-05 9.99998068e-01 3.75110325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82439141799998 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:172.10, Y:4.78, Z:0.38 [[ 9.99870882e-01 -1.59485286e-02 -1.96550731e-03 1.72102704e+02] [ 1.59485886e-02 9.99872813e-01 1.48715702e-05 4.77529879e+00] [ 1.96502015e-03 -4.62167175e-05 9.99998068e-01 3.76315485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88439141799998 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:172.16, Y:4.78, Z:0.38 [[ 9.99938524e-01 -1.09126155e-02 -1.96550610e-03 1.72164593e+02] [ 1.09126662e-02 9.99940455e-01 1.50297459e-05 4.77632237e+00] [ 1.96522505e-03 -3.64777339e-05 9.99998068e-01 3.77019295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94439141799998 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:172.23, Y:4.78, Z:0.38 [[ 9.99989261e-01 -4.19702289e-03 -1.96550486e-03 1.72225904e+02] [ 4.19706086e-03 9.99991192e-01 1.51900637e-05 4.77682358e+00] [ 1.96542380e-03 -2.34392441e-05 9.99998068e-01 3.75123914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00439141799998 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:172.29, Y:4.78, Z:0.37 [[ 9.99997167e-01 -1.34274632e-03 -1.96550394e-03 1.72286191e+02] [ 1.34277900e-03 9.99999098e-01 1.53081601e-05 4.77670673e+00] [ 1.96548162e-03 -1.79473542e-05 9.99998068e-01 3.73876408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06439141799999 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:172.35, Y:4.78, Z:0.37 [[ 9.99998068e-01 7.08037120e-06 -1.96550394e-03 1.72346148e+02] [-7.05029673e-06 1.00000000e+00 1.53081601e-05 4.77660116e+00] [ 1.96550405e-03 -1.52942732e-05 9.99998068e-01 3.72918264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.124391418 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:172.41, Y:4.78, Z:0.37 [[ 9.99997992e-01 -3.90255045e-04 -1.96550455e-03 1.72406263e+02] [ 3.90285732e-04 9.99999924e-01 1.52296617e-05 4.77538366e+00] [ 1.96549846e-03 -1.59967395e-05 9.99998068e-01 3.72108211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.184391418 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:172.47, Y:4.77, Z:0.37 [[ 9.99998061e-01 1.21060241e-04 -1.96550516e-03 1.72465945e+02] [-1.21030695e-04 9.99999993e-01 1.51511633e-05 4.77304328e+00] [ 1.96550698e-03 -1.49132474e-05 9.99998068e-01 3.70559908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.244391418 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:172.53, Y:4.77, Z:0.38 [[ 9.99997639e-01 -9.26413987e-04 -1.96550660e-03 1.72525708e+02] [ 9.26445185e-04 9.99999571e-01 1.49621102e-05 4.77494165e+00] [ 1.96549189e-03 -1.67830090e-05 9.99998068e-01 3.75175505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.304391418 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:172.59, Y:4.77, Z:0.37 [[ 9.99996574e-01 1.72885399e-03 -1.96550618e-03 1.72585319e+02] [-1.72882781e-03 9.99998505e-01 1.50171092e-05 4.76911352e+00] [ 1.96552920e-03 -1.16190360e-05 9.99998068e-01 3.72672074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.364391418 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:172.64, Y:4.77, Z:0.37 [[ 9.99994247e-01 2.76444106e-03 -1.96550677e-03 1.72644600e+02] [-2.76441704e-03 9.99996179e-01 1.49389683e-05 4.76544941e+00] [ 1.96554056e-03 -9.50540200e-06 9.99998068e-01 3.74528711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.424391418 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:172.70, Y:4.76, Z:0.37 [[ 9.99996333e-01 1.86300447e-03 -1.96550737e-03 1.72703603e+02] [-1.86297887e-03 9.99998265e-01 1.48590917e-05 4.76135789e+00] [ 1.96553165e-03 -1.11973385e-05 9.99998068e-01 3.74066781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48439141799997 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:172.76, Y:4.76, Z:0.37 [[ 9.99998003e-01 -3.61165328e-04 -1.96550796e-03 1.72763342e+02] [ 3.61195077e-04 9.99999935e-01 1.47809306e-05 4.75755078e+00] [ 1.96550250e-03 -1.54908329e-05 9.99998068e-01 3.72916013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54439141799998 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:172.82, Y:4.75, Z:0.37 [[ 9.99984192e-01 -5.26810383e-03 -1.96550853e-03 1.72823097e+02] [ 5.26814290e-03 9.99986123e-01 1.47044867e-05 4.75119400e+00] [ 1.96540379e-03 -2.50588340e-05 9.99998068e-01 3.72153056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60439141799998 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:172.88, Y:4.75, Z:0.37 [[ 9.99960713e-01 -8.64345232e-03 -1.96550911e-03 1.72884023e+02] [ 8.64349776e-03 9.99962644e-01 1.46273908e-05 4.74795792e+00] [ 1.96530925e-03 -3.16156897e-05 9.99998068e-01 3.72481139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66439141799998 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:172.95, Y:4.74, Z:0.37 [[ 9.99916056e-01 -1.28069548e-02 -1.96550911e-03 1.72945645e+02] [ 1.28070083e-02 9.99917987e-01 1.46273908e-05 4.74410643e+00] [ 1.96516058e-03 -3.97984543e-05 9.99998068e-01 3.72739913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72439141799998 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:173.01, Y:4.74, Z:0.37 [[ 9.99873678e-01 -1.57723074e-02 -1.96550536e-03 1.73007666e+02] [ 1.57723676e-02 9.99875608e-01 1.51145314e-05 4.74082854e+00] [ 1.96502248e-03 -4.61132951e-05 9.99998068e-01 3.74067618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78439141799998 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:173.07, Y:4.74, Z:0.37 [[ 9.99840993e-01 -1.77235982e-02 -1.96550422e-03 1.73069632e+02] [ 1.77236625e-02 9.99842923e-01 1.52619683e-05 4.73913606e+00] [ 1.96492498e-03 -5.00954748e-05 9.99998068e-01 3.74402743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.844391418 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:173.13, Y:4.74, Z:0.37 [[ 9.99769808e-01 -2.13650944e-02 -1.96550308e-03 1.73131132e+02] [ 2.13651659e-02 9.99771739e-01 1.54071967e-05 4.73744998e+00] [ 1.96472525e-03 -5.73969495e-05 9.99998068e-01 3.74117769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.904391418 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:173.19, Y:4.74, Z:0.37 [[ 9.99677791e-01 -2.53071454e-02 -1.96550223e-03 1.73193457e+02] [ 2.53072247e-02 9.99679721e-01 1.55147018e-05 4.73547986e+00] [ 1.96448009e-03 -6.52511095e-05 9.99998068e-01 3.74177981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.964391418 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:173.26, Y:4.73, Z:0.38 [[ 9.99499730e-01 -3.15662143e-02 -1.96550111e-03 1.73255712e+02] [ 3.15663061e-02 9.99501660e-01 1.56556161e-05 4.73380839e+00] [ 1.96402743e-03 -7.76913936e-05 9.99998068e-01 3.75127980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.024391418 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:173.32, Y:4.73, Z:0.37 [[ 9.99333223e-01 -3.64588259e-02 -1.96549978e-03 1.73317306e+02] [ 3.64589274e-02 9.99335152e-01 1.58210892e-05 4.73387869e+00] [ 1.96361620e-03 -8.74705537e-05 9.99998068e-01 3.74609628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.084391418 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:173.38, Y:4.74, Z:0.38 [[ 9.99120122e-01 -4.18941400e-02 -1.96549657e-03 1.73379840e+02] [ 4.18942528e-02 9.99122050e-01 1.62092524e-05 4.73817299e+00] [ 1.96309189e-03 -9.85380005e-05 9.99998068e-01 3.76877690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.144391418 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:173.44, Y:4.74, Z:0.37 [[ 9.99204567e-01 -3.98292709e-02 -1.96549518e-03 1.73441251e+02] [ 3.98293800e-02 9.99206495e-01 1.63768595e-05 4.73523897e+00] [ 1.96328327e-03 -9.46482871e-05 9.99998068e-01 3.74932372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20439141799997 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:173.50, Y:4.74, Z:0.38 [[ 9.99067275e-01 -4.31360297e-02 -1.96549413e-03 1.73503416e+02] [ 4.31361454e-02 9.99069203e-01 1.65010965e-05 4.74099904e+00] [ 1.96295287e-03 -1.01269546e-04 9.99998068e-01 3.77517641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26439141799997 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:173.57, Y:4.74, Z:0.38 [[ 9.99062454e-01 -4.32475515e-02 -1.96549274e-03 1.73565976e+02] [ 4.32476677e-02 9.99064382e-01 1.66657746e-05 4.74434532e+00] [ 1.96293303e-03 -1.01653126e-04 9.99998068e-01 3.78388049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32439141799998 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:173.63, Y:4.74, Z:0.38 [[ 9.99207300e-01 -3.97606511e-02 -1.96549133e-03 1.73626702e+02] [ 3.97607610e-02 9.99209228e-01 1.68306354e-05 4.74224590e+00] [ 1.96326787e-03 -9.49667246e-05 9.99998068e-01 3.76031528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38439141799998 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:173.69, Y:4.75, Z:0.38 [[ 9.99215088e-01 -3.95644274e-02 -1.96548887e-03 1.73688904e+02] [ 3.95645374e-02 9.99217017e-01 1.71133258e-05 4.74603516e+00] [ 1.96327284e-03 -9.48635511e-05 9.99998068e-01 3.76885418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44439141799998 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:173.75, Y:4.75, Z:0.38 [[ 9.99195536e-01 -4.00551794e-02 -1.96548712e-03 1.73751469e+02] [ 4.00552907e-02 9.99197465e-01 1.73110282e-05 4.74856601e+00] [ 1.96321635e-03 -9.60252603e-05 9.99998068e-01 3.78087674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50439141799998 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:173.81, Y:4.75, Z:0.38 [[ 9.99119595e-01 -4.19066942e-02 -1.96548494e-03 1.73813163e+02] [ 4.19068097e-02 9.99121524e-01 1.75555936e-05 4.75133562e+00] [ 1.96302261e-03 -9.99073409e-05 9.99998068e-01 3.76812561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56439141799999 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:173.88, Y:4.76, Z:0.38 [[ 9.99032268e-01 -4.39393242e-02 -1.96548313e-03 1.73875132e+02] [ 4.39394439e-02 9.99034196e-01 1.77560685e-05 4.75529764e+00] [ 1.96280467e-03 -1.04101121e-04 9.99998068e-01 3.75318550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.624391418 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:173.94, Y:4.76, Z:0.38 [[ 9.99029290e-01 -4.40069828e-02 -1.96548169e-03 1.73938067e+02] [ 4.40071030e-02 9.99031218e-01 1.79141482e-05 4.75838174e+00] [ 1.96278922e-03 -1.04391914e-04 9.99998068e-01 3.75740412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.684391418 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:174.00, Y:4.76, Z:0.38 [[ 9.99102741e-01 -4.23066151e-02 -1.96547947e-03 1.73999699e+02] [ 4.23067325e-02 9.99104669e-01 1.81546380e-05 4.76211565e+00] [ 1.96295165e-03 -1.01291363e-04 9.99998068e-01 3.76680477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.744391418 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:174.06, Y:4.77, Z:0.38 [[ 9.99219862e-01 -3.94436810e-02 -1.96547763e-03 1.74062832e+02] [ 3.94437932e-02 9.99221791e-01 1.83517337e-05 4.76588448e+00] [ 1.96322421e-03 -9.58633099e-05 9.99998068e-01 3.77874328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.804391418 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:174.13, Y:4.77, Z:0.38 [[ 9.99318231e-01 -3.68674561e-02 -1.96547548e-03 1.74125732e+02] [ 3.68675638e-02 9.99320160e-01 1.85792185e-05 4.77120923e+00] [ 1.96345430e-03 -9.10288442e-05 9.99998068e-01 3.77250777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.864391418 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:174.19, Y:4.77, Z:0.38 [[ 9.99448764e-01 -3.31406892e-02 -1.96547333e-03 1.74188387e+02] [ 3.31407901e-02 9.99450693e-01 1.88037533e-05 4.77498775e+00] [ 1.96377051e-03 -8.39307270e-05 9.99998068e-01 3.77943880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.924391418 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:174.25, Y:4.78, Z:0.38 [[ 9.99456364e-01 -3.29106787e-02 -1.96547192e-03 1.74250254e+02] [ 3.29107795e-02 9.99458293e-01 1.89500753e-05 4.77880674e+00] [ 1.96378355e-03 -8.36249862e-05 9.99998068e-01 3.78217125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98439141799997 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:174.31, Y:4.78, Z:0.38 [[ 9.99449301e-01 -3.31244957e-02 -1.96547041e-03 1.74313770e+02] [ 3.31245972e-02 9.99451230e-01 1.91047733e-05 4.78052221e+00] [ 1.96375899e-03 -8.41996681e-05 9.99998068e-01 3.78519582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04439141799998 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:174.38, Y:4.78, Z:0.38 [[ 9.99467758e-01 -3.25628408e-02 -1.96546796e-03 1.74375056e+02] [ 3.25629417e-02 9.99469687e-01 1.93535520e-05 4.78457948e+00] [ 1.96379544e-03 -8.33446700e-05 9.99998068e-01 3.78491366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10439141799998 meters Centerline goodness : 0.998747 with order 1 Centerline is valid? [True, True] Translation: X:174.44, Y:4.79, Z:0.38 [[ 9.99516770e-01 -3.10219873e-02 -1.96546676e-03 1.74437779e+02] [ 3.10220854e-02 9.99518699e-01 1.94753154e-05 4.78638327e+00] [ 1.96391661e-03 -8.04387820e-05 9.99998068e-01 3.78418665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16439141799998 meters Centerline goodness : 0.998790 with order 1 Centerline is valid? [True, True] Translation: X:174.50, Y:4.79, Z:0.38 [[ 9.99611917e-01 -2.77876312e-02 -1.96546434e-03 1.74499841e+02] [ 2.77877236e-02 9.99613846e-01 1.97164402e-05 4.78983872e+00] [ 1.96415749e-03 -7.43245683e-05 9.99998068e-01 3.78779909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22439141799998 meters Centerline goodness : 0.998832 with order 1 Centerline is valid? [True, True] Translation: X:174.56, Y:4.79, Z:0.38 [[ 9.99740610e-01 -2.26902810e-02 -1.96546234e-03 1.74560871e+02] [ 2.26903639e-02 9.99742540e-01 1.99139556e-05 4.79411411e+00] [ 1.96450446e-03 -6.45058459e-05 9.99998068e-01 3.80008152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28439141799998 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:174.62, Y:4.80, Z:0.38 [[ 9.99826719e-01 -1.85113173e-02 -1.96546116e-03 1.74623581e+02] [ 1.85113924e-02 9.99828649e-01 2.00296789e-05 4.79634304e+00] [ 1.96475360e-03 -5.64096309e-05 9.99998068e-01 3.80820361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.344391418 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:174.69, Y:4.80, Z:0.38 [[ 9.99909291e-01 -1.33246742e-02 -1.96545956e-03 1.74686114e+02] [ 1.33247396e-02 9.99911222e-01 2.01856012e-05 4.79901291e+00] [ 1.96501610e-03 -4.63730071e-05 9.99998068e-01 3.81557306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.404391418 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:174.75, Y:4.80, Z:0.38 [[ 9.99942634e-01 -1.05292950e-02 -1.96545789e-03 1.74747923e+02] [ 1.05293553e-02 9.99944565e-01 2.03469980e-05 4.79954827e+00] [ 1.96513469e-03 -4.10408353e-05 9.99998068e-01 3.81447153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.464391418 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:174.81, Y:4.80, Z:0.38 [[ 9.99969711e-01 -7.53084560e-03 -1.96545622e-03 1.74809147e+02] [ 7.53090045e-03 9.99971642e-01 2.05069861e-05 4.80011112e+00] [ 1.96524604e-03 -3.53080201e-05 9.99998068e-01 3.81519639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.524391418 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:174.87, Y:4.80, Z:0.38 [[ 9.99984623e-01 -5.18563553e-03 -1.96545498e-03 1.74870613e+02] [ 5.18568608e-03 9.99986554e-01 2.06250244e-05 4.79914971e+00] [ 1.96532160e-03 -3.08169397e-05 9.99998068e-01 3.81976106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.584391418 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:174.93, Y:4.80, Z:0.38 [[ 9.99984390e-01 -5.23028229e-03 -1.96545415e-03 1.74931982e+02] [ 5.23033309e-03 9.99986322e-01 2.07036093e-05 4.79794223e+00] [ 1.96531898e-03 -3.09832660e-05 9.99998068e-01 3.83322414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.644391418 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:174.99, Y:4.80, Z:0.38 [[ 9.99970943e-01 -7.36550276e-03 -1.96545329e-03 1.74993022e+02] [ 7.36555784e-03 9.99972874e-01 2.07846704e-05 4.79519167e+00] [ 1.96524689e-03 -3.52607264e-05 9.99998068e-01 3.83235521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70439141799997 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:175.05, Y:4.79, Z:0.38 [[ 9.99947475e-01 -1.00590428e-02 -1.96545244e-03 1.75054314e+02] [ 1.00591032e-02 9.99949406e-01 2.08650111e-05 4.79251590e+00] [ 1.96514312e-03 -4.06346041e-05 9.99998068e-01 3.82749444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76439141799997 meters Centerline goodness : 0.998875 with order 1 Centerline is valid? [True, True] Translation: X:175.12, Y:4.79, Z:0.38 [[ 9.99875963e-01 -1.56267437e-02 -1.96545159e-03 1.75116541e+02] [ 1.56268151e-02 9.99877894e-01 2.09449005e-05 4.78820750e+00] [ 1.96488429e-03 -5.16560510e-05 9.99998068e-01 3.81616574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82439141799998 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:175.18, Y:4.79, Z:0.38 [[ 9.99802676e-01 -1.97673167e-02 -1.96544512e-03 1.75178474e+02] [ 1.97673972e-02 9.99804606e-01 2.15349607e-05 4.78541160e+00] [ 1.96463540e-03 -6.03824456e-05 9.99998068e-01 3.81869419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88439141799998 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:175.24, Y:4.78, Z:0.38 [[ 9.99662959e-01 -2.58863772e-02 -1.96544338e-03 1.75240297e+02] [ 2.58864698e-02 9.99664889e-01 2.16924792e-05 4.78160335e+00] [ 1.96422320e-03 -7.25635588e-05 9.99998068e-01 3.81133631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94439141799998 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:175.30, Y:4.78, Z:0.38 [[ 9.99550788e-01 -2.99058490e-02 -1.96544163e-03 1.75302952e+02] [ 2.99059497e-02 9.99552717e-01 2.18507243e-05 4.77900998e+00] [ 1.96390905e-03 -8.06193070e-05 9.99998068e-01 3.81346935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00439141799998 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:175.36, Y:4.78, Z:0.38 [[ 9.99351846e-01 -3.59447574e-02 -1.96543891e-03 1.75363709e+02] [ 3.59448703e-02 9.99353774e-01 2.20923384e-05 4.77613150e+00] [ 1.96337469e-03 -9.27254657e-05 9.99998068e-01 3.81049127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06439141799999 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:175.43, Y:4.77, Z:0.38 [[ 9.99199153e-01 -3.99648647e-02 -1.96543757e-03 1.75426153e+02] [ 3.99649855e-02 9.99201081e-01 2.22106118e-05 4.77482540e+00] [ 1.96297970e-03 -1.00741509e-04 9.99998068e-01 3.82927262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.124391418 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:175.49, Y:4.77, Z:0.38 [[ 9.98953843e-01 -4.56875925e-02 -1.96543576e-03 1.75488428e+02] [ 4.56877247e-02 9.98955770e-01 2.23700826e-05 4.77331510e+00] [ 1.96236136e-03 -1.12142968e-04 9.99998068e-01 3.82044525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.184391418 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:175.55, Y:4.77, Z:0.38 [[ 9.98782066e-01 -4.93003286e-02 -1.96543122e-03 1.75549210e+02] [ 4.93004685e-02 9.98783992e-01 2.27618220e-05 4.77261033e+00] [ 1.96191908e-03 -1.19630780e-04 9.99998068e-01 3.79723138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.244391418 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:175.61, Y:4.77, Z:0.38 [[ 9.98567809e-01 -5.34646496e-02 -1.96542990e-03 1.75611150e+02] [ 5.34647977e-02 9.98569735e-01 2.28757310e-05 4.77341820e+00] [ 1.96139577e-03 -1.27924280e-04 9.99998068e-01 3.80059076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.304391418 meters Centerline goodness : 0.999112 with order 1 Centerline is valid? [True, True] Translation: X:175.67, Y:4.77, Z:0.38 [[ 9.98483877e-01 -5.50098663e-02 -1.96542807e-03 1.75674041e+02] [ 5.50100177e-02 9.98485802e-01 2.30314149e-05 4.77454229e+00] [ 1.96118507e-03 -1.31114729e-04 9.99998068e-01 3.80175038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.364391418 meters Centerline goodness : 0.999386 with order 1 Centerline is valid? [True, True] Translation: X:175.74, Y:4.78, Z:0.38 [[ 9.98596787e-01 -5.29206340e-02 -1.96542526e-03 1.75736888e+02] [ 5.29207819e-02 9.98598713e-01 2.32687153e-05 4.77580986e+00] [ 1.96143974e-03 -1.27247906e-04 9.99998068e-01 3.80453023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.424391418 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:175.80, Y:4.78, Z:0.38 [[ 9.98922108e-01 -4.63762827e-02 -1.96542056e-03 1.75798616e+02] [ 4.63764187e-02 9.98924035e-01 2.36594904e-05 4.78109119e+00] [ 1.96220859e-03 -1.14783155e-04 9.99998068e-01 3.84395153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48439141799997 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:175.86, Y:4.78, Z:0.39 [[ 9.99190235e-01 -4.01871964e-02 -1.96541912e-03 1.75860915e+02] [ 4.01873207e-02 9.99192163e-01 2.37781263e-05 4.78489470e+00] [ 1.96287581e-03 -1.02743800e-04 9.99998068e-01 3.85481137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54439141799998 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:175.92, Y:4.79, Z:0.39 [[ 9.99424279e-01 -3.38710501e-02 -1.96541725e-03 1.75924474e+02] [ 3.38711625e-02 9.99426207e-01 2.39318772e-05 4.78764289e+00] [ 1.96347891e-03 -9.04890662e-05 9.99998068e-01 3.85436964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60439141799998 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:175.99, Y:4.79, Z:0.39 [[ 9.99598213e-01 -2.82763061e-02 -1.96541445e-03 1.75987557e+02] [ 2.82764082e-02 9.99600142e-01 2.41599246e-05 4.78955894e+00] [ 1.96394541e-03 -7.97250787e-05 9.99998068e-01 3.85759236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66439141799998 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:176.05, Y:4.79, Z:0.39 [[ 9.99775139e-01 -2.11141612e-02 -1.96541166e-03 1.76050230e+02] [ 2.11142499e-02 9.99777069e-01 2.43843527e-05 4.79315802e+00] [ 1.96445866e-03 -6.58770627e-05 9.99998068e-01 3.85183159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72439141799998 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:176.11, Y:4.79, Z:0.38 [[ 9.99875071e-01 -1.56837109e-02 -1.96540976e-03 1.76111015e+02] [ 1.56837894e-02 9.99877002e-01 2.45370505e-05 4.79479924e+00] [ 1.96478318e-03 -5.53590577e-05 9.99998068e-01 3.83881781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78439141799998 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:176.17, Y:4.80, Z:0.38 [[ 9.99970317e-01 -7.45000510e-03 -1.96540656e-03 1.76173613e+02] [ 7.45006821e-03 9.99972248e-01 2.47900617e-05 4.79997861e+00] [ 1.96516733e-03 -3.94317388e-05 9.99998068e-01 3.82816569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.844391418 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:176.23, Y:4.80, Z:0.38 [[ 9.99994195e-01 2.78331439e-03 -1.96540447e-03 1.76233857e+02] [-2.78327072e-03 9.99996126e-01 2.49551586e-05 4.79959297e+00] [ 1.96546631e-03 -1.94847610e-05 9.99998068e-01 3.82825850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.904391418 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:176.29, Y:4.80, Z:0.38 [[ 9.99972087e-01 7.20844377e-03 -1.96540395e-03 1.76292263e+02] [-7.20840856e-03 9.99974019e-01 2.49962840e-05 4.80036841e+00] [ 1.96553307e-03 -1.08281516e-05 9.99998068e-01 3.83415607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.964391418 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:176.35, Y:4.80, Z:0.38 [[ 9.99945498e-01 1.02536823e-02 -1.96541080e-03 1.76349677e+02] [-1.02536540e-02 9.99947430e-01 2.44451992e-05 4.80012310e+00] [ 1.96555813e-03 -4.29122456e-06 9.99998068e-01 3.84523340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.024391418 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:176.41, Y:4.80, Z:0.38 [[ 9.99977782e-01 6.36965795e-03 -1.96541318e-03 1.76408758e+02] [-6.36962259e-03 9.99979713e-01 2.42522652e-05 4.79776624e+00] [ 1.96552779e-03 -1.17327862e-05 9.99998068e-01 3.84661101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.084391418 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:176.47, Y:4.79, Z:0.38 [[ 9.99997884e-01 6.08002211e-04 -1.96541508e-03 1.76467820e+02] [-6.07956025e-04 9.99999815e-01 2.40971439e-05 4.79442447e+00] [ 1.96542937e-03 -2.29022069e-05 9.99998068e-01 3.84162099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.144391418 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:176.53, Y:4.79, Z:0.38 [[ 9.99940822e-01 -1.06999861e-02 -1.96541700e-03 1.76527062e+02] [ 1.07000538e-02 9.99942753e-01 2.39394247e-05 4.78910392e+00] [ 1.96504834e-03 -4.49680756e-05 9.99998068e-01 3.82299395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20439141799997 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:176.59, Y:4.79, Z:0.38 [[ 9.99838737e-01 -1.78504161e-02 -1.96541795e-03 1.76589781e+02] [ 1.78504975e-02 9.99840667e-01 2.38617505e-05 4.78569066e+00] [ 1.96467885e-03 -5.89415906e-05 9.99998068e-01 3.81865657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26439141799997 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:176.65, Y:4.78, Z:0.38 [[ 9.99646408e-01 -2.65178507e-02 -1.96541099e-03 1.76652774e+02] [ 2.65179499e-02 9.99648337e-01 2.44217764e-05 4.78155169e+00] [ 1.96407221e-03 -7.65318112e-05 9.99998068e-01 3.82149474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32439141799998 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:176.72, Y:4.78, Z:0.38 [[ 9.99558942e-01 -2.96320538e-02 -1.96540288e-03 1.76715299e+02] [ 2.96321602e-02 9.99560871e-01 2.50576877e-05 4.77948300e+00] [ 1.96379730e-03 -8.32857689e-05 9.99998068e-01 3.82997962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38439141799998 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:176.78, Y:4.78, Z:0.38 [[ 9.99516899e-01 -3.10178300e-02 -1.96539975e-03 1.76777070e+02] [ 3.10179396e-02 9.99518828e-01 2.53004368e-05 4.77808841e+00] [ 1.96366929e-03 -8.62508650e-05 9.99998068e-01 3.83179790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44439141799998 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:176.84, Y:4.78, Z:0.38 [[ 9.99520119e-01 -3.09139052e-02 -1.96539717e-03 1.76838888e+02] [ 3.09140150e-02 9.99522047e-01 2.54993530e-05 4.77774293e+00] [ 1.96366952e-03 -8.62454341e-05 9.99998068e-01 3.82316283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50439141799998 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:176.90, Y:4.78, Z:0.38 [[ 9.99547384e-01 -3.00194067e-02 -1.96539462e-03 1.76901010e+02] [ 3.00195151e-02 9.99549312e-01 2.56943491e-05 4.77779951e+00] [ 1.96373752e-03 -8.46829131e-05 9.99998068e-01 3.81371255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56439141799999 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:176.96, Y:4.78, Z:0.38 [[ 9.99579903e-01 -2.89163541e-02 -1.96539251e-03 1.76962267e+02] [ 2.89164607e-02 9.99581831e-01 2.58548878e-05 4.77797178e+00] [ 1.96382302e-03 -8.26762216e-05 9.99998068e-01 3.80421936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.624391418 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:177.02, Y:4.78, Z:0.38 [[ 9.99609781e-01 -2.78643550e-02 -1.96539095e-03 1.77024341e+02] [ 2.78644598e-02 9.99611710e-01 2.59732843e-05 4.77777503e+00] [ 1.96390408e-03 -8.07277062e-05 9.99998068e-01 3.80098785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.684391418 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:177.09, Y:4.78, Z:0.38 [[ 9.99676104e-01 -2.53736878e-02 -1.96538886e-03 1.77085390e+02] [ 2.53737881e-02 9.99678033e-01 2.61300975e-05 4.77968146e+00] [ 1.96409306e-03 -7.59909947e-05 9.99998068e-01 3.79572970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.744391418 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:177.15, Y:4.78, Z:0.38 [[ 9.99761734e-01 -2.17396419e-02 -1.96538732e-03 1.77148730e+02] [ 2.17397354e-02 9.99763664e-01 2.62458307e-05 4.78072332e+00] [ 1.96435225e-03 -6.89665775e-05 9.99998068e-01 3.80833178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.804391418 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:177.21, Y:4.78, Z:0.38 [[ 9.99909232e-01 -1.33290786e-02 -1.96538405e-03 1.77210402e+02] [ 1.33291564e-02 9.99911163e-01 2.64879650e-05 4.78386979e+00] [ 1.96485639e-03 -5.26824722e-05 9.99998068e-01 3.82361174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.864391418 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:177.27, Y:4.79, Z:0.38 [[ 9.99992065e-01 -3.46510954e-03 -1.96538245e-03 1.77271756e+02] [ 3.46516852e-03 9.99993996e-01 2.66065280e-05 4.78670980e+00] [ 1.96527845e-03 -3.34166983e-05 9.99998068e-01 3.84755485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92439141799997 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:177.33, Y:4.79, Z:0.39 [[ 9.99995873e-01 2.09541606e-03 -1.96538088e-03 1.77331930e+02] [-2.09536759e-03 9.99997804e-01 2.67217952e-05 4.78795579e+00] [ 1.96543256e-03 -2.26034895e-05 9.99998068e-01 3.85598731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98439141799997 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:177.39, Y:4.79, Z:0.38 [[ 9.99971941e-01 7.22875696e-03 -1.96538088e-03 1.77390965e+02] [-7.22871840e-03 9.99973872e-01 2.67217952e-05 4.78889831e+00] [ 1.96552270e-03 -1.25138604e-05 9.99998068e-01 3.83908331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04439141799998 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:177.45, Y:4.79, Z:0.38 [[ 9.99966609e-01 7.93208480e-03 -1.96538244e-03 1.77449736e+02] [-7.93204783e-03 9.99968540e-01 2.66069025e-05 4.78851329e+00] [ 1.96553166e-03 -1.10165066e-05 9.99998068e-01 3.82820841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10439141799998 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:177.51, Y:4.79, Z:0.38 [[ 9.99979070e-01 6.16419567e-03 -1.96538457e-03 1.77507814e+02] [-6.16415559e-03 9.99981001e-01 2.64483639e-05 4.78713354e+00] [ 1.96551026e-03 -1.43328740e-05 9.99998068e-01 3.80786022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16439141799998 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:177.57, Y:4.79, Z:0.38 [[ 9.99998068e-01 -4.69762716e-05 -1.96538730e-03 1.77566428e+02] [ 4.70279416e-05 9.99999999e-01 2.62438730e-05 4.79314482e+00] [ 1.96538607e-03 -2.63362504e-05 9.99998068e-01 3.83481877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22439141799998 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:177.63, Y:4.78, Z:0.38 [[ 9.99997709e-01 8.47871223e-04 -1.96538936e-03 1.77625732e+02] [-8.47821586e-04 9.99999640e-01 2.60886092e-05 4.78419049e+00] [ 1.96541078e-03 -2.44222499e-05 9.99998068e-01 3.81787069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28439141799998 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:177.69, Y:4.78, Z:0.38 [[ 9.99997019e-01 -1.44907540e-03 -1.96538987e-03 1.77685655e+02] [ 1.44912940e-03 9.99998950e-01 2.60502761e-05 4.78285885e+00] [ 1.96535006e-03 -2.88983027e-05 9.99998068e-01 3.83992940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.344391418 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:177.75, Y:4.79, Z:0.39 [[ 9.99948699e-01 -9.93662917e-03 -1.96539090e-03 1.77745923e+02] [ 9.93669941e-03 9.99950629e-01 2.59722219e-05 4.78921009e+00] [ 1.96503579e-03 -4.55003881e-05 9.99998068e-01 3.89821613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.404391418 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:177.81, Y:4.78, Z:0.38 [[ 9.99959196e-01 -8.81728037e-03 -1.96539090e-03 1.77806627e+02] [ 8.81734844e-03 9.99961126e-01 2.59722219e-05 4.77915313e+00] [ 1.96508550e-03 -4.33006985e-05 9.99998068e-01 3.84651671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.464391418 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:177.87, Y:4.78, Z:0.38 [[ 9.99916738e-01 -1.27536373e-02 -1.96538977e-03 1.77869033e+02] [ 1.27537131e-02 9.99918668e-01 2.60573149e-05 4.77639933e+00] [ 1.96489760e-03 -5.11211627e-05 9.99998068e-01 3.83602168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.524391418 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:177.93, Y:4.77, Z:0.38 [[ 9.99868803e-01 -1.60783918e-02 -1.96538764e-03 1.77930020e+02] [ 1.60784744e-02 9.99870733e-01 2.62170491e-05 4.77402700e+00] [ 1.96471206e-03 -5.78140443e-05 9.99998068e-01 3.81964806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.584391418 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:177.99, Y:4.77, Z:0.38 [[ 9.99860372e-01 -1.65944191e-02 -1.96538606e-03 1.77992161e+02] [ 1.65945029e-02 9.99862301e-01 2.63349580e-05 4.77277177e+00] [ 1.96467842e-03 -5.89458856e-05 9.99998068e-01 3.81217027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.644391418 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:178.05, Y:4.77, Z:0.38 [[ 9.99920560e-01 -1.24503044e-02 -1.96538395e-03 1.78054460e+02] [ 1.24503805e-02 9.99922491e-01 2.64920646e-05 4.77227164e+00] [ 1.96490178e-03 -5.09597381e-05 9.99998068e-01 3.80501528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70439141799997 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:178.12, Y:4.78, Z:0.39 [[ 9.99967191e-01 -7.85838041e-03 -1.96538184e-03 1.78115794e+02] [ 7.85844796e-03 9.99969122e-01 2.66476727e-05 4.77548039e+00] [ 1.96511174e-03 -4.20916493e-05 9.99998068e-01 3.86322425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76439141799997 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:178.18, Y:4.77, Z:0.38 [[ 9.99992877e-01 3.22244520e-03 -1.96538074e-03 1.78177245e+02] [-3.22239890e-03 9.99994808e-01 2.67281265e-05 4.77435949e+00] [ 1.96545667e-03 -2.03946953e-05 9.99998068e-01 3.82060812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82439141799998 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:178.24, Y:4.77, Z:0.38 [[ 9.99959191e-01 8.81775484e-03 -1.96537965e-03 1.78235681e+02] [-8.81771918e-03 9.99961123e-01 2.68080988e-05 4.77453569e+00] [ 1.96553963e-03 -9.47683895e-06 9.99998068e-01 3.81706417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88439141799998 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:178.29, Y:4.77, Z:0.38 [[ 9.99907998e-01 1.34213577e-02 -1.96538686e-03 1.78293420e+02] [-1.34213320e-02 9.99909930e-01 2.62684443e-05 4.77293990e+00] [ 1.96556240e-03 1.12081967e-07 9.99998068e-01 3.81630782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94439141799998 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:178.35, Y:4.77, Z:0.38 [[ 9.99896877e-01 1.42257525e-02 -1.96539512e-03 1.78351200e+02] [-1.42257296e-02 9.99898809e-01 2.56353294e-05 4.77064982e+00] [ 1.96556092e-03 2.32649378e-06 9.99998068e-01 3.83325820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00439141799998 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:178.41, Y:4.77, Z:0.38 [[ 9.99875272e-01 1.56709443e-02 -1.96539860e-03 1.78408719e+02] [-1.56709247e-02 9.99877203e-01 2.53660009e-05 4.76714253e+00] [ 1.96555476e-03 5.43677633e-06 9.99998068e-01 3.77398441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06439141799999 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:178.47, Y:4.76, Z:0.38 [[ 9.99951256e-01 9.67591617e-03 -1.96540147e-03 1.78467506e+02] [-9.67588544e-03 9.99953187e-01 2.51415505e-05 4.76339092e+00] [ 1.96555273e-03 -6.12332552e-06 9.99998068e-01 3.81124481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.124391418 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:178.53, Y:4.76, Z:0.38 [[ 9.99965414e-01 8.08139780e-03 -1.96540356e-03 1.78525919e+02] [-8.08136431e-03 9.99967345e-01 2.49766591e-05 4.75824141e+00] [ 1.96554123e-03 -9.09265306e-06 9.99998068e-01 3.81480848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.184391418 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:178.59, Y:4.75, Z:0.38 [[ 9.99989107e-01 4.23345909e-03 -1.96540554e-03 1.78585117e+02] [-4.23341848e-03 9.99991039e-01 2.48200669e-05 4.75448889e+00] [ 1.96549300e-03 -1.64994124e-05 9.99998068e-01 3.82700694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.244391418 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:178.64, Y:4.75, Z:0.38 [[ 9.99998043e-01 2.27731374e-04 -1.96540753e-03 1.78644273e+02] [-2.27683345e-04 9.99999974e-01 2.46613755e-05 4.74867853e+00] [ 1.96541310e-03 -2.42138367e-05 9.99998068e-01 3.82772126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.304391418 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:178.70, Y:4.74, Z:0.38 [[ 9.99996092e-01 -1.98820239e-03 -1.96540949e-03 1.78702952e+02] [ 1.98825439e-03 9.99998023e-01 2.45042871e-05 4.74341147e+00] [ 1.96535689e-03 -2.84119254e-05 9.99998068e-01 3.81614232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.364391418 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:178.76, Y:4.74, Z:0.39 [[ 9.99922299e-01 -1.23099036e-02 -1.96541093e-03 1.78763608e+02] [ 1.23099753e-02 9.99924229e-01 2.43884238e-05 4.74408170e+00] [ 1.96496179e-03 -4.85806889e-05 9.99998068e-01 3.90873272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42439141799997 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:178.82, Y:4.73, Z:0.38 [[ 9.99916375e-01 -1.27820004e-02 -1.96541045e-03 1.78824622e+02] [ 1.27820731e-02 9.99918306e-01 2.44266821e-05 4.73182010e+00] [ 1.96493767e-03 -4.95466596e-05 9.99998068e-01 3.81105017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48439141799997 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:178.89, Y:4.73, Z:0.38 [[ 9.99934552e-01 -1.12707527e-02 -1.96540997e-03 1.78887287e+02] [ 1.12708226e-02 9.99936482e-01 2.44658658e-05 4.72774443e+00] [ 1.96500938e-03 -4.66160515e-05 9.99998068e-01 3.81043288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54439141799998 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:178.95, Y:4.73, Z:0.39 [[ 9.99872847e-01 -1.58248683e-02 -1.96540723e-03 1.78947695e+02] [ 1.58249473e-02 9.99874777e-01 2.46836683e-05 4.73481863e+00] [ 1.96477050e-03 -5.57829957e-05 9.99998068e-01 3.94678847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60439141799998 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:179.01, Y:4.72, Z:0.38 [[ 9.99995235e-01 -2.38076639e-03 -1.96540723e-03 1.79007590e+02] [ 2.38081951e-03 9.99997166e-01 2.46836683e-05 4.72313523e+00] [ 1.96534289e-03 -2.93628306e-05 9.99998068e-01 3.81071012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66439141799998 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:179.07, Y:4.72, Z:0.38 [[ 9.99997743e-01 8.06502750e-04 -1.96540723e-03 1.79067716e+02] [-8.06455794e-04 9.99999675e-01 2.46836683e-05 4.72122863e+00] [ 1.96542650e-03 -2.30985986e-05 9.99998068e-01 3.81594133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72439141799998 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:179.13, Y:4.72, Z:0.38 [[ 9.99990967e-01 3.76872163e-03 -1.96540723e-03 1.79127589e+02] [-3.76868039e-03 9.99992898e-01 2.46836683e-05 4.71851886e+00] [ 1.96548630e-03 -1.72764537e-05 9.99998068e-01 3.82258532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78439141799998 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:179.19, Y:4.72, Z:0.38 [[ 9.99989201e-01 4.21136596e-03 -1.96540822e-03 1.79186438e+02] [-4.21132573e-03 9.99991132e-01 2.46048129e-05 4.71510457e+00] [ 1.96549441e-03 -1.63275730e-05 9.99998068e-01 3.82325494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.844391418 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:179.25, Y:4.72, Z:0.39 [[ 9.99996369e-01 -1.84370665e-03 -1.96541015e-03 1.79246583e+02] [ 1.84375826e-03 9.99998300e-01 2.44494578e-05 4.71954831e+00] [ 1.96536173e-03 -2.80731102e-05 9.99998068e-01 3.88965888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.904391418 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:179.31, Y:4.71, Z:0.38 [[ 9.99981230e-01 -5.80317960e-03 -1.96541128e-03 1.79306973e+02] [ 5.80323868e-03 9.99983161e-01 2.43583943e-05 4.71185795e+00] [ 1.96523683e-03 -3.57636878e-05 9.99998068e-01 3.82431150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.964391418 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:179.37, Y:4.71, Z:0.38 [[ 9.99935504e-01 -1.11858906e-02 -1.96541128e-03 1.79367346e+02] [ 1.11859601e-02 9.99937435e-01 2.43583943e-05 4.70544081e+00] [ 1.96501584e-03 -4.63418353e-05 9.99998068e-01 3.80327650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.024391418 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:179.43, Y:4.70, Z:0.38 [[ 9.99860414e-01 -1.65918530e-02 -1.96541081e-03 1.79429177e+02] [ 1.65919330e-02 9.99862344e-01 2.43961618e-05 4.70333257e+00] [ 1.96473548e-03 -5.70027209e-05 9.99998068e-01 3.81384476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.084391418 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:179.49, Y:4.70, Z:0.38 [[ 9.99664622e-01 -2.58220943e-02 -1.96540897e-03 1.79490936e+02] [ 2.58221924e-02 9.99666551e-01 2.45432515e-05 4.70109844e+00] [ 1.96411985e-03 -7.52861888e-05 9.99998068e-01 3.82311575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.144391418 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:179.55, Y:4.70, Z:0.38 [[ 9.99398563e-01 -3.46215218e-02 -1.96540439e-03 1.79553083e+02] [ 3.46216376e-02 9.99400491e-01 2.49052219e-05 4.69899693e+00] [ 1.96336385e-03 -9.29357613e-05 9.99998068e-01 3.77305663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20439141799997 meters Centerline goodness : 0.998949 with order 1 Centerline is valid? [True, True] Translation: X:179.62, Y:4.70, Z:0.38 [[ 9.99157537e-01 -4.09921260e-02 -1.96540257e-03 1.79615160e+02] [ 4.09922543e-02 9.99159464e-01 2.50475532e-05 4.69858838e+00] [ 1.96272383e-03 -1.05592734e-04 9.99998068e-01 3.81654337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26439141799997 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:179.68, Y:4.70, Z:0.38 [[ 9.99032939e-01 -4.39240777e-02 -1.96540076e-03 1.79676877e+02] [ 4.39242119e-02 9.99034866e-01 2.51892963e-05 4.69877766e+00] [ 1.96239746e-03 -1.11493616e-04 9.99998068e-01 3.80258646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32439141799998 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:179.74, Y:4.70, Z:0.38 [[ 9.98761089e-01 -4.97234756e-02 -1.96539915e-03 1.79738237e+02] [ 4.97236213e-02 9.98763015e-01 2.53138670e-05 4.70024284e+00] [ 1.96170929e-03 -1.23009269e-04 9.99998068e-01 3.81820016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38439141799998 meters Centerline goodness : 0.998546 with order 1 Centerline is valid? [True, True] Translation: X:179.80, Y:4.70, Z:0.38 [[ 9.98815621e-01 -4.86157557e-02 -1.96539756e-03 1.79800455e+02] [ 4.86158996e-02 9.98817548e-01 2.54367896e-05 4.69855305e+00] [ 1.96183694e-03 -1.20956233e-04 9.99998068e-01 3.76234854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44439141799998 meters Centerline goodness : 0.998987 with order 1 Centerline is valid? [True, True] Translation: X:179.86, Y:4.70, Z:0.38 [[ 9.98903986e-01 -4.67649885e-02 -1.96539578e-03 1.79861734e+02] [ 4.67651290e-02 9.98905913e-01 2.55739403e-05 4.70327882e+00] [ 1.96204950e-03 -1.17457898e-04 9.99998068e-01 3.80269554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50439141799998 meters Centerline goodness : 0.998732 with order 1 Centerline is valid? [True, True] Translation: X:179.92, Y:4.71, Z:0.38 [[ 9.99225818e-01 -3.92925268e-02 -1.96539221e-03 1.79923995e+02] [ 3.92926534e-02 9.99227745e-01 2.58447945e-05 4.70595175e+00] [ 1.96285892e-03 -1.03050261e-04 9.99998068e-01 3.77764614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56439141799999 meters Centerline goodness : 0.998875 with order 1 Centerline is valid? [True, True] Translation: X:179.99, Y:4.71, Z:0.38 [[ 9.99687836e-01 -2.49071693e-02 -1.96539045e-03 1.79986751e+02] [ 2.49072685e-02 9.99689766e-01 2.59786246e-05 4.71308472e+00] [ 1.96413366e-03 -7.49230225e-05 9.99998068e-01 3.83775021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.624391418 meters Centerline goodness : 0.998805 with order 1 Centerline is valid? [True, True] Translation: X:180.05, Y:4.72, Z:0.39 [[ 9.99960001e-01 -8.72547381e-03 -1.96538787e-03 1.80048544e+02] [ 8.72554209e-03 9.99961931e-01 2.61719609e-05 4.72041485e+00] [ 1.96508469e-03 -4.33199886e-05 9.99998068e-01 3.86264172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.684391418 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:180.11, Y:4.73, Z:0.39 [[ 9.99995256e-01 2.37182437e-03 -1.96538583e-03 1.80109896e+02] [-2.37177721e-03 9.99997187e-01 2.63243433e-05 4.72555139e+00] [ 1.96544274e-03 -2.16627610e-05 9.99998068e-01 3.86810863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.744391418 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:180.17, Y:4.73, Z:0.38 [[ 9.99871324e-01 1.59208346e-02 -1.96538479e-03 1.80168824e+02] [-1.59208134e-02 9.99873255e-01 2.64017879e-05 4.72940028e+00] [ 1.96555603e-03 4.89213396e-06 9.99998068e-01 3.82151598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.804391418 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:180.23, Y:4.73, Z:0.39 [[ 9.99789820e-01 2.04071711e-02 -1.96539203e-03 1.80226671e+02] [-2.04071597e-02 9.99791752e-01 2.58514110e-05 4.73335320e+00] [ 1.96551029e-03 1.42620915e-05 9.99998068e-01 3.86288559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.864391418 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:180.29, Y:4.73, Z:0.38 [[ 9.99623062e-01 2.73837836e-02 -1.96539459e-03 1.80285509e+02] [-2.73837860e-02 9.99624993e-01 2.56550573e-05 4.73198139e+00] [ 1.96536009e-03 2.81745580e-05 9.99998068e-01 3.80009431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92439141799997 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:180.34, Y:4.74, Z:0.39 [[ 9.99776103e-01 2.10684714e-02 -1.96539669e-03 1.80343634e+02] [-2.10684620e-02 9.99778035e-01 2.54936097e-05 4.73508911e+00] [ 1.96549755e-03 1.59199836e-05 9.99998068e-01 3.86353868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98439141799997 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:180.40, Y:4.73, Z:0.39 [[ 9.99880354e-01 1.53432063e-02 -1.96539925e-03 1.80402634e+02] [-1.53431862e-02 9.99882286e-01 2.52946153e-05 4.73301021e+00] [ 1.96555599e-03 4.86389776e-06 9.99998068e-01 3.87193714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04439141799998 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:180.46, Y:4.73, Z:0.39 [[ 9.99980391e-01 5.94601894e-03 -1.96540120e-03 1.80460973e+02] [-5.94598101e-03 9.99982322e-01 2.51420421e-05 4.72953361e+00] [ 1.96551595e-03 -1.34553108e-05 9.99998068e-01 3.87861923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10439141799998 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:180.52, Y:4.73, Z:0.39 [[ 9.99997087e-01 -1.40115370e-03 -1.96540320e-03 1.80519891e+02] [ 1.40120552e-03 9.99999018e-01 2.49850281e-05 4.72660124e+00] [ 1.96536626e-03 -2.77388892e-05 9.99998068e-01 3.87881070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16439141799998 meters Centerline goodness : 0.998739 with order 1 Centerline is valid? [True, True] Translation: X:180.58, Y:4.72, Z:0.39 [[ 9.99902540e-01 -1.38220209e-02 -1.96540466e-03 1.80579067e+02] [ 1.38220965e-02 9.99904470e-01 2.48691523e-05 4.72088877e+00] [ 1.96487316e-03 -5.20327414e-05 9.99998068e-01 3.86435844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22439141799998 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:180.64, Y:4.72, Z:0.39 [[ 9.99766603e-01 -2.15145779e-02 -1.96540514e-03 1.80642486e+02] [ 2.15146683e-02 9.99768532e-01 2.48312105e-05 4.71646089e+00] [ 1.96441598e-03 -6.71104546e-05 9.99998068e-01 3.85951950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28439141799998 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:180.71, Y:4.71, Z:0.39 [[ 9.99523308e-01 -3.08106177e-02 -1.96539741e-03 1.80705140e+02] [ 3.08107272e-02 9.99525237e-01 2.54286037e-05 4.71134291e+00] [ 1.96368084e-03 -8.59718055e-05 9.99998068e-01 3.86136367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.344391418 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:180.77, Y:4.71, Z:0.39 [[ 9.99355059e-01 -3.58553001e-02 -1.96539451e-03 1.80768281e+02] [ 3.58554197e-02 9.99356987e-01 2.56508392e-05 4.70831945e+00] [ 1.96321102e-03 -9.61043411e-05 9.99998068e-01 3.86276773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.404391418 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:180.83, Y:4.71, Z:0.39 [[ 9.99276877e-01 -3.79718469e-02 -1.96539139e-03 1.80830854e+02] [ 3.79719711e-02 9.99278804e-01 2.58880243e-05 4.70687336e+00] [ 1.96299094e-03 -1.00499089e-04 9.99998068e-01 3.85334297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.464391418 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:180.89, Y:4.71, Z:0.38 [[ 9.99145830e-01 -4.12764761e-02 -1.96538829e-03 1.80894004e+02] [ 4.12766071e-02 9.99147757e-01 2.61213440e-05 4.70585071e+00] [ 1.96263510e-03 -1.07223592e-04 9.99998068e-01 3.83557064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.524391418 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:180.96, Y:4.71, Z:0.38 [[ 9.99010058e-01 -4.44414254e-02 -1.96538519e-03 1.80956569e+02] [ 4.44415630e-02 9.99011985e-01 2.63521448e-05 4.70533949e+00] [ 1.96227223e-03 -1.13670848e-04 9.99998068e-01 3.82753712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.584391418 meters Centerline goodness : 0.998721 with order 1 Centerline is valid? [True, True] Translation: X:181.02, Y:4.71, Z:0.38 [[ 9.98911953e-01 -4.65945014e-02 -1.96538195e-03 1.81018658e+02] [ 4.65946435e-02 9.98913879e-01 2.65915041e-05 4.70579184e+00] [ 1.96200829e-03 -1.18138843e-04 9.99998068e-01 3.81707575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.644391418 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:181.08, Y:4.71, Z:0.38 [[ 9.98965376e-01 -4.54347315e-02 -1.96537928e-03 1.81080440e+02] [ 4.54348719e-02 9.98967303e-01 2.67878966e-05 4.70804004e+00] [ 1.96213253e-03 -1.16056937e-04 9.99998068e-01 3.81113630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70439141799997 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:181.14, Y:4.71, Z:0.38 [[ 9.99109518e-01 -4.21462834e-02 -1.96537665e-03 1.81143477e+02] [ 4.21464177e-02 9.99111445e-01 2.69795192e-05 4.70950671e+00] [ 1.96249321e-03 -1.09789079e-04 9.99998068e-01 3.81929885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76439141799997 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:181.21, Y:4.71, Z:0.38 [[ 9.99425139e-01 -3.38456508e-02 -1.96537353e-03 1.81206648e+02] [ 3.38457695e-02 9.99427067e-01 2.72042419e-05 4.71386357e+00] [ 1.96332676e-03 -9.37081830e-05 9.99998068e-01 3.83908571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82439141799998 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:181.27, Y:4.72, Z:0.39 [[ 9.99732806e-01 -2.30316001e-02 -1.96537031e-03 1.81269278e+02] [ 2.30316984e-02 9.99734735e-01 2.74350116e-05 4.71877566e+00] [ 1.96421710e-03 -7.26934974e-05 9.99998068e-01 3.85599959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88439141799998 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:181.33, Y:4.72, Z:0.39 [[ 9.99876199e-01 -1.56116781e-02 -1.96536804e-03 1.81331670e+02] [ 1.56117624e-02 9.99878129e-01 2.75968307e-05 4.72123072e+00] [ 1.96469769e-03 -5.82762732e-05 9.99998068e-01 3.85988849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94439141799998 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:181.39, Y:4.72, Z:0.38 [[ 9.99984979e-01 -5.11654485e-03 -1.96536580e-03 1.81393792e+02] [ 5.11660928e-03 9.99986910e-01 2.77558031e-05 4.72441498e+00] [ 1.96519806e-03 -3.78113951e-05 9.99998068e-01 3.84612063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00439141799998 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:181.46, Y:4.73, Z:0.38 [[ 9.99996466e-01 1.79008846e-03 -1.96536355e-03 1.81455541e+02] [-1.79003706e-03 9.99998397e-01 2.79136503e-05 4.72582329e+00] [ 1.96541037e-03 -2.43954781e-05 9.99998068e-01 3.83808013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06439141799999 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:181.51, Y:4.73, Z:0.38 [[ 9.99933549e-01 1.13593303e-02 -1.96536240e-03 1.81514122e+02] [-1.13592972e-02 9.99935481e-01 2.79945409e-05 4.72802301e+00] [ 1.96555360e-03 -5.66754498e-06 9.99998068e-01 3.82757928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.124391418 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:181.57, Y:4.73, Z:0.38 [[ 9.99842959e-01 1.76123316e-02 -1.96537025e-03 1.81572449e+02] [-1.76123117e-02 9.99844891e-01 2.74325738e-05 4.73237439e+00] [ 1.96554855e-03 7.18644763e-06 9.99998068e-01 3.82875811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.184391418 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:181.63, Y:4.73, Z:0.38 [[ 9.99768589e-01 2.14220732e-02 -1.96537959e-03 1.81629693e+02] [-2.14220620e-02 9.99770521e-01 2.67457814e-05 4.72851757e+00] [ 1.96550153e-03 1.53628913e-05 9.99998068e-01 3.82732366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.244391418 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:181.69, Y:4.73, Z:0.38 [[ 9.99792628e-01 2.02691597e-02 -1.96538357e-03 1.81688883e+02] [-2.02691468e-02 9.99794559e-01 2.64505614e-05 4.72741297e+00] [ 1.96551593e-03 1.33915718e-05 9.99998068e-01 3.83967626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.304391418 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:181.75, Y:4.72, Z:0.38 [[ 9.99871539e-01 1.59072889e-02 -1.96538544e-03 1.81746853e+02] [-1.59072679e-02 9.99873471e-01 2.63108675e-05 4.72335168e+00] [ 1.96555529e-03 4.95642504e-06 9.99998068e-01 3.84037737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.364391418 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:181.81, Y:4.72, Z:0.38 [[ 9.99977031e-01 6.48649365e-03 -1.96538853e-03 1.81805345e+02] [-6.48645492e-03 9.99978962e-01 2.60778495e-05 4.71794121e+00] [ 1.96551633e-03 -1.33288464e-05 9.99998068e-01 3.83118268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42439141799997 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:181.86, Y:4.71, Z:0.38 [[ 9.99996928e-01 -1.51019677e-03 -1.96539068e-03 1.81862595e+02] [ 1.51025062e-03 9.99998859e-01 2.59144494e-05 4.71291310e+00] [ 1.96534930e-03 -2.88826023e-05 9.99998068e-01 3.82281974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48439141799997 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:181.92, Y:4.71, Z:0.38 [[ 9.99920127e-01 -1.24850494e-02 -1.96539331e-03 1.81922246e+02] [ 1.24851240e-02 9.99922057e-01 2.57135912e-05 4.70591353e+00] [ 1.96491909e-03 -5.02497166e-05 9.99998068e-01 3.81629784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54439141799998 meters Centerline goodness : 0.998894 with order 1 Centerline is valid? [True, True] Translation: X:181.99, Y:4.70, Z:0.38 [[ 9.99790338e-01 -2.03817807e-02 -1.96539279e-03 1.81985207e+02] [ 2.03818707e-02 9.99792268e-01 2.57531827e-05 4.70013994e+00] [ 1.96445962e-03 -6.58061650e-05 9.99998068e-01 3.81598301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60439141799998 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:182.05, Y:4.70, Z:0.39 [[ 9.99546366e-01 -3.00532830e-02 -1.96538443e-03 1.82046595e+02] [ 3.00533928e-02 9.99548294e-01 2.63760497e-05 4.70118810e+00] [ 1.96370397e-03 -8.54305550e-05 9.99998068e-01 3.88013933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66439141799998 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:182.11, Y:4.69, Z:0.38 [[ 9.99620197e-01 -2.74881456e-02 -1.96538338e-03 1.82108923e+02] [ 2.74882507e-02 9.99622126e-01 2.64541823e-05 4.69299649e+00] [ 1.96391354e-03 -8.04690860e-05 9.99998068e-01 3.80451390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72439141799998 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:182.17, Y:4.69, Z:0.38 [[ 9.99533044e-01 -3.04931402e-02 -1.96538126e-03 1.82170703e+02] [ 3.04932514e-02 9.99534972e-01 2.66105724e-05 4.69027888e+00] [ 1.96365587e-03 -8.65290113e-05 9.99998068e-01 3.78410949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78439141799998 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:182.23, Y:4.69, Z:0.38 [[ 9.99428801e-01 -3.37373460e-02 -1.96537915e-03 1.82233399e+02] [ 3.37374637e-02 9.99430729e-01 2.67654060e-05 4.68821743e+00] [ 1.96335733e-03 -9.30570255e-05 9.99998068e-01 3.76599543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.844391418 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:182.30, Y:4.69, Z:0.38 [[ 9.99376090e-01 -3.52642700e-02 -1.96537645e-03 1.82295206e+02] [ 3.52643910e-02 9.99378018e-01 2.69625015e-05 4.68747721e+00] [ 1.96320321e-03 -9.62534830e-05 9.99998068e-01 3.76924132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.904391418 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:182.36, Y:4.69, Z:0.38 [[ 9.99404788e-01 -3.44413666e-02 -1.96537427e-03 1.82356493e+02] [ 3.44414864e-02 9.99406716e-01 2.71208158e-05 4.68802473e+00] [ 1.96327416e-03 -9.47950841e-05 9.99998068e-01 3.78115679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.964391418 meters Centerline goodness : 0.998768 with order 1 Centerline is valid? [True, True] Translation: X:182.42, Y:4.69, Z:0.38 [[ 9.99565998e-01 -2.93930866e-02 -1.96537265e-03 1.82418714e+02] [ 2.93931969e-02 9.99567926e-01 2.72375989e-05 4.69011574e+00] [ 1.96372286e-03 -8.49943629e-05 9.99998068e-01 3.78249685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.024391418 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:182.48, Y:4.69, Z:0.38 [[ 9.99716173e-01 -2.37426070e-02 -1.96537055e-03 1.82480473e+02] [ 2.37427066e-02 9.99718102e-01 2.73882135e-05 4.69141817e+00] [ 1.96416625e-03 -7.40436563e-05 9.99998068e-01 3.78329287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.084391418 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:182.54, Y:4.70, Z:0.38 [[ 9.99918284e-01 -1.26317804e-02 -1.96536840e-03 1.82542596e+02] [ 1.26318589e-02 9.99920215e-01 2.75417494e-05 4.69595037e+00] [ 1.96486369e-03 -5.23657551e-05 9.99998068e-01 3.79378379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.144391418 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:182.60, Y:4.70, Z:0.38 [[ 9.99998062e-01 -1.12469730e-04 -1.96536627e-03 1.82604020e+02] [ 1.12524374e-04 9.99999993e-01 2.76929421e-05 4.70030388e+00] [ 1.96536314e-03 -2.79140401e-05 9.99998068e-01 3.80054010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20439141799997 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:182.66, Y:4.70, Z:0.38 [[ 9.99928993e-01 1.17535489e-02 -1.96536469e-03 1.82663412e+02] [-1.17535169e-02 9.99930925e-01 2.78043310e-05 4.70404486e+00] [ 1.96555573e-03 -4.70240956e-06 9.99998068e-01 3.80312225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26439141799997 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:182.72, Y:4.71, Z:0.38 [[ 9.99886567e-01 1.49328875e-02 -1.96536583e-03 1.82721741e+02] [-1.49328619e-02 9.99888498e-01 2.77237389e-05 4.70553499e+00] [ 1.96556068e-03 1.62794242e-06 9.99998068e-01 3.82584435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32439141799998 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:182.78, Y:4.71, Z:0.38 [[ 9.99856354e-01 1.68347596e-02 -1.96536886e-03 1.82779598e+02] [-1.68347380e-02 9.99858285e-01 2.75071991e-05 4.70618696e+00] [ 1.96555341e-03 5.58322203e-06 9.99998068e-01 3.82155238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38439141799998 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:182.84, Y:4.71, Z:0.38 [[ 9.99919313e-01 1.25500765e-02 -1.96537220e-03 1.82837789e+02] [-1.25500472e-02 9.99921245e-01 2.72664132e-05 4.70542047e+00] [ 1.96555961e-03 -2.59869941e-06 9.99998068e-01 3.80528406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44439141799998 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:182.90, Y:4.70, Z:0.38 [[ 9.99989157e-01 4.22185628e-03 -1.96537512e-03 1.82896935e+02] [-4.22181127e-03 9.99991088e-01 2.70538768e-05 4.70272988e+00] [ 1.96547183e-03 -1.87561407e-05 9.99998068e-01 3.81011712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50439141799998 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:182.96, Y:4.70, Z:0.38 [[ 9.99995470e-01 -2.27970915e-03 -1.96537724e-03 1.82955476e+02] [ 2.27976641e-03 9.99997401e-01 2.68990812e-05 4.70103396e+00] [ 1.96531081e-03 -3.13795603e-05 9.99998068e-01 3.82081521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56439141799999 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:183.02, Y:4.70, Z:0.38 [[ 9.99934062e-01 -1.13141334e-02 -1.96537938e-03 1.83015739e+02] [ 1.13142078e-02 9.99935992e-01 2.67421607e-05 4.69835455e+00] [ 1.96495101e-03 -4.89771081e-05 9.99998068e-01 3.83391776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.624391418 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:183.08, Y:4.70, Z:0.38 [[ 9.99823272e-01 -1.86965622e-02 -1.96537938e-03 1.83078865e+02] [ 1.86966509e-02 9.99825202e-01 2.67421607e-05 4.69545764e+00] [ 1.96453585e-03 -6.34834468e-05 9.99998068e-01 3.83790174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.684391418 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:183.14, Y:4.69, Z:0.38 [[ 9.99731833e-01 -2.30738008e-02 -1.96537069e-03 1.83140349e+02] [ 2.30738992e-02 9.99733762e-01 2.73661405e-05 4.69331813e+00] [ 1.96421599e-03 -7.27075669e-05 9.99998068e-01 3.82263641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.744391418 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:183.20, Y:4.69, Z:0.38 [[ 9.99614643e-01 -2.76894005e-02 -1.96536705e-03 1.83202367e+02] [ 2.76895083e-02 9.99616572e-01 2.76252484e-05 4.69200362e+00] [ 1.96384854e-03 -8.20346500e-05 9.99998068e-01 3.81250569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.804391418 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:183.26, Y:4.69, Z:0.38 [[ 9.99588488e-01 -2.86180385e-02 -1.96536489e-03 1.83264471e+02] [ 2.86181483e-02 9.99590417e-01 2.77775600e-05 4.69133471e+00] [ 1.96376497e-03 -8.40112332e-05 9.99998068e-01 3.79944095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.864391418 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:183.33, Y:4.69, Z:0.38 [[ 9.99634869e-01 -2.69493123e-02 -1.96536275e-03 1.83327283e+02] [ 2.69494192e-02 9.99636798e-01 2.79285986e-05 4.69146447e+00] [ 1.96389627e-03 -8.08837857e-05 9.99998068e-01 3.80701672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92439141799997 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:183.39, Y:4.69, Z:0.38 [[ 9.99759574e-01 -2.18387661e-02 -1.96535937e-03 1.83388466e+02] [ 2.18388636e-02 9.99761503e-01 2.81641905e-05 4.69307925e+00] [ 1.96427557e-03 -7.10786345e-05 9.99998068e-01 3.79795310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98439141799997 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:183.45, Y:4.70, Z:0.38 [[ 9.99891234e-01 -1.46169970e-02 -1.96535771e-03 1.83450745e+02] [ 1.46170808e-02 9.99893164e-01 2.82796816e-05 4.69529431e+00] [ 1.96473438e-03 -5.70043981e-05 9.99998068e-01 3.79733729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04439141799998 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:183.51, Y:4.70, Z:0.39 [[ 9.99891369e-01 -1.46077613e-02 -1.96535546e-03 1.83511358e+02] [ 1.46078454e-02 9.99893299e-01 2.84353064e-05 4.70466714e+00] [ 1.96473038e-03 -5.71418262e-05 9.99998068e-01 3.89660263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10439141799998 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:183.57, Y:4.71, Z:0.39 [[ 9.99973484e-01 -7.01205018e-03 -1.96535546e-03 1.83572362e+02] [ 7.01211960e-03 9.99975414e-01 2.84353064e-05 4.70740379e+00] [ 1.96510775e-03 -4.22158599e-05 9.99998068e-01 3.88448904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16439141799998 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:183.63, Y:4.70, Z:0.38 [[ 9.99997811e-01 7.17978715e-04 -1.96535369e-03 1.83633822e+02] [-7.17923977e-04 9.99999742e-01 2.85569296e-05 4.69919888e+00] [ 1.96537369e-03 -2.71458926e-05 9.99998068e-01 3.80560811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22439141799998 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:183.69, Y:4.70, Z:0.38 [[ 9.99946037e-01 1.02010438e-02 -1.96535257e-03 1.83693908e+02] [-1.02010072e-02 9.99947968e-01 2.86341319e-05 4.70157024e+00] [ 1.96554240e-03 -8.58401096e-06 9.99998068e-01 3.82357017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28439141799998 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:183.75, Y:4.70, Z:0.38 [[ 9.99823079e-01 1.87068960e-02 -1.96535373e-03 1.83751273e+02] [-1.87068760e-02 9.99825011e-01 2.85539172e-05 4.70346526e+00] [ 1.96554397e-03 8.21676315e-06 9.99998068e-01 3.82924431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.344391418 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:183.81, Y:4.70, Z:0.38 [[ 9.99730616e-01 2.31264735e-02 -1.96535766e-03 1.83809770e+02] [-2.31264626e-02 9.99732547e-01 2.82808115e-05 4.70388023e+00] [ 1.96548606e-03 1.71785773e-05 9.99998068e-01 3.84046873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.404391418 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:183.87, Y:4.70, Z:0.38 [[ 9.99643562e-01 2.66249048e-02 -1.96535987e-03 1.83867823e+02] [-2.66249009e-02 9.99645494e-01 2.81267127e-05 4.70413446e+00] [ 1.96541201e-03 2.42108246e-05 9.99998068e-01 3.84793400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.464391418 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:183.93, Y:4.70, Z:0.39 [[ 9.99615762e-01 2.76489679e-02 -1.96536309e-03 1.83927093e+02] [-2.76489665e-02 9.99617694e-01 2.78997619e-05 4.70304019e+00] [ 1.96538312e-03 2.64512164e-05 9.99998068e-01 3.85394033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.524391418 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:183.99, Y:4.70, Z:0.39 [[ 9.99578046e-01 2.89804533e-02 -1.96536520e-03 1.83985939e+02] [-2.89804548e-02 9.99579978e-01 2.77502110e-05 4.70097167e+00] [ 1.96534392e-03 2.92186756e-05 9.99998068e-01 3.86404470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.584391418 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:184.04, Y:4.70, Z:0.39 [[ 9.99588633e-01 2.86129723e-02 -1.96536734e-03 1.84044072e+02] [-2.86129734e-02 9.99590565e-01 2.75979359e-05 4.69662684e+00] [ 1.96535231e-03 2.86484203e-05 9.99998068e-01 3.86362906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64439141799997 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:184.10, Y:4.69, Z:0.39 [[ 9.99675580e-01 2.53943512e-02 -1.96536995e-03 1.84101974e+02] [-2.53943463e-02 9.99677511e-01 2.74107297e-05 4.69154290e+00] [ 1.96543222e-03 2.25074481e-05 9.99998068e-01 3.87481550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70439141799997 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:184.16, Y:4.69, Z:0.39 [[ 9.99789124e-01 2.04412687e-02 -1.96537322e-03 1.84158704e+02] [-2.04412548e-02 9.99791055e-01 2.71744801e-05 4.68570850e+00] [ 1.96551804e-03 1.30059451e-05 9.99998068e-01 3.86957107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76439141799997 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:184.22, Y:4.68, Z:0.39 [[ 9.99862005e-01 1.64957016e-02 -1.96537692e-03 1.84216588e+02] [-1.64956806e-02 9.99863937e-01 2.69036789e-05 4.68134201e+00] [ 1.96555330e-03 5.52026360e-06 9.99998068e-01 3.88041738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82439141799998 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:184.27, Y:4.68, Z:0.39 [[ 9.99926230e-01 1.19862933e-02 -1.96538020e-03 1.84274815e+02] [-1.19862641e-02 9.99928162e-01 2.66625158e-05 4.67559959e+00] [ 1.96555859e-03 -3.10298291e-06 9.99998068e-01 3.89003184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88439141799998 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:184.33, Y:4.67, Z:0.39 [[ 9.99936026e-01 1.11391963e-02 -1.96538289e-03 1.84334034e+02] [-1.11391659e-02 9.99937957e-01 2.64624762e-05 4.67188757e+00] [ 1.96555572e-03 -4.56805731e-06 9.99998068e-01 3.89006369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94439141799998 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:184.39, Y:4.67, Z:0.39 [[ 9.99925840e-01 1.20187703e-02 -1.96538500e-03 1.84392496e+02] [-1.20187419e-02 9.99927772e-01 2.63045174e-05 4.66740614e+00] [ 1.96555919e-03 -2.68111173e-06 9.99998068e-01 3.88346196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00439141799998 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:184.45, Y:4.66, Z:0.39 [[ 9.99886024e-01 1.49691444e-02 -1.96538707e-03 1.84451751e+02] [-1.49691220e-02 9.99887956e-01 2.61487839e-05 4.66264973e+00] [ 1.96555829e-03 3.27431528e-06 9.99998068e-01 3.88132148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06439141799999 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:184.51, Y:4.66, Z:0.39 [[ 9.99845329e-01 1.74772839e-02 -1.96538860e-03 1.84509822e+02] [-1.74772665e-02 9.99847261e-01 2.60336885e-05 4.65887536e+00] [ 1.96554341e-03 8.31995839e-06 9.99998068e-01 3.89057895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.124391418 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:184.57, Y:4.65, Z:0.39 [[ 9.99789880e-01 2.04042261e-02 -1.96539175e-03 1.84567412e+02] [-2.04042149e-02 9.99791812e-01 2.57935339e-05 4.65429127e+00] [ 1.96550888e-03 1.43141614e-05 9.99998068e-01 3.89128184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.184391418 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:184.63, Y:4.65, Z:0.39 [[ 9.99745603e-01 2.24692148e-02 -1.96539431e-03 1.84626236e+02] [-2.24692079e-02 9.99747535e-01 2.55970654e-05 4.64836780e+00] [ 1.96547326e-03 1.85702997e-05 9.99998068e-01 3.89550274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.244391418 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:184.68, Y:4.64, Z:0.39 [[ 9.99713285e-01 2.38638894e-02 -1.96539634e-03 1.84684205e+02] [-2.38638855e-02 9.99715217e-01 2.54403089e-05 4.64373294e+00] [ 1.96544373e-03 2.14689784e-05 9.99998068e-01 3.89237461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.304391418 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:184.74, Y:4.65, Z:0.40 [[ 9.99813019e-01 1.92370453e-02 -1.96539935e-03 1.84744572e+02] [-1.92370329e-02 9.99814951e-01 2.52054100e-05 4.64696198e+00] [ 1.96552053e-03 1.26077549e-05 9.99998068e-01 3.99285643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.364391418 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:184.80, Y:4.63, Z:0.39 [[ 9.99681240e-01 2.51705377e-02 -1.96539986e-03 1.84804051e+02] [-2.51705369e-02 9.99683172e-01 2.51657403e-05 4.63335125e+00] [ 1.96541060e-03 2.43124512e-05 9.99998068e-01 3.89361018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42439141799997 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:184.86, Y:4.63, Z:0.39 [[ 9.99739077e-01 2.27577305e-02 -1.96540037e-03 1.84862306e+02] [-2.27577250e-02 9.99741009e-01 2.51256518e-05 4.62576046e+00] [ 1.96546315e-03 1.96089453e-05 9.99998068e-01 3.89792427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48439141799997 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:184.92, Y:4.62, Z:0.39 [[ 9.99825078e-01 1.85997525e-02 -1.96540240e-03 1.84920728e+02] [-1.85997394e-02 9.99827010e-01 2.49656325e-05 4.61760885e+00] [ 1.96552676e-03 1.15947070e-05 9.99998068e-01 3.89797848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54439141799998 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:184.98, Y:4.61, Z:0.39 [[ 9.99862930e-01 1.64395281e-02 -1.96540439e-03 1.84979849e+02] [-1.64395111e-02 9.99864862e-01 2.48081557e-05 4.61178810e+00] [ 1.96554663e-03 7.50553214e-06 9.99998068e-01 3.90480551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60439141799998 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:185.04, Y:4.60, Z:0.39 [[ 9.99906476e-01 1.35342949e-02 -1.96540640e-03 1.85038495e+02] [-1.35342726e-02 9.99908407e-01 2.46479054e-05 4.60428092e+00] [ 1.96555998e-03 1.95474582e-06 9.99998068e-01 3.91404335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66439141799998 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:185.10, Y:4.60, Z:0.39 [[ 9.99963621e-01 8.30021508e-03 -1.96540840e-03 1.85097570e+02] [-8.30018298e-03 9.99965553e-01 2.44876549e-05 4.59717245e+00] [ 1.96554395e-03 -8.17351472e-06 9.99998068e-01 3.92183556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72439141799998 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:185.16, Y:4.59, Z:0.39 [[ 9.99996081e-01 1.99365401e-03 -1.96541040e-03 1.85156381e+02] [-1.99361005e-03 9.99998012e-01 2.43257953e-05 4.58927717e+00] [ 1.96545499e-03 -2.04074381e-05 9.99998068e-01 3.88636187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78439141799998 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:185.21, Y:4.59, Z:0.39 [[ 9.99990806e-01 -3.81126068e-03 -1.96541241e-03 1.85214875e+02] [ 3.81131553e-03 9.99992737e-01 2.41627515e-05 4.58535205e+00] [ 1.96530604e-03 -3.16533361e-05 9.99998068e-01 3.90242186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.844391418 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:185.28, Y:4.58, Z:0.39 [[ 9.99936286e-01 -1.11158441e-02 -1.96541350e-03 1.85275229e+02] [ 1.11159129e-02 9.99938216e-01 2.40733352e-05 4.57962767e+00] [ 1.96502448e-03 -4.59191667e-05 9.99998068e-01 3.88973102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.904391418 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:185.34, Y:4.58, Z:0.39 [[ 9.99886387e-01 -1.49449201e-02 -1.96541350e-03 1.85336331e+02] [ 1.49449963e-02 9.99888317e-01 2.40733352e-05 4.57604844e+00] [ 1.96483422e-03 -5.34436976e-05 9.99998068e-01 3.88118021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.964391418 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:185.40, Y:4.57, Z:0.39 [[ 9.99814796e-01 -1.91444882e-02 -1.96541205e-03 1.85398041e+02] [ 1.91445727e-02 9.99816726e-01 2.41913008e-05 4.57320932e+00] [ 1.96458871e-03 -6.18137943e-05 9.99998068e-01 3.88037421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.024391418 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:185.46, Y:4.57, Z:0.39 [[ 9.99801536e-01 -1.98248535e-02 -1.96541012e-03 1.85460637e+02] [ 1.98249396e-02 9.99803466e-01 2.43469299e-05 4.57107880e+00] [ 1.96454118e-03 -6.33062349e-05 9.99998068e-01 3.88594145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.084391418 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:185.52, Y:4.57, Z:0.39 [[ 9.99812166e-01 -1.92813225e-02 -1.96540819e-03 1.85522804e+02] [ 1.92814079e-02 9.99814096e-01 2.45018374e-05 4.57023374e+00] [ 1.96457039e-03 -6.23930721e-05 9.99998068e-01 3.88938929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14439141799997 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:185.59, Y:4.57, Z:0.39 [[ 9.99873589e-01 -1.57779380e-02 -1.96540625e-03 1.85585339e+02] [ 1.57780170e-02 9.99875519e-01 2.46562797e-05 4.56996879e+00] [ 1.96477257e-03 -5.56633761e-05 9.99998068e-01 3.90908467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20439141799997 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:185.65, Y:4.57, Z:0.39 [[ 9.99880986e-01 -1.53019858e-02 -1.96540363e-03 1.85647874e+02] [ 1.53020642e-02 9.99882916e-01 2.48634119e-05 4.57025177e+00] [ 1.96479306e-03 -5.49351853e-05 9.99998068e-01 3.91691722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26439141799997 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:185.71, Y:4.58, Z:0.40 [[ 9.99833886e-01 -1.81200818e-02 -1.96540152e-03 1.85710032e+02] [ 1.81201659e-02 9.99835816e-01 2.50294927e-05 4.57545090e+00] [ 1.96462529e-03 -6.06387365e-05 9.99998068e-01 3.95189456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32439141799998 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:185.77, Y:4.58, Z:0.39 [[ 9.99855266e-01 -1.68992186e-02 -1.96539935e-03 1.85771707e+02] [ 1.68993007e-02 9.99857196e-01 2.51984049e-05 4.57538302e+00] [ 1.96469285e-03 -5.84086325e-05 9.99998068e-01 3.94495842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38439141799998 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:185.83, Y:4.57, Z:0.39 [[ 9.99923043e-01 -1.22493006e-02 -1.96539775e-03 1.85832412e+02] [ 1.22493741e-02 9.99924973e-01 2.53225746e-05 4.57321593e+00] [ 1.96494011e-03 -4.93955182e-05 9.99998068e-01 3.91134332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44439141799998 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:185.89, Y:4.57, Z:0.39 [[ 9.99945532e-01 -1.02503901e-02 -1.96539619e-03 1.85894625e+02] [ 1.02504599e-02 9.99947462e-01 2.54433652e-05 4.57404410e+00] [ 1.96503213e-03 -4.55881941e-05 9.99998068e-01 3.90415074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50439141799998 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:185.96, Y:4.58, Z:0.39 [[ 9.99980723e-01 -5.88996106e-03 -1.96539417e-03 1.85956117e+02] [ 5.89002274e-03 9.99982653e-01 2.55984334e-05 4.57643262e+00] [ 1.96520930e-03 -3.71741562e-05 9.99998068e-01 3.90255113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56439141799999 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:186.02, Y:4.58, Z:0.39 [[ 9.99994441e-01 -2.69343701e-03 -1.96539311e-03 1.86016655e+02] [ 2.69349268e-03 9.99996372e-01 2.56797577e-05 4.57745728e+00] [ 1.96531681e-03 -3.09733869e-05 9.99998068e-01 3.91044759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.624391418 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:186.08, Y:4.58, Z:0.39 [[ 9.99998009e-01 -3.44305327e-04 -1.96539258e-03 1.86076883e+02] [ 3.44356541e-04 9.99999940e-01 2.57195896e-05 4.57685645e+00] [ 1.96538361e-03 -2.63963342e-05 9.99998068e-01 3.91436023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.684391418 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:186.14, Y:4.58, Z:0.39 [[ 9.99995914e-01 -2.07602643e-03 -1.96539258e-03 1.86136667e+02] [ 2.07608099e-03 9.99997845e-01 2.57195896e-05 4.57518108e+00] [ 1.96533495e-03 -2.97997987e-05 9.99998068e-01 3.91547360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.744391418 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:186.20, Y:4.57, Z:0.39 [[ 9.99981917e-01 -5.68354256e-03 -1.96539364e-03 1.86195760e+02] [ 5.68360392e-03 9.99983848e-01 2.56390446e-05 4.57327473e+00] [ 1.96521617e-03 -3.68090999e-05 9.99998068e-01 3.90957264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.804391418 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:186.26, Y:4.57, Z:0.39 [[ 9.99936538e-01 -1.10931319e-02 -1.96539415e-03 1.86255642e+02] [ 1.10932036e-02 9.99938468e-01 2.55992236e-05 4.56959140e+00] [ 1.96498924e-03 -4.74001166e-05 9.99998068e-01 3.92223864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.864391418 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:186.32, Y:4.57, Z:0.40 [[ 9.99636890e-01 -2.68742623e-02 -1.96539415e-03 1.86316967e+02] [ 2.68743645e-02 9.99638819e-01 2.55992236e-05 4.57181912e+00] [ 1.96399633e-03 -7.84086472e-05 9.99998068e-01 3.99180549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92439141799997 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:186.38, Y:4.57, Z:0.40 [[ 9.99520024e-01 -3.09169754e-02 -1.96539294e-03 1.86378064e+02] [ 3.09170855e-02 9.99521952e-01 2.56918790e-05 4.56982886e+00] [ 1.96365908e-03 -8.64437692e-05 9.99998068e-01 3.98340905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98439141799997 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:186.44, Y:4.56, Z:0.39 [[ 9.99576908e-01 -2.90196736e-02 -1.96539130e-03 1.86439084e+02] [ 2.90197803e-02 9.99578837e-01 2.58170553e-05 4.56493149e+00] [ 1.96381435e-03 -8.28413560e-05 9.99998068e-01 3.90307852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04439141799998 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:186.50, Y:4.56, Z:0.39 [[ 9.99607028e-01 -2.79629593e-02 -1.96538958e-03 1.86501040e+02] [ 2.79630643e-02 9.99608957e-01 2.59469301e-05 4.56471573e+00] [ 1.96389548e-03 -8.08950490e-05 9.99998068e-01 3.90038738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10439141799998 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:186.56, Y:4.57, Z:0.39 [[ 9.99739024e-01 -2.27600580e-02 -1.96538729e-03 1.86563419e+02] [ 2.27601532e-02 9.99740954e-01 2.61195897e-05 4.56629423e+00] [ 1.96428368e-03 -7.08452890e-05 9.99998068e-01 3.90461687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16439141799998 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:186.63, Y:4.57, Z:0.39 [[ 9.99857313e-01 -1.67777155e-02 -1.96538513e-03 1.86626074e+02] [ 1.67777996e-02 9.99859242e-01 2.62808254e-05 4.56820631e+00] [ 1.96466756e-03 -5.92519133e-05 9.99998068e-01 3.90593249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22439141799998 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:186.69, Y:4.57, Z:0.39 [[ 9.99933572e-01 -1.13573638e-02 -1.96538299e-03 1.86688682e+02] [ 1.13574377e-02 9.99935502e-01 2.64401207e-05 4.56939490e+00] [ 1.96495594e-03 -4.87600792e-05 9.99998068e-01 3.88142771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28439141799998 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:186.75, Y:4.57, Z:0.39 [[ 9.99974640e-01 -6.84514435e-03 -1.96538009e-03 1.86750345e+02] [ 6.84520995e-03 9.99976571e-01 2.66541433e-05 4.57097928e+00] [ 1.96515159e-03 -4.01069067e-05 9.99998068e-01 3.88202663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.344391418 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:186.81, Y:4.57, Z:0.39 [[ 9.99991233e-01 -3.69742530e-03 -1.96537891e-03 1.86812179e+02] [ 3.69748499e-03 9.99993164e-01 2.67406639e-05 4.57274042e+00] [ 1.96526660e-03 -3.40073885e-05 9.99998068e-01 3.88023888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.404391418 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:186.87, Y:4.58, Z:0.39 [[ 9.99997461e-01 1.10197852e-03 -1.96537783e-03 1.86872828e+02] [-1.10192794e-03 9.99999393e-01 2.68195702e-05 4.57587711e+00] [ 1.96540619e-03 -2.46537973e-05 9.99998068e-01 3.88037292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.464391418 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:186.93, Y:4.58, Z:0.39 [[ 9.99991732e-01 3.55983395e-03 -1.96537783e-03 1.86932422e+02] [-3.55978811e-03 9.99993664e-01 2.68195702e-05 4.57700586e+00] [ 1.96546085e-03 -1.98230198e-05 9.99998068e-01 3.88645877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.524391418 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:186.99, Y:4.58, Z:0.39 [[ 9.99984581e-01 5.19373253e-03 -1.96537889e-03 1.86991136e+02] [-5.19369001e-03 9.99986512e-01 2.67417074e-05 4.57859214e+00] [ 1.96549127e-03 -1.65337263e-05 9.99998068e-01 3.89869249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.584391418 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:187.05, Y:4.58, Z:0.39 [[ 9.99980735e-01 5.88794329e-03 -1.96538623e-03 1.87049617e+02] [-5.88790319e-03 9.99982666e-01 2.61914714e-05 4.57826896e+00] [ 1.96550637e-03 -1.46189630e-05 9.99998068e-01 3.91851180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64439141799997 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:187.11, Y:4.58, Z:0.39 [[ 9.99983555e-01 5.38762399e-03 -1.96538834e-03 1.87108728e+02] [-5.38758323e-03 9.99985487e-01 2.60317201e-05 4.57711093e+00] [ 1.96550007e-03 -1.54425988e-05 9.99998068e-01 3.91848694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70439141799997 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:187.17, Y:4.58, Z:0.39 [[ 9.99989075e-01 4.24111996e-03 -1.96539044e-03 1.87166202e+02] [-4.24107731e-03 9.99991006e-01 2.58722163e-05 4.57503172e+00] [ 1.96548249e-03 -1.75365609e-05 9.99998068e-01 3.91251721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76439141799997 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:187.23, Y:4.57, Z:0.39 [[ 9.99991476e-01 3.63124865e-03 -1.96539300e-03 1.87225254e+02] [-3.63120520e-03 9.99993407e-01 2.56761621e-05 4.57309298e+00] [ 1.96547328e-03 -1.85391979e-05 9.99998068e-01 3.92048972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82439141799998 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:187.28, Y:4.57, Z:0.39 [[ 9.99995601e-01 2.22151961e-03 -1.96539504e-03 1.87284082e+02] [-2.22147374e-03 9.99997532e-01 2.55190926e-05 4.56963464e+00] [ 1.96544688e-03 -2.11529068e-05 9.99998068e-01 3.90605148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88439141799998 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:187.34, Y:4.57, Z:0.39 [[ 9.99998064e-01 9.10436795e-05 -1.96539654e-03 1.87344094e+02] [-9.09939277e-05 9.99999996e-01 2.54034038e-05 4.56599507e+00] [ 1.96539884e-03 -2.52245155e-05 9.99998068e-01 3.90480019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94439141799998 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:187.40, Y:4.56, Z:0.39 [[ 9.99997909e-01 -5.65677228e-04 -1.96539757e-03 1.87403338e+02] [ 5.65728091e-04 9.99999840e-01 2.53235699e-05 4.56386670e+00] [ 1.96538293e-03 -2.64353976e-05 9.99998068e-01 3.90608364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00439141799998 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:187.46, Y:4.56, Z:0.39 [[ 9.99997551e-01 -1.01726841e-03 -1.96539859e-03 1.87463290e+02] [ 1.01731999e-03 9.99999482e-01 2.52435643e-05 4.56156494e+00] [ 1.96537190e-03 -2.72429418e-05 9.99998068e-01 3.90911362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06439141799999 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:187.52, Y:4.56, Z:0.39 [[ 9.99996186e-01 -1.94027039e-03 -1.96539962e-03 1.87523237e+02] [ 1.94032359e-03 9.99998117e-01 2.51635679e-05 4.55907656e+00] [ 1.96534709e-03 -2.89769832e-05 9.99998068e-01 3.91627286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.124391418 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:187.58, Y:4.55, Z:0.39 [[ 9.99986221e-01 -4.86768897e-03 -1.96539908e-03 1.87583789e+02] [ 4.86774791e-03 9.99988152e-01 2.52058671e-05 4.55470480e+00] [ 1.96525310e-03 -3.47725870e-05 9.99998068e-01 3.92603468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.184391418 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:187.64, Y:4.55, Z:0.39 [[ 9.99959993e-01 -8.72637311e-03 -1.96539908e-03 1.87644302e+02] [ 8.72643950e-03 9.99961924e-01 2.52058671e-05 4.55178582e+00] [ 1.96510428e-03 -4.23557948e-05 9.99998068e-01 3.91956520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.244391418 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:187.71, Y:4.55, Z:0.39 [[ 9.99839920e-01 -1.77840404e-02 -1.96539857e-03 1.87705322e+02] [ 1.77841243e-02 9.99841850e-01 2.52449909e-05 4.54736042e+00] [ 1.96463879e-03 -6.01938423e-05 9.99998068e-01 3.93112814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.304391418 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:187.77, Y:4.54, Z:0.39 [[ 9.99735889e-01 -2.28973591e-02 -1.96539755e-03 1.87766686e+02] [ 2.28974531e-02 9.99737819e-01 2.53243850e-05 4.54450152e+00] [ 1.96430240e-03 -7.03202948e-05 9.99998068e-01 3.92190220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.364391418 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:187.83, Y:4.54, Z:0.39 [[ 9.99574550e-01 -2.91008034e-02 -1.96539603e-03 1.87829276e+02] [ 2.91009096e-02 9.99576479e-01 2.54419902e-05 4.54189928e+00] [ 1.96382326e-03 -8.26259780e-05 9.99998068e-01 3.91169835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42439141799997 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:187.89, Y:4.54, Z:0.39 [[ 9.99455297e-01 -3.29430845e-02 -1.96539399e-03 1.87891743e+02] [ 3.29431984e-02 9.99457225e-01 2.55987848e-05 4.54102489e+00] [ 1.96348392e-03 -9.03312051e-05 9.99998068e-01 3.91878003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48439141799997 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:187.95, Y:4.54, Z:0.39 [[ 9.99415988e-01 -3.41148040e-02 -1.96539187e-03 1.87952513e+02] [ 3.41149205e-02 9.99417916e-01 2.57600986e-05 4.54088775e+00] [ 1.96336905e-03 -9.27942417e-05 9.99998068e-01 3.91794142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54439141799998 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:188.01, Y:4.54, Z:0.39 [[ 9.99427774e-01 -3.37677569e-02 -1.96538838e-03 1.88013400e+02] [ 3.37678732e-02 9.99429702e-01 2.60241294e-05 4.54248508e+00] [ 1.96338874e-03 -9.23762232e-05 9.99998068e-01 3.92174957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60439141799998 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:188.08, Y:4.54, Z:0.39 [[ 9.99444619e-01 -3.32654473e-02 -1.96538689e-03 1.88075703e+02] [ 3.32655629e-02 9.99446548e-01 2.61359411e-05 4.54414015e+00] [ 1.96342972e-03 -9.15011269e-05 9.99998068e-01 3.93051972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66439141799998 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:188.14, Y:4.55, Z:0.39 [[ 9.99448532e-01 -3.31476883e-02 -1.96538475e-03 1.88139193e+02] [ 3.31478039e-02 9.99450460e-01 2.62954275e-05 4.54647939e+00] [ 1.96343306e-03 -9.14291149e-05 9.99998068e-01 3.92288789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72439141799998 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:188.20, Y:4.55, Z:0.39 [[ 9.99465532e-01 -3.26310708e-02 -1.96538152e-03 1.88202035e+02] [ 3.26311859e-02 9.99467461e-01 2.65348185e-05 4.54890575e+00] [ 1.96346902e-03 -9.06533663e-05 9.99998068e-01 3.93483819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78439141799998 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:188.26, Y:4.55, Z:0.39 [[ 9.99502363e-01 -3.14827358e-02 -1.96537819e-03 1.88264630e+02] [ 3.14828492e-02 9.99504292e-01 2.67796403e-05 4.55144733e+00] [ 1.96356084e-03 -8.86420188e-05 9.99998068e-01 3.94121352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.844391418 meters Centerline goodness : 0.998883 with order 1 Centerline is valid? [True, True] Translation: X:188.33, Y:4.56, Z:0.39 [[ 9.99635830e-01 -2.69136354e-02 -1.96537482e-03 1.88325938e+02] [ 2.69137404e-02 9.99637759e-01 2.70243101e-05 4.55588985e+00] [ 1.96393556e-03 -7.99100565e-05 9.99998068e-01 3.93936368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.904391418 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:188.39, Y:4.56, Z:0.39 [[ 9.99759878e-01 -2.18248279e-02 -1.96537317e-03 1.88388568e+02] [ 2.18249234e-02 9.99761808e-01 2.71439908e-05 4.55912617e+00] [ 1.96431262e-03 -7.00315918e-05 9.99998068e-01 3.94651590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.964391418 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:188.45, Y:4.57, Z:0.40 [[ 9.99924683e-01 -1.21147197e-02 -1.96537096e-03 1.88450460e+02] [ 1.21147968e-02 9.99926613e-01 2.73031340e-05 4.56518170e+00] [ 1.96489596e-03 -5.11111474e-05 9.99998068e-01 3.95280394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.024391418 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:188.51, Y:4.57, Z:0.40 [[ 9.99991855e-01 -3.52523912e-03 -1.96536872e-03 1.88511444e+02] [ 3.52529990e-03 9.99993786e-01 2.74630189e-05 4.56980688e+00] [ 1.96525970e-03 -3.43913094e-05 9.99998068e-01 3.95563947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.084391418 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:188.57, Y:4.58, Z:0.40 [[ 9.99978665e-01 -6.22944222e-03 -1.96536760e-03 1.88571737e+02] [ 6.22950838e-03 9.99980596e-01 2.75431060e-05 4.57831352e+00] [ 1.96515789e-03 -3.97857924e-05 9.99998068e-01 4.02272598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14439141799997 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:188.63, Y:4.57, Z:0.40 [[ 9.99996964e-01 1.48607718e-03 -1.96536760e-03 1.88632127e+02] [-1.48602592e-03 9.99998895e-01 2.75431060e-05 4.57150645e+00] [ 1.96540636e-03 -2.46224352e-05 9.99998068e-01 3.95341682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20439141799997 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:188.69, Y:4.57, Z:0.40 [[ 9.99996323e-01 -1.86842786e-03 -1.96536615e-03 1.88691751e+02] [ 1.86848580e-03 9.99998254e-01 2.76465835e-05 4.57051442e+00] [ 1.96531106e-03 -3.13187406e-05 9.99998068e-01 3.95286658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26439141799997 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:188.75, Y:4.57, Z:0.39 [[ 9.99969272e-01 -7.58902368e-03 -1.96536726e-03 1.88752605e+02] [ 7.58909251e-03 9.99971202e-01 2.75668654e-05 4.56834626e+00] [ 1.96510146e-03 -4.24813723e-05 9.99998068e-01 3.94430993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32439141799998 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:188.81, Y:4.57, Z:0.39 [[ 9.99909032e-01 -1.33441128e-02 -1.96536726e-03 1.88814126e+02] [ 1.33441928e-02 9.99910962e-01 2.75668654e-05 4.56608682e+00] [ 1.96482442e-03 -5.37905973e-05 9.99998068e-01 3.94788374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38439141799998 meters Centerline goodness : 0.998672 with order 1 Centerline is valid? [True, True] Translation: X:188.88, Y:4.56, Z:0.39 [[ 9.99857331e-01 -1.67766408e-02 -1.96536012e-03 1.88875995e+02] [ 1.67767283e-02 9.99859260e-01 2.80672005e-05 4.56440845e+00] [ 1.96461264e-03 -6.10355090e-05 9.99998068e-01 3.94223099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44439141799998 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:188.94, Y:4.57, Z:0.40 [[ 9.99734343e-01 -2.29647669e-02 -1.96535792e-03 1.88939072e+02] [ 2.29648667e-02 9.99736272e-01 2.82200515e-05 4.56559317e+00] [ 1.96419154e-03 -7.33467374e-05 9.99998068e-01 3.95050433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50439141799998 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:189.00, Y:4.56, Z:0.39 [[ 9.99752648e-01 -2.21535486e-02 -1.96535434e-03 1.89001160e+02] [ 2.21536473e-02 9.99754577e-01 2.84678610e-05 4.56121077e+00] [ 1.96424133e-03 -7.20005862e-05 9.99998068e-01 3.94784501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56439141799999 meters Centerline goodness : 0.998883 with order 1 Centerline is valid? [True, True] Translation: X:189.06, Y:4.56, Z:0.39 [[ 9.99740718e-01 -2.26855513e-02 -1.96535198e-03 1.89062103e+02] [ 2.26856513e-02 9.99742647e-01 2.86293470e-05 4.56069132e+00] [ 1.96419672e-03 -7.32072137e-05 9.99998068e-01 3.94414352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.624391418 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:189.12, Y:4.56, Z:0.40 [[ 9.99796664e-01 -2.00690830e-02 -1.96535023e-03 1.89124531e+02] [ 2.00691783e-02 9.99798593e-01 2.87490263e-05 4.56212065e+00] [ 1.96437743e-03 -6.81861448e-05 9.99998068e-01 3.95291383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.684391418 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:189.19, Y:4.56, Z:0.39 [[ 9.99908808e-01 -1.33608839e-02 -1.96534777e-03 1.89186619e+02] [ 1.33609665e-02 9.99910738e-01 2.89166208e-05 4.56004846e+00] [ 1.96478598e-03 -5.51729296e-05 9.99998068e-01 3.94395814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.744391418 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:189.25, Y:4.56, Z:0.40 [[ 9.99972030e-01 -7.21644539e-03 -1.96534533e-03 1.89248507e+02] [ 7.21651647e-03 9.99973960e-01 2.90815505e-05 4.56399693e+00] [ 1.96508428e-03 -4.32636840e-05 9.99998068e-01 3.98215316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.804391418 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:189.31, Y:4.56, Z:0.39 [[ 9.99998065e-01 -8.96938616e-05 -1.96534290e-03 1.89309603e+02] [ 8.97515098e-05 9.99999996e-01 2.92442923e-05 4.56220262e+00] [ 1.96534027e-03 -2.94206282e-05 9.99998068e-01 3.93554054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.864391418 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:189.37, Y:4.57, Z:0.39 [[ 9.99995577e-01 2.23226510e-03 -1.96534166e-03 1.89369171e+02] [-2.23221177e-03 9.99997508e-01 2.93277145e-05 4.56607775e+00] [ 1.96540223e-03 -2.49405260e-05 9.99998068e-01 3.94583046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92439141799997 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:189.43, Y:4.57, Z:0.39 [[ 9.99994103e-01 2.81645030e-03 -1.96534227e-03 1.89428289e+02] [-2.81639818e-03 9.99996034e-01 2.92866475e-05 4.56579610e+00] [ 1.96541696e-03 -2.37512884e-05 9.99998068e-01 3.94143976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98439141799997 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:189.49, Y:4.57, Z:0.39 [[ 9.99994778e-01 2.56535505e-03 -1.96534460e-03 1.89486618e+02] [-2.56530276e-03 9.99996709e-01 2.91298037e-05 4.56548843e+00] [ 1.96541286e-03 -2.40879477e-05 9.99998068e-01 3.93015745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04439141799998 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:189.55, Y:4.57, Z:0.40 [[ 9.99997539e-01 -1.02896615e-03 -1.96534632e-03 1.89545356e+02] [ 1.02902516e-03 9.99999470e-01 2.90133211e-05 4.56617851e+00] [ 1.96531542e-03 -3.10356405e-05 9.99998068e-01 3.96965306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10439141799998 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:189.60, Y:4.57, Z:0.40 [[ 9.99997250e-01 -1.27966691e-03 -1.96534864e-03 1.89604947e+02] [ 1.27972609e-03 9.99999181e-01 2.88551975e-05 4.56573008e+00] [ 1.96531010e-03 -3.13702260e-05 9.99998068e-01 3.98112242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16439141799998 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:189.66, Y:4.57, Z:0.40 [[ 9.99965813e-01 -8.03180656e-03 -1.96534976e-03 1.89664432e+02] [ 8.03187862e-03 9.99967744e-01 2.87785671e-05 4.56507522e+00] [ 1.96505522e-03 -4.45630340e-05 9.99998068e-01 3.98173756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22439141799998 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:189.73, Y:4.56, Z:0.40 [[ 9.99886856e-01 -1.49134722e-02 -1.96535031e-03 1.89726246e+02] [ 1.49135574e-02 9.99888786e-01 2.87408489e-05 4.56357837e+00] [ 1.96470311e-03 -5.80479618e-05 9.99998068e-01 3.98805680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28439141799998 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:189.79, Y:4.56, Z:0.40 [[ 9.99800945e-01 -1.98546815e-02 -1.96534921e-03 1.89787876e+02] [ 1.98547765e-02 9.99802874e-01 2.88157007e-05 4.56205299e+00] [ 1.96438967e-03 -6.78315342e-05 9.99998068e-01 3.98325577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.344391418 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:189.85, Y:4.56, Z:0.40 [[ 9.99679268e-01 -2.52487212e-02 -1.96534758e-03 1.89849882e+02] [ 2.52488267e-02 9.99681197e-01 2.89268170e-05 4.56083093e+00] [ 1.96399065e-03 -7.85402597e-05 9.99998068e-01 3.97002993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.404391418 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:189.91, Y:4.56, Z:0.39 [[ 9.99586934e-01 -2.86722635e-02 -1.96534544e-03 1.89912409e+02] [ 2.86723760e-02 9.99588862e-01 2.90711565e-05 4.55872666e+00] [ 1.96370388e-03 -8.54102716e-05 9.99998068e-01 3.94769868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.464391418 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:189.97, Y:4.56, Z:0.40 [[ 9.99428374e-01 -3.37500024e-02 -1.96534304e-03 1.89973864e+02] [ 3.37501250e-02 9.99430302e-01 2.92327974e-05 4.56179624e+00] [ 1.96323678e-03 -9.55466603e-05 9.99998068e-01 3.97551074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.524391418 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:190.04, Y:4.56, Z:0.40 [[ 9.99412028e-01 -3.42306355e-02 -1.96534126e-03 1.90036432e+02] [ 3.42307592e-02 9.99413955e-01 2.93521625e-05 4.56269396e+00] [ 1.96318474e-03 -9.66100276e-05 9.99998068e-01 3.98915322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.584391418 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:190.10, Y:4.56, Z:0.40 [[ 9.99395012e-01 -3.47238827e-02 -1.96533886e-03 1.90099011e+02] [ 3.47240077e-02 9.99396939e-01 2.95117211e-05 4.56478434e+00] [ 1.96312888e-03 -9.77383085e-05 9.99998068e-01 3.99963139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64439141799997 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:190.16, Y:4.57, Z:0.40 [[ 9.99345624e-01 -3.61173327e-02 -1.96533586e-03 1.90162460e+02] [ 3.61174608e-02 9.99347551e-01 2.97104209e-05 4.56630862e+00] [ 1.96298051e-03 -1.00673920e-04 9.99998068e-01 3.99795192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70439141799997 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:190.22, Y:4.57, Z:0.40 [[ 9.99297124e-01 -3.74352060e-02 -1.96533219e-03 1.90224813e+02] [ 3.74353371e-02 9.99299052e-01 2.99511535e-05 4.56677567e+00] [ 1.96283336e-03 -1.03502974e-04 9.99998068e-01 3.99697974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76439141799997 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:190.29, Y:4.57, Z:0.40 [[ 9.99299575e-01 -3.73697190e-02 -1.96532969e-03 1.90285889e+02] [ 3.73698503e-02 9.99301503e-01 3.01144106e-05 4.56752248e+00] [ 1.96283154e-03 -1.03537394e-04 9.99998068e-01 3.98870964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82439141799998 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:190.35, Y:4.57, Z:0.40 [[ 9.99465809e-01 -3.26225877e-02 -1.96532784e-03 1.90346906e+02] [ 3.26227101e-02 9.99467737e-01 3.02346479e-05 4.57100788e+00] [ 1.96329543e-03 -9.43328170e-05 9.99998068e-01 3.97430832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88439141799998 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:190.41, Y:4.58, Z:0.40 [[ 9.99739306e-01 -2.27476762e-02 -1.96532605e-03 1.90409186e+02] [ 2.27477797e-02 9.99741235e-01 3.03502571e-05 4.57594957e+00] [ 1.96412710e-03 -7.50491491e-05 9.99998068e-01 3.99863573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94439141799998 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:190.47, Y:4.58, Z:0.40 [[ 9.99947241e-01 -1.00822816e-02 -1.96532365e-03 1.90471350e+02] [ 1.00823610e-02 9.99949171e-01 3.05047114e-05 4.58110832e+00] [ 1.96491620e-03 -5.03182045e-05 9.99998068e-01 4.01431191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00439141799998 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:190.53, Y:4.58, Z:0.40 [[ 9.99998062e-01 1.18083324e-04 -1.96532127e-03 1.90532694e+02] [-1.18023301e-04 9.99999993e-01 3.06573328e-05 4.58498696e+00] [ 1.96532488e-03 -3.04253196e-05 9.99998068e-01 4.01555921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06439141799999 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:190.59, Y:4.59, Z:0.40 [[ 9.99988913e-01 4.27909772e-03 -1.96532007e-03 1.90592100e+02] [-4.27904558e-03 9.99990844e-01 3.07342673e-05 4.58621775e+00] [ 1.96543359e-03 -2.23242324e-05 9.99998068e-01 4.00304283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.124391418 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:190.65, Y:4.59, Z:0.40 [[ 9.99979857e-01 6.03521525e-03 -1.96532127e-03 1.90650747e+02] [-6.03516666e-03 9.99981788e-01 3.06573736e-05 4.58777042e+00] [ 1.96547050e-03 -1.87957147e-05 9.99998068e-01 3.99823408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.184391418 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:190.71, Y:4.59, Z:0.40 [[ 9.99987069e-01 4.69041653e-03 -1.96532363e-03 1.90708204e+02] [-4.69036563e-03 9.99989000e-01 3.05050323e-05 4.58798366e+00] [ 1.96544510e-03 -2.12865514e-05 9.99998068e-01 4.00489073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.244391418 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:190.77, Y:4.59, Z:0.40 [[ 9.99998067e-01 -5.92385352e-05 -1.96532652e-03 1.90766877e+02] [ 5.92982343e-05 9.99999998e-01 3.03179982e-05 4.58692183e+00] [ 1.96532472e-03 -3.04344800e-05 9.99998068e-01 4.01542691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.304391418 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:190.83, Y:4.59, Z:0.40 [[ 9.99988686e-01 -4.33187796e-03 -1.96532895e-03 1.90826242e+02] [ 4.33194560e-03 9.99990617e-01 3.01596328e-05 4.58565497e+00] [ 1.96517986e-03 -3.86729897e-05 9.99998068e-01 4.01275765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.364391418 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:190.89, Y:4.58, Z:0.40 [[ 9.99950892e-01 -9.71341542e-03 -1.96533015e-03 1.90886922e+02] [ 9.71349329e-03 9.99952822e-01 3.00809011e-05 4.58259437e+00] [ 1.96494525e-03 -4.91696452e-05 9.99998068e-01 4.00616778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42439141799997 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:190.95, Y:4.58, Z:0.40 [[ 9.99919248e-01 -1.25552638e-02 -1.96532956e-03 1.90949251e+02] [ 1.25553472e-02 9.99921178e-01 3.01195712e-05 4.57987805e+00] [ 1.96479649e-03 -5.47925341e-05 9.99998068e-01 4.00682506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48439141799997 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:191.01, Y:4.57, Z:0.40 [[ 9.99915728e-01 -1.28325588e-02 -1.96532721e-03 1.91011804e+02] [ 1.28326431e-02 9.99917658e-01 3.02721750e-05 4.57360420e+00] [ 1.96477691e-03 -5.54899666e-05 9.99998068e-01 3.96432491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54439141799998 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:191.07, Y:4.57, Z:0.40 [[ 9.99835115e-01 -1.80521691e-02 -1.96532456e-03 1.91072882e+02] [ 1.80522638e-02 9.99837044e-01 3.04432183e-05 4.57409019e+00] [ 1.96445473e-03 -6.59167560e-05 9.99998068e-01 4.00411155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60439141799998 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:191.14, Y:4.57, Z:0.40 [[ 9.99834442e-01 -1.80894140e-02 -1.96531602e-03 1.91135419e+02] [ 1.80895098e-02 9.99836371e-01 3.09848715e-05 4.57148159e+00] [ 1.96443394e-03 -6.65313451e-05 9.99998068e-01 4.01275513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66439141799998 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:191.20, Y:4.57, Z:0.40 [[ 9.99884390e-01 -1.50779215e-02 -1.96531356e-03 1.91196598e+02] [ 1.50780118e-02 9.99886320e-01 3.11400236e-05 4.56844350e+00] [ 1.96462062e-03 -6.07694447e-05 9.99998068e-01 4.02867962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72439141799998 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:191.26, Y:4.57, Z:0.40 [[ 9.99929675e-01 -1.16953884e-02 -1.96531174e-03 1.91258992e+02] [ 1.16954724e-02 9.99931605e-01 3.12546022e-05 4.56646527e+00] [ 1.96481179e-03 -5.42376535e-05 9.99998068e-01 4.02697263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78439141799998 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:191.32, Y:4.56, Z:0.40 [[ 9.99960252e-01 -8.69671355e-03 -1.96530930e-03 1.91320979e+02] [ 8.69679207e-03 9.99962182e-01 3.14075009e-05 4.56387380e+00] [ 1.96496183e-03 -4.84981388e-05 9.99998068e-01 4.00518911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.844391418 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:191.38, Y:4.56, Z:0.40 [[ 9.99978126e-01 -6.31540240e-03 -1.96530686e-03 1.91383510e+02] [ 6.31547661e-03 9.99980057e-01 3.15595140e-05 4.56073840e+00] [ 1.96506835e-03 -4.39706731e-05 9.99998068e-01 3.98600555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.904391418 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:191.44, Y:4.56, Z:0.40 [[ 9.99984807e-01 -5.14999889e-03 -1.96530425e-03 1.91444698e+02] [ 5.15007117e-03 9.99986738e-01 3.17207228e-05 4.55703640e+00] [ 1.96511483e-03 -4.18416977e-05 9.99998068e-01 3.97711868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.964391418 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:191.51, Y:4.56, Z:0.40 [[ 9.99990178e-01 -3.97250871e-03 -1.96530298e-03 1.91505619e+02] [ 3.97257888e-03 9.99992109e-01 3.17995887e-05 4.55533484e+00] [ 1.96516115e-03 -3.96065975e-05 9.99998068e-01 3.99226797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.024391418 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:191.57, Y:4.55, Z:0.40 [[ 9.99996920e-01 -1.51562523e-03 -1.96530169e-03 1.91565711e+02] [ 1.51569081e-03 9.99998851e-01 3.18789412e-05 4.55277149e+00] [ 1.96525112e-03 -3.48576327e-05 9.99998068e-01 4.00276783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.084391418 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:191.63, Y:4.55, Z:0.40 [[ 9.99998050e-01 -1.95003979e-04 -1.96530106e-03 1.91625310e+02] [ 1.95067084e-04 9.99999980e-01 3.19179079e-05 4.55002484e+00] [ 1.96529480e-03 -3.23012112e-05 9.99998068e-01 4.00496280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14439141799997 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:191.69, Y:4.55, Z:0.40 [[ 9.99997827e-01 -6.95750548e-04 -1.96530167e-03 1.91685075e+02] [ 6.95814545e-04 9.99999757e-01 3.18799723e-05 4.54821194e+00] [ 1.96527902e-03 -3.32473885e-05 9.99998068e-01 4.02079971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20439141799997 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:191.74, Y:4.54, Z:0.40 [[ 9.99994430e-01 -2.69779103e-03 -1.96530297e-03 1.91744567e+02] [ 2.69785873e-03 9.99996360e-01 3.17999798e-05 4.54450249e+00] [ 1.96521003e-03 -3.71019125e-05 9.99998068e-01 4.02770349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26439141799997 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:191.80, Y:4.54, Z:0.40 [[ 9.99986862e-01 -4.73424525e-03 -1.96530360e-03 1.91804141e+02] [ 4.73431681e-03 9.99988793e-01 3.17606893e-05 4.54056067e+00] [ 1.96513121e-03 -4.10646419e-05 9.99998068e-01 4.03224875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32439141799998 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:191.87, Y:4.54, Z:0.40 [[ 9.99980877e-01 -5.86370783e-03 -1.96530423e-03 1.91865016e+02] [ 5.86378150e-03 9.99982807e-01 3.17221280e-05 4.53761202e+00] [ 1.96508443e-03 -4.32456360e-05 9.99998068e-01 4.02731595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38439141799998 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:191.93, Y:4.53, Z:0.40 [[ 9.99970432e-01 -7.43455166e-03 -1.96530423e-03 1.91926626e+02] [ 7.43462835e-03 9.99972362e-01 3.17221280e-05 4.53299455e+00] [ 1.96501407e-03 -4.63324966e-05 9.99998068e-01 4.01246483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44439141799998 meters Centerline goodness : 0.999386 with order 1 Centerline is valid? [True, True] Translation: X:191.99, Y:4.53, Z:0.40 [[ 9.99963565e-01 -8.30695092e-03 -1.96530300e-03 1.91987572e+02] [ 8.30702945e-03 9.99965496e-01 3.17981177e-05 4.52906981e+00] [ 1.96497104e-03 -4.81227891e-05 9.99998068e-01 4.00472413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50439141799998 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:192.05, Y:4.52, Z:0.40 [[ 9.99947406e-01 -1.00659717e-02 -1.96530178e-03 1.92048826e+02] [ 1.00660538e-02 9.99949335e-01 3.18730014e-05 4.52468083e+00] [ 1.96488138e-03 -5.16541584e-05 9.99998068e-01 4.00445443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56439141799999 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:192.11, Y:4.52, Z:0.40 [[ 9.99924850e-01 -1.21008785e-02 -1.96530058e-03 1.92109872e+02] [ 1.21009646e-02 9.99926780e-01 3.19470230e-05 4.52021404e+00] [ 1.96477009e-03 -5.57266549e-05 9.99998068e-01 4.00995526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.624391418 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:192.17, Y:4.52, Z:0.40 [[ 9.99896762e-01 -1.42338772e-02 -1.96529879e-03 1.92172378e+02] [ 1.42339677e-02 9.99898691e-01 3.20567629e-05 4.51628756e+00] [ 1.96464339e-03 -6.00274530e-05 9.99998068e-01 4.02461253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.684391418 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:192.23, Y:4.51, Z:0.40 [[ 9.99842954e-01 -1.76126428e-02 -1.96529619e-03 1.92234678e+02] [ 1.76127401e-02 9.99844883e-01 3.22150904e-05 4.51251063e+00] [ 1.96442395e-03 -6.68242822e-05 9.99998068e-01 4.03609937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.744391418 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:192.30, Y:4.51, Z:0.40 [[ 9.99788047e-01 -2.04938839e-02 -1.96529353e-03 1.92296284e+02] [ 2.04939871e-02 9.99789976e-01 3.23766494e-05 4.50867476e+00] [ 1.96421725e-03 -7.26464873e-05 9.99998068e-01 4.02631936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.804391418 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:192.36, Y:4.51, Z:0.40 [[ 9.99745842e-01 -2.24585941e-02 -1.96529156e-03 1.92358262e+02] [ 2.24587013e-02 9.99747771e-01 3.24958272e-05 4.50561715e+00] [ 1.96406605e-03 -7.66254642e-05 9.99998068e-01 4.02625611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86439141799997 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:192.42, Y:4.50, Z:0.40 [[ 9.99720328e-01 -2.35669786e-02 -1.96528892e-03 1.92420625e+02] [ 2.35670883e-02 9.99722257e-01 3.26549638e-05 4.50247991e+00] [ 1.96397349e-03 -7.89619686e-05 9.99998068e-01 4.01179786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92439141799997 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:192.48, Y:4.50, Z:0.40 [[ 9.99752275e-01 -2.21703938e-02 -1.96528629e-03 1.92482337e+02] [ 2.21705011e-02 9.99754204e-01 3.28125631e-05 4.50217280e+00] [ 1.96407576e-03 -7.63758163e-05 9.99998068e-01 4.00942564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98439141799997 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:192.54, Y:4.50, Z:0.39 [[ 9.99869172e-01 -1.60554169e-02 -1.96528365e-03 1.92544261e+02] [ 1.60555127e-02 9.99871101e-01 3.29695881e-05 4.49723080e+00] [ 1.96450099e-03 -6.45189115e-05 9.99998068e-01 3.94603184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04439141799998 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:192.61, Y:4.50, Z:0.40 [[ 9.99833103e-01 -1.81632717e-02 -1.96528086e-03 1.92605628e+02] [ 1.81633719e-02 9.99835032e-01 3.31350214e-05 4.50250133e+00] [ 1.96435481e-03 -6.88256184e-05 9.99998068e-01 4.02723898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10439141799998 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:192.67, Y:4.50, Z:0.40 [[ 9.99924206e-01 -1.21540145e-02 -1.96527879e-03 1.92667813e+02] [ 1.21541033e-02 9.99926136e-01 3.32572769e-05 4.49618607e+00] [ 1.96472942e-03 -5.71409577e-05 9.99998068e-01 3.96805881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16439141799998 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:192.73, Y:4.50, Z:0.40 [[ 9.99904864e-01 -1.36528476e-02 -1.96527597e-03 1.92729927e+02] [ 1.36529397e-02 9.99906794e-01 3.34231614e-05 4.49751654e+00] [ 1.96463647e-03 -6.02517760e-05 9.99998068e-01 3.96767310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22439141799998 meters Centerline goodness : 0.998881 with order 1 Centerline is valid? [True, True] Translation: X:192.79, Y:4.50, Z:0.40 [[ 9.99845730e-01 -1.74543613e-02 -1.96527313e-03 1.92790726e+02] [ 1.74544610e-02 9.99847659e-01 3.35896648e-05 4.50272605e+00] [ 1.96438745e-03 -6.78872660e-05 9.99998068e-01 4.03095611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28439141799998 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:192.85, Y:4.50, Z:0.40 [[ 9.99873007e-01 -1.58147817e-02 -1.96527103e-03 1.92852588e+02] [ 1.58148785e-02 9.99874936e-01 3.37119791e-05 4.50253090e+00] [ 1.96449210e-03 -6.47882205e-05 9.99998068e-01 4.04432248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.344391418 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:192.92, Y:4.50, Z:0.41 [[ 9.99905043e-01 -1.36397518e-02 -1.96526822e-03 1.92915102e+02] [ 1.36398447e-02 9.99906972e-01 3.38748143e-05 4.50297550e+00] [ 1.96462335e-03 -6.06775510e-05 9.99998068e-01 4.05289827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.404391418 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:192.98, Y:4.50, Z:0.41 [[ 9.99958720e-01 -8.87104869e-03 -1.96526540e-03 1.92977565e+02] [ 8.87113271e-03 9.99960650e-01 3.40375497e-05 4.50487806e+00] [ 1.96488612e-03 -5.14702749e-05 9.99998068e-01 4.06586738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.464391418 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:193.04, Y:4.51, Z:0.41 [[ 9.99994143e-01 -2.80218697e-03 -1.96526253e-03 1.93038333e+02] [ 2.80225960e-03 9.99996073e-01 3.42026559e-05 4.50706521e+00] [ 1.96515897e-03 -3.97096314e-05 9.99998068e-01 4.06179125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.524391418 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:193.10, Y:4.51, Z:0.41 [[ 9.99991242e-01 3.69504845e-03 -1.96526183e-03 1.93098475e+02] [-3.69498829e-03 9.99993173e-01 3.42429411e-05 4.50941032e+00] [ 1.96537494e-03 -2.69810217e-05 9.99998068e-01 4.06996756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.584391418 meters Centerline goodness : 0.998838 with order 1 Centerline is valid? [True, True] Translation: X:193.16, Y:4.51, Z:0.41 [[ 9.99975517e-01 6.71584504e-03 -1.96526183e-03 1.93157372e+02] [-6.71579071e-03 9.99977448e-01 3.42429411e-05 4.51000324e+00] [ 1.96544748e-03 -2.10438156e-05 9.99998068e-01 4.07302207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64439141799997 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:193.22, Y:4.51, Z:0.41 [[ 9.99973506e-01 7.00897488e-03 -1.96527127e-03 1.93215265e+02] [-7.00892220e-03 9.99975437e-01 3.36923140e-05 4.51001788e+00] [ 1.96545914e-03 -1.99169879e-05 9.99998068e-01 4.05224790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70439141799997 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:193.27, Y:4.51, Z:0.40 [[ 9.99977835e-01 6.36134358e-03 -1.96527455e-03 1.93273677e+02] [-6.36129003e-03 9.99979766e-01 3.34997715e-05 4.50886411e+00] [ 1.96544789e-03 -2.09973476e-05 9.99998068e-01 4.04758222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76439141799997 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:193.33, Y:4.51, Z:0.40 [[ 9.99995777e-01 2.14116512e-03 -1.96527718e-03 1.93331124e+02] [-2.14110372e-03 9.99997707e-01 3.33444443e-05 4.50727123e+00] [ 1.96534407e-03 -2.91364412e-05 9.99998068e-01 4.03810944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82439141799998 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:193.39, Y:4.51, Z:0.41 [[ 9.99997440e-01 -1.12114194e-03 -1.96528040e-03 1.93389578e+02] [ 1.12120927e-03 9.99999371e-01 3.31537236e-05 4.50591397e+00] [ 1.96524200e-03 -3.53571293e-05 9.99998068e-01 4.05107931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88439141799998 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:193.45, Y:4.50, Z:0.41 [[ 9.99981871e-01 -5.69172396e-03 -1.96528305e-03 1.93449387e+02] [ 5.69179980e-03 9.99983801e-01 3.29960151e-05 4.50437836e+00] [ 1.96506341e-03 -4.41814146e-05 9.99998068e-01 4.05147602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94439141799998 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:193.51, Y:4.50, Z:0.40 [[ 9.99960510e-01 -8.66699667e-03 -1.96528438e-03 1.93509608e+02] [ 8.66707809e-03 9.99962440e-01 3.29165178e-05 4.50364641e+00] [ 1.96492528e-03 -4.99484911e-05 9.99998068e-01 4.03588602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00439141799998 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:193.57, Y:4.50, Z:0.41 [[ 9.99950743e-01 -9.72879617e-03 -1.96528373e-03 1.93571717e+02] [ 9.72887972e-03 9.99952673e-01 3.29555434e-05 4.50294038e+00] [ 1.96487010e-03 -5.20739291e-05 9.99998068e-01 4.05208158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06439141799999 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:193.63, Y:4.50, Z:0.41 [[ 9.99949735e-01 -9.83185666e-03 -1.96528108e-03 1.93633464e+02] [ 9.83194071e-03 9.99951665e-01 3.31124947e-05 4.50276888e+00] [ 1.96486053e-03 -5.24333574e-05 9.99998068e-01 4.05779178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.124391418 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:193.69, Y:4.50, Z:0.41 [[ 9.99970180e-01 -7.46832879e-03 -1.96527842e-03 1.93694220e+02] [ 7.46840859e-03 9.99972110e-01 3.32698523e-05 4.50322320e+00] [ 1.96497514e-03 -4.79463625e-05 9.99998068e-01 4.06802324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.184391418 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:193.76, Y:4.50, Z:0.41 [[ 9.99990305e-01 -3.94059652e-03 -1.96527645e-03 1.93755482e+02] [ 3.94066974e-03 9.99992235e-01 3.33860341e-05 4.50316604e+00] [ 1.96512962e-03 -4.11302158e-05 9.99998068e-01 4.07451058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.244391418 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:193.82, Y:4.50, Z:0.41 [[ 9.99990028e-01 4.01026261e-03 -1.96527512e-03 1.93815574e+02] [-4.01020459e-03 9.99991959e-01 3.34636272e-05 4.50412652e+00] [ 1.96539352e-03 -2.55821382e-05 9.99998068e-01 4.07075998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.304391418 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:193.87, Y:4.50, Z:0.41 [[ 9.99912508e-01 1.30810230e-02 -1.96527512e-03 1.93874456e+02] [-1.30809825e-02 9.99914440e-01 3.34636272e-05 4.50485636e+00] [ 1.96554471e-03 -7.75296994e-06 9.99998068e-01 4.07270224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36439141799997 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:193.93, Y:4.50, Z:0.41 [[ 9.99827916e-01 1.84465764e-02 -1.96528451e-03 1.93933351e+02] [-1.84465473e-02 9.99829847e-01 3.29031441e-05 4.50439626e+00] [ 1.96555706e-03 3.35523164e-06 9.99998068e-01 4.07215107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42439141799997 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:193.99, Y:4.50, Z:0.41 [[ 9.99718123e-01 2.36603504e-02 -1.96528718e-03 1.93992074e+02] [-2.36603317e-02 9.99720055e-01 3.27428850e-05 4.50353853e+00] [ 1.96551171e-03 1.37656910e-05 9.99998068e-01 4.06315662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48439141799997 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:194.05, Y:4.50, Z:0.41 [[ 9.99684032e-01 2.50594236e-02 -1.96528985e-03 1.94050037e+02] [-2.50594080e-02 9.99685963e-01 3.25814649e-05 4.50256751e+00] [ 1.96548915e-03 1.66778301e-05 9.99998068e-01 4.05991258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54439141799998 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:194.11, Y:4.50, Z:0.41 [[ 9.99715191e-01 2.37839278e-02 -1.96529311e-03 1.94108649e+02] [-2.37839101e-02 9.99717122e-01 3.23837050e-05 4.49997767e+00] [ 1.96550739e-03 1.43678728e-05 9.99998068e-01 4.07354378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60439141799998 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:194.17, Y:4.50, Z:0.41 [[ 9.99779897e-01 2.08876646e-02 -1.96529565e-03 1.94166979e+02] [-2.08876416e-02 9.99781829e-01 3.22292371e-05 4.49795886e+00] [ 1.96554007e-03 8.82824771e-06 9.99998068e-01 4.09767694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66439141799998 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:194.23, Y:4.49, Z:0.41 [[ 9.99891644e-01 1.45889784e-02 -1.96529826e-03 1.94226177e+02] [-1.45889435e-02 9.99893575e-01 3.20689956e-05 4.49389783e+00] [ 1.96555696e-03 -3.39389532e-06 9.99998068e-01 4.11067176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72439141799998 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:194.28, Y:4.49, Z:0.41 [[ 9.99985258e-01 5.06175308e-03 -1.96530083e-03 1.94284731e+02] [-5.06170014e-03 9.99987189e-01 3.19105391e-05 4.48748779e+00] [ 1.96543718e-03 -2.19623052e-05 9.99998068e-01 4.10405030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78439141799998 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:194.34, Y:4.48, Z:0.41 [[ 9.99974258e-01 -6.90079585e-03 -1.96530344e-03 1.94343548e+02] [ 6.90087157e-03 9.99976188e-01 3.17492740e-05 4.48100529e+00] [ 1.96503755e-03 -4.53107633e-05 9.99998068e-01 4.07914558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.844391418 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:194.40, Y:4.48, Z:0.41 [[ 9.99893112e-01 -1.44879693e-02 -1.96530535e-03 1.94404449e+02] [ 1.44880595e-02 9.99895042e-01 3.16302558e-05 4.47586637e+00] [ 1.96464082e-03 -6.01003358e-05 9.99998068e-01 4.09528898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.904391418 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:194.47, Y:4.47, Z:0.41 [[ 9.99734136e-01 -2.29737808e-02 -1.96530408e-03 1.94465140e+02] [ 2.29738875e-02 9.99736065e-01 3.17090383e-05 4.47022222e+00] [ 1.96405689e-03 -7.68512829e-05 9.99998068e-01 4.08707847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.964391418 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:194.53, Y:4.47, Z:0.41 [[ 9.99616244e-01 -2.76315420e-02 -1.96529582e-03 1.94526845e+02] [ 2.76316587e-02 9.99618172e-01 3.22131280e-05 4.46651610e+00] [ 1.96365532e-03 -8.65051493e-05 9.99998068e-01 4.09559014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.024391418 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:194.59, Y:4.46, Z:0.41 [[ 9.99578954e-01 -2.89491416e-02 -1.96529324e-03 1.94589294e+02] [ 2.89492611e-02 9.99580882e-01 3.23699146e-05 4.46397812e+00] [ 1.96353247e-03 -8.92500724e-05 9.99998068e-01 4.09716587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.084391418 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:194.65, Y:4.47, Z:0.42 [[ 9.99415830e-01 -3.41194307e-02 -1.96529068e-03 1.94650212e+02] [ 3.41195605e-02 9.99417758e-01 3.25243478e-05 4.46994201e+00] [ 1.96303669e-03 -9.95602024e-05 9.99998068e-01 4.21825074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14439141799997 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:194.71, Y:4.47, Z:0.42 [[ 9.99441732e-01 -3.33520771e-02 -1.96528978e-03 1.94711626e+02] [ 3.33522055e-02 9.99443660e-01 3.25785059e-05 4.46777349e+00] [ 1.96310985e-03 -9.81070672e-05 9.99998068e-01 4.17792272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20439141799997 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:194.77, Y:4.46, Z:0.41 [[ 9.99570525e-01 -2.92387277e-02 -1.96528541e-03 1.94772349e+02] [ 2.92388486e-02 9.99572453e-01 3.28405419e-05 4.46108154e+00] [ 1.96348494e-03 -9.02891202e-05 9.99998068e-01 4.12199911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26439141799997 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:194.83, Y:4.47, Z:0.42 [[ 9.99450866e-01 -3.30772557e-02 -1.96528474e-03 1.94833276e+02] [ 3.30773841e-02 9.99452793e-01 3.28805959e-05 4.46871739e+00] [ 1.96312172e-03 -9.78690182e-05 9.99998068e-01 4.21146623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32439141799998 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:194.90, Y:4.47, Z:0.42 [[ 9.99477639e-01 -3.22581391e-02 -1.96528405e-03 1.94895274e+02] [ 3.22582660e-02 9.99479566e-01 3.29215755e-05 4.46976762e+00] [ 1.96319926e-03 -9.63010342e-05 9.99998068e-01 4.24530685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38439141799998 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:194.96, Y:4.47, Z:0.42 [[ 9.99609735e-01 -2.78660206e-02 -1.96528116e-03 1.94956029e+02] [ 2.78661394e-02 9.99611663e-01 3.30930747e-05 4.47046073e+00] [ 1.96359580e-03 -8.78449586e-05 9.99998068e-01 4.23297501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44439141799998 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:195.02, Y:4.47, Z:0.42 [[ 9.99819396e-01 -1.89027257e-02 -1.96527973e-03 1.95017248e+02] [ 1.89028273e-02 9.99821325e-01 3.31778278e-05 4.46615671e+00] [ 1.96430143e-03 -7.03211792e-05 9.99998068e-01 4.15453396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50439141799998 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:195.08, Y:4.47, Z:0.42 [[ 9.99874580e-01 -1.57150546e-02 -1.96527904e-03 1.95079836e+02] [ 1.57151502e-02 9.99876509e-01 3.32184115e-05 4.46671249e+00] [ 1.96451432e-03 -6.40989006e-05 9.99998068e-01 4.15325579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56439141799999 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:195.14, Y:4.47, Z:0.42 [[ 9.99961973e-01 -8.49643996e-03 -1.96527633e-03 1.95141774e+02] [ 8.49652196e-03 9.99963903e-01 3.33783850e-05 4.46870220e+00] [ 1.96492179e-03 -5.00751292e-05 9.99998068e-01 4.15969584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.624391418 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:195.20, Y:4.47, Z:0.41 [[ 9.99991255e-01 -3.69148734e-03 -1.96527361e-03 1.95201968e+02] [ 3.69156038e-03 9.99993186e-01 3.35376714e-05 4.46812959e+00] [ 1.96513641e-03 -4.07923044e-05 9.99998068e-01 4.13221671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.684391418 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:195.26, Y:4.47, Z:0.42 [[ 9.99982056e-01 5.65915781e-03 -1.96527227e-03 1.95262750e+02] [-5.65910267e-03 9.99983987e-01 3.36157720e-05 4.47007287e+00] [ 1.96543104e-03 -2.24934912e-05 9.99998068e-01 4.15627966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.744391418 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:195.32, Y:4.47, Z:0.42 [[ 9.99909429e-01 1.33143674e-02 -1.96527227e-03 1.95321387e+02] [-1.33143270e-02 9.99911360e-01 3.36157720e-05 4.47055859e+00] [ 1.96554564e-03 -7.44644965e-06 9.99998068e-01 4.15956166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.804391418 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:195.38, Y:4.47, Z:0.42 [[ 9.99855397e-01 1.68915045e-02 -1.96528153e-03 1.95380659e+02] [-1.68914721e-02 9.99857328e-01 3.30655653e-05 4.47014046e+00] [ 1.96555967e-03 1.35714181e-07 9.99998068e-01 4.17858993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86439141799997 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:195.44, Y:4.47, Z:0.42 [[ 9.99818253e-01 1.89630874e-02 -1.96528424e-03 1.95438490e+02] [-1.89630593e-02 9.99820184e-01 3.29034612e-05 4.46775595e+00] [ 1.96555481e-03 4.37032064e-06 9.99998068e-01 4.18188557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92439141799997 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:195.50, Y:4.46, Z:0.42 [[ 9.99780806e-01 2.08441082e-02 -1.96528755e-03 1.95496997e+02] [-2.08440842e-02 9.99782738e-01 3.27048801e-05 4.46464644e+00] [ 1.96554227e-03 8.26690764e-06 9.99998068e-01 4.18113108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98439141799997 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:195.56, Y:4.46, Z:0.43 [[ 9.99913816e-01 1.29806481e-02 -1.96529010e-03 1.95555556e+02] [-1.29806092e-02 9.99915748e-01 3.25506984e-05 4.46452686e+00] [ 1.96554705e-03 -7.03723029e-06 9.99998068e-01 4.25599945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04439141799998 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:195.61, Y:4.45, Z:0.42 [[ 9.99893457e-01 1.44641446e-02 -1.96529293e-03 1.95613829e+02] [-1.44641089e-02 9.99895389e-01 3.23793309e-05 4.45396311e+00] [ 1.96555567e-03 -3.94967022e-06 9.99998068e-01 4.18739150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10439141799998 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:195.67, Y:4.45, Z:0.42 [[ 9.99926936e-01 1.19272505e-02 -1.96529498e-03 1.95672139e+02] [-1.19272102e-02 9.99928868e-01 3.22539313e-05 4.44920358e+00] [ 1.96553989e-03 -8.81108841e-06 9.99998068e-01 4.19101887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16439141799998 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:195.73, Y:4.44, Z:0.42 [[ 9.99971449e-01 7.29654752e-03 -1.96529759e-03 1.95730123e+02] [-7.29649854e-03 9.99973380e-01 3.20941874e-05 4.44334764e+00] [ 1.96547945e-03 -1.77534801e-05 9.99998068e-01 4.19078300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22439141799998 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:195.79, Y:4.44, Z:0.42 [[ 9.99994696e-01 2.59727117e-03 -1.96530080e-03 1.95788962e+02] [-2.59721350e-03 9.99996627e-01 3.18966143e-05 4.43718118e+00] [ 1.96537701e-03 -2.67921393e-05 9.99998068e-01 4.19271664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28439141799998 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:195.85, Y:4.43, Z:0.42 [[ 9.99997865e-01 -6.38528147e-04 -1.96530331e-03 1.95847039e+02] [ 6.38591761e-04 9.99999796e-01 3.17411952e-05 4.43221087e+00] [ 1.96528264e-03 -3.29961539e-05 9.99998068e-01 4.19178802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.344391418 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:195.91, Y:4.43, Z:0.42 [[ 9.99997311e-01 -1.23087596e-03 -1.96530577e-03 1.95906256e+02] [ 1.23094042e-03 9.99999242e-01 3.15882319e-05 4.42864558e+00] [ 1.96526540e-03 -3.40073212e-05 9.99998068e-01 4.20163179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.404391418 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:195.97, Y:4.42, Z:0.42 [[ 9.99998041e-01 -2.36889614e-04 -1.96530705e-03 1.95966132e+02] [ 2.36951995e-04 9.99999971e-01 3.15083542e-05 4.42428827e+00] [ 1.96529953e-03 -3.19739759e-05 9.99998068e-01 4.20051306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.464391418 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:196.03, Y:4.42, Z:0.42 [[ 9.99996560e-01 1.73733698e-03 -1.96530836e-03 1.96025343e+02] [-1.73727857e-03 9.99998490e-01 3.14263611e-05 4.42227748e+00] [ 1.96535999e-03 -2.80119649e-05 9.99998068e-01 4.20170694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.524391418 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:196.09, Y:4.42, Z:0.42 [[ 9.99983537e-01 5.39102847e-03 -1.96530900e-03 1.96085165e+02] [-5.39097720e-03 9.99985468e-01 3.13861491e-05 4.41950086e+00] [ 1.96544965e-03 -2.07906964e-05 9.99998068e-01 4.19437451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.584391418 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:196.14, Y:4.42, Z:0.42 [[ 9.99973919e-01 6.94975248e-03 -1.96531025e-03 1.96144113e+02] [-6.94970437e-03 9.99975850e-01 3.13075015e-05 4.41690682e+00] [ 1.96548037e-03 -1.76483597e-05 9.99998068e-01 4.18566783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64439141799997 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:196.20, Y:4.41, Z:0.42 [[ 9.99974172e-01 6.91327044e-03 -1.96531274e-03 1.96202737e+02] [-6.91322257e-03 9.99976103e-01 3.11504208e-05 4.41499881e+00] [ 1.96548113e-03 -1.75629718e-05 9.99998068e-01 4.19235198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70439141799997 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:196.26, Y:4.41, Z:0.42 [[ 9.99988763e-01 4.31401936e-03 -1.96531520e-03 1.96260650e+02] [-4.31396677e-03 9.99990694e-01 3.09948557e-05 4.41245433e+00] [ 1.96543062e-03 -2.25162029e-05 9.99998068e-01 4.20220412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76439141799997 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:196.32, Y:4.41, Z:0.42 [[ 9.99997194e-01 -1.32268065e-03 -1.96531819e-03 1.96319114e+02] [ 1.32274374e-03 9.99999125e-01 3.08037605e-05 4.40878063e+00] [ 1.96527573e-03 -3.34032864e-05 9.99998068e-01 4.20732592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82439141799998 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:196.38, Y:4.41, Z:0.42 [[ 9.99975029e-01 -6.78816321e-03 -1.96532056e-03 1.96378812e+02] [ 6.78823656e-03 9.99976959e-01 3.06522310e-05 4.40619226e+00] [ 1.96506720e-03 -4.39925264e-05 9.99998068e-01 4.21570771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88439141799998 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:196.44, Y:4.40, Z:0.42 [[ 9.99863890e-01 -1.63810256e-02 -1.96532174e-03 1.96439811e+02] [ 1.63811174e-02 9.99865820e-01 3.05759510e-05 4.40271599e+00] [ 1.96455717e-03 -6.27659554e-05 9.99998068e-01 4.22353623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94439141799998 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:196.50, Y:4.40, Z:0.42 [[ 9.99627125e-01 -2.72350465e-02 -1.96532057e-03 1.96501750e+02] [ 2.72351593e-02 9.99629054e-01 3.06511977e-05 4.39945093e+00] [ 1.96375675e-03 -8.41655874e-05 9.99998068e-01 4.23065138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00439141799998 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:196.56, Y:4.40, Z:0.43 [[ 9.99314244e-01 -3.69753855e-02 -1.96531168e-03 1.96564002e+02] [ 3.69755182e-02 9.99316171e-01 3.12108194e-05 4.40178973e+00] [ 1.96281371e-03 -1.03857834e-04 9.99998068e-01 4.25510970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06439141799999 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:196.62, Y:4.40, Z:0.42 [[ 9.99181995e-01 -4.03915664e-02 -1.96530898e-03 1.96624907e+02] [ 4.03917060e-02 9.99183922e-01 3.13797866e-05 4.39841773e+00] [ 1.96243766e-03 -1.10736300e-04 9.99998068e-01 4.22212029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.124391418 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:196.69, Y:4.40, Z:0.42 [[ 9.99131421e-01 -4.16237989e-02 -1.96530702e-03 1.96686917e+02] [ 4.16239411e-02 9.99133348e-01 3.15024921e-05 4.39929710e+00] [ 1.96229253e-03 -1.13278953e-04 9.99998068e-01 4.22246755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.184391418 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:196.75, Y:4.40, Z:0.42 [[ 9.99211549e-01 -3.96537245e-02 -1.96530449e-03 1.96750024e+02] [ 3.96538632e-02 9.99213476e-01 3.16594453e-05 4.40380928e+00] [ 1.96250331e-03 -1.09566399e-04 9.99998068e-01 4.22413281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.244391418 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:196.81, Y:4.41, Z:0.42 [[ 9.99419313e-01 -3.40172708e-02 -1.96530072e-03 1.96811920e+02] [ 3.40173991e-02 9.99421240e-01 3.18918380e-05 4.40891142e+00] [ 1.96307841e-03 -9.87277377e-05 9.99998068e-01 4.22705925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.304391418 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:196.87, Y:4.41, Z:0.42 [[ 9.99574345e-01 -2.91078428e-02 -1.96529820e-03 1.96873788e+02] [ 2.91079619e-02 9.99576273e-01 3.20460404e-05 4.41202237e+00] [ 1.96353266e-03 -8.92382251e-05 9.99998068e-01 4.22881428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36439141799997 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:196.94, Y:4.42, Z:0.42 [[ 9.99780083e-01 -2.08787542e-02 -1.96529570e-03 1.96935629e+02] [ 2.08788578e-02 9.99782012e-01 3.21986417e-05 4.41777916e+00] [ 1.96419503e-03 -7.32246902e-05 9.99998068e-01 4.23512872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42439141799997 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:197.00, Y:4.42, Z:0.42 [[ 9.99938793e-01 -1.08879621e-02 -1.96529308e-03 1.96996912e+02] [ 1.08880467e-02 9.99940723e-01 3.23580252e-05 4.42413526e+00] [ 1.96482427e-03 -5.37542475e-05 9.99998068e-01 4.23304124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48439141799997 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:197.06, Y:4.43, Z:0.42 [[ 9.99990619e-01 -3.86007286e-03 -1.96528893e-03 1.97058772e+02] [ 3.86014439e-03 9.99992549e-01 3.26079824e-05 4.42804474e+00] [ 1.96514842e-03 -4.01939756e-05 9.99998068e-01 4.22207028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54439141799998 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:197.12, Y:4.43, Z:0.42 [[ 9.99995380e-01 -2.31878987e-03 -1.96528764e-03 1.97119146e+02] [ 2.31885858e-03 9.99997311e-01 3.26857382e-05 4.42852550e+00] [ 1.96520656e-03 -3.72428113e-05 9.99998068e-01 4.22277181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60439141799998 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:197.18, Y:4.43, Z:0.42 [[ 9.99998068e-01 4.76020513e-05 -1.96528764e-03 1.97179401e+02] [-4.75379064e-05 9.99999998e-01 3.26857382e-05 4.43083320e+00] [ 1.96528919e-03 -3.25922494e-05 9.99998068e-01 4.22444434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66439141799998 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:197.24, Y:4.43, Z:0.42 [[ 9.99988689e-01 4.33129998e-03 -1.96528764e-03 1.97238958e+02] [-4.33124411e-03 9.99990620e-01 3.26857382e-05 4.43428236e+00] [ 1.96541078e-03 -2.41732280e-05 9.99998068e-01 4.21691714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72439141799998 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:197.30, Y:4.43, Z:0.42 [[ 9.99972708e-01 7.12184932e-03 -1.96528829e-03 1.97297246e+02] [-7.12179892e-03 9.99974639e-01 3.26465904e-05 4.43494739e+00] [ 1.96547095e-03 -1.86493115e-05 9.99998068e-01 4.21182331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78439141799998 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:197.36, Y:4.43, Z:0.42 [[ 9.99976535e-01 6.56250205e-03 -1.96529710e-03 1.97355893e+02] [-6.56245162e-03 9.99978466e-01 3.21072283e-05 4.43411698e+00] [ 1.96546548e-03 -1.92093078e-05 9.99998068e-01 4.21380793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.844391418 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:197.41, Y:4.43, Z:0.42 [[ 9.99996089e-01 1.98992913e-03 -1.96529967e-03 1.97414962e+02] [-1.98987018e-03 9.99998020e-01 3.19495006e-05 4.43206834e+00] [ 1.96535935e-03 -2.80386845e-05 9.99998068e-01 4.20293334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.904391418 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:197.47, Y:4.43, Z:0.42 [[ 9.99951402e-01 -9.66079796e-03 -1.96530167e-03 1.97474417e+02] [ 9.66087915e-03 9.99953332e-01 3.18259334e-05 4.42849050e+00] [ 1.96490249e-03 -5.08109286e-05 9.99998068e-01 4.19157437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.964391418 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:197.54, Y:4.43, Z:0.42 [[ 9.99848316e-01 -1.73055587e-02 -1.96530304e-03 1.97537079e+02] [ 1.73056545e-02 9.99850245e-01 3.17409075e-05 4.42577464e+00] [ 1.96445943e-03 -6.57469482e-05 9.99998068e-01 4.18988136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.024391418 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:197.60, Y:4.42, Z:0.42 [[ 9.99582175e-01 -2.88376894e-02 -1.96529397e-03 1.97599993e+02] [ 2.88378085e-02 9.99584103e-01 3.22927459e-05 4.42267115e+00] [ 1.96354536e-03 -8.89540245e-05 9.99998068e-01 4.18996461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.084391418 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:197.66, Y:4.42, Z:0.42 [[ 9.99288695e-01 -3.76595456e-02 -1.96528332e-03 1.97661548e+02] [ 3.76596830e-02 9.99290622e-01 3.29286185e-05 4.41968064e+00] [ 1.96264911e-03 -1.06917143e-04 9.99998068e-01 4.17631465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14439141799997 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:197.72, Y:4.42, Z:0.42 [[ 9.99160086e-01 -4.09299308e-02 -1.96528134e-03 1.97723528e+02] [ 4.09300748e-02 9.99162013e-01 3.30463414e-05 4.41866899e+00] [ 1.96228187e-03 -1.13457697e-04 9.99998068e-01 4.16900133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20439141799997 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:197.79, Y:4.42, Z:0.41 [[ 9.99234139e-01 -3.90803491e-02 -1.96527865e-03 1.97786103e+02] [ 3.90804898e-02 9.99236065e-01 3.32053820e-05 4.41711304e+00] [ 1.96247963e-03 -1.09984004e-04 9.99998068e-01 4.13429177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26439141799997 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:197.85, Y:4.42, Z:0.42 [[ 9.99228888e-01 -3.92143656e-02 -1.96527593e-03 1.97848193e+02] [ 3.92145068e-02 9.99230815e-01 3.33654119e-05 4.42106475e+00] [ 1.96245587e-03 -1.10407010e-04 9.99998068e-01 4.18350029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32439141799998 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:197.91, Y:4.42, Z:0.42 [[ 9.99396271e-01 -3.46876372e-02 -1.96527145e-03 1.97910208e+02] [ 3.46877703e-02 9.99398198e-01 3.36272564e-05 4.42392882e+00] [ 1.96292230e-03 -1.01777839e-04 9.99998068e-01 4.18654103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38439141799998 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:197.97, Y:4.43, Z:0.42 [[ 9.99582257e-01 -2.88348638e-02 -1.96526865e-03 1.97971270e+02] [ 2.88349859e-02 9.99584185e-01 3.37903290e-05 4.42794936e+00] [ 1.96347712e-03 -9.04447072e-05 9.99998068e-01 4.18189752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44439141799998 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:198.03, Y:4.43, Z:0.42 [[ 9.99736454e-01 -2.28726897e-02 -1.96526661e-03 1.98032975e+02] [ 2.28728005e-02 9.99738383e-01 3.39087737e-05 4.42975777e+00] [ 1.96397687e-03 -7.88509882e-05 9.99998068e-01 4.17679084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50439141799998 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:198.10, Y:4.43, Z:0.42 [[ 9.99886929e-01 -1.49086312e-02 -1.96526459e-03 1.98095317e+02] [ 1.49087268e-02 9.99888858e-01 3.40250083e-05 4.43452630e+00] [ 1.96453890e-03 -6.33207540e-05 9.99998068e-01 4.19329634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56439141799999 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:4.44, Z:0.42 [[ 9.99961593e-01 -8.54106769e-03 -1.96526195e-03 1.98157664e+02] [ 8.54115135e-03 9.99963523e-01 3.41771736e-05 4.43708005e+00] [ 1.96489835e-03 -5.09614607e-05 9.99998068e-01 4.19593873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.624391418 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:198.22, Y:4.44, Z:0.42 [[ 9.99998069e-01 -8.99543046e-06 -1.96525915e-03 1.98219479e+02] [ 9.06292928e-06 9.99999999e-01 3.43372021e-05 4.44102873e+00] [ 1.96525884e-03 -3.43549468e-05 9.99998068e-01 4.20380614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.684391418 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:198.28, Y:4.44, Z:0.42 [[ 9.99988981e-01 4.26326748e-03 -1.96525778e-03 1.98278812e+02] [-4.26320807e-03 9.99990912e-01 3.44156682e-05 4.44219260e+00] [ 1.96538664e-03 -2.60369862e-05 9.99998068e-01 4.21983400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.744391418 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:198.34, Y:4.44, Z:0.42 [[ 9.99981469e-01 5.76193169e-03 -1.96525845e-03 1.98337415e+02] [-5.76187525e-03 9.99983400e-01 3.43771656e-05 4.44089718e+00] [ 1.96542391e-03 -2.30529545e-05 9.99998068e-01 4.21984213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.804391418 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:198.40, Y:4.44, Z:0.42 [[ 9.99992434e-01 3.35702338e-03 -1.96526074e-03 1.98396081e+02] [-3.35696256e-03 9.99994365e-01 3.42460426e-05 4.43836272e+00] [ 1.96536463e-03 -2.76484768e-05 9.99998068e-01 4.20882907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86439141799997 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:198.46, Y:4.44, Z:0.42 [[ 9.99995325e-01 -2.34260516e-03 -1.96526394e-03 1.98455124e+02] [ 2.34267662e-03 9.99997255e-01 3.40613566e-05 4.43702597e+00] [ 1.96517875e-03 -3.86651752e-05 9.99998068e-01 4.22115784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92439141799997 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:198.52, Y:4.43, Z:0.42 [[ 9.99945753e-01 -1.02288345e-02 -1.96526554e-03 1.98515752e+02] [ 1.02289210e-02 9.99947683e-01 3.39687210e-05 4.43190666e+00] [ 1.96481526e-03 -5.40694243e-05 9.99998068e-01 4.22160371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98439141799997 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:198.58, Y:4.43, Z:0.42 [[ 9.99866130e-01 -1.62437885e-02 -1.96526554e-03 1.98577987e+02] [ 1.62438866e-02 9.99868059e-01 3.39687210e-05 4.42811513e+00] [ 1.96445446e-03 -6.58877242e-05 9.99998068e-01 4.23727568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04439141799998 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:198.64, Y:4.43, Z:0.42 [[ 9.99831785e-01 -1.82356891e-02 -1.96525606e-03 1.98640158e+02] [ 1.82357921e-02 9.99833714e-01 3.45085567e-05 4.42582218e+00] [ 1.96429998e-03 -7.03407527e-05 9.99998068e-01 4.24433061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10439141799998 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:198.70, Y:4.42, Z:0.43 [[ 9.99832111e-01 -1.82177785e-02 -1.96525337e-03 1.98702490e+02] [ 1.82178818e-02 9.99834040e-01 3.46609980e-05 4.42349570e+00] [ 1.96429577e-03 -7.04579323e-05 9.99998068e-01 4.25010189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16439141799998 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:198.76, Y:4.42, Z:0.43 [[ 9.99857181e-01 -1.67855811e-02 -1.96525061e-03 1.98764581e+02] [ 1.67856819e-02 9.99859110e-01 3.48166867e-05 4.42248884e+00] [ 1.96438931e-03 -6.77997859e-05 9.99998068e-01 4.25063680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22439141799998 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:198.83, Y:4.42, Z:0.43 [[ 9.99901820e-01 -1.38740226e-02 -1.96524788e-03 1.98826777e+02] [ 1.38741181e-02 9.99903749e-01 3.49702836e-05 4.42200602e+00] [ 1.96457354e-03 -6.22329313e-05 9.99998068e-01 4.25297898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28439141799998 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:198.89, Y:4.42, Z:0.42 [[ 9.99911699e-01 -1.31427535e-02 -1.96524518e-03 1.98888685e+02] [ 1.31428479e-02 9.99913628e-01 3.51214670e-05 4.42168630e+00] [ 1.96461384e-03 -6.09472842e-05 9.99998068e-01 4.23723700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.344391418 meters Centerline goodness : 0.998875 with order 1 Centerline is valid? [True, True] Translation: X:198.95, Y:4.42, Z:0.42 [[ 9.99895601e-01 -1.43152150e-02 -1.96524241e-03 1.98950597e+02] [ 1.43153120e-02 9.99897530e-01 3.52753636e-05 4.42102010e+00] [ 1.96453606e-03 -6.34047391e-05 9.99998068e-01 4.22951551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.404391418 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:199.01, Y:4.42, Z:0.42 [[ 9.99885960e-01 -1.49734706e-02 -1.96523960e-03 1.99012644e+02] [ 1.49735691e-02 9.99887889e-01 3.54314324e-05 4.42017784e+00] [ 1.96448874e-03 -6.48540429e-05 9.99998068e-01 4.22622043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.464391418 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:199.07, Y:4.42, Z:0.42 [[ 9.99838484e-01 -1.78646215e-02 -1.96523681e-03 1.99074680e+02] [ 1.78647259e-02 9.99840412e-01 3.55854176e-05 4.42082505e+00] [ 1.96428747e-03 -7.06880871e-05 9.99998068e-01 4.22929276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.524391418 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:199.14, Y:4.42, Z:0.42 [[ 9.99761162e-01 -2.17659457e-02 -1.96523392e-03 1.99135895e+02] [ 2.17660579e-02 9.99763091e-01 3.57446253e-05 4.42143002e+00] [ 1.96399032e-03 -7.85114834e-05 9.99998068e-01 4.23274338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58439141799997 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:199.20, Y:4.42, Z:0.42 [[ 9.99708035e-01 -2.40828297e-02 -1.96522917e-03 1.99197984e+02] [ 2.40829470e-02 9.99709963e-01 3.60036951e-05 4.42171922e+00] [ 1.96379211e-03 -8.33216932e-05 9.99998068e-01 4.23832112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64439141799997 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:199.26, Y:4.42, Z:0.42 [[ 9.99664532e-01 -2.58255909e-02 -1.96522626e-03 1.99260259e+02] [ 2.58257118e-02 9.99666460e-01 3.61619229e-05 4.42337805e+00] [ 1.96363687e-03 -8.69031587e-05 9.99998068e-01 4.23107169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70439141799997 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:199.32, Y:4.42, Z:0.43 [[ 9.99635200e-01 -2.69370635e-02 -1.96522334e-03 1.99322852e+02] [ 2.69371868e-02 9.99637127e-01 3.63196846e-05 4.42425695e+00] [ 1.96353187e-03 -8.92440235e-05 9.99998068e-01 4.25142331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76439141799997 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:199.39, Y:4.43, Z:0.43 [[ 9.99665236e-01 -2.57983332e-02 -1.96522025e-03 1.99385159e+02] [ 2.57984547e-02 9.99667164e-01 3.64862052e-05 4.42671864e+00] [ 1.96362487e-03 -8.71736365e-05 9.99998068e-01 4.25013872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82439141799998 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:199.45, Y:4.43, Z:0.42 [[ 9.99709065e-01 -2.40400437e-02 -1.96521650e-03 1.99448458e+02] [ 2.40401621e-02 9.99710993e-01 3.66873750e-05 4.42873780e+00] [ 1.96376657e-03 -8.39208246e-05 9.99998068e-01 4.24198719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88439141799998 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:199.51, Y:4.42, Z:0.42 [[ 9.99842271e-01 -1.76513807e-02 -1.96521197e-03 1.99509241e+02] [ 1.76514873e-02 9.99844200e-01 3.69283541e-05 4.42487071e+00] [ 1.96425395e-03 -7.16114436e-05 9.99998068e-01 4.15422431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94439141799998 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:199.57, Y:4.43, Z:0.42 [[ 9.99822809e-01 -1.87213356e-02 -1.96520974e-03 1.99571198e+02] [ 1.87214445e-02 9.99824738e-01 3.70463776e-05 4.43260943e+00] [ 1.96417176e-03 -7.38313785e-05 9.99998068e-01 4.22998599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00439141799998 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:199.63, Y:4.44, Z:0.42 [[ 9.99902901e-01 -1.37958965e-02 -1.96520680e-03 1.99633821e+02] [ 1.37959963e-02 9.99904830e-01 3.72020629e-05 4.43625418e+00] [ 1.96450653e-03 -6.43104362e-05 9.99998068e-01 4.24477114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06439141799999 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:199.70, Y:4.44, Z:0.42 [[ 9.99947615e-01 -1.00451520e-02 -1.96520378e-03 1.99696259e+02] [ 1.00452448e-02 9.99949545e-01 3.73607019e-05 4.43764794e+00] [ 1.96472933e-03 -5.70996978e-05 9.99998068e-01 4.24401752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.124391418 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:199.76, Y:4.44, Z:0.43 [[ 9.99980467e-01 -5.93320767e-03 -1.96520072e-03 1.99757495e+02] [ 5.93329286e-03 9.99982397e-01 3.75207455e-05 4.43965918e+00] [ 1.96494351e-03 -4.91801241e-05 9.99998068e-01 4.27629606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.184391418 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:199.82, Y:4.44, Z:0.43 [[ 9.99994593e-01 -2.63647520e-03 -1.96519922e-03 1.99818799e+02] [ 2.63655418e-03 9.99996524e-01 3.75992833e-05 4.44067068e+00] [ 1.96509326e-03 -4.27804342e-05 9.99998068e-01 4.28440237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.244391418 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:199.88, Y:4.44, Z:0.43 [[ 9.99991463e-01 3.63483634e-03 -1.96519773e-03 1.99879569e+02] [-3.63476931e-03 9.99993393e-01 3.76773077e-05 4.44286687e+00] [ 1.96532169e-03 -3.05339457e-05 9.99998068e-01 4.29216626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.304391418 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:199.94, Y:4.44, Z:0.43 [[ 9.99944306e-01 1.03693301e-02 -1.96519773e-03 1.99938445e+02] [-1.03692761e-02 9.99946237e-01 3.76773077e-05 4.44351741e+00] [ 1.96548276e-03 -1.72975316e-05 9.99998068e-01 4.28926932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36439141799997 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:200.00, Y:4.44, Z:0.43 [[ 9.99911169e-01 1.31830428e-02 -1.96520835e-03 1.99996217e+02] [-1.31829953e-02 9.99913100e-01 3.71145088e-05 4.44338961e+00] [ 1.96552686e-03 -1.12038793e-05 9.99998068e-01 4.31059259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42439141799997 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:200.05, Y:4.44, Z:0.43 [[ 9.99874984e-01 1.56893034e-02 -1.96521212e-03 2.00054257e+02] [-1.56892611e-02 9.99876915e-01 3.69138625e-05 4.44242725e+00] [ 1.96554939e-03 -6.07652144e-06 9.99998068e-01 4.31777241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48439141799997 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:200.11, Y:4.44, Z:0.43 [[ 9.99878773e-01 1.54459652e-02 -1.96521635e-03 2.00112505e+02] [-1.54459229e-02 9.99880704e-01 3.66872619e-05 4.44019713e+00] [ 1.96554858e-03 -6.32823412e-06 9.99998068e-01 4.31468929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54439141799998 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:200.17, Y:4.44, Z:0.43 [[ 9.99906457e-01 1.35356901e-02 -1.96522086e-03 2.00169996e+02] [-1.35356446e-02 9.99908388e-01 3.64442480e-05 4.43683876e+00] [ 1.96553412e-03 -9.84030771e-06 9.99998068e-01 4.31966162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60439141799998 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:200.23, Y:4.43, Z:0.43 [[ 9.99932439e-01 1.14566532e-02 -1.96522452e-03 2.00229147e+02] [-1.14566041e-02 9.99934370e-01 3.62457679e-05 4.43403012e+00] [ 1.96551080e-03 -1.37285198e-05 9.99998068e-01 4.32777517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66439141799998 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:200.29, Y:4.43, Z:0.43 [[ 9.99978807e-01 6.20665253e-03 -1.96522738e-03 2.00287688e+02] [-6.20659359e-03 9.99980738e-01 3.60901197e-05 4.42942263e+00] [ 1.96541352e-03 -2.38919872e-05 9.99998068e-01 4.32323059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72439141799998 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:200.35, Y:4.42, Z:0.43 [[ 9.99994932e-01 2.50469392e-03 -1.96523027e-03 2.00346874e+02] [-2.50462814e-03 9.99996863e-01 3.59322482e-05 4.42343009e+00] [ 1.96531410e-03 -3.10098951e-05 9.99998068e-01 4.29750443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78439141799998 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:200.41, Y:4.42, Z:0.43 [[ 9.99994365e-01 -2.72163290e-03 -1.96523240e-03 2.00405837e+02] [ 2.72170854e-03 9.99996296e-01 3.58152972e-05 4.41928929e+00] [ 1.96512764e-03 -4.11638852e-05 9.99998068e-01 4.31380029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.844391418 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:200.47, Y:4.41, Z:0.43 [[ 9.99966890e-01 -7.89664467e-03 -1.96523526e-03 2.00465004e+02] [ 7.89672999e-03 9.99968820e-01 3.56577596e-05 4.41244670e+00] [ 1.96489240e-03 -5.11755111e-05 9.99998068e-01 4.30138936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.904391418 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:200.53, Y:4.40, Z:0.43 [[ 9.99899926e-01 -1.40098530e-02 -1.96523596e-03 2.00525711e+02] [ 1.40099500e-02 9.99901855e-01 3.56191597e-05 4.40447695e+00] [ 1.96454406e-03 -6.31484526e-05 9.99998068e-01 4.27679803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.964391418 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:200.59, Y:4.40, Z:0.43 [[ 9.99819481e-01 -1.88982133e-02 -1.96522691e-03 2.00588093e+02] [ 1.88983207e-02 9.99821410e-01 3.61113606e-05 4.39820204e+00] [ 1.96419350e-03 -7.32443304e-05 9.99998068e-01 4.26216743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.024391418 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:200.65, Y:4.39, Z:0.42 [[ 9.99674545e-01 -2.54350667e-02 -1.96522409e-03 2.00649583e+02] [ 2.54351870e-02 9.99676473e-01 3.62640440e-05 4.39010248e+00] [ 1.96366591e-03 -8.62380840e-05 9.99998068e-01 4.23808032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08439141799997 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:200.71, Y:4.38, Z:0.42 [[ 9.99603399e-01 -2.80923810e-02 -1.96522201e-03 2.00711447e+02] [ 2.80925067e-02 9.99605327e-01 3.63768772e-05 4.38401839e+00] [ 1.96342447e-03 -9.15704624e-05 9.99998068e-01 4.20691457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14439141799997 meters Centerline goodness : 0.998886 with order 1 Centerline is valid? [True, True] Translation: X:200.77, Y:4.38, Z:0.42 [[ 9.99410084e-01 -3.42873484e-02 -1.96521910e-03 2.00772540e+02] [ 3.42874863e-02 9.99412011e-01 3.65329633e-05 4.37586122e+00] [ 1.96281096e-03 -1.03893835e-04 9.99998068e-01 4.16795165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20439141799997 meters Centerline goodness : 0.998987 with order 1 Centerline is valid? [True, True] Translation: X:200.83, Y:4.37, Z:0.42 [[ 9.99344028e-01 -3.61614705e-02 -1.96521692e-03 2.00834648e+02] [ 3.61616123e-02 9.99345954e-01 3.66498995e-05 4.36920839e+00] [ 1.96260627e-03 -1.07691271e-04 9.99998068e-01 4.16577301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26439141799997 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:200.90, Y:4.36, Z:0.41 [[ 9.99561222e-01 -2.95550504e-02 -1.96521402e-03 2.00897085e+02] [ 2.95551797e-02 9.99563150e-01 3.68050252e-05 4.35976681e+00] [ 1.96326774e-03 -9.48711294e-05 9.99998068e-01 4.11054383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32439141799998 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:200.96, Y:4.36, Z:0.42 [[ 9.99546910e-01 -3.00352066e-02 -1.96521091e-03 2.00958555e+02] [ 3.00353372e-02 9.99548837e-01 3.69701870e-05 4.36146681e+00] [ 1.96321387e-03 -9.59792086e-05 9.99998068e-01 4.17926218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38439141799998 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:201.02, Y:4.36, Z:0.42 [[ 9.99717679e-01 -2.36791255e-02 -1.96520863e-03 2.01019710e+02] [ 2.36792441e-02 9.99719607e-01 3.70910394e-05 4.35812814e+00] [ 1.96377931e-03 -8.36152227e-05 9.99998068e-01 4.17153741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44439141799998 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:201.08, Y:4.36, Z:0.42 [[ 9.99884359e-01 -1.50799866e-02 -1.96520569e-03 2.01081473e+02] [ 1.50800889e-02 9.99886288e-01 3.72463268e-05 4.35533049e+00] [ 1.96442055e-03 -6.68774959e-05 9.99998068e-01 4.19558763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50439141799998 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:201.14, Y:4.35, Z:0.42 [[ 9.99996052e-01 -2.00822986e-03 -1.96520259e-03 2.01142951e+02] [ 2.00830726e-03 9.99997983e-01 3.74091565e-05 4.35248076e+00] [ 1.96512350e-03 -4.13557395e-05 9.99998068e-01 4.18663234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56439141799999 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:201.20, Y:4.35, Z:0.42 [[ 9.99958125e-01 8.93793685e-03 -1.96520111e-03 2.01203754e+02] [-8.93788044e-03 9.99960056e-01 3.74863257e-05 4.34890333e+00] [ 1.96545767e-03 -1.99200234e-05 9.99998068e-01 4.17347416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.624391418 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:201.26, Y:4.35, Z:0.42 [[ 9.99900859e-01 1.39430777e-02 -1.96520111e-03 2.01261277e+02] [-1.39430309e-02 9.99902791e-01 3.74863257e-05 4.34621245e+00] [ 1.96553275e-03 -1.00817494e-05 9.99998068e-01 4.17262038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.684391418 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:201.32, Y:4.34, Z:0.42 [[ 9.99819596e-01 1.88921462e-02 -1.96521284e-03 2.01319701e+02] [-1.88921102e-02 9.99821527e-01 3.68613128e-05 4.34161635e+00] [ 1.96555849e-03 2.72354662e-07 9.99998068e-01 4.17798335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.744391418 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:201.38, Y:4.34, Z:0.42 [[ 9.99809835e-01 1.94018495e-02 -1.96521580e-03 2.01377622e+02] [-1.94018149e-02 9.99811766e-01 3.67025432e-05 4.33641100e+00] [ 1.96555798e-03 1.43318955e-06 9.99998068e-01 4.19087015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.804391418 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:201.44, Y:4.33, Z:0.42 [[ 9.99845677e-01 1.74573651e-02 -1.96521943e-03 2.01436421e+02] [-1.74573271e-02 9.99847609e-01 3.65075812e-05 4.33277298e+00] [ 1.96555727e-03 -2.19446889e-06 9.99998068e-01 4.20271207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86439141799997 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:201.49, Y:4.33, Z:0.42 [[ 9.99929258e-01 1.17310259e-02 -1.96522233e-03 2.01493922e+02] [-1.17309771e-02 9.99931189e-01 3.63505994e-05 4.32764621e+00] [ 1.96551353e-03 -1.32940497e-05 9.99998068e-01 4.22116018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92439141799997 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:201.55, Y:4.33, Z:0.43 [[ 9.99998064e-01 9.95629509e-05 -1.96522588e-03 2.01552679e+02] [-9.94920857e-05 9.99999994e-01 3.61573940e-05 4.32735457e+00] [ 1.96522947e-03 -3.59617995e-05 9.99998068e-01 4.27618049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98439141799997 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:201.61, Y:4.32, Z:0.42 [[ 9.99993411e-01 -3.05233092e-03 -1.96522796e-03 2.01611947e+02] [ 3.05240765e-03 9.99995341e-01 3.60443613e-05 4.31690909e+00] [ 1.96510878e-03 -4.20428007e-05 9.99998068e-01 4.24549319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04439141799998 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:201.67, Y:4.31, Z:0.42 [[ 9.99914750e-01 -1.29085151e-02 -1.96522936e-03 2.01672631e+02] [ 1.29086107e-02 9.99916680e-01 3.59676214e-05 4.31024688e+00] [ 1.96460133e-03 -6.13329360e-05 9.99998068e-01 4.24096131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10439141799998 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:201.74, Y:4.31, Z:0.42 [[ 9.99828369e-01 -1.84220297e-02 -1.96522936e-03 2.01735133e+02] [ 1.84221359e-02 9.99830297e-01 3.59676214e-05 4.30634491e+00] [ 1.96423326e-03 -7.21651706e-05 9.99998068e-01 4.23605205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16439141799998 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:201.80, Y:4.30, Z:0.42 [[ 9.99706196e-01 -2.41590425e-02 -1.96522647e-03 2.01796785e+02] [ 2.41591601e-02 9.99708124e-01 3.61250487e-05 4.30245436e+00] [ 1.96378012e-03 -8.35926558e-05 9.99998068e-01 4.23576106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22439141799998 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:201.86, Y:4.30, Z:0.42 [[ 9.99616757e-01 -2.76129790e-02 -1.96522357e-03 2.01859168e+02] [ 2.76131036e-02 9.99618685e-01 3.62819220e-05 4.30032688e+00] [ 1.96347235e-03 -9.05339392e-05 9.99998068e-01 4.24701457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28439141799998 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:201.92, Y:4.31, Z:0.44 [[ 9.99410161e-01 -3.42851053e-02 -1.96522068e-03 2.01919837e+02] [ 3.42852430e-02 9.99412088e-01 3.64380083e-05 4.30562504e+00] [ 1.96281602e-03 -1.03794584e-04 9.99998068e-01 4.35317610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.344391418 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:201.98, Y:4.30, Z:0.42 [[ 9.99568444e-01 -2.93097893e-02 -1.96521991e-03 2.01979677e+02] [ 2.93099176e-02 9.99570371e-01 3.64793770e-05 4.29914529e+00] [ 1.96330639e-03 -9.40640677e-05 9.99998068e-01 4.24111288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.404391418 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:202.04, Y:4.30, Z:0.42 [[ 9.99584820e-01 -2.87458687e-02 -1.96521991e-03 2.02041968e+02] [ 2.87459958e-02 9.99586748e-01 3.64793259e-05 4.29868640e+00] [ 1.96335915e-03 -9.29563838e-05 9.99998068e-01 4.24593024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.464391418 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:202.10, Y:4.30, Z:0.42 [[ 9.99643758e-01 -2.66175560e-02 -1.96521698e-03 2.02104080e+02] [ 2.66176794e-02 9.99645686e-01 3.66365119e-05 4.30115252e+00] [ 1.96354550e-03 -8.89329760e-05 9.99998068e-01 4.24686590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.524391418 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:202.17, Y:4.30, Z:0.43 [[ 9.99774359e-01 -2.11510954e-02 -1.96521403e-03 2.02166520e+02] [ 2.11512085e-02 9.99776287e-01 3.67938451e-05 4.30480458e+00] [ 1.96399616e-03 -7.83521947e-05 9.99998068e-01 4.25938002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58439141799997 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:202.23, Y:4.31, Z:0.43 [[ 9.99872966e-01 -1.58173779e-02 -1.96521112e-03 2.02227804e+02] [ 1.58174811e-02 9.99874895e-01 3.69487370e-05 4.30731770e+00] [ 1.96438083e-03 -6.80287330e-05 9.99998068e-01 4.28334771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64439141799997 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:202.29, Y:4.31, Z:0.43 [[ 9.99972059e-01 -7.21239623e-03 -1.96520895e-03 2.02289524e+02] [ 7.21248299e-03 9.99973989e-01 3.70636508e-05 4.31192380e+00] [ 1.96489052e-03 -5.12366514e-05 9.99998068e-01 4.29772699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70439141799997 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:202.35, Y:4.31, Z:0.43 [[ 9.99994333e-01 -2.73339540e-03 -1.96520684e-03 2.02350712e+02] [ 2.73347373e-03 9.99996263e-01 3.71756146e-05 4.31448016e+00] [ 1.96509788e-03 -4.25472452e-05 9.99998068e-01 4.29701378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76439141799997 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:202.41, Y:4.32, Z:0.43 [[ 9.99997880e-01 6.14748465e-04 -1.96520546e-03 2.02411666e+02] [-6.14676451e-04 9.99999810e-01 3.72483053e-05 4.31809097e+00] [ 1.96522798e-03 -3.60402608e-05 9.99998068e-01 4.29961616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82439141799998 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:202.47, Y:4.33, Z:0.44 [[ 9.99990084e-01 -3.99612957e-03 -1.96520546e-03 2.02471269e+02] [ 3.99621048e-03 9.99992014e-01 3.72483053e-05 4.32525803e+00] [ 1.96504092e-03 -4.51013106e-05 9.99998068e-01 4.37505930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88439141799998 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:202.53, Y:4.32, Z:0.43 [[ 9.99993484e-01 -3.02805372e-03 -1.96520701e-03 2.02531156e+02] [ 3.02813261e-03 9.99995415e-01 3.71660948e-05 4.31994144e+00] [ 1.96508546e-03 -4.31167601e-05 9.99998068e-01 4.29896318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94439141799998 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:202.59, Y:4.32, Z:0.43 [[ 9.99951765e-01 -9.62314685e-03 -1.96520701e-03 2.02591288e+02] [ 9.62323846e-03 9.99953695e-01 3.71660948e-05 4.32229819e+00] [ 1.96475836e-03 -5.60759578e-05 9.99998068e-01 4.31574748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00439141799998 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:202.65, Y:4.32, Z:0.44 [[ 9.99882259e-01 -1.52185924e-02 -1.96521126e-03 2.02652590e+02] [ 1.52186943e-02 9.99884188e-01 3.69399320e-05 4.32414624e+00] [ 1.96442150e-03 -6.68435322e-05 9.99998068e-01 4.35469221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06439141799999 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:202.71, Y:4.32, Z:0.43 [[ 9.99878101e-01 -1.54893911e-02 -1.96520952e-03 2.02712675e+02] [ 1.54894938e-02 9.99880030e-01 3.70323617e-05 4.31819711e+00] [ 1.96440015e-03 -6.74679482e-05 9.99998068e-01 4.29009660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.124391418 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:202.78, Y:4.32, Z:0.43 [[ 9.99832889e-01 -1.81750267e-02 -1.96520875e-03 2.02775038e+02] [ 1.81751346e-02 9.99834818e-01 3.70733318e-05 4.31852082e+00] [ 1.96421032e-03 -7.27850700e-05 9.99998068e-01 4.31313257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.184391418 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:202.84, Y:4.32, Z:0.43 [[ 9.99801855e-01 -1.98088080e-02 -1.96520567e-03 2.02837106e+02] [ 1.98089194e-02 9.99803783e-01 3.72358839e-05 4.31860798e+00] [ 1.96408247e-03 -7.61571064e-05 9.99998068e-01 4.32056198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.244391418 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:202.90, Y:4.32, Z:0.43 [[ 9.99782750e-01 -2.07506899e-02 -1.96520261e-03 2.02899598e+02] [ 2.07508035e-02 9.99784678e-01 3.73965040e-05 4.31753983e+00] [ 1.96400346e-03 -7.81679128e-05 9.99998068e-01 4.31953448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.304391418 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:202.96, Y:4.32, Z:0.43 [[ 9.99733455e-01 -2.30034329e-02 -1.96519955e-03 2.02960439e+02] [ 2.30035511e-02 9.99735383e-01 3.75566239e-05 4.31652798e+00] [ 1.96381560e-03 -8.27531817e-05 9.99998068e-01 4.31301662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36439141799997 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:203.02, Y:4.32, Z:0.43 [[ 9.99720953e-01 -2.35404769e-02 -1.96519729e-03 2.03022471e+02] [ 2.35405963e-02 9.99722881e-01 3.76748126e-05 4.31684617e+00] [ 1.96376581e-03 -8.39262157e-05 9.99998068e-01 4.30774153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42439141799997 meters Centerline goodness : 0.999368 with order 1 Centerline is valid? [True, True] Translation: X:203.08, Y:4.32, Z:0.44 [[ 9.99610152e-01 -2.78510762e-02 -1.96519433e-03 2.03084592e+02] [ 2.78512042e-02 9.99612079e-01 3.78287055e-05 4.32170651e+00] [ 1.96337842e-03 -9.25469866e-05 9.99998068e-01 4.37380945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48439141799997 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:203.14, Y:4.32, Z:0.43 [[ 9.99698452e-01 -2.44773923e-02 -1.96519194e-03 2.03144393e+02] [ 2.44775141e-02 9.99700380e-01 3.79522917e-05 4.31661328e+00] [ 1.96367415e-03 -8.60438607e-05 9.99998068e-01 4.29961848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54439141799998 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:203.21, Y:4.32, Z:0.43 [[ 9.99721839e-01 -2.35028225e-02 -1.96519194e-03 2.03206209e+02] [ 2.35029424e-02 9.99723767e-01 3.79522917e-05 4.31630538e+00] [ 1.96375710e-03 -8.41295278e-05 9.99998068e-01 4.29210145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60439141799998 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:203.27, Y:4.32, Z:0.43 [[ 9.99710085e-01 -2.39975840e-02 -1.96518885e-03 2.03267715e+02] [ 2.39977052e-02 9.99712013e-01 3.81117622e-05 4.31845128e+00] [ 1.96370831e-03 -8.52607355e-05 9.99998068e-01 4.29976230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66439141799998 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:203.33, Y:4.32, Z:0.43 [[ 9.99720116e-01 -2.35759982e-02 -1.96518396e-03 2.03330217e+02] [ 2.35761191e-02 9.99722044e-01 3.83620845e-05 4.31960157e+00] [ 1.96373330e-03 -8.46827586e-05 9.99998068e-01 4.29264086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72439141799998 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:203.39, Y:4.32, Z:0.43 [[ 9.99713357e-01 -2.38609012e-02 -1.96518102e-03 2.03392839e+02] [ 2.38610229e-02 9.99715285e-01 3.85122450e-05 4.32042158e+00] [ 1.96370256e-03 -8.53924351e-05 9.99998068e-01 4.30156692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78439141799998 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:203.45, Y:4.32, Z:0.43 [[ 9.99676854e-01 -2.53441622e-02 -1.96517784e-03 2.03453789e+02] [ 2.53442871e-02 9.99678781e-01 3.86736188e-05 4.32283847e+00] [ 1.96356644e-03 -8.84671529e-05 9.99998068e-01 4.30255990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.844391418 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:203.52, Y:4.33, Z:0.44 [[ 9.99555611e-01 -2.97442151e-02 -1.96517550e-03 2.03515132e+02] [ 2.97443487e-02 9.99557538e-01 3.87924227e-05 4.33068185e+00] [ 1.96315213e-03 -9.72280490e-05 9.99998068e-01 4.42006493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.904391418 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:203.58, Y:4.33, Z:0.43 [[ 9.99692179e-01 -2.47322706e-02 -1.96517385e-03 2.03575216e+02] [ 2.47323947e-02 9.99694107e-01 3.88754534e-05 4.32636761e+00] [ 1.96361124e-03 -8.74669422e-05 9.99998068e-01 4.33689517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.964391418 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:203.64, Y:4.33, Z:0.44 [[ 9.99785944e-01 -2.05962244e-02 -1.96517024e-03 2.03637195e+02] [ 2.05963408e-02 9.99787872e-01 3.90574812e-05 4.32985856e+00] [ 1.96394893e-03 -7.95244367e-05 9.99998068e-01 4.35484552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.024391418 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:203.70, Y:4.33, Z:0.44 [[ 9.99849734e-01 -1.72234495e-02 -1.96516720e-03 2.03699367e+02] [ 1.72235597e-02 9.99851663e-01 3.92093967e-05 4.33173957e+00] [ 1.96420038e-03 -7.30506796e-05 9.99998068e-01 4.36235975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08439141799997 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:203.76, Y:4.33, Z:0.43 [[ 9.99931883e-01 -1.15051406e-02 -1.96516408e-03 2.03762082e+02] [ 1.15052402e-02 9.99933812e-01 3.93654595e-05 4.33412059e+00] [ 1.96458110e-03 -6.19724627e-05 9.99998068e-01 4.34384112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14439141799997 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:203.82, Y:4.34, Z:0.44 [[ 9.99924078e-01 -1.21645365e-02 -1.96516015e-03 2.03824482e+02] [ 1.21646377e-02 9.99926007e-01 3.95603511e-05 4.33542370e+00] [ 1.96453351e-03 -6.34628090e-05 9.99998068e-01 4.36137175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20439141799997 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:203.89, Y:4.34, Z:0.43 [[ 9.99950018e-01 -9.80304402e-03 -1.96515687e-03 2.03885988e+02] [ 9.80314100e-03 9.99951947e-01 3.97228206e-05 4.33649336e+00] [ 1.96467304e-03 -5.89855450e-05 9.99998068e-01 4.33901347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26439141799997 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:203.95, Y:4.34, Z:0.43 [[ 9.99989463e-01 -4.14864197e-03 -1.96515445e-03 2.03947742e+02] [ 4.14872827e-03 9.99991393e-01 3.98423593e-05 4.33821328e+00] [ 1.96497224e-03 -4.79948313e-05 9.99998068e-01 4.32738947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32439141799998 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:204.01, Y:4.34, Z:0.43 [[ 9.99996731e-01 1.63614627e-03 -1.96515286e-03 2.04008290e+02] [-1.63607098e-03 9.99998661e-01 3.99202550e-05 4.33908090e+00] [ 1.96521555e-03 -3.67049949e-05 9.99998068e-01 4.34209407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38439141799998 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:204.07, Y:4.34, Z:0.44 [[ 9.99946252e-01 1.01799676e-02 -1.96515286e-03 2.04067874e+02] [-1.01799088e-02 9.99948183e-01 3.99202550e-05 4.34069865e+00] [ 1.96545742e-03 -1.99130324e-05 9.99998068e-01 4.36314169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44439141799998 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:204.13, Y:4.34, Z:0.44 [[ 9.99891148e-01 1.46229589e-02 -1.96515447e-03 2.04126429e+02] [-1.46229088e-02 9.99893079e-01 3.98409143e-05 4.34039020e+00] [ 1.96552695e-03 -1.11003029e-05 9.99998068e-01 4.36016068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50439141799998 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:204.18, Y:4.34, Z:0.43 [[ 9.99865703e-01 1.62700361e-02 -1.96515762e-03 2.04184914e+02] [-1.62699895e-02 9.99867634e-01 3.96849629e-05 4.33993146e+00] [ 1.96554318e-03 -7.70653940e-06 9.99998068e-01 4.34457819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56439141799999 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:204.24, Y:4.34, Z:0.43 [[ 9.99887501e-01 1.48702309e-02 -1.96516090e-03 2.04242986e+02] [-1.48701819e-02 9.99889432e-01 3.95220005e-05 4.33547872e+00] [ 1.96553132e-03 -1.02952542e-05 9.99998068e-01 4.34781384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.624391418 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:204.30, Y:4.33, Z:0.44 [[ 9.99925081e-01 1.20817883e-02 -1.96516495e-03 2.04302115e+02] [-1.20817343e-02 9.99927012e-01 3.93194631e-05 4.33275358e+00] [ 1.96549657e-03 -1.55739165e-05 9.99998068e-01 4.35958583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.684391418 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:204.36, Y:4.33, Z:0.44 [[ 9.99973677e-01 6.98457010e-03 -1.96516810e-03 2.04359916e+02] [-6.98450663e-03 9.99975607e-01 3.91616714e-05 4.32874375e+00] [ 1.96539369e-03 -2.54349109e-05 9.99998068e-01 4.35630060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.744391418 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:204.42, Y:4.32, Z:0.44 [[ 9.99995878e-01 2.09332579e-03 -1.96517194e-03 2.04418576e+02] [-2.09325325e-03 9.99997808e-01 3.89677989e-05 4.32419763e+00] [ 1.96524921e-03 -3.48540357e-05 9.99998068e-01 4.35715676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.804391418 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:204.48, Y:4.32, Z:0.44 [[ 9.99998068e-01 -4.78729856e-05 -1.96517502e-03 2.04477549e+02] [ 4.79493507e-05 9.99999998e-01 3.88121723e-05 4.32026572e+00] [ 1.96517315e-03 -3.89063262e-05 9.99998068e-01 4.36556818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86439141799997 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:204.54, Y:4.32, Z:0.44 [[ 9.99997193e-01 -1.32364374e-03 -1.96517817e-03 2.04537156e+02] [ 1.32372225e-03 9.99999123e-01 3.86520175e-05 4.31540350e+00] [ 1.96512528e-03 -4.12532591e-05 9.99998068e-01 4.37927173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92439141799997 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:204.60, Y:4.31, Z:0.44 [[ 9.99997623e-01 -9.44697465e-04 -1.96517976e-03 2.04596669e+02] [ 9.44775087e-04 9.99999553e-01 3.85705491e-05 4.31198283e+00] [ 1.96514245e-03 -4.04271103e-05 9.99998068e-01 4.38196802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98439141799997 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:204.66, Y:4.31, Z:0.44 [[ 9.99997928e-01 5.31490290e-04 -1.96518134e-03 2.04655774e+02] [-5.31415676e-04 9.99999858e-01 3.84901774e-05 4.30811747e+00] [ 1.96520152e-03 -3.74457695e-05 9.99998068e-01 4.37608753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04439141799998 meters Centerline goodness : 0.999277 with order 1 Centerline is valid? [True, True] Translation: X:204.72, Y:4.30, Z:0.44 [[ 9.99997702e-01 8.56673247e-04 -1.96518288e-03 2.04715495e+02] [-8.56599416e-04 9.99999632e-01 3.84110420e-05 4.30392179e+00] [ 1.96521507e-03 -3.67275792e-05 9.99998068e-01 4.37278743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10439141799998 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:204.78, Y:4.31, Z:0.44 [[ 9.99992827e-01 -3.23804309e-03 -1.96518441e-03 2.04775157e+02] [ 3.23812468e-03 9.99994757e-01 3.83329871e-05 4.30645033e+00] [ 1.96504998e-03 -4.46962243e-05 9.99998068e-01 4.39980656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16439141799998 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:204.83, Y:4.30, Z:0.44 [[ 9.99996837e-01 -1.56971048e-03 -1.96518603e-03 2.04834515e+02] [ 1.56978868e-03 9.99998767e-01 3.82498060e-05 4.29725376e+00] [ 1.96512356e-03 -4.13346118e-05 9.99998068e-01 4.37582660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22439141799998 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:204.89, Y:4.29, Z:0.44 [[ 9.99993572e-01 -2.99892902e-03 -1.96518614e-03 2.04893511e+02] [ 2.99900997e-03 9.99995502e-01 3.82438619e-05 4.29390360e+00] [ 1.96506261e-03 -4.41372289e-05 9.99998068e-01 4.36829551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28439141799998 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:204.95, Y:4.29, Z:0.44 [[ 9.99981149e-01 -5.81724848e-03 -1.96518536e-03 2.04953464e+02] [ 5.81733494e-03 9.99983078e-01 3.82840334e-05 4.29045842e+00] [ 1.96492940e-03 -4.97154531e-05 9.99998068e-01 4.36301318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.344391418 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:205.01, Y:4.29, Z:0.44 [[ 9.99968284e-01 -7.71812217e-03 -1.96518536e-03 2.05013355e+02] [ 7.71821230e-03 9.99970213e-01 3.82840334e-05 4.28804266e+00] [ 1.96483134e-03 -5.34505370e-05 9.99998068e-01 4.36213292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.404391418 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:205.07, Y:4.28, Z:0.44 [[ 9.99924319e-01 -1.21446908e-02 -1.96518460e-03 2.05074550e+02] [ 1.21447895e-02 9.99926249e-01 3.83231757e-05 4.28482285e+00] [ 1.96457424e-03 -6.21870287e-05 9.99998068e-01 4.38288180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.464391418 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:4.28, Z:0.44 [[ 9.99872879e-01 -1.58229048e-02 -1.96518303e-03 2.05136190e+02] [ 1.58230108e-02 9.99874808e-01 3.84034667e-05 4.28186259e+00] [ 1.96432935e-03 -6.94936970e-05 9.99998068e-01 4.39559464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.524391418 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:205.20, Y:4.28, Z:0.44 [[ 9.99774977e-01 -2.11218500e-02 -1.96518064e-03 2.05198143e+02] [ 2.11219664e-02 9.99776906e-01 3.85252712e-05 4.27783441e+00] [ 1.96392849e-03 -8.00250816e-05 9.99998068e-01 4.42561967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58439141799997 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:205.26, Y:4.27, Z:0.44 [[ 9.99608744e-01 -2.79015464e-02 -1.96517727e-03 2.05258863e+02] [ 2.79016763e-02 9.99610672e-01 3.86963016e-05 4.27425047e+00] [ 1.96333249e-03 -9.35129016e-05 9.99998068e-01 4.39318512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64439141799997 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:205.32, Y:4.27, Z:0.44 [[ 9.99356862e-01 -3.58050225e-02 -1.96517473e-03 2.05320867e+02] [ 3.58051679e-02 9.99358789e-01 3.88247987e-05 4.26958299e+00] [ 1.96252452e-03 -1.09163240e-04 9.99998068e-01 4.38752421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70439141799997 meters Centerline goodness : 0.998673 with order 1 Centerline is valid? [True, True] Translation: X:205.38, Y:4.27, Z:0.44 [[ 9.99206544e-01 -3.97796409e-02 -1.96517167e-03 2.05383649e+02] [ 3.97797942e-02 9.99208470e-01 3.89792410e-05 4.26692607e+00] [ 1.96206560e-03 -1.17122437e-04 9.99998068e-01 4.39193419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76439141799997 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:205.45, Y:4.27, Z:0.44 [[ 9.99012480e-01 -4.43869685e-02 -1.96516696e-03 2.05446242e+02] [ 4.43871312e-02 9.99014405e-01 3.92153900e-05 4.26796700e+00] [ 1.96148945e-03 -1.26404788e-04 9.99998068e-01 4.43124762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82439141799998 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:205.51, Y:4.26, Z:0.44 [[ 9.99192712e-01 -4.01255938e-02 -1.96516295e-03 2.05507753e+02] [ 4.01257486e-02 9.99194637e-01 3.94153153e-05 4.26460541e+00] [ 1.96199871e-03 -1.18237130e-04 9.99998068e-01 4.38422758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88439141799998 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:205.57, Y:4.27, Z:0.44 [[ 9.99340815e-01 -3.62501536e-02 -1.96516057e-03 2.05570954e+02] [ 3.62503012e-02 9.99342741e-01 3.95333358e-05 4.26525365e+00] [ 1.96243586e-03 -1.10744939e-04 9.99998068e-01 4.38297599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94439141799998 meters Centerline goodness : 0.998949 with order 1 Centerline is valid? [True, True] Translation: X:205.63, Y:4.27, Z:0.44 [[ 9.99485609e-01 -3.20102453e-02 -1.96515587e-03 2.05633507e+02] [ 3.20103852e-02 9.99487536e-01 3.97659249e-05 4.26617774e+00] [ 1.96287588e-03 -1.02650866e-04 9.99998068e-01 4.39716126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00439141799998 meters Centerline goodness : 0.998881 with order 1 Centerline is valid? [True, True] Translation: X:205.70, Y:4.27, Z:0.44 [[ 9.99695845e-01 -2.45836378e-02 -1.96515270e-03 2.05695583e+02] [ 2.45837637e-02 9.99697773e-01 3.99218229e-05 4.26907955e+00] [ 1.96357735e-03 -8.82205301e-05 9.99998068e-01 4.42376104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06439141799999 meters Centerline goodness : 0.998163 with order 1 Centerline is valid? [True, True] Translation: X:205.76, Y:4.27, Z:0.44 [[ 9.99936395e-01 -1.11060388e-02 -1.96514937e-03 2.05757073e+02] [ 1.11061390e-02 9.99938324e-01 4.00850650e-05 4.27024205e+00] [ 1.96458298e-03 -6.19077376e-05 9.99998068e-01 4.40395110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.124391418 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:205.82, Y:4.27, Z:0.44 [[ 9.99955020e-01 -9.27881709e-03 -1.96514551e-03 2.05818392e+02] [ 9.27891414e-03 9.99956949e-01 4.02735130e-05 4.27418822e+00] [ 1.96468722e-03 -5.85061179e-05 9.99998068e-01 4.43724734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.184391418 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:205.88, Y:4.28, Z:0.44 [[ 9.99997355e-01 -1.19547687e-03 -1.96514354e-03 2.05879176e+02] [ 1.19555851e-03 9.99999285e-01 4.03693730e-05 4.27772296e+00] [ 1.96509387e-03 -4.27187103e-05 9.99998068e-01 4.43600813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.244391418 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:205.94, Y:4.28, Z:0.44 [[ 9.99992385e-01 3.37158639e-03 -1.96514274e-03 2.05938670e+02] [-3.37151349e-03 9.99994316e-01 4.04084140e-05 4.27975861e+00] [ 1.96526781e-03 -3.37826011e-05 9.99998068e-01 4.43513480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.304391418 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:206.00, Y:4.28, Z:0.44 [[ 9.99966304e-01 7.97049112e-03 -1.96514437e-03 2.05997314e+02] [-7.97042725e-03 9.99968235e-01 4.03289133e-05 4.28229133e+00] [ 1.96540339e-03 -2.46645141e-05 9.99998068e-01 4.42431229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36439141799997 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:206.06, Y:4.28, Z:0.44 [[ 9.99945378e-01 1.02654402e-02 -1.96515551e-03 2.06055761e+02] [-1.02653819e-02 9.99947309e-01 3.97786027e-05 4.28310096e+00] [ 1.96546030e-03 -1.96033582e-05 9.99998068e-01 4.42064204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42439141799997 meters Centerline goodness : 0.998901 with order 1 Centerline is valid? [True, True] Translation: X:206.11, Y:4.28, Z:0.44 [[ 9.99941556e-01 1.06312384e-02 -1.96515865e-03 2.06113601e+02] [-1.06311810e-02 9.99943487e-01 3.96228872e-05 4.28383185e+00] [ 1.96546883e-03 -1.87286142e-05 9.99998068e-01 4.42118980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48439141799997 meters Centerline goodness : 0.999112 with order 1 Centerline is valid? [True, True] Translation: X:206.17, Y:4.28, Z:0.44 [[ 9.99958484e-01 8.89763583e-03 -1.96516248e-03 2.06172149e+02] [-8.89757552e-03 9.99960415e-01 3.94318947e-05 4.28254242e+00] [ 1.96543554e-03 -2.19450761e-05 9.99998068e-01 4.42821630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54439141799998 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:206.23, Y:4.28, Z:0.44 [[ 9.99988403e-01 4.39681659e-03 -1.96516559e-03 2.06230862e+02] [-4.39674790e-03 9.99990333e-01 3.92763241e-05 4.28068024e+00] [ 1.96531928e-03 -3.06355309e-05 9.99998068e-01 4.43356076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60439141799998 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:206.29, Y:4.28, Z:0.44 [[ 9.99996136e-01 -1.96639129e-03 -1.96516872e-03 2.06288411e+02] [ 1.96647196e-03 9.99998066e-01 3.91187917e-05 4.27800707e+00] [ 1.96508800e-03 -4.29830898e-05 9.99998068e-01 4.42538592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66439141799998 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:206.35, Y:4.27, Z:0.44 [[ 9.99982561e-01 -5.56925057e-03 -1.96517255e-03 2.06348459e+02] [ 5.56933781e-03 9.99984490e-01 3.89253907e-05 4.27469686e+00] [ 1.96492529e-03 -4.98694217e-05 9.99998068e-01 4.42063908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72439141799998 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:206.41, Y:4.27, Z:0.44 [[ 9.99963030e-01 -8.37117308e-03 -1.96517255e-03 2.06408256e+02] [ 8.37126573e-03 9.99964960e-01 3.89253907e-05 4.27053593e+00] [ 1.96477784e-03 -5.53749333e-05 9.99998068e-01 4.41326852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78439141799998 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:206.47, Y:4.27, Z:0.44 [[ 9.99962701e-01 -8.41037261e-03 -1.96517181e-03 2.06469325e+02] [ 8.41046541e-03 9.99964631e-01 3.89628785e-05 4.26877544e+00] [ 1.96477461e-03 -5.54894347e-05 9.99998068e-01 4.41967630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.844391418 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:206.53, Y:4.27, Z:0.44 [[ 9.99983550e-01 -5.38863423e-03 -1.96517023e-03 2.06531178e+02] [ 5.38872136e-03 9.99985480e-01 3.90424711e-05 4.26707628e+00] [ 1.96493131e-03 -4.96315837e-05 9.99998068e-01 4.44241603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.904391418 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:206.59, Y:4.26, Z:0.44 [[ 9.99996555e-01 -1.74027224e-03 -1.96516686e-03 2.06591218e+02] [ 1.74035266e-03 9.99998485e-01 3.92114484e-05 4.26362530e+00] [ 1.96509564e-03 -4.26313967e-05 9.99998068e-01 4.41323428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.964391418 meters Centerline goodness : 0.998835 with order 1 Centerline is valid? [True, True] Translation: X:206.65, Y:4.26, Z:0.44 [[ 9.99996826e-01 1.57666771e-03 -1.96516603e-03 2.06651448e+02] [-1.57659362e-03 9.99998756e-01 3.92527874e-05 4.26179342e+00] [ 1.96522548e-03 -3.61543946e-05 9.99998068e-01 4.41109676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.024391418 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:206.71, Y:4.26, Z:0.44 [[ 9.99995829e-01 2.11662782e-03 -1.96516603e-03 2.06711434e+02] [-2.11655477e-03 9.99997759e-01 3.92527874e-05 4.26017982e+00] [ 1.96524471e-03 -3.50932421e-05 9.99998068e-01 4.40960745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08439141799997 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:206.77, Y:4.26, Z:0.44 [[ 9.99997766e-01 7.79066619e-04 -1.96516758e-03 2.06770091e+02] [-7.78991137e-04 9.99999696e-01 3.91752488e-05 4.25751571e+00] [ 1.96519750e-03 -3.76443132e-05 9.99998068e-01 4.38939307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14439141799997 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:206.83, Y:4.26, Z:0.44 [[ 9.99997433e-01 -1.12789432e-03 -1.96517063e-03 2.06829635e+02] [ 1.12797318e-03 9.99999363e-01 3.90217127e-05 4.25579058e+00] [ 1.96512536e-03 -4.12382722e-05 9.99998068e-01 4.37500628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20439141799997 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:206.89, Y:4.25, Z:0.44 [[ 9.99983035e-01 -5.48349150e-03 -1.96517213e-03 2.06889488e+02] [ 5.48357862e-03 9.99984964e-01 3.89456293e-05 4.25493223e+00] [ 1.96492903e-03 -4.97211445e-05 9.99998068e-01 4.36467506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26439141799997 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:206.95, Y:4.25, Z:0.44 [[ 9.99964240e-01 -8.22541275e-03 -1.96517366e-03 2.06949997e+02] [ 8.22550500e-03 9.99966169e-01 3.88683593e-05 4.25407194e+00] [ 1.96478747e-03 -5.50315152e-05 9.99998068e-01 4.36815647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32439141799998 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:207.01, Y:4.25, Z:0.44 [[ 9.99921487e-01 -1.23756817e-02 -1.96517291e-03 2.07011782e+02] [ 1.23757820e-02 9.99923416e-01 3.89062893e-05 4.25369588e+00] [ 1.96454092e-03 -6.32237863e-05 9.99998068e-01 4.39051859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38439141799998 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:207.07, Y:4.25, Z:0.44 [[ 9.99884152e-01 -1.50936973e-02 -1.96517134e-03 2.07073854e+02] [ 1.50938030e-02 9.99886081e-01 3.89855052e-05 4.25378092e+00] [ 1.96435904e-03 -6.86428979e-05 9.99998068e-01 4.40260449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44439141799998 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:207.14, Y:4.25, Z:0.44 [[ 9.99824740e-01 -1.86179401e-02 -1.96516820e-03 2.07136053e+02] [ 1.86180530e-02 9.99826668e-01 3.91434110e-05 4.25430969e+00] [ 1.96409880e-03 -7.57241563e-05 9.99998068e-01 4.39761060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50439141799998 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:207.20, Y:4.26, Z:0.44 [[ 9.99708732e-01 -2.40538876e-02 -1.96516418e-03 2.07198380e+02] [ 2.40540113e-02 9.99710660e-01 3.93439599e-05 4.25541491e+00] [ 1.96364920e-03 -8.66025818e-05 9.99998068e-01 4.39494494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56439141799999 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:207.26, Y:4.26, Z:0.44 [[ 9.99707555e-01 -2.41027550e-02 -1.96516088e-03 2.07260884e+02] [ 2.41028791e-02 9.99709483e-01 3.95080849e-05 4.25622640e+00] [ 1.96363771e-03 -8.68625661e-05 9.99998068e-01 4.38451480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.624391418 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:207.32, Y:4.26, Z:0.44 [[ 9.99670831e-01 -2.55805971e-02 -1.96515759e-03 2.07322305e+02] [ 2.55807244e-02 9.99672759e-01 3.96708903e-05 4.26118685e+00] [ 1.96349971e-03 -8.99279867e-05 9.99998068e-01 4.38453786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.684391418 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:207.39, Y:4.26, Z:0.44 [[ 9.99732354e-01 -2.30512245e-02 -1.96515512e-03 2.07385044e+02] [ 2.30513472e-02 9.99734282e-01 3.97931974e-05 4.26450768e+00] [ 1.96371566e-03 -8.50820198e-05 9.99998068e-01 4.38554848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.744391418 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:207.45, Y:4.27, Z:0.44 [[ 9.99848578e-01 -1.72904579e-02 -1.96515183e-03 2.07446740e+02] [ 1.72905697e-02 9.99850506e-01 3.99549208e-05 4.27053114e+00] [ 1.96416721e-03 -7.39274655e-05 9.99998068e-01 4.37068234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80439141799997 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:207.51, Y:4.27, Z:0.44 [[ 9.99883977e-01 -1.51053162e-02 -1.96514847e-03 2.07508884e+02] [ 1.51054242e-02 9.99885906e-01 4.01194681e-05 4.27463315e+00] [ 1.96431824e-03 -6.97992147e-05 9.99998068e-01 4.38672676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86439141799997 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:207.57, Y:4.28, Z:0.44 [[ 9.99919173e-01 -1.25612454e-02 -1.96514500e-03 2.07570381e+02] [ 1.25613488e-02 9.99921102e-01 4.02888069e-05 4.28091258e+00] [ 1.96448388e-03 -6.49704223e-05 9.99998068e-01 4.38787695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92439141799997 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:207.63, Y:4.28, Z:0.44 [[ 9.99927309e-01 -1.18959943e-02 -1.96514258e-03 2.07632161e+02] [ 1.18960966e-02 9.99929238e-01 4.04063969e-05 4.28406482e+00] [ 1.96452285e-03 -6.37809858e-05 9.99998068e-01 4.39380457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98439141799997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:207.69, Y:4.29, Z:0.44 [[ 9.99932107e-01 -1.14855943e-02 -1.96513939e-03 2.07693832e+02] [ 1.14856961e-02 9.99934036e-01 4.05608894e-05 4.28922822e+00] [ 1.96454390e-03 -6.31291295e-05 9.99998068e-01 4.40275559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04439141799998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:207.75, Y:4.29, Z:0.44 [[ 9.99927702e-01 -1.18629107e-02 -1.96513409e-03 2.07754695e+02] [ 1.18630138e-02 9.99929631e-01 4.08160479e-05 4.29382684e+00] [ 1.96451161e-03 -6.41255098e-05 9.99998068e-01 4.40112312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10439141799998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:207.82, Y:4.30, Z:0.44 [[ 9.99931708e-01 -1.15202723e-02 -1.96512894e-03 2.07817124e+02] [ 1.15203753e-02 9.99933637e-01 4.10624488e-05 4.29596627e+00] [ 1.96452548e-03 -6.36986675e-05 9.99998068e-01 4.39884332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16439141799998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:207.88, Y:4.30, Z:0.44 [[ 9.99939993e-01 -1.07771869e-02 -1.96512588e-03 2.07879875e+02] [ 1.07772886e-02 9.99941922e-01 4.12084737e-05 4.30067076e+00] [ 1.96456764e-03 -6.23847298e-05 9.99998068e-01 4.41378687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22439141799998 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:207.94, Y:4.30, Z:0.44 [[ 9.99951966e-01 -9.60228796e-03 -1.96512257e-03 2.07942648e+02] [ 9.60238777e-03 9.99953895e-01 4.13658927e-05 4.30369115e+00] [ 1.96463476e-03 -6.02337746e-05 9.99998068e-01 4.41766647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.00, Y:4.31, Z:0.44 [[ 9.99970073e-01 -7.48274676e-03 -1.96511843e-03 2.08004883e+02] [ 7.48284287e-03 9.99972002e-01 4.15614639e-05 4.30742723e+00] [ 1.96475242e-03 -5.62648925e-05 9.99998068e-01 4.42904381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.344391418 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:208.07, Y:4.31, Z:0.44 [[ 9.99980650e-01 -5.90240173e-03 -1.96511509e-03 2.08066797e+02] [ 5.90249510e-03 9.99982579e-01 4.17190300e-05 4.31073860e+00] [ 1.96483461e-03 -5.33173049e-05 9.99998068e-01 4.43236144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.404391418 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:208.13, Y:4.31, Z:0.44 [[ 9.99978531e-01 -6.25113094e-03 -1.96511175e-03 2.08127869e+02] [ 6.25122529e-03 9.99980460e-01 4.18753986e-05 4.31243439e+00] [ 1.96481159e-03 -5.41588559e-05 9.99998068e-01 4.43373273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.464391418 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:208.19, Y:4.31, Z:0.44 [[ 9.99962400e-01 -8.44614971e-03 -1.96510618e-03 2.08189181e+02] [ 8.44624881e-03 9.99964329e-01 4.21352934e-05 4.31392591e+00] [ 1.96468020e-03 -5.87314849e-05 9.99998068e-01 4.44180530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.524391418 meters Centerline goodness : 0.999585 with order 1 Centerline is valid? [True, True] Translation: X:208.25, Y:4.31, Z:0.44 [[ 9.99920282e-01 -1.24726947e-02 -1.96510457e-03 2.08251287e+02] [ 1.24728018e-02 9.99922211e-01 4.22104219e-05 4.31201409e+00] [ 1.96442523e-03 -6.67174167e-05 9.99998068e-01 4.43980631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58439141799997 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:208.31, Y:4.31, Z:0.44 [[ 9.99902671e-01 -1.38125909e-02 -1.96510133e-03 2.08312774e+02] [ 1.38127008e-02 9.99904599e-01 4.23606262e-05 4.31080246e+00] [ 1.96432875e-03 -6.94998599e-05 9.99998068e-01 4.42646447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64439141799997 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:208.37, Y:4.31, Z:0.44 [[ 9.99921594e-01 -1.23670436e-02 -1.96509893e-03 2.08374519e+02] [ 1.23671510e-02 9.99923523e-01 4.24715687e-05 4.31067056e+00] [ 1.96442340e-03 -6.67709138e-05 9.99998068e-01 4.44049002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70439141799997 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:208.44, Y:4.31, Z:0.44 [[ 9.99956062e-01 -9.16586416e-03 -1.96509558e-03 2.08437028e+02] [ 9.16596561e-03 9.99957991e-01 4.26259155e-05 4.31022362e+00] [ 1.96462233e-03 -6.06360412e-05 9.99998068e-01 4.44581730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76439141799997 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:208.50, Y:4.31, Z:0.45 [[ 9.99995609e-01 -2.21829743e-03 -1.96509227e-03 2.08498980e+02] [ 2.21838578e-03 9.99997538e-01 4.27781189e-05 4.31029006e+00] [ 1.96499254e-03 -4.71372638e-05 9.99998068e-01 4.45761666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82439141799998 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:208.56, Y:4.31, Z:0.45 [[ 9.99951216e-01 9.68008770e-03 -1.96508890e-03 2.08559981e+02] [-9.68002202e-03 9.99953147e-01 4.29323942e-05 4.31214579e+00] [ 1.96541242e-03 -2.39081960e-05 9.99998068e-01 4.47605176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88439141799998 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:208.62, Y:4.31, Z:0.45 [[ 9.99878712e-01 1.54499103e-02 -1.96508890e-03 2.08618021e+02] [-1.54498557e-02 9.99880643e-01 4.29323942e-05 4.31262343e+00] [ 1.96551765e-03 -1.25668470e-05 9.99998068e-01 4.47939961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94439141799998 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:208.68, Y:4.31, Z:0.45 [[ 9.99835331e-01 1.80402280e-02 -1.96510207e-03 2.08676376e+02] [-1.80401796e-02 9.99837262e-01 4.23210033e-05 4.31146170e+00] [ 1.96554575e-03 -6.86324001e-06 9.99998068e-01 4.47789867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00439141799998 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:208.73, Y:4.31, Z:0.45 [[ 9.99729717e-01 2.31652836e-02 -1.96510690e-03 2.08734335e+02] [-2.31652456e-02 9.99731649e-01 4.20954863e-05 4.30952791e+00] [ 1.96555471e-03 3.43807521e-06 9.99998068e-01 4.46800594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06439141799999 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:208.79, Y:4.31, Z:0.45 [[ 9.99676074e-01 2.53748895e-02 -1.96511163e-03 2.08792362e+02] [-2.53748562e-02 9.99678006e-01 4.18735365e-05 4.30773357e+00] [ 1.96554141e-03 8.00445235e-06 9.99998068e-01 4.46167334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.124391418 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:208.85, Y:4.31, Z:0.45 [[ 9.99685549e-01 2.49988330e-02 -1.96511548e-03 2.08850200e+02] [-2.49987994e-02 9.99687480e-01 4.16917284e-05 4.30603958e+00] [ 1.96554359e-03 7.44690939e-06 9.99998068e-01 4.47991005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.184391418 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:208.91, Y:4.30, Z:0.45 [[ 9.99757851e-01 2.19175203e-02 -1.96512047e-03 2.08908148e+02] [-2.19174812e-02 9.99759782e-01 4.14554243e-05 4.30162545e+00] [ 1.96555701e-03 1.62510500e-06 9.99998068e-01 4.47001318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.244391418 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:208.97, Y:4.30, Z:0.45 [[ 9.99823557e-01 1.86813446e-02 -1.96512453e-03 2.08966390e+02] [-1.86812996e-02 9.99825488e-01 4.12622288e-05 4.29757018e+00] [ 1.96555242e-03 -4.54386841e-06 9.99998068e-01 4.47205042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30439141799997 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:209.03, Y:4.29, Z:0.45 [[ 9.99939093e-01 1.08604296e-02 -1.96512935e-03 2.09025307e+02] [-1.08603699e-02 9.99941024e-01 4.10312036e-05 4.29260481e+00] [ 1.96545907e-03 -1.96866728e-05 9.99998068e-01 4.47951525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36439141799997 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:209.08, Y:4.29, Z:0.45 [[ 9.99986754e-01 4.75713625e-03 -1.96513258e-03 2.09083747e+02] [-4.75706510e-03 9.99988684e-01 4.08759601e-05 4.28811821e+00] [ 1.96530479e-03 -3.15271550e-05 9.99998068e-01 4.47558217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42439141799997 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:209.14, Y:4.28, Z:0.45 [[ 9.99984225e-01 -5.26190375e-03 -1.96513575e-03 2.09142065e+02] [ 5.26199393e-03 9.99986155e-01 4.07227090e-05 4.28083281e+00] [ 1.96489427e-03 -5.10625990e-05 9.99998068e-01 4.46116362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48439141799997 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:209.20, Y:4.27, Z:0.45 [[ 9.99878862e-01 -1.54402126e-02 -1.96513894e-03 2.09202885e+02] [ 1.54403221e-02 9.99880790e-01 4.05683963e-05 4.27481074e+00] [ 1.96427829e-03 -7.09058602e-05 9.99998068e-01 4.47669483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54439141799998 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:209.26, Y:4.27, Z:0.45 [[ 9.99777914e-01 -2.09823877e-02 -1.96513729e-03 2.09263971e+02] [ 2.09825081e-02 9.99779842e-01 4.06479785e-05 4.27091158e+00] [ 1.96385176e-03 -8.18724604e-05 9.99998068e-01 4.48349066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60439141799998 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:209.33, Y:4.27, Z:0.45 [[ 9.99626980e-01 -2.72403964e-02 -1.96513122e-03 2.09326479e+02] [ 2.72405293e-02 9.99628907e-01 4.09394761e-05 4.26623976e+00] [ 1.96328677e-03 -9.44554196e-05 9.99998068e-01 4.49167190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66439141799998 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:209.39, Y:4.26, Z:0.45 [[ 9.99548411e-01 -2.99851926e-02 -1.96512791e-03 2.09388327e+02] [ 2.99853312e-02 9.99550338e-01 4.10980340e-05 4.26286396e+00] [ 1.96301193e-03 -1.00004486e-04 9.99998068e-01 4.47927141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72439141799998 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:209.45, Y:4.26, Z:0.45 [[ 9.99513940e-01 -3.11130585e-02 -1.96512461e-03 2.09449123e+02] [ 3.11131996e-02 9.99515866e-01 4.12548995e-05 4.25953678e+00] [ 1.96288966e-03 -1.02376162e-04 9.99998068e-01 4.46571700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78439141799998 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:209.51, Y:4.26, Z:0.45 [[ 9.99558215e-01 -2.96565748e-02 -1.96512217e-03 2.09511091e+02] [ 2.96567133e-02 9.99560142e-01 4.13707766e-05 4.25824089e+00] [ 1.96303088e-03 -9.96315645e-05 9.99998068e-01 4.47519797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.844391418 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:209.57, Y:4.26, Z:0.45 [[ 9.99739656e-01 -2.27323298e-02 -1.96511879e-03 2.09572284e+02] [ 2.27324552e-02 9.99741583e-01 4.15309664e-05 4.25894238e+00] [ 1.96366687e-03 -8.61921289e-05 9.99998068e-01 4.47810550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.904391418 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:209.63, Y:4.26, Z:0.45 [[ 9.99928182e-01 -1.18223649e-02 -1.96511629e-03 2.09634078e+02] [ 1.18224696e-02 9.99930111e-01 4.16489695e-05 4.26077090e+00] [ 1.96448656e-03 -6.48785059e-05 9.99998068e-01 4.49150785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.964391418 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:209.70, Y:4.26, Z:0.45 [[ 9.99998069e-01 3.02968991e-05 -1.96511300e-03 2.09695724e+02] [-3.02148089e-05 9.99999999e-01 4.18035496e-05 4.26417966e+00] [ 1.96511426e-03 -4.17440933e-05 9.99998068e-01 4.50182315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.024391418 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:209.76, Y:4.27, Z:0.45 [[ 9.99971168e-01 7.33492512e-03 -1.96510788e-03 2.09755733e+02] [-7.33485666e-03 9.99973099e-01 4.20429097e-05 4.26568720e+00] [ 1.96536339e-03 -2.76279129e-05 9.99998068e-01 4.49930304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08439141799997 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:209.81, Y:4.27, Z:0.45 [[ 9.99866025e-01 1.62502231e-02 -1.96510945e-03 2.09813367e+02] [-1.62501720e-02 9.99867956e-01 4.19692183e-05 4.26701508e+00] [ 1.96553198e-03 -1.00302289e-05 9.99998068e-01 4.50500406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14439141799997 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:209.87, Y:4.27, Z:0.45 [[ 9.99774792e-01 2.11306130e-02 -1.96512238e-03 2.09870745e+02] [-2.11305725e-02 9.99776724e-01 4.13550840e-05 4.26697629e+00] [ 1.96555747e-03 1.78390312e-07 9.99998068e-01 4.49574417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20439141799997 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:209.93, Y:4.27, Z:0.45 [[ 9.99591310e-01 2.85193230e-02 -1.96512788e-03 2.09929966e+02] [-2.85192973e-02 9.99593241e-01 4.10919859e-05 4.26668600e+00] [ 1.96550046e-03 1.49688742e-05 9.99998068e-01 4.50027257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26439141799997 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:209.99, Y:4.27, Z:0.45 [[ 9.99440354e-01 3.33933569e-02 -1.96513097e-03 2.09988864e+02] [-3.33933410e-02 9.99442286e-01 4.09433331e-05 4.26519900e+00] [ 1.96540223e-03 2.47018694e-05 9.99998068e-01 4.51710610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32439141799998 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:210.05, Y:4.26, Z:0.45 [[ 9.99230625e-01 3.91700925e-02 -1.96513418e-03 2.10048048e+02] [-3.91700880e-02 9.99232557e-01 4.07887173e-05 4.26184103e+00] [ 1.96522375e-03 3.62171434e-05 9.99998068e-01 4.52210584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38439141799998 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:210.11, Y:4.26, Z:0.45 [[ 9.99233519e-01 3.90962100e-02 -1.96513740e-03 2.10105730e+02] [-3.90962057e-02 9.99235450e-01 4.06333114e-05 4.25786392e+00] [ 1.96522356e-03 3.62272492e-05 9.99998068e-01 4.50881312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44439141799998 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:210.16, Y:4.25, Z:0.45 [[ 9.99363268e-01 3.56257827e-02 -1.96514132e-03 2.10163656e+02] [-3.56257721e-02 9.99365200e-01 4.04426042e-05 4.25294593e+00] [ 1.96533465e-03 2.95928237e-05 9.99998068e-01 4.50066025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50439141799998 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:210.22, Y:4.24, Z:0.45 [[ 9.99633519e-01 2.69993857e-02 -1.96514595e-03 2.10222300e+02] [-2.69993588e-02 9.99635450e-01 4.02163439e-05 4.24481695e+00] [ 1.96551537e-03 1.28560753e-05 9.99998068e-01 4.50682999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56439141799999 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:210.28, Y:4.24, Z:0.45 [[ 9.99747799e-01 2.23713379e-02 -1.96514904e-03 2.10280834e+02] [-2.23713024e-02 9.99749730e-01 4.00648441e-05 4.23845611e+00] [ 1.96555353e-03 3.90820370e-06 9.99998068e-01 4.51622037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.624391418 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:210.34, Y:4.23, Z:0.45 [[ 9.99926908e-01 1.19296532e-02 -1.96515218e-03 2.10339008e+02] [-1.19295978e-02 9.99928839e-01 3.99102269e-05 4.22950236e+00] [ 1.96548845e-03 -1.64638347e-05 9.99998068e-01 4.51317981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.684391418 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:210.40, Y:4.22, Z:0.45 [[ 9.99983650e-01 5.37009464e-03 -1.96515537e-03 2.10397846e+02] [-5.37002689e-03 9.99985581e-01 3.97526957e-05 4.21953133e+00] [ 1.96534051e-03 -2.91991086e-05 9.99998068e-01 4.51064374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.744391418 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:210.46, Y:4.21, Z:0.45 [[ 9.99995232e-01 2.38217601e-03 -1.96515854e-03 2.10456531e+02] [-2.38210280e-03 9.99997162e-01 3.95949972e-05 4.21384520e+00] [ 1.96524729e-03 -3.49135987e-05 9.99998068e-01 4.50722291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80439141799997 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:210.52, Y:4.21, Z:0.45 [[ 9.99998023e-01 3.03009677e-04 -1.96516172e-03 2.10515189e+02] [-3.02932763e-04 9.99999953e-01 3.94365700e-05 4.20618421e+00] [ 1.96517358e-03 -3.88411802e-05 9.99998068e-01 4.49163108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86439141799997 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:210.57, Y:4.20, Z:0.45 [[ 9.99998026e-01 2.92836522e-04 -1.96516412e-03 2.10574846e+02] [-2.92759823e-04 9.99999956e-01 3.93167743e-05 4.20294072e+00] [ 1.96517555e-03 -3.87413756e-05 9.99998068e-01 4.49914627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92439141799997 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:210.63, Y:4.20, Z:0.45 [[ 9.99994447e-01 2.69155255e-03 -1.96516574e-03 2.10634384e+02] [-2.69148064e-03 9.99996377e-01 3.92354353e-05 4.19560958e+00] [ 1.96526423e-03 -3.39460119e-05 9.99998068e-01 4.49028758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98439141799997 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:210.69, Y:4.19, Z:0.45 [[ 9.99982859e-01 5.51549762e-03 -1.96516730e-03 2.10692700e+02] [-5.51543132e-03 9.99984789e-01 3.91573446e-05 4.19130438e+00] [ 1.96535338e-03 -2.83179281e-05 9.99998068e-01 4.49383963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04439141799998 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:210.75, Y:4.19, Z:0.45 [[ 9.99938381e-01 1.09257390e-02 -1.96517820e-03 2.10750403e+02] [-1.09256842e-02 9.99940312e-01 3.86022186e-05 4.18521393e+00] [ 1.96548267e-03 -1.71289236e-05 9.99998068e-01 4.48995340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10439141799998 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:210.81, Y:4.18, Z:0.45 [[ 9.99845292e-01 1.74794043e-02 -1.96518391e-03 2.10807932e+02] [-1.74793627e-02 9.99847224e-01 3.83093229e-05 4.17886658e+00] [ 1.96555330e-03 -3.95323367e-06 9.99998068e-01 4.48948605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16439141799998 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:210.87, Y:4.17, Z:0.45 [[ 9.99824144e-01 1.86499075e-02 -1.96519577e-03 2.10865384e+02] [-1.86498695e-02 9.99826075e-01 3.76911376e-05 4.17468681e+00] [ 1.96555691e-03 -1.03386477e-06 9.99998068e-01 4.49629599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22439141799998 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:210.93, Y:4.17, Z:0.46 [[ 9.99929605e-01 1.17014013e-02 -1.96519945e-03 2.10925656e+02] [-1.17013502e-02 9.99931536e-01 3.74983353e-05 4.17449268e+00] [ 1.96550369e-03 -1.45002086e-05 9.99998068e-01 4.60621548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28439141799998 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:210.99, Y:4.16, Z:0.46 [[ 9.99887201e-01 1.48903823e-02 -1.96520026e-03 2.10985093e+02] [-1.48903375e-02 9.99889132e-01 3.74560745e-05 4.15938562e+00] [ 1.96554011e-03 -8.18935448e-06 9.99998068e-01 4.57334205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.344391418 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:211.05, Y:4.16, Z:0.46 [[ 9.99976647e-01 6.54541955e-03 -1.96520187e-03 2.11045300e+02] [-6.54535874e-03 9.99978578e-01 3.73709513e-05 4.15910019e+00] [ 1.96540438e-03 -2.45071273e-05 9.99998068e-01 4.61040445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.404391418 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:211.10, Y:4.14, Z:0.45 [[ 9.99940180e-01 1.07598687e-02 -1.96520417e-03 2.11103796e+02] [-1.07598162e-02 9.99942111e-01 3.72497620e-05 4.14276248e+00] [ 1.96549121e-03 -1.61022979e-05 9.99998068e-01 4.52951356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.464391418 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:211.16, Y:4.14, Z:0.45 [[ 9.99960436e-01 8.67549549e-03 -1.96520491e-03 2.11162702e+02] [-8.67543911e-03 9.99962367e-01 3.72109647e-05 4.13676271e+00] [ 1.96545377e-03 -2.01604770e-05 9.99998068e-01 4.53302919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.524391418 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:211.22, Y:4.13, Z:0.45 [[ 9.99977139e-01 6.46985743e-03 -1.96520786e-03 2.11221233e+02] [-6.46979710e-03 9.99979070e-01 3.70540580e-05 4.12944683e+00] [ 1.96540647e-03 -2.43387148e-05 9.99998068e-01 4.53328105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58439141799997 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:211.28, Y:4.12, Z:0.45 [[ 9.99983790e-01 5.34398681e-03 -1.96521077e-03 2.11279635e+02] [-5.34392461e-03 9.99985720e-01 3.68991316e-05 4.12436808e+00] [ 1.96537990e-03 -2.63965952e-05 9.99998068e-01 4.53722017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64439141799997 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:211.34, Y:4.12, Z:0.45 [[ 9.99987946e-01 4.49952842e-03 -1.96521375e-03 2.11337855e+02] [-4.49946491e-03 9.99989877e-01 3.67401168e-05 4.11789581e+00] [ 1.96535916e-03 -2.78972637e-05 9.99998068e-01 4.53351146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70439141799997 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:211.40, Y:4.11, Z:0.45 [[ 9.99987185e-01 4.66557958e-03 -1.96521673e-03 2.11396296e+02] [-4.66551670e-03 9.99989116e-01 3.65796907e-05 4.11400149e+00] [ 1.96536601e-03 -2.74104705e-05 9.99998068e-01 4.52273628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76439141799997 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:211.46, Y:4.11, Z:0.45 [[ 9.99986948e-01 4.71605458e-03 -1.96521967e-03 2.11455121e+02] [-4.71599211e-03 9.99988879e-01 3.64210900e-05 4.10904413e+00] [ 1.96536958e-03 -2.71526542e-05 9.99998068e-01 4.50315449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82439141799998 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:211.51, Y:4.10, Z:0.45 [[ 9.99991227e-01 3.69923101e-03 -1.96522262e-03 2.11514077e+02] [-3.69916689e-03 9.99993157e-01 3.62614287e-05 4.10497332e+00] [ 1.96534331e-03 -2.89914241e-05 9.99998068e-01 4.49831598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88439141799998 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:211.57, Y:4.10, Z:0.45 [[ 9.99994597e-01 2.63497746e-03 -1.96522496e-03 2.11572759e+02] [-2.63491154e-03 9.99996528e-01 3.61337784e-05 4.10287430e+00] [ 1.96531335e-03 -3.09553892e-05 9.99998068e-01 4.49257465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94439141799998 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:211.63, Y:4.10, Z:0.45 [[ 9.99997942e-01 5.04128991e-04 -1.96522730e-03 2.11631704e+02] [-5.04059204e-04 9.99999872e-01 3.60060357e-05 4.10003798e+00] [ 1.96524521e-03 -3.50153707e-05 9.99998068e-01 4.48638500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00439141799998 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:211.69, Y:4.10, Z:0.45 [[ 9.99996427e-01 -1.81187177e-03 -1.96522952e-03 2.11691630e+02] [ 1.81194579e-03 9.99998358e-01 3.58848368e-05 4.09724533e+00] [ 1.96516127e-03 -3.94455980e-05 9.99998068e-01 4.50511221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06439141799999 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:211.75, Y:4.09, Z:0.45 [[ 9.99969447e-01 -7.56588910e-03 -1.96523107e-03 2.11751446e+02] [ 7.56597406e-03 9.99971377e-01 3.57998140e-05 4.09349637e+00] [ 1.96490396e-03 -5.06676075e-05 9.99998068e-01 4.51854464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.124391418 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:211.81, Y:4.09, Z:0.45 [[ 9.99926742e-01 -1.19435756e-02 -1.96523249e-03 2.11812812e+02] [ 1.19436689e-02 9.99928671e-01 3.57217207e-05 4.09087028e+00] [ 1.96466566e-03 -5.91911899e-05 9.99998068e-01 4.51850312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.184391418 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:211.87, Y:4.09, Z:0.45 [[ 9.99862383e-01 -1.64727695e-02 -1.96523107e-03 2.11874753e+02] [ 1.64728717e-02 9.99864312e-01 3.57992759e-05 4.08787440e+00] [ 1.96437470e-03 -6.81673487e-05 9.99998068e-01 4.49917562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.244391418 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:211.94, Y:4.09, Z:0.46 [[ 9.99825898e-01 -1.85556337e-02 -1.96522821e-03 2.11936466e+02] [ 1.85557402e-02 9.99827827e-01 3.59555999e-05 4.08819560e+00] [ 1.96422267e-03 -7.24156040e-05 9.99998068e-01 4.56188485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30439141799997 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:212.00, Y:4.09, Z:0.45 [[ 9.99854095e-01 -1.69683834e-02 -1.96522595e-03 2.11997967e+02] [ 1.69684870e-02 9.99856024e-01 3.60789142e-05 4.08684930e+00] [ 1.96433080e-03 -6.94205611e-05 9.99998068e-01 4.50496065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36439141799997 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:212.06, Y:4.09, Z:0.45 [[ 9.99889146e-01 -1.47591982e-02 -1.96522372e-03 2.12060448e+02] [ 1.47592979e-02 9.99891075e-01 3.61997096e-05 4.08851452e+00] [ 1.96447538e-03 -6.52010191e-05 9.99998068e-01 4.51105753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42439141799997 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:212.12, Y:4.09, Z:0.45 [[ 9.99894348e-01 -1.44024562e-02 -1.96522059e-03 2.12122197e+02] [ 1.44025554e-02 9.99896277e-01 3.63689471e-05 4.08995020e+00] [ 1.96449295e-03 -6.46693032e-05 9.99998068e-01 4.50189412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48439141799997 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:212.18, Y:4.09, Z:0.45 [[ 9.99875352e-01 -1.56658078e-02 -1.96521745e-03 2.12183330e+02] [ 1.56659098e-02 9.99877281e-01 3.65382067e-05 4.09149685e+00] [ 1.96440388e-03 -6.73205716e-05 9.99998068e-01 4.49518508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54439141799998 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:212.25, Y:4.09, Z:0.45 [[ 9.99827939e-01 -1.84453174e-02 -1.96521528e-03 2.12245929e+02] [ 1.84454250e-02 9.99829868e-01 3.66543313e-05 4.09407520e+00] [ 1.96420483e-03 -7.28972556e-05 9.99998068e-01 4.50112598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60439141799998 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:212.31, Y:4.10, Z:0.45 [[ 9.99808802e-01 -1.94549868e-02 -1.96521225e-03 2.12308657e+02] [ 1.94550966e-02 9.99810731e-01 3.68158836e-05 4.09581884e+00] [ 1.96412405e-03 -7.50422388e-05 9.99998068e-01 4.50517466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66439141799998 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:212.37, Y:4.10, Z:0.45 [[ 9.99809999e-01 -1.93934188e-02 -1.96520920e-03 2.12369837e+02] [ 1.93935289e-02 9.99811927e-01 3.69782002e-05 4.09625123e+00] [ 1.96412246e-03 -7.50835158e-05 9.99998068e-01 4.50383859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72439141799998 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:212.43, Y:4.10, Z:0.45 [[ 9.99855235e-01 -1.69010965e-02 -1.96520439e-03 2.12432333e+02] [ 1.69012023e-02 9.99857164e-01 3.72318493e-05 4.09941569e+00] [ 1.96429443e-03 -7.04407764e-05 9.99998068e-01 4.50548944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78439141799998 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:212.49, Y:4.10, Z:0.45 [[ 9.99879720e-01 -1.53845339e-02 -1.96520135e-03 2.12494224e+02] [ 1.53846370e-02 9.99881649e-01 3.73920458e-05 4.09971520e+00] [ 1.96439350e-03 -6.76214576e-05 9.99998068e-01 4.50673105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.844391418 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:212.56, Y:4.10, Z:0.45 [[ 9.99967579e-01 -7.80887587e-03 -1.96519828e-03 2.12556542e+02] [ 7.80896474e-03 9.99969509e-01 3.75525886e-05 4.10383508e+00] [ 1.96484511e-03 -5.28975352e-05 9.99998068e-01 4.50726375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.904391418 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:212.62, Y:4.11, Z:0.45 [[ 9.99997674e-01 -8.89120351e-04 -1.96519516e-03 2.12617186e+02] [ 8.89196185e-04 9.99999604e-01 3.77151399e-05 4.10654409e+00] [ 1.96516085e-03 -3.94624962e-05 9.99998068e-01 4.50394071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.964391418 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:212.68, Y:4.11, Z:0.45 [[ 9.99958525e-01 8.89308662e-03 -1.96519440e-03 2.12676998e+02] [-8.89302960e-03 9.99960456e-01 3.77548260e-05 4.10916754e+00] [ 1.96545244e-03 -2.02767282e-05 9.99998068e-01 4.50543649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.024391418 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:212.73, Y:4.11, Z:0.45 [[ 9.99888490e-01 1.48035831e-02 -1.96519587e-03 2.12734460e+02] [-1.48035377e-02 9.99890421e-01 3.76778578e-05 4.10988095e+00] [ 1.96553829e-03 -8.58180520e-06 9.99998068e-01 4.50467631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08439141799997 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:212.79, Y:4.11, Z:0.45 [[ 9.99890031e-01 1.46990845e-02 -1.96520810e-03 2.12793490e+02] [-1.46990401e-02 9.99891963e-01 3.70286735e-05 4.10934727e+00] [ 1.96554007e-03 -8.13792883e-06 9.99998068e-01 4.51068052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14439141799997 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:212.85, Y:4.11, Z:0.45 [[ 9.99926435e-01 1.19692531e-02 -1.96521139e-03 2.12852161e+02] [-1.19692037e-02 9.99928366e-01 3.68534289e-05 4.10720940e+00] [ 1.96551172e-03 -1.33287023e-05 9.99998068e-01 4.49447172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20439141799997 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:212.91, Y:4.10, Z:0.45 [[ 9.99964213e-01 8.22862921e-03 -1.96521441e-03 2.12910073e+02] [-8.22857299e-03 9.99966144e-01 3.66917613e-05 4.10463913e+00] [ 1.96544980e-03 -2.05195380e-05 9.99998068e-01 4.48666385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26439141799997 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:212.97, Y:4.10, Z:0.45 [[ 9.99993147e-01 3.13737006e-03 -1.96521809e-03 2.12968970e+02] [-3.13730440e-03 9.99995078e-01 3.64933046e-05 4.10069908e+00] [ 1.96532291e-03 -3.03275671e-05 9.99998068e-01 4.47369193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32439141799998 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:213.03, Y:4.10, Z:0.45 [[ 9.99996425e-01 1.81323307e-03 -1.96522101e-03 2.13027318e+02] [-1.81316517e-03 9.99998356e-01 3.63353411e-05 4.09689254e+00] [ 1.96528367e-03 -3.27719409e-05 9.99998068e-01 4.47081003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38439141799998 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:213.09, Y:4.09, Z:0.45 [[ 9.99994211e-01 2.77770103e-03 -1.96522396e-03 2.13087113e+02] [-2.77763530e-03 9.99996142e-01 3.61752595e-05 4.09410276e+00] [ 1.96531686e-03 -3.07163746e-05 9.99998068e-01 4.46523637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44439141799998 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:213.15, Y:4.09, Z:0.45 [[ 9.99980082e-01 5.99779053e-03 -1.96522544e-03 2.13145998e+02] [-5.99773117e-03 9.99982013e-01 3.60945466e-05 4.09003399e+00] [ 1.96540658e-03 -2.43069338e-05 9.99998068e-01 4.46008994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50439141799998 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:213.20, Y:4.09, Z:0.45 [[ 9.99965971e-01 8.01212185e-03 -1.96522829e-03 2.13204549e+02] [-8.01206669e-03 9.99967902e-01 3.59391404e-05 4.08761143e+00] [ 1.96545315e-03 -2.01923774e-05 9.99998068e-01 4.45286914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56439141799999 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:213.26, Y:4.09, Z:0.45 [[ 9.99939676e-01 1.08065830e-02 -1.96523067e-03 2.13262450e+02] [-1.08065335e-02 9.99941607e-01 3.58080881e-05 4.08530795e+00] [ 1.96550288e-03 -1.45685969e-05 9.99998068e-01 4.45280541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.624391418 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:213.32, Y:4.08, Z:0.44 [[ 9.99906771e-01 1.35124872e-02 -1.96523463e-03 2.13321073e+02] [-1.35124433e-02 9.99908702e-01 3.55894960e-05 4.08251633e+00] [ 1.96553611e-03 -9.03105649e-06 9.99998068e-01 4.43468325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.684391418 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:213.38, Y:4.08, Z:0.45 [[ 9.99893151e-01 1.44853111e-02 -1.96523750e-03 2.13379439e+02] [-1.44852695e-02 9.99895082e-01 3.54301570e-05 4.08155433e+00] [ 1.96554453e-03 -6.95937651e-06 9.99998068e-01 4.45034992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.744391418 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:213.44, Y:4.08, Z:0.44 [[ 9.99849839e-01 1.72173451e-02 -1.96524051e-03 2.13437606e+02] [-1.72173090e-02 9.99851771e-01 3.52625943e-05 4.07678578e+00] [ 1.96555633e-03 -1.42114601e-06 9.99998068e-01 4.42493641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80439141799997 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:213.50, Y:4.07, Z:0.44 [[ 9.99842988e-01 1.76107227e-02 -1.96524417e-03 2.13496287e+02] [-1.76106878e-02 9.99844919e-01 3.50573634e-05 4.07371798e+00] [ 1.96555679e-03 -4.42557351e-07 9.99998068e-01 4.41521050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86439141799997 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:213.55, Y:4.07, Z:0.44 [[ 9.99844211e-01 1.75411664e-02 -1.96524704e-03 2.13554142e+02] [-1.75411317e-02 9.99846142e-01 3.48956931e-05 4.06895773e+00] [ 1.96555678e-03 -4.17599633e-07 9.99998068e-01 4.40580459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92439141799997 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:213.61, Y:4.06, Z:0.44 [[ 9.99847220e-01 1.73688029e-02 -1.96525055e-03 2.13613126e+02] [-1.73687683e-02 9.99849151e-01 3.46972104e-05 4.06471176e+00] [ 1.96555674e-03 -5.57928014e-07 9.99998068e-01 4.42118077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98439141799997 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:213.67, Y:4.06, Z:0.44 [[ 9.99846356e-01 1.74184305e-02 -1.96525334e-03 2.13671949e+02] [-1.74183963e-02 9.99848288e-01 3.45382682e-05 4.06146948e+00] [ 1.96555679e-03 -3.01400209e-07 9.99998068e-01 4.42869219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04439141799998 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:4.06, Z:0.44 [[ 9.99870183e-01 1.59923454e-02 -1.96525626e-03 2.13729464e+02] [-1.59923087e-02 9.99872114e-01 3.43712683e-05 4.05606070e+00] [ 1.96555461e-03 -2.93782143e-06 9.99998068e-01 4.43071929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10439141799998 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:213.79, Y:4.05, Z:0.44 [[ 9.99932583e-01 1.14440564e-02 -1.96525989e-03 2.13788037e+02] [-1.14440113e-02 9.99934515e-01 3.41624988e-05 4.05018344e+00] [ 1.96552215e-03 -1.16697393e-05 9.99998068e-01 4.43801898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16439141799998 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:213.85, Y:4.05, Z:0.44 [[ 9.99972898e-01 7.09517133e-03 -1.96526272e-03 2.13847030e+02] [-7.09511821e-03 9.99974829e-01 3.39990101e-05 4.04551425e+00] [ 1.96545448e-03 -2.00543174e-05 9.99998068e-01 4.44135426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22439141799998 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:213.91, Y:4.04, Z:0.44 [[ 9.99998034e-01 2.62845384e-04 -1.96526550e-03 2.13906235e+02] [-2.62779392e-04 9.99999965e-01 3.38375919e-05 4.03928774e+00] [ 1.96527432e-03 -3.33210941e-05 9.99998068e-01 4.44051754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28439141799998 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:213.97, Y:4.04, Z:0.44 [[ 9.99992724e-01 -3.26956220e-03 -1.96526691e-03 2.13965657e+02] [ 3.26963485e-03 9.99994654e-01 3.37554195e-05 4.03503301e+00] [ 1.96514604e-03 -4.01808790e-05 9.99998068e-01 4.43366874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.344391418 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:214.03, Y:4.03, Z:0.44 [[ 9.99978053e-01 -6.32697716e-03 -1.96526836e-03 2.14026068e+02] [ 6.32705555e-03 9.99979983e-01 3.36708677e-05 4.03017314e+00] [ 1.96501598e-03 -4.61044908e-05 9.99998068e-01 4.42932367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.404391418 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:214.09, Y:4.03, Z:0.44 [[ 9.99976230e-01 -6.60891105e-03 -1.96526836e-03 2.14086638e+02] [ 6.60898998e-03 9.99978160e-01 3.36708677e-05 4.02719064e+00] [ 1.96500291e-03 -4.66585062e-05 9.99998068e-01 4.43405898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.464391418 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:214.15, Y:4.02, Z:0.44 [[ 9.99979149e-01 -6.15141174e-03 -1.96526836e-03 2.14146752e+02] [ 6.15148979e-03 9.99981079e-01 3.36708677e-05 4.02439888e+00] [ 1.96502405e-03 -4.57594939e-05 9.99998068e-01 4.43686238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52439141799996 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:214.21, Y:4.02, Z:0.44 [[ 9.99983170e-01 -5.45867699e-03 -1.96526765e-03 2.14206994e+02] [ 5.45875379e-03 9.99985100e-01 3.37119902e-05 4.02214420e+00] [ 1.96505435e-03 -4.44393351e-05 9.99998068e-01 4.43866413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58439141799997 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:214.27, Y:4.02, Z:0.44 [[ 9.99977571e-01 -6.40274728e-03 -1.96526765e-03 2.14267889e+02] [ 6.40282589e-03 9.99979501e-01 3.37119902e-05 4.02065823e+00] [ 1.96501152e-03 -4.62945007e-05 9.99998068e-01 4.43667113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64439141799997 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:214.33, Y:4.02, Z:0.44 [[ 9.99974070e-01 -6.92801993e-03 -1.96526765e-03 2.14328000e+02] [ 6.92809956e-03 9.99976000e-01 3.37119902e-05 4.01932382e+00] [ 1.96498693e-03 -4.73266860e-05 9.99998068e-01 4.43503413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70439141799997 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:214.39, Y:4.02, Z:0.44 [[ 9.99934010e-01 -1.13187187e-02 -1.96526765e-03 2.14388495e+02] [ 1.13188068e-02 9.99935940e-01 3.37119902e-05 4.01842608e+00] [ 1.96476018e-03 -5.59542505e-05 9.99998068e-01 4.42942952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76439141799997 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:214.45, Y:4.02, Z:0.44 [[ 9.99860504e-01 -1.65864381e-02 -1.96526765e-03 2.14450240e+02] [ 1.65865364e-02 9.99862433e-01 3.37119902e-05 4.01761121e+00] [ 1.96443814e-03 -6.63042710e-05 9.99998068e-01 4.43721449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82439141799998 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:214.51, Y:4.02, Z:0.44 [[ 9.99828894e-01 -1.83935144e-02 -1.96526619e-03 2.14512165e+02] [ 1.83936163e-02 9.99830823e-01 3.37968273e-05 4.01677765e+00] [ 1.96431207e-03 -6.99393968e-05 9.99998068e-01 4.42939227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88439141799998 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:214.57, Y:4.02, Z:0.44 [[ 9.99843883e-01 -1.75598098e-02 -1.96526332e-03 2.14574533e+02] [ 1.75599104e-02 9.99845812e-01 3.39628143e-05 4.01832713e+00] [ 1.96436392e-03 -6.84673601e-05 9.99998068e-01 4.42729755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94439141799998 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:214.64, Y:4.02, Z:0.44 [[ 9.99917070e-01 -1.27275747e-02 -1.96526043e-03 2.14636310e+02] [ 1.27276664e-02 9.99918999e-01 3.41295036e-05 4.02165043e+00] [ 1.96466686e-03 -5.91398524e-05 9.99998068e-01 4.43472381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00439141799998 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:214.70, Y:4.02, Z:0.44 [[ 9.99964752e-01 -8.16281590e-03 -1.96525757e-03 2.14697725e+02] [ 8.16289905e-03 9.99966682e-01 3.42931147e-05 4.02359869e+00] [ 1.96491217e-03 -5.03341052e-05 9.99998068e-01 4.43863182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06439141799999 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:214.76, Y:4.03, Z:0.44 [[ 9.99997788e-01 -7.49029878e-04 -1.96525611e-03 2.14758697e+02] [ 7.49098884e-04 9.99999719e-01 3.43771304e-05 4.02692703e+00] [ 1.96522980e-03 -3.58492255e-05 9.99998068e-01 4.44081053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.124391418 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:214.82, Y:4.03, Z:0.44 [[ 9.99974277e-01 6.89802118e-03 -1.96525463e-03 2.14818267e+02] [-6.89796677e-03 9.99976208e-01 3.44615493e-05 4.03121285e+00] [ 1.96544558e-03 -2.09044018e-05 9.99998068e-01 4.42819867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.184391418 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:214.88, Y:4.03, Z:0.44 [[ 9.99933142e-01 1.13951215e-02 -1.96525600e-03 2.14877467e+02] [-1.13950759e-02 9.99935073e-01 3.43830978e-05 4.03367438e+00] [ 1.96552020e-03 -1.19865578e-05 9.99998068e-01 4.42998376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.244391418 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:214.94, Y:4.04, Z:0.44 [[ 9.99891040e-01 1.46303035e-02 -1.96526533e-03 2.14936396e+02] [-1.46302652e-02 9.99892971e-01 3.38411751e-05 4.03548778e+00] [ 1.96555010e-03 -5.08513472e-06 9.99998068e-01 4.43380395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30439141799997 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:215.00, Y:4.04, Z:0.44 [[ 9.99879729e-01 1.53839310e-02 -1.96526804e-03 2.14995164e+02] [-1.53838945e-02 9.99881660e-01 3.36829829e-05 4.03713631e+00] [ 1.96555365e-03 -3.44545556e-06 9.99998068e-01 4.42561841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36439141799997 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:215.05, Y:4.04, Z:0.44 [[ 9.99939017e-01 1.08674090e-02 -1.96527014e-03 2.15053788e+02] [-1.08673640e-02 9.99940948e-01 3.35601896e-05 4.03811721e+00] [ 1.96551880e-03 -1.22008370e-05 9.99998068e-01 4.43820452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42439141799997 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:215.11, Y:4.04, Z:0.44 [[ 9.99982913e-01 5.50561672e-03 -1.96527296e-03 2.15112731e+02] [-5.50556173e-03 9.99984844e-01 3.33940802e-05 4.03731958e+00] [ 1.96542703e-03 -2.25735780e-05 9.99998068e-01 4.44453892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48439141799997 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:215.17, Y:4.04, Z:0.45 [[ 9.99987552e-01 -4.58620440e-03 -1.96527553e-03 2.15172838e+02] [ 4.58627858e-03 9.99989482e-01 3.32421758e-05 4.03596755e+00] [ 1.96510240e-03 -4.22550630e-05 9.99998068e-01 4.45464337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54439141799998 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:215.23, Y:4.03, Z:0.45 [[ 9.99929565e-01 -1.17048021e-02 -1.96527680e-03 2.15233425e+02] [ 1.17048899e-02 9.99931495e-01 3.31670120e-05 4.03447229e+00] [ 1.96475395e-03 -5.61680244e-05 9.99998068e-01 4.45679243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60439141799998 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:215.30, Y:4.03, Z:0.45 [[ 9.99763700e-01 -2.16490730e-02 -1.96527617e-03 2.15295061e+02] [ 2.16491800e-02 9.99765628e-01 3.32040492e-05 4.03249655e+00] [ 1.96409673e-03 -7.57428207e-05 9.99998068e-01 4.45526967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66439141799998 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:215.36, Y:4.03, Z:0.45 [[ 9.99556609e-01 -2.97106412e-02 -1.96526806e-03 2.15357568e+02] [ 2.97107647e-02 9.99558537e-01 3.36773434e-05 4.03066826e+00] [ 1.96339989e-03 -9.20520281e-05 9.99998068e-01 4.46019093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72439141799998 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:215.42, Y:4.03, Z:0.45 [[ 9.99448026e-01 -3.31629355e-02 -1.96526558e-03 2.15418762e+02] [ 3.31630659e-02 9.99449954e-01 3.38218174e-05 4.02945759e+00] [ 1.96306296e-03 -9.89773805e-05 9.99998068e-01 4.46043526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78439141799998 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:215.48, Y:4.03, Z:0.45 [[ 9.99376441e-01 -3.52543164e-02 -1.96526373e-03 2.15481001e+02] [ 3.52544511e-02 9.99378368e-01 3.39287139e-05 4.03006103e+00] [ 1.96284593e-03 -1.03191851e-04 9.99998068e-01 4.45856466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.844391418 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:215.54, Y:4.03, Z:0.44 [[ 9.99406727e-01 -3.43850593e-02 -1.96526129e-03 2.15541991e+02] [ 3.43851926e-02 9.99408654e-01 3.40694774e-05 4.03207054e+00] [ 1.96292766e-03 -1.01625153e-04 9.99998068e-01 4.44452292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.904391418 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:215.60, Y:4.03, Z:0.44 [[ 9.99452704e-01 -3.30216556e-02 -1.96525948e-03 2.15604531e+02] [ 3.30217865e-02 9.99454632e-01 3.41735464e-05 4.03397678e+00] [ 1.96305922e-03 -9.90512224e-05 9.99998068e-01 4.44415884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.964391418 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:4.04, Z:0.44 [[ 9.99580257e-01 -2.89041213e-02 -1.96525710e-03 2.15666606e+02] [ 2.89042445e-02 9.99582184e-01 3.43099047e-05 4.03657394e+00] [ 1.96344429e-03 -9.10997751e-05 9.99998068e-01 4.39865386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02439141799996 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:215.73, Y:4.04, Z:0.45 [[ 9.99642089e-01 -2.66801917e-02 -1.96525474e-03 2.15729041e+02] [ 2.66803109e-02 9.99644017e-01 3.44442497e-05 4.04391418e+00] [ 1.96363617e-03 -8.68655293e-05 9.99998068e-01 4.45122659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08439141799997 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:215.79, Y:4.05, Z:0.45 [[ 9.99701245e-01 -2.43630660e-02 -1.96525239e-03 2.15791312e+02] [ 2.43631809e-02 9.99703173e-01 3.45778297e-05 4.04668387e+00] [ 1.96382663e-03 -8.24472990e-05 9.99998068e-01 4.46062307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14439141799997 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:215.85, Y:4.05, Z:0.45 [[ 9.99760477e-01 -2.17973748e-02 -1.96525009e-03 2.15853977e+02] [ 2.17974851e-02 9.99762406e-01 3.47085760e-05 4.05090113e+00] [ 1.96402660e-03 -7.75377720e-05 9.99998068e-01 4.47905388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20439141799997 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:215.92, Y:4.05, Z:0.45 [[ 9.99780564e-01 -2.08557458e-02 -1.96524780e-03 2.15915355e+02] [ 2.08558546e-02 9.99782492e-01 3.48375199e-05 4.05331684e+00] [ 1.96409378e-03 -7.58167976e-05 9.99998068e-01 4.47645012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26439141799997 meters Centerline goodness : 0.998847 with order 1 Centerline is valid? [True, True] Translation: X:215.98, Y:4.05, Z:0.44 [[ 9.99872439e-01 -1.58506631e-02 -1.96524400e-03 2.15977587e+02] [ 1.58507626e-02 9.99874368e-01 3.50504375e-05 4.05004729e+00] [ 1.96444153e-03 -6.61965825e-05 9.99998068e-01 4.43158622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32439141799998 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:216.04, Y:4.06, Z:0.45 [[ 9.99754729e-01 -2.20594585e-02 -1.96524104e-03 2.16040202e+02] [ 2.20595703e-02 9.99756657e-01 3.52158674e-05 4.05901755e+00] [ 1.96398597e-03 -7.85596028e-05 9.99998068e-01 4.46360417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38439141799998 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:216.10, Y:4.06, Z:0.45 [[ 9.99749971e-01 -2.22740453e-02 -1.96523734e-03 2.16102631e+02] [ 2.22741579e-02 9.99751900e-01 3.54207878e-05 4.06089982e+00] [ 1.96396080e-03 -7.91859386e-05 9.99998068e-01 4.49153465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44439141799998 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:4.06, Z:0.45 [[ 9.99800140e-01 -1.98951838e-02 -1.96523451e-03 2.16164671e+02] [ 1.98952921e-02 9.99802068e-01 3.55772582e-05 4.06482155e+00] [ 1.96413771e-03 -7.46690623e-05 9.99998068e-01 4.49719140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50439141799998 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:216.23, Y:4.07, Z:0.45 [[ 9.99872681e-01 -1.58353736e-02 -1.96523157e-03 2.16225607e+02] [ 1.58354744e-02 9.99874610e-01 3.57392223e-05 4.06761235e+00] [ 1.96441920e-03 -6.68550461e-05 9.99998068e-01 4.50718088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56439141799999 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:216.29, Y:4.07, Z:0.45 [[ 9.99942566e-01 -1.05358024e-02 -1.96522939e-03 2.16288244e+02] [ 1.05358932e-02 9.99944495e-01 3.58586372e-05 4.07021470e+00] [ 1.96474251e-03 -5.65620246e-05 9.99998068e-01 4.52096702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.624391418 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:216.35, Y:4.07, Z:0.45 [[ 9.99980659e-01 -5.90076386e-03 -1.96522651e-03 2.16349212e+02] [ 5.90084603e-03 9.99982589e-01 3.60158976e-05 4.07203003e+00] [ 1.96497977e-03 -4.76117001e-05 9.99998068e-01 4.52880932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.684391418 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:216.41, Y:4.07, Z:0.45 [[ 9.99994003e-01 -2.85154370e-03 -1.96522438e-03 2.16410756e+02] [ 2.85162022e-03 9.99995933e-01 3.61317275e-05 4.07301479e+00] [ 1.96511335e-03 -4.17355844e-05 9.99998068e-01 4.52474846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.744391418 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:216.47, Y:4.07, Z:0.45 [[ 9.99989307e-01 -4.18609441e-03 -1.96522294e-03 2.16470932e+02] [ 4.18617365e-03 9.99991237e-01 3.62098627e-05 4.07348446e+00] [ 1.96505414e-03 -4.44362400e-05 9.99998068e-01 4.50011330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80439141799997 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:216.53, Y:4.07, Z:0.45 [[ 9.99973941e-01 -6.94653386e-03 -1.96522365e-03 2.16531600e+02] [ 6.94661835e-03 9.99975871e-01 3.61709052e-05 4.07309289e+00] [ 1.96492497e-03 -4.98216213e-05 9.99998068e-01 4.48444521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86439141799997 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:216.59, Y:4.07, Z:0.45 [[ 9.99935079e-01 -1.12238752e-02 -1.96522365e-03 2.16593280e+02] [ 1.12239679e-02 9.99937009e-01 3.61709052e-05 4.07248751e+00] [ 1.96469388e-03 -5.82261642e-05 9.99998068e-01 4.48217717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92439141799997 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:216.66, Y:4.07, Z:0.45 [[ 9.99933208e-01 -1.13893976e-02 -1.96522220e-03 2.16655433e+02] [ 1.13894909e-02 9.99935137e-01 3.62496844e-05 4.07208905e+00] [ 1.96468187e-03 -5.86301435e-05 9.99998068e-01 4.48761781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98439141799997 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:216.72, Y:4.07, Z:0.45 [[ 9.99923512e-01 -1.22110203e-02 -1.96521929e-03 2.16716319e+02] [ 1.22111154e-02 9.99925441e-01 3.64068706e-05 4.07325756e+00] [ 1.96462820e-03 -6.04016054e-05 9.99998068e-01 4.49518718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04439141799998 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:216.78, Y:4.07, Z:0.44 [[ 9.99997987e-01 4.05586551e-04 -1.96521711e-03 2.16778718e+02] [-4.05515556e-04 9.99999917e-01 3.65239843e-05 4.06507900e+00] [ 1.96523176e-03 -3.57269847e-05 9.99998068e-01 4.43253683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10439141799998 meters Centerline goodness : 0.998833 with order 1 Centerline is valid? [True, True] Translation: X:216.84, Y:4.07, Z:0.45 [[ 9.99993904e-01 -2.88599123e-03 -1.96521393e-03 2.16837369e+02] [ 2.88606891e-03 9.99995835e-01 3.66941693e-05 4.07481455e+00] [ 1.96509985e-03 -4.23656885e-05 9.99998068e-01 4.51337055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16439141799998 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:216.90, Y:4.08, Z:0.45 [[ 9.99980156e-01 5.98550907e-03 -1.96521629e-03 2.16897398e+02] [-5.98544877e-03 9.99982086e-01 3.65673320e-05 4.07608309e+00] [ 1.96539996e-03 -2.48039049e-05 9.99998068e-01 4.52812741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22439141799998 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:216.96, Y:4.08, Z:0.45 [[ 9.99926105e-01 1.19968008e-02 -1.96521697e-03 2.16955457e+02] [-1.19967522e-02 9.99928036e-01 3.65311074e-05 4.07596431e+00] [ 1.96551380e-03 -1.29521870e-05 9.99998068e-01 4.52600795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28439141799998 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:217.01, Y:4.08, Z:0.45 [[ 9.99795634e-01 2.01203555e-02 -1.96522887e-03 2.17012385e+02] [-2.01203239e-02 9.99797565e-01 3.58793663e-05 4.07622620e+00] [ 1.96555294e-03 3.66900751e-06 9.99998068e-01 4.52325849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.344391418 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:217.07, Y:4.08, Z:0.45 [[ 9.99683193e-01 2.50928694e-02 -1.96523392e-03 2.17070740e+02] [-2.50928479e-02 9.99685124e-01 3.56003536e-05 4.07574571e+00] [ 1.96550843e-03 1.37242408e-05 9.99998068e-01 4.52407304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.404391418 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:217.13, Y:4.07, Z:0.45 [[ 9.99668293e-01 2.56796164e-02 -1.96523820e-03 2.17128584e+02] [-2.56795966e-02 9.99670224e-01 3.53625519e-05 4.07443391e+00] [ 1.96549821e-03 1.51157022e-05 9.99998068e-01 4.51957323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.464391418 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:217.19, Y:4.07, Z:0.45 [[ 9.99758657e-01 2.18807256e-02 -1.96524243e-03 2.17187692e+02] [-2.18806989e-02 9.99760588e-01 3.51258439e-05 4.07125949e+00] [ 1.96554051e-03 7.88351133e-06 9.99998068e-01 4.50025072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52439141799996 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:217.25, Y:4.07, Z:0.45 [[ 9.99934377e-01 1.12862144e-02 -1.96524550e-03 2.17246476e+02] [-1.12861675e-02 9.99936309e-01 3.49532205e-05 4.06612306e+00] [ 1.96551482e-03 -1.27708369e-05 9.99998068e-01 4.52224261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58439141799997 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:217.31, Y:4.06, Z:0.45 [[ 9.99996835e-01 1.57090262e-03 -1.96524864e-03 2.17305335e+02] [-1.57083731e-03 9.99998766e-01 3.47755290e-05 4.06157978e+00] [ 1.96530085e-03 -3.16883330e-05 9.99998068e-01 4.52396111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64439141799997 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:217.36, Y:4.05, Z:0.45 [[ 9.99909537e-01 -1.33061909e-02 -1.96525146e-03 2.17363620e+02] [ 1.33062846e-02 9.99911467e-01 3.46155988e-05 4.05459137e+00] [ 1.96461687e-03 -6.07626627e-05 9.99998068e-01 4.53572168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70439141799997 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:217.43, Y:4.05, Z:0.45 [[ 9.99670636e-01 -2.55882165e-02 -1.96525353e-03 2.17425207e+02] [ 2.55883336e-02 9.99672564e-01 3.44976193e-05 4.04764230e+00] [ 1.96372731e-03 -8.47738202e-05 9.99998068e-01 4.53609109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76439141799997 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:217.49, Y:4.04, Z:0.45 [[ 9.99496046e-01 -3.16826817e-02 -1.96524315e-03 2.17487793e+02] [ 3.16828118e-02 9.99497973e-01 3.50791498e-05 4.04412187e+00] [ 1.96314515e-03 -9.73259004e-05 9.99998068e-01 4.53811152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82439141799998 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:4.04, Z:0.45 [[ 9.99327651e-01 -3.66112413e-02 -1.96523875e-03 2.17551247e+02] [ 3.66113813e-02 9.99329578e-01 3.53242245e-05 4.04069843e+00] [ 1.96262794e-03 -1.07250580e-04 9.99998068e-01 4.53721591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88439141799998 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:217.61, Y:4.04, Z:0.45 [[ 9.99368907e-01 -3.54672348e-02 -1.96523435e-03 2.17613826e+02] [ 3.54673731e-02 9.99370834e-01 3.55674522e-05 4.03810746e+00] [ 1.96273641e-03 -1.05246706e-04 9.99998068e-01 4.54282611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94439141799998 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:217.68, Y:4.04, Z:0.45 [[ 9.99463467e-01 -3.26942898e-02 -1.96522991e-03 2.17675942e+02] [ 3.26944233e-02 9.99465394e-01 3.58106793e-05 4.03739149e+00] [ 1.96300848e-03 -1.00043524e-04 9.99998068e-01 4.54183630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00439141799998 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:4.04, Z:0.45 [[ 9.99664102e-01 -2.58422225e-02 -1.96522695e-03 2.17738020e+02] [ 2.58423430e-02 9.99666030e-01 3.59727417e-05 4.03849295e+00] [ 1.96364100e-03 -8.67467274e-05 9.99998068e-01 4.53260725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06439141799999 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:4.04, Z:0.45 [[ 9.99781733e-01 -2.07996374e-02 -1.96522401e-03 2.17798954e+02] [ 2.07997486e-02 9.99783661e-01 3.61323668e-05 4.03862295e+00] [ 1.96404732e-03 -7.70006456e-05 9.99998068e-01 4.52893027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.124391418 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:217.86, Y:4.04, Z:0.45 [[ 9.99922360e-01 -1.23049219e-02 -1.96522184e-03 2.17860957e+02] [ 1.23050169e-02 9.99924290e-01 3.62498520e-05 4.03998268e+00] [ 1.96462701e-03 -6.04291256e-05 9.99998068e-01 4.53865880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.184391418 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:217.92, Y:4.04, Z:0.45 [[ 9.99990666e-01 -3.84779718e-03 -1.96521902e-03 2.17922873e+02] [ 3.84787614e-03 9.99992596e-01 3.64024474e-05 4.04121266e+00] [ 1.96506440e-03 -4.39640270e-05 9.99998068e-01 4.54787075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.244391418 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:217.98, Y:4.04, Z:0.46 [[ 9.99997293e-01 1.24598651e-03 -1.96521617e-03 2.17983376e+02] [-1.24591708e-03 9.99999223e-01 3.65554965e-05 4.04066938e+00] [ 1.96526019e-03 -3.41069012e-05 9.99998068e-01 4.55392085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30439141799997 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:218.04, Y:4.04, Z:0.45 [[ 9.99966323e-01 7.96809022e-03 -1.96521548e-03 2.18043282e+02] [-7.96803369e-03 9.99968254e-01 3.65928762e-05 4.03975771e+00] [ 1.96544466e-03 -2.09327407e-05 9.99998068e-01 4.54575206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36439141799997 meters Centerline goodness : 0.999386 with order 1 Centerline is valid? [True, True] Translation: X:218.10, Y:4.04, Z:0.45 [[ 9.99913661e-01 1.29926133e-02 -1.96521699e-03 2.18101261e+02] [-1.29925666e-02 9.99915592e-01 3.65116143e-05 4.03860260e+00] [ 1.96552549e-03 -1.09752493e-05 9.99998068e-01 4.53992088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42439141799997 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:218.16, Y:4.04, Z:0.45 [[ 9.99885338e-01 1.50149359e-02 -1.96522900e-03 2.18159390e+02] [-1.50148944e-02 9.99887269e-01 3.58532358e-05 4.03638852e+00] [ 1.96554579e-03 -6.34141887e-06 9.99998068e-01 4.53682768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48439141799997 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:218.22, Y:4.03, Z:0.45 [[ 9.99867166e-01 1.61798717e-02 -1.96523264e-03 2.18217753e+02] [-1.61798328e-02 9.99869097e-01 3.56521769e-05 4.03319401e+00] [ 1.96555224e-03 -3.85030535e-06 9.99998068e-01 4.54131181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54439141799998 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:218.28, Y:4.03, Z:0.46 [[ 9.99854689e-01 1.69333805e-02 -1.96523555e-03 2.18276120e+02] [-1.69333434e-02 9.99856620e-01 3.54913436e-05 4.02936827e+00] [ 1.96555476e-03 -2.20817788e-06 9.99998068e-01 4.55056130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60439141799998 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:218.34, Y:4.02, Z:0.46 [[ 9.99866123e-01 1.62441738e-02 -1.96523979e-03 2.18335184e+02] [-1.62441358e-02 9.99868055e-01 3.52550252e-05 4.02345594e+00] [ 1.96555317e-03 -3.32668332e-06 9.99998068e-01 4.55413332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66439141799998 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:218.39, Y:4.02, Z:0.45 [[ 9.99904841e-01 1.36545440e-02 -1.96524255e-03 2.18393188e+02] [-1.36545014e-02 9.99906772e-01 3.51003838e-05 4.01592790e+00] [ 1.96553861e-03 -8.26263654e-06 9.99998068e-01 4.54739598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72439141799998 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:218.45, Y:4.01, Z:0.45 [[ 9.99941628e-01 1.06244597e-02 -1.96524593e-03 2.18451599e+02] [-1.06244116e-02 9.99943559e-01 3.49102304e-05 4.00995791e+00] [ 1.96550591e-03 -1.40286110e-05 9.99998068e-01 4.54601049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78439141799998 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:218.51, Y:4.00, Z:0.45 [[ 9.99973099e-01 7.06681584e-03 -1.96524878e-03 2.18510421e+02] [-7.06676119e-03 9.99975030e-01 3.47487948e-05 4.00198247e+00] [ 1.96544527e-03 -2.08599162e-05 9.99998068e-01 4.53998912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.844391418 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:218.57, Y:3.99, Z:0.45 [[ 9.99982591e-01 5.56380593e-03 -1.96525167e-03 2.18567651e+02] [-5.56374871e-03 9.99984522e-01 3.45847858e-05 3.99478960e+00] [ 1.96541367e-03 -2.36500173e-05 9.99998068e-01 4.52341541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.904391418 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:218.63, Y:3.99, Z:0.45 [[ 9.99979503e-01 6.09354714e-03 -1.96525521e-03 2.18626170e+02] [-6.09349133e-03 9.99981434e-01 3.43821406e-05 3.98983903e+00] [ 1.96542824e-03 -2.24061703e-05 9.99998068e-01 4.53004176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.964391418 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:218.68, Y:3.98, Z:0.45 [[ 9.99971516e-01 7.28725728e-03 -1.96525801e-03 2.18683679e+02] [-7.28720409e-03 9.99973447e-01 3.42214792e-05 3.98415987e+00] [ 1.96545521e-03 -1.98992682e-05 9.99998068e-01 4.52902884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02439141799996 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:218.74, Y:3.98, Z:0.45 [[ 9.99963691e-01 8.29187334e-03 -1.96526142e-03 2.18742571e+02] [-8.29182248e-03 9.99965622e-01 3.40245152e-05 3.98007864e+00] [ 1.96547599e-03 -1.77276809e-05 9.99998068e-01 4.53052174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08439141799997 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:218.80, Y:3.97, Z:0.45 [[ 9.99943202e-01 1.04752233e-02 -1.96526409e-03 2.18801660e+02] [-1.04751770e-02 9.99945133e-01 3.38694058e-05 3.97379043e+00] [ 1.96551106e-03 -1.32809929e-05 9.99998068e-01 4.53064511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14439141799997 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:3.97, Z:0.45 [[ 9.99918101e-01 1.26463331e-02 -1.96526671e-03 2.18859800e+02] [-1.26462912e-02 9.99920032e-01 3.37166865e-05 3.96836263e+00] [ 1.96553595e-03 -8.86058990e-06 9.99998068e-01 4.53484448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20439141799997 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:218.92, Y:3.96, Z:0.45 [[ 9.99906389e-01 1.35407119e-02 -1.96526991e-03 2.18918272e+02] [-1.35406721e-02 9.99908320e-01 3.35291966e-05 3.96447530e+00] [ 1.96554375e-03 -6.91498237e-06 9.99998068e-01 4.52870166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26439141799997 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:218.98, Y:3.96, Z:0.45 [[ 9.99913172e-01 1.30301858e-02 -1.96527196e-03 2.18976542e+02] [-1.30301453e-02 9.99915103e-01 3.34089056e-05 3.95829614e+00] [ 1.96554044e-03 -7.79822560e-06 9.99998068e-01 4.51997343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32439141799998 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:219.03, Y:3.95, Z:0.45 [[ 9.99943027e-01 1.04918961e-02 -1.96527491e-03 2.19034003e+02] [-1.04918511e-02 9.99944958e-01 3.32345243e-05 3.95262469e+00] [ 1.96551543e-03 -1.26132592e-05 9.99998068e-01 4.50579025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38439141799998 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:219.09, Y:3.95, Z:0.45 [[ 9.99972816e-01 7.10664765e-03 -1.96527850e-03 2.19093123e+02] [-7.10659648e-03 9.99974747e-01 3.30208984e-05 3.94679939e+00] [ 1.96546354e-03 -1.90535595e-05 9.99998068e-01 4.52798371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44439141799998 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:219.15, Y:3.94, Z:0.45 [[ 9.99984427e-01 5.22326561e-03 -1.96528139e-03 2.19151821e+02] [-5.22321114e-03 9.99986358e-01 3.28478920e-05 3.94330474e+00] [ 1.96542615e-03 -2.25823008e-05 9.99998068e-01 4.53822661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50439141799998 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:219.21, Y:3.94, Z:0.45 [[ 9.99992572e-01 3.31564934e-03 -1.96528428e-03 2.19210046e+02] [-3.31559153e-03 9.99994503e-01 3.26738958e-05 3.93942838e+00] [ 1.96538181e-03 -2.61575732e-05 9.99998068e-01 4.54655672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56439141799999 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:219.27, Y:3.94, Z:0.46 [[ 9.99996956e-01 1.49215765e-03 -1.96528780e-03 2.19269264e+02] [-1.49209674e-03 9.99998886e-01 3.24608411e-05 3.93619109e+00] [ 1.96533405e-03 -2.95283427e-05 9.99998068e-01 4.55237865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.624391418 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:219.33, Y:3.93, Z:0.45 [[ 9.99997352e-01 -1.19773443e-03 -1.96529061e-03 2.19329316e+02] [ 1.19780020e-03 9.99999282e-01 3.22897377e-05 3.93129942e+00] [ 1.96525053e-03 -3.46436777e-05 9.99998068e-01 4.54852665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.684391418 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:219.39, Y:3.93, Z:0.45 [[ 9.99994911e-01 -2.51297261e-03 -1.96529199e-03 2.19389087e+02] [ 2.51304076e-03 9.99996842e-01 3.22055046e-05 3.92762868e+00] [ 1.96520485e-03 -3.71441996e-05 9.99998068e-01 4.54851070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.744391418 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:219.45, Y:3.92, Z:0.45 [[ 9.99996793e-01 -1.59739517e-03 -1.96529341e-03 2.19448531e+02] [ 1.59746138e-03 9.99998724e-01 3.21187587e-05 3.92474510e+00] [ 1.96523959e-03 -3.52581360e-05 9.99998068e-01 4.53448796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80439141799997 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:219.51, Y:3.92, Z:0.45 [[ 9.99994152e-01 2.79891932e-03 -1.96529410e-03 2.19507691e+02] [-2.79886168e-03 9.99996083e-01 3.20762197e-05 3.92174172e+00] [ 1.96537618e-03 -2.65754457e-05 9.99998068e-01 4.53882402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86439141799997 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:219.57, Y:3.92, Z:0.45 [[ 9.99962101e-01 8.48144966e-03 -1.96529551e-03 2.19567619e+02] [-8.48140317e-03 9.99964032e-01 3.19896198e-05 3.91992736e+00] [ 1.96549614e-03 -1.53199438e-05 9.99998068e-01 4.54459743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92439141799997 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:219.63, Y:3.92, Z:0.45 [[ 9.99933877e-01 1.13304294e-02 -1.96529691e-03 2.19626528e+02] [-1.13303886e-02 9.99935809e-01 3.19036097e-05 3.91850993e+00] [ 1.96553224e-03 -9.63392247e-06 9.99998068e-01 4.53793527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98439141799997 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:219.69, Y:3.92, Z:0.45 [[ 9.99923408e-01 1.22194748e-02 -1.96529970e-03 2.19685668e+02] [-1.22194361e-02 9.99925339e-01 3.17308921e-05 3.91602358e+00] [ 1.96554070e-03 -7.71360777e-06 9.99998068e-01 4.53566937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04439141799998 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:219.74, Y:3.91, Z:0.45 [[ 9.99947130e-01 1.00932713e-02 -1.96530251e-03 2.19744675e+02] [-1.00932288e-02 9.99949062e-01 3.15555250e-05 3.91419407e+00] [ 1.96552090e-03 -1.17176088e-05 9.99998068e-01 4.54633225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10439141799998 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:219.80, Y:3.91, Z:0.46 [[ 9.99989292e-01 4.18973372e-03 -1.96530531e-03 2.19803400e+02] [-4.18968014e-03 9.99991223e-01 3.13806398e-05 3.91206806e+00] [ 1.96541953e-03 -2.31463031e-05 9.99998068e-01 4.56721956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16439141799998 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:219.86, Y:3.91, Z:0.46 [[ 9.99985517e-01 -5.01032756e-03 -1.96530808e-03 2.19861882e+02] [ 5.01039857e-03 9.99987447e-01 3.12059815e-05 3.90912380e+00] [ 1.96512706e-03 -4.10525063e-05 9.99998068e-01 4.57009414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22439141799998 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:219.92, Y:3.91, Z:0.46 [[ 9.99922404e-01 -1.23014030e-02 -1.96531010e-03 2.19922527e+02] [ 1.23014879e-02 9.99924333e-01 3.10780216e-05 3.90763582e+00] [ 1.96477909e-03 -5.52518484e-05 9.99998068e-01 4.56435444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28439141799998 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:219.98, Y:3.91, Z:0.46 [[ 9.99739099e-01 -2.27567834e-02 -1.96531010e-03 2.19983484e+02] [ 2.27568884e-02 9.99741028e-01 3.10780216e-05 3.90611451e+00] [ 1.96409391e-03 -7.57942559e-05 9.99998068e-01 4.55615528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.344391418 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:220.04, Y:3.91, Z:0.45 [[ 9.99622173e-01 -2.74162107e-02 -1.96530874e-03 2.20044485e+02] [ 2.74163249e-02 9.99624101e-01 3.11642384e-05 3.90549689e+00] [ 1.96371557e-03 -8.50340065e-05 9.99998068e-01 4.54961102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.404391418 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:220.11, Y:3.91, Z:0.46 [[ 9.99530826e-01 -3.05657507e-02 -1.96530672e-03 2.20106599e+02] [ 3.05658712e-02 9.99532754e-01 3.12909739e-05 3.90622197e+00] [ 1.96343200e-03 -9.13476050e-05 9.99998068e-01 4.56369752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.464391418 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:220.17, Y:3.91, Z:0.46 [[ 9.99465765e-01 -3.26239433e-02 -1.96530397e-03 2.20168628e+02] [ 3.26240681e-02 9.99467693e-01 3.14624106e-05 3.90826492e+00] [ 1.96323140e-03 -9.55618129e-05 9.99998068e-01 4.57279787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52439141799996 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:220.23, Y:3.91, Z:0.46 [[ 9.99365120e-01 -3.55737847e-02 -1.96530140e-03 2.20229744e+02] [ 3.55739155e-02 9.99367047e-01 3.16226352e-05 3.91292418e+00] [ 1.96293252e-03 -1.01516024e-04 9.99998068e-01 4.57717311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58439141799997 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:220.29, Y:3.92, Z:0.46 [[ 9.99221732e-01 -3.93962870e-02 -1.96529948e-03 2.20291545e+02] [ 3.93964254e-02 9.99223659e-01 3.17410113e-05 3.91782363e+00] [ 1.96252326e-03 -1.09142083e-04 9.99998068e-01 4.57391268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64439141799997 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:220.35, Y:3.92, Z:0.46 [[ 9.99088227e-01 -4.26480128e-02 -1.96529683e-03 2.20352444e+02] [ 4.26481578e-02 9.99090153e-01 3.19046048e-05 3.92108342e+00] [ 1.96214804e-03 -1.15691804e-04 9.99998068e-01 4.55525946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70439141799997 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:220.41, Y:3.93, Z:0.46 [[ 9.98830028e-01 -4.83188627e-02 -1.96529486e-03 2.20414358e+02] [ 4.83190188e-02 9.98831954e-01 3.20253313e-05 3.92748746e+00] [ 1.96145188e-03 -1.26948982e-04 9.99998068e-01 4.55816355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76439141799997 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:220.48, Y:3.93, Z:0.46 [[ 9.98513555e-01 -5.44685114e-02 -1.96529213e-03 2.20476671e+02] [ 5.44686797e-02 9.98515479e-01 3.21917538e-05 3.93434217e+00] [ 1.96062118e-03 -1.39190770e-04 9.99998068e-01 4.55727753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82439141799998 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:220.54, Y:3.94, Z:0.46 [[ 9.98371419e-01 -5.70144538e-02 -1.96528941e-03 2.20539347e+02] [ 5.70146273e-02 9.98373343e-01 3.23569436e-05 3.93883483e+00] [ 1.96024775e-03 -1.44354491e-04 9.99998068e-01 4.56710321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88439141799998 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:220.60, Y:3.95, Z:0.46 [[ 9.98348572e-01 -5.74131266e-02 -1.96528665e-03 2.20600741e+02] [ 5.74133012e-02 9.98350495e-01 3.25237397e-05 3.94770270e+00] [ 1.96017762e-03 -1.45303624e-04 9.99998068e-01 4.58113842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94439141799998 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:220.66, Y:3.95, Z:0.46 [[ 9.98495462e-01 -5.47991866e-02 -1.96528462e-03 2.20662716e+02] [ 5.47993565e-02 9.98497386e-01 3.26460708e-05 3.95280787e+00] [ 1.96054258e-03 -1.40293286e-04 9.99998068e-01 4.58578200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00439141799998 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:220.73, Y:3.96, Z:0.46 [[ 9.98874402e-01 -4.73926876e-02 -1.96528199e-03 2.20725986e+02] [ 4.73928435e-02 9.98876327e-01 3.28038179e-05 3.96157159e+00] [ 1.96151899e-03 -1.25907196e-04 9.99998068e-01 4.58876325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06439141799999 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:220.79, Y:3.97, Z:0.46 [[ 9.99117636e-01 -4.19533953e-02 -1.96527799e-03 2.20788735e+02] [ 4.19535412e-02 9.99119562e-01 3.30415774e-05 3.96701986e+00] [ 1.96216148e-03 -1.15462794e-04 9.99998068e-01 4.58826698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.124391418 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:220.85, Y:3.97, Z:0.46 [[ 9.99391116e-01 -3.48358335e-02 -1.96527402e-03 2.20852074e+02] [ 3.48359661e-02 9.99393043e-01 3.32761940e-05 3.97411985e+00] [ 1.96292198e-03 -1.01718152e-04 9.99998068e-01 4.58978710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.184391418 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:220.91, Y:3.98, Z:0.46 [[ 9.99625843e-01 -2.72820592e-02 -1.96526998e-03 2.20913192e+02] [ 2.72821777e-02 9.99627772e-01 3.35132223e-05 3.98134159e+00] [ 1.96362414e-03 -8.71175278e-05 9.99998068e-01 4.58112608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.244391418 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:220.98, Y:3.99, Z:0.46 [[ 9.99757263e-01 -2.19442969e-02 -1.96526513e-03 2.20975867e+02] [ 2.19444057e-02 9.99759192e-01 3.37951151e-05 3.98618429e+00] [ 1.96405027e-03 -7.69134872e-05 9.99998068e-01 4.57180918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30439141799997 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:221.04, Y:3.99, Z:0.46 [[ 9.99904086e-01 -1.37097003e-02 -1.96526252e-03 2.21037322e+02] [ 1.37097935e-02 9.99906016e-01 3.39464540e-05 3.99348931e+00] [ 1.96461242e-03 -6.08865414e-05 9.99998068e-01 4.58174464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36439141799997 meters Centerline goodness : 0.998881 with order 1 Centerline is valid? [True, True] Translation: X:221.10, Y:4.00, Z:0.46 [[ 9.99950468e-01 -9.75705118e-03 -1.96525837e-03 2.21099563e+02] [ 9.75713720e-03 9.99952397e-01 3.41846309e-05 3.99691183e+00] [ 1.96483128e-03 -5.33582332e-05 9.99998068e-01 4.59719245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42439141799997 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:221.16, Y:4.00, Z:0.46 [[ 9.99966683e-01 -7.92276166e-03 -1.96525565e-03 2.21161994e+02] [ 7.92284444e-03 9.99968613e-01 3.43404646e-05 4.00134887e+00] [ 1.96492190e-03 -4.99097353e-05 9.99998068e-01 4.60729068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48439141799997 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:221.22, Y:4.00, Z:0.46 [[ 9.99954659e-01 -9.31758185e-03 -1.96525281e-03 2.21223324e+02] [ 9.31766764e-03 9.99956589e-01 3.45021963e-05 4.00369443e+00] [ 1.96484602e-03 -5.28122044e-05 9.99998068e-01 4.60018877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54439141799998 meters Centerline goodness : 0.998835 with order 1 Centerline is valid? [True, True] Translation: X:221.28, Y:4.00, Z:0.46 [[ 9.99941358e-01 -1.06497623e-02 -1.96525140e-03 2.21284832e+02] [ 1.06498509e-02 9.99943288e-01 3.45821159e-05 4.00415392e+00] [ 1.96477166e-03 -5.55097223e-05 9.99998068e-01 4.57942710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60439141799998 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:221.35, Y:4.01, Z:0.46 [[ 9.99941327e-01 -1.06527474e-02 -1.96524932e-03 2.21346606e+02] [ 1.06528362e-02 9.99943256e-01 3.47004334e-05 4.00599994e+00] [ 1.96476814e-03 -5.56338765e-05 9.99998068e-01 4.59905658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66439141799998 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:221.41, Y:4.01, Z:0.46 [[ 9.99972724e-01 -7.11967964e-03 -1.96524644e-03 2.21407712e+02] [ 7.11976189e-03 9.99974654e-01 3.48623988e-05 4.00837116e+00] [ 1.96494842e-03 -4.88535346e-05 9.99998068e-01 4.59579709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72439141799998 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:221.47, Y:4.01, Z:0.46 [[ 9.99993446e-01 -3.04081553e-03 -1.96524432e-03 2.21468688e+02] [ 3.04089015e-03 9.99995376e-01 3.49818146e-05 4.00928403e+00] [ 1.96512886e-03 -4.09576774e-05 9.99998068e-01 4.60748101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78439141799998 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:221.53, Y:4.01, Z:0.46 [[ 9.99986303e-01 4.85092191e-03 -1.96524287e-03 2.21528378e+02] [-4.85086237e-03 9.99988234e-01 3.50629554e-05 4.01202200e+00] [ 1.96538983e-03 -2.55293525e-05 9.99998068e-01 4.61746297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.844391418 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:221.59, Y:4.01, Z:0.46 [[ 9.99951848e-01 9.61451237e-03 -1.96524293e-03 2.21587436e+02] [-9.61446204e-03 9.99953779e-01 3.50597454e-05 4.01327016e+00] [ 1.96548917e-03 -1.61633037e-05 9.99998068e-01 4.61196727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.904391418 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:221.65, Y:4.01, Z:0.46 [[ 9.99917335e-01 1.27067584e-02 -1.96525253e-03 2.21646583e+02] [-1.27067151e-02 9.99919266e-01 3.45127512e-05 4.01334132e+00] [ 1.96553241e-03 -9.53799420e-06 9.99998068e-01 4.60345367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.964391418 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:221.71, Y:4.01, Z:0.46 [[ 9.99929758e-01 1.16883628e-02 -1.96525532e-03 2.21705135e+02] [-1.16883178e-02 9.99931689e-01 3.43534108e-05 4.01248005e+00] [ 1.96552260e-03 -1.13804690e-05 9.99998068e-01 4.59927630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02439141799996 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:221.76, Y:4.01, Z:0.46 [[ 9.99969600e-01 7.54560666e-03 -1.96525810e-03 2.21763960e+02] [-7.54555403e-03 9.99971531e-01 3.41937283e-05 4.01155828e+00] [ 1.96546016e-03 -1.93637277e-05 9.99998068e-01 4.60899012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08439141799997 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:221.82, Y:4.01, Z:0.46 [[ 9.99997870e-01 6.30294629e-04 -1.96526086e-03 2.21823150e+02] [-6.30228960e-04 9.99999801e-01 3.40342350e-05 4.00952694e+00] [ 1.96528192e-03 -3.27955982e-05 9.99998068e-01 4.61481767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14439141799997 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:221.88, Y:4.01, Z:0.46 [[ 9.99969771e-01 -7.52298421e-03 -1.96526359e-03 2.21883241e+02] [ 7.52306531e-03 9.99971701e-01 3.38755552e-05 4.00658232e+00] [ 1.96495313e-03 -4.86593376e-05 9.99998068e-01 4.60204273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20439141799997 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:221.94, Y:4.01, Z:0.46 [[ 9.99911436e-01 -1.31627410e-02 -1.96526497e-03 2.21944971e+02] [ 1.31628328e-02 9.99913366e-01 3.37957267e-05 4.00528494e+00] [ 1.96464986e-03 -5.96611878e-05 9.99998068e-01 4.60111581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26439141799997 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:222.01, Y:4.00, Z:0.46 [[ 9.99874458e-01 -1.57228088e-02 -1.96526360e-03 2.22006631e+02] [ 1.57229058e-02 9.99876387e-01 3.38749931e-05 4.00373047e+00] [ 1.96448806e-03 -6.47703947e-05 9.99998068e-01 4.59564553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32439141799998 meters Centerline goodness : 0.998762 with order 1 Centerline is valid? [True, True] Translation: X:222.07, Y:4.00, Z:0.46 [[ 9.99702503e-01 -2.43113635e-02 -1.96526157e-03 2.22069642e+02] [ 2.43114773e-02 9.99704432e-01 3.39924807e-05 4.00142407e+00] [ 1.96385429e-03 -8.17607799e-05 9.99998068e-01 4.61277186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38439141799998 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:222.13, Y:4.00, Z:0.46 [[ 9.99501633e-01 -3.15059309e-02 -1.96525063e-03 2.22131209e+02] [ 3.15060597e-02 9.99503560e-01 3.46132096e-05 4.00076040e+00] [ 1.96318448e-03 -9.65132633e-05 9.99998068e-01 4.62920618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44439141799998 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:222.19, Y:4.00, Z:0.46 [[ 9.99399062e-01 -3.46071230e-02 -1.96524860e-03 2.22194127e+02] [ 3.46072580e-02 9.99400989e-01 3.47281257e-05 4.00073188e+00] [ 1.96286956e-03 -1.02719122e-04 9.99998068e-01 4.64022070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50439141799998 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:222.26, Y:4.00, Z:0.46 [[ 9.99358761e-01 -3.57519771e-02 -1.96524447e-03 2.22256719e+02] [ 3.57521147e-02 9.99360688e-01 3.49603753e-05 4.00107802e+00] [ 1.96273817e-03 -1.05199603e-04 9.99998068e-01 4.64137057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56439141799999 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:222.32, Y:4.00, Z:0.46 [[ 9.99403765e-01 -3.44710419e-02 -1.96524007e-03 2.22319547e+02] [ 3.44711776e-02 9.99405692e-01 3.52059589e-05 4.00180855e+00] [ 1.96285853e-03 -1.02929108e-04 9.99998068e-01 4.64058862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.624391418 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:222.38, Y:4.00, Z:0.46 [[ 9.99509071e-01 -3.12690786e-02 -1.96523571e-03 2.22382214e+02] [ 3.12692086e-02 9.99510998e-01 3.54478112e-05 4.00431037e+00] [ 1.96316629e-03 -9.68817743e-05 9.99998068e-01 4.63385412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.684391418 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:222.44, Y:4.01, Z:0.46 [[ 9.99674013e-01 -2.54559676e-02 -1.96523279e-03 2.22443487e+02] [ 2.54560867e-02 9.99675941e-01 3.56089368e-05 4.00785041e+00] [ 1.96368948e-03 -8.56244650e-05 9.99998068e-01 4.62029952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74439141799996 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:222.51, Y:4.01, Z:0.46 [[ 9.99798230e-01 -1.99909204e-02 -1.96523063e-03 2.22506166e+02] [ 1.99910291e-02 9.99800159e-01 3.57276731e-05 4.01001569e+00] [ 1.96412367e-03 -7.50074471e-05 9.99998068e-01 4.62431264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80439141799997 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:222.57, Y:4.01, Z:0.47 [[ 9.99960214e-01 -8.70105318e-03 -1.96522766e-03 2.22568742e+02] [ 8.70114050e-03 9.99962144e-01 3.58901484e-05 4.01482235e+00] [ 1.96484099e-03 -5.29884425e-05 9.99998068e-01 4.65160419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86439141799997 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:222.63, Y:4.02, Z:0.47 [[ 9.99997697e-01 -8.62116067e-04 -1.96522465e-03 2.22629720e+02] [ 8.62188586e-04 9.99999628e-01 3.60545409e-05 4.01742527e+00] [ 1.96519283e-03 -3.77488522e-05 9.99998068e-01 4.66653867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92439141799997 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:222.69, Y:4.02, Z:0.47 [[ 9.99965062e-01 8.12486201e-03 -1.96522242e-03 2.22689794e+02] [-8.12480660e-03 9.99966993e-01 3.61753942e-05 4.01931559e+00] [ 1.96545148e-03 -2.02070782e-05 9.99998068e-01 4.66555115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98439141799997 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:222.75, Y:4.02, Z:0.47 [[ 9.99925012e-01 1.20875472e-02 -1.96522390e-03 2.22746674e+02] [-1.20874996e-02 9.99926943e-01 3.60952711e-05 4.01920394e+00] [ 1.96551663e-03 -1.23379214e-05 9.99998068e-01 4.65595204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04439141799998 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:222.81, Y:4.02, Z:0.47 [[ 9.99877641e-01 1.55190403e-02 -1.96522891e-03 2.22805050e+02] [-1.55189999e-02 9.99879572e-01 3.58203560e-05 4.01899867e+00] [ 1.96554814e-03 -5.31758589e-06 9.99998068e-01 4.65537141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10439141799998 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:222.86, Y:4.02, Z:0.46 [[ 9.99784196e-01 2.06809107e-02 -1.96523185e-03 2.22863346e+02] [-2.06808806e-02 9.99786127e-01 3.56580004e-05 4.01863569e+00] [ 1.96554898e-03 4.99241994e-06 9.99998068e-01 4.64680869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16439141799998 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:222.92, Y:4.02, Z:0.47 [[ 9.99714356e-01 2.38189897e-02 -1.96523473e-03 2.22921632e+02] [-2.38189659e-02 9.99716288e-01 3.54988139e-05 4.01798129e+00] [ 1.96552271e-03 1.13211852e-05 9.99998068e-01 4.65647340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22439141799998 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:222.98, Y:4.02, Z:0.47 [[ 9.99624553e-01 2.73293037e-02 -1.96523901e-03 2.22979938e+02] [-2.73292872e-02 9.99626485e-01 3.52603908e-05 4.01517775e+00] [ 1.96546860e-03 1.84614287e-05 9.99998068e-01 4.66979927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28439141799998 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:223.04, Y:4.01, Z:0.47 [[ 9.99637867e-01 2.68379107e-02 -1.96524188e-03 2.23038433e+02] [-2.68378936e-02 9.99639798e-01 3.50996347e-05 4.01231941e+00] [ 1.96547599e-03 1.76560284e-05 9.99998068e-01 4.67343090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.344391418 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:223.10, Y:4.01, Z:0.47 [[ 9.99744518e-01 2.25174932e-02 -1.96524472e-03 2.23096563e+02] [-2.25174680e-02 9.99746449e-01 3.49396467e-05 4.00774716e+00] [ 1.96553319e-03 9.32161495e-06 9.99998068e-01 4.67771514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.404391418 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:223.15, Y:4.00, Z:0.47 [[ 9.99886107e-01 1.49636722e-02 -1.96524890e-03 2.23154211e+02] [-1.49636329e-02 9.99888038e-01 3.47031886e-05 4.00074670e+00] [ 1.96554815e-03 -5.29197299e-06 9.99998068e-01 4.67168344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.464391418 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:223.21, Y:3.99, Z:0.47 [[ 9.99957241e-01 9.03630242e-03 -1.96525301e-03 2.23213398e+02] [-9.03625213e-03 9.99959172e-01 3.44687740e-05 3.99475907e+00] [ 1.96548424e-03 -1.67087784e-05 9.99998068e-01 4.65580339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52439141799996 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:223.27, Y:3.99, Z:0.46 [[ 9.99997066e-01 1.41590639e-03 -1.96525575e-03 2.23272305e+02] [-1.41584169e-03 9.99998997e-01 3.43116978e-05 3.98669635e+00] [ 1.96530236e-03 -3.15291062e-05 9.99998068e-01 4.63642154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58439141799997 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:223.33, Y:3.98, Z:0.46 [[ 9.99996266e-01 -1.89893858e-03 -1.96525851e-03 2.23331649e+02] [ 1.89900937e-03 9.99998196e-01 3.41529248e-05 3.97914779e+00] [ 1.96519011e-03 -3.78848416e-05 9.99998068e-01 4.63200627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64439141799997 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:223.39, Y:3.97, Z:0.46 [[ 9.99998052e-01 1.84332100e-04 -1.96525986e-03 2.23391916e+02] [-1.84265490e-04 9.99999982e-01 3.40748757e-05 3.97360334e+00] [ 1.96526611e-03 -3.37126798e-05 9.99998068e-01 4.63629252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70439141799997 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:223.45, Y:3.97, Z:0.46 [[ 9.99992339e-01 3.38531585e-03 -1.96525986e-03 2.23451692e+02] [-3.38525542e-03 9.99994269e-01 3.40748757e-05 3.97067096e+00] [ 1.96536396e-03 -2.74217081e-05 9.99998068e-01 4.63881816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76439141799997 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:223.51, Y:3.97, Z:0.46 [[ 9.99946949e-01 1.01112744e-02 -1.96526126e-03 2.23510803e+02] [-1.01112271e-02 9.99948880e-01 3.39943361e-05 3.96606471e+00] [ 1.96550452e-03 -1.41213298e-05 9.99998068e-01 4.63475279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82439141799998 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:223.57, Y:3.96, Z:0.46 [[ 9.99820262e-01 1.88568588e-02 -1.96527070e-03 2.23569140e+02] [-1.88568295e-02 9.99822194e-01 3.34393257e-05 3.96247160e+00] [ 1.96555182e-03 3.62545918e-06 9.99998068e-01 4.63492979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88439141799998 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:223.63, Y:3.96, Z:0.46 [[ 9.99686063e-01 2.49782345e-02 -1.96528075e-03 2.23628229e+02] [-2.49782182e-02 9.99687995e-01 3.28376931e-05 3.95988796e+00] [ 1.96548780e-03 1.62618274e-05 9.99998068e-01 4.63138987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94439141799998 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:223.69, Y:3.95, Z:0.46 [[ 9.99458465e-01 3.28468202e-02 -1.96528338e-03 2.23686163e+02] [-3.28468194e-02 9.99460397e-01 3.26796676e-05 3.95490102e+00] [ 1.96529633e-03 3.18913379e-05 9.99998068e-01 4.63342572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00439141799998 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:223.74, Y:3.95, Z:0.46 [[ 9.99363174e-01 3.56284163e-02 -1.96528733e-03 2.23743511e+02] [-3.56284213e-02 9.99365106e-01 3.24401561e-05 3.95078355e+00] [ 1.96519538e-03 3.76005878e-05 9.99998068e-01 4.63224175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06439141799999 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:223.80, Y:3.94, Z:0.46 [[ 9.99362030e-01 3.56605039e-02 -1.96529182e-03 2.23801722e+02] [-3.56605096e-02 9.99363961e-01 3.21662287e-05 3.94415820e+00] [ 1.96518888e-03 3.79376001e-05 9.99998068e-01 4.64592803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.124391418 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:223.86, Y:3.94, Z:0.47 [[ 9.99564699e-01 2.94372163e-02 -1.96529492e-03 2.23860292e+02] [-2.94372103e-02 9.99566631e-01 3.19756810e-05 3.93559066e+00] [ 1.96538449e-03 2.58910378e-05 9.99998068e-01 4.66378724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.184391418 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:223.92, Y:3.93, Z:0.47 [[ 9.99657072e-01 2.61127402e-02 -1.96529746e-03 2.23917875e+02] [-2.61127281e-02 9.99659004e-01 3.18183614e-05 3.93185015e+00] [ 1.96545817e-03 1.95118284e-05 9.99998068e-01 4.66115012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24439141799996 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:223.98, Y:3.92, Z:0.47 [[ 9.99922874e-01 1.22631077e-02 -1.96530123e-03 2.23976144e+02] [-1.22630693e-02 9.99924805e-01 3.15841869e-05 3.92245420e+00] [ 1.96554077e-03 -7.48112572e-06 9.99998068e-01 4.65458734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30439141799997 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:224.03, Y:3.92, Z:0.46 [[ 9.99997529e-01 1.03873004e-03 -1.96530378e-03 2.24033516e+02] [-1.03867029e-03 9.99999460e-01 3.14247481e-05 3.91508403e+00] [ 1.96533536e-03 -2.93833678e-05 9.99998068e-01 4.64866979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36439141799997 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:224.09, Y:3.91, Z:0.47 [[ 9.99876286e-01 -1.56060933e-02 -1.96530690e-03 2.24092750e+02] [ 1.56061848e-02 9.99878216e-01 3.12281957e-05 3.90621151e+00] [ 1.96458021e-03 -6.18952751e-05 9.99998068e-01 4.65683792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42439141799997 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:224.16, Y:3.90, Z:0.47 [[ 9.99605952e-01 -2.80014029e-02 -1.96530816e-03 2.24156126e+02] [ 2.80015182e-02 9.99607880e-01 3.11487732e-05 3.89938507e+00] [ 1.96366531e-03 -8.61681112e-05 9.99998068e-01 4.65370528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48439141799997 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:224.22, Y:3.90, Z:0.46 [[ 9.99434962e-01 -3.35543452e-02 -1.96529766e-03 2.24217586e+02] [ 3.35544725e-02 9.99436890e-01 3.17979572e-05 3.89560821e+00] [ 1.96312402e-03 -9.77245163e-05 9.99998068e-01 4.64128661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54439141799998 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:224.28, Y:3.89, Z:0.46 [[ 9.99291240e-01 -3.75919562e-02 -1.96529570e-03 2.24280234e+02] [ 3.75920914e-02 9.99293167e-01 3.19183647e-05 3.89311865e+00] [ 1.96270669e-03 -1.05775318e-04 9.99998068e-01 4.64607327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60439141799998 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:224.34, Y:3.89, Z:0.47 [[ 9.99173317e-01 -4.06056665e-02 -1.96529169e-03 2.24342771e+02] [ 4.06058081e-02 9.99175244e-01 3.21632941e-05 3.89206404e+00] [ 1.96236479e-03 -1.11938963e-04 9.99998068e-01 4.65290213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66439141799998 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:224.41, Y:3.89, Z:0.47 [[ 9.99147075e-01 -4.12463267e-02 -1.96528764e-03 2.24405502e+02] [ 4.12464699e-02 9.99149002e-01 3.24091220e-05 3.89261515e+00] [ 1.96227842e-03 -1.13442657e-04 9.99998068e-01 4.65567121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72439141799998 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:224.47, Y:3.89, Z:0.46 [[ 9.99171939e-01 -4.06395516e-02 -1.96528355e-03 2.24468070e+02] [ 4.06396941e-02 9.99173866e-01 3.26549831e-05 3.89239775e+00] [ 1.96233288e-03 -1.12496465e-04 9.99998068e-01 4.64027969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78439141799998 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:224.53, Y:3.89, Z:0.46 [[ 9.99194070e-01 -4.00917461e-02 -1.96528085e-03 2.24529754e+02] [ 4.00918880e-02 9.99195997e-01 3.28166189e-05 3.89495746e+00] [ 1.96238509e-03 -1.11581991e-04 9.99998068e-01 4.63735786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.844391418 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:224.59, Y:3.90, Z:0.46 [[ 9.99233421e-01 -3.90986953e-02 -1.96527886e-03 2.24592299e+02] [ 3.90988354e-02 9.99235348e-01 3.29357245e-05 3.89836204e+00] [ 1.96248836e-03 -1.09750591e-04 9.99998068e-01 4.62595454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.904391418 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:224.66, Y:3.90, Z:0.46 [[ 9.99323046e-01 -3.67367354e-02 -1.96527621e-03 2.24655016e+02] [ 3.67368713e-02 9.99324973e-01 3.30930627e-05 3.90350503e+00] [ 1.96273386e-03 -1.05268759e-04 9.99998068e-01 4.64480039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.964391418 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:224.72, Y:3.91, Z:0.47 [[ 9.99409295e-01 -3.43103291e-02 -1.96527204e-03 2.24717722e+02] [ 3.43104608e-02 9.99411222e-01 3.33386167e-05 3.90791953e+00] [ 1.96297108e-03 -1.00748313e-04 9.99998068e-01 4.66320294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02439141799996 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:224.78, Y:3.91, Z:0.47 [[ 9.99550631e-01 -2.99111061e-02 -1.96526930e-03 2.24779570e+02] [ 2.99112296e-02 9.99552559e-01 3.34992422e-05 3.91417848e+00] [ 1.96338796e-03 -9.22678101e-05 9.99998068e-01 4.67667792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08439141799997 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:224.84, Y:3.92, Z:0.47 [[ 9.99646581e-01 -2.65113417e-02 -1.96526658e-03 2.24842165e+02] [ 2.65114590e-02 9.99648509e-01 3.36581313e-05 3.91803463e+00] [ 1.96368349e-03 -8.57483203e-05 9.99998068e-01 4.68284497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14439141799997 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:224.90, Y:3.92, Z:0.47 [[ 9.99760296e-01 -2.18056843e-02 -1.96526381e-03 2.24903953e+02] [ 2.18057929e-02 9.99762225e-01 3.38193368e-05 3.92479745e+00] [ 1.96405906e-03 -7.66653658e-05 9.99998068e-01 4.67889788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20439141799997 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:224.97, Y:3.93, Z:0.47 [[ 9.99822571e-01 -1.87340546e-02 -1.96526176e-03 2.24966175e+02] [ 1.87341575e-02 9.99824500e-01 3.39380749e-05 3.92849161e+00] [ 1.96428106e-03 -7.07495766e-05 9.99998068e-01 4.68246630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26439141799997 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:225.03, Y:3.93, Z:0.47 [[ 9.99883908e-01 -1.51098762e-02 -1.96525901e-03 2.25027999e+02] [ 1.51099723e-02 9.99885837e-01 3.40963800e-05 3.93425876e+00] [ 1.96451946e-03 -6.37874310e-05 9.99998068e-01 4.68744111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32439141799998 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:225.09, Y:3.94, Z:0.47 [[ 9.99933852e-01 -1.13326690e-02 -1.96525623e-03 2.25090268e+02] [ 1.13327582e-02 9.99935782e-01 3.42561796e-05 3.94086726e+00] [ 1.96474181e-03 -5.65256872e-05 9.99998068e-01 4.68807823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38439141799998 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:225.15, Y:3.94, Z:0.47 [[ 9.99964371e-01 -8.20944321e-03 -1.96525344e-03 2.25152368e+02] [ 8.20952669e-03 9.99966301e-01 3.44152182e-05 3.94382345e+00] [ 1.96490468e-03 -5.05477926e-05 9.99998068e-01 4.69397777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44439141799998 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:225.21, Y:3.95, Z:0.47 [[ 9.99991299e-01 -3.67962150e-03 -1.96525059e-03 2.25214861e+02] [ 3.67969655e-03 9.99993229e-01 3.45773609e-05 3.94815791e+00] [ 1.96511005e-03 -4.18085858e-05 9.99998068e-01 4.69890340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50439141799998 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:225.28, Y:3.95, Z:0.47 [[ 9.99998031e-01 -2.74442148e-04 -1.96524772e-03 2.25275758e+02] [ 2.74510949e-04 9.99999962e-01 3.47395033e-05 3.95161650e+00] [ 1.96523811e-03 -3.52789169e-05 9.99998068e-01 4.70087753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56439141799999 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:225.34, Y:3.95, Z:0.47 [[ 9.99994503e-01 2.67036283e-03 -1.96524702e-03 2.25335493e+02] [-2.67029964e-03 9.99996434e-01 3.47791059e-05 3.95276608e+00] [ 1.96533289e-03 -2.95311164e-05 9.99998068e-01 4.70984362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.624391418 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:225.39, Y:3.95, Z:0.47 [[ 9.99991770e-01 3.54941252e-03 -1.96524840e-03 2.25394036e+02] [-3.54935118e-03 9.99993700e-01 3.47010938e-05 3.95198408e+00] [ 1.96535919e-03 -2.77254515e-05 9.99998068e-01 4.71641752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.684391418 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:225.45, Y:3.95, Z:0.47 [[ 9.99994378e-01 2.71697336e-03 -1.96525115e-03 2.25453285e+02] [-2.71691072e-03 9.99996309e-01 3.45448075e-05 3.95069444e+00] [ 1.96533775e-03 -2.92052014e-05 9.99998068e-01 4.72039178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74439141799996 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:225.51, Y:3.95, Z:0.47 [[ 9.99997927e-01 5.32559548e-04 -1.96525395e-03 2.25511810e+02] [-5.32493002e-04 9.99999858e-01 3.43848187e-05 3.94869396e+00] [ 1.96527198e-03 -3.33382635e-05 9.99998068e-01 4.70990163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80439141799997 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:225.57, Y:3.95, Z:0.47 [[ 9.99983020e-01 -5.48616526e-03 -1.96525539e-03 2.25569934e+02] [ 5.48624327e-03 9.99984950e-01 3.43023611e-05 3.94511024e+00] [ 1.96503762e-03 -4.50836478e-05 9.99998068e-01 4.69118267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86439141799997 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:225.63, Y:3.94, Z:0.47 [[ 9.99950172e-01 -9.78731911e-03 -1.96525738e-03 2.25630923e+02] [ 9.78740519e-03 9.99952102e-01 3.41874229e-05 3.94190646e+00] [ 1.96482865e-03 -5.34204897e-05 9.99998068e-01 4.69371868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92439141799997 meters Centerline goodness : 0.998856 with order 1 Centerline is valid? [True, True] Translation: X:225.69, Y:3.94, Z:0.47 [[ 9.99865475e-01 -1.62840096e-02 -1.96525601e-03 2.25693073e+02] [ 1.62841084e-02 9.99867405e-01 3.42664455e-05 3.93743482e+00] [ 1.96443743e-03 -6.62642776e-05 9.99998068e-01 4.69121318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98439141799997 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:225.75, Y:3.93, Z:0.47 [[ 9.99756307e-01 -2.19878288e-02 -1.96524635e-03 2.25753854e+02] [ 2.19879396e-02 9.99758235e-01 3.48117247e-05 3.93359596e+00] [ 1.96400579e-03 -7.80149594e-05 9.99998068e-01 4.70084509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04439141799998 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:225.82, Y:3.93, Z:0.47 [[ 9.99694485e-01 -2.46388705e-02 -1.96524429e-03 2.25816878e+02] [ 2.46389867e-02 9.99696413e-01 3.49272621e-05 3.93044739e+00] [ 1.96378710e-03 -8.33382192e-05 9.99998068e-01 4.70767244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10439141799998 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:225.88, Y:3.93, Z:0.47 [[ 9.99686598e-01 -2.49568226e-02 -1.96523990e-03 2.25878888e+02] [ 2.49569398e-02 9.99688526e-01 3.51729648e-05 3.92865737e+00] [ 1.96374997e-03 -8.42083154e-05 9.99998068e-01 4.70710142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16439141799998 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:225.94, Y:3.93, Z:0.47 [[ 9.99661671e-01 -2.59360948e-02 -1.96523265e-03 2.25941121e+02] [ 2.59362148e-02 9.99663599e-01 3.55731967e-05 3.92660357e+00] [ 1.96364892e-03 -8.65318574e-05 9.99998068e-01 4.70991060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22439141799998 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:226.00, Y:3.93, Z:0.47 [[ 9.99640607e-01 -2.67356511e-02 -1.96522969e-03 2.26003270e+02] [ 2.67357729e-02 9.99642535e-01 3.57363662e-05 3.92564845e+00] [ 1.96357175e-03 -8.82654574e-05 9.99998068e-01 4.70359671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28439141799998 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:226.06, Y:3.92, Z:0.47 [[ 9.99640063e-01 -2.67559680e-02 -1.96522674e-03 2.26064546e+02] [ 2.67560902e-02 9.99641991e-01 3.58978419e-05 3.92415648e+00] [ 1.96356269e-03 -8.84667048e-05 9.99998068e-01 4.68574166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.344391418 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:226.13, Y:3.92, Z:0.47 [[ 9.99672663e-01 -2.55089091e-02 -1.96522455e-03 2.26127940e+02] [ 2.55090291e-02 9.99674591e-01 3.60169593e-05 3.92401756e+00] [ 1.96366630e-03 -8.61361399e-05 9.99998068e-01 4.69333318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.404391418 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:226.19, Y:3.93, Z:0.47 [[ 9.99771226e-01 -2.12986945e-02 -1.96522019e-03 2.26189912e+02] [ 2.12988069e-02 9.99773154e-01 3.62535077e-05 3.92588053e+00] [ 1.96400223e-03 -7.81020590e-05 9.99998068e-01 4.71292220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.464391418 meters Centerline goodness : 0.998826 with order 1 Centerline is valid? [True, True] Translation: X:226.25, Y:3.93, Z:0.47 [[ 9.99929535e-01 -1.17073616e-02 -1.96521729e-03 2.26251902e+02] [ 1.17074557e-02 9.99931465e-01 3.64100686e-05 3.92847789e+00] [ 1.96465634e-03 -5.94151973e-05 9.99998068e-01 4.72351737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52439141799996 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:226.31, Y:3.93, Z:0.47 [[ 9.99987320e-01 -4.63658302e-03 -1.96521438e-03 2.26314579e+02] [ 4.63666383e-03 9.99989250e-01 3.65662997e-05 3.93003930e+00] [ 1.96502371e-03 -4.56778745e-05 9.99998068e-01 4.73550189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58439141799997 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:226.38, Y:3.93, Z:0.47 [[ 9.99988178e-01 4.44765813e-03 -1.96521134e-03 2.26376071e+02] [-4.44759453e-03 9.99990109e-01 3.67290307e-05 3.93284001e+00] [ 1.96535526e-03 -2.79881333e-05 9.99998068e-01 4.74128653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64439141799997 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:226.43, Y:3.93, Z:0.47 [[ 9.99958933e-01 8.84705314e-03 -1.96520981e-03 2.26433505e+02] [-8.84699788e-03 9.99960864e-01 3.68106852e-05 3.93367618e+00] [ 1.96545857e-03 -1.94229665e-05 9.99998068e-01 4.71673514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70439141799997 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:226.49, Y:3.93, Z:0.47 [[ 9.99958700e-01 8.87339174e-03 -1.96521354e-03 2.26492320e+02] [-8.87333692e-03 9.99960631e-01 3.66106629e-05 3.93408840e+00] [ 1.96546103e-03 -1.91711490e-05 9.99998068e-01 4.70539174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76439141799997 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:226.55, Y:3.94, Z:0.47 [[ 9.99977980e-01 6.33850547e-03 -1.96521651e-03 2.26551487e+02] [-6.33844608e-03 9.99979911e-01 3.64505050e-05 3.93521037e+00] [ 1.96540807e-03 -2.39932835e-05 9.99998068e-01 4.71000570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82439141799998 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:226.61, Y:3.94, Z:0.47 [[ 9.99996152e-01 1.95798417e-03 -1.96521944e-03 2.26609924e+02] [-1.95791663e-03 9.99998083e-01 3.62915079e-05 3.93538429e+00] [ 1.96528673e-03 -3.24436325e-05 9.99998068e-01 4.73079433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88439141799998 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:226.67, Y:3.93, Z:0.47 [[ 9.99995634e-01 -2.20691816e-03 -1.96522233e-03 2.26668410e+02] [ 2.20699343e-03 9.99997564e-01 3.61346739e-05 3.93476961e+00] [ 1.96513779e-03 -4.04717489e-05 9.99998068e-01 4.73934717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94439141799998 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:226.73, Y:3.93, Z:0.47 [[ 9.99966287e-01 -7.97261866e-03 -1.96522518e-03 2.26728622e+02] [ 7.97270475e-03 9.99968217e-01 3.59789532e-05 3.93382155e+00] [ 1.96487587e-03 -5.16459003e-05 9.99998068e-01 4.73513097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00439141799998 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:226.79, Y:3.93, Z:0.47 [[ 9.99898401e-01 -1.41182963e-02 -1.96522518e-03 2.26790500e+02] [ 1.41183943e-02 9.99900330e-01 3.59789532e-05 3.93242587e+00] [ 1.96452134e-03 -6.37211216e-05 9.99998068e-01 4.73647435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06439141799999 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:226.85, Y:3.93, Z:0.47 [[ 9.99873095e-01 -1.58092355e-02 -1.96521461e-03 2.26851730e+02] [ 1.58093378e-02 9.99875024e-01 3.65474654e-05 3.93086838e+00] [ 1.96439121e-03 -6.76115689e-05 9.99998068e-01 4.72915091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.124391418 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:226.91, Y:3.93, Z:0.47 [[ 9.99872725e-01 -1.58326302e-02 -1.96521237e-03 2.26913979e+02] [ 1.58327328e-02 9.99874654e-01 3.66673221e-05 3.93032913e+00] [ 1.96438550e-03 -6.77773376e-05 9.99998068e-01 4.73047385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.184391418 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:226.98, Y:3.93, Z:0.47 [[ 9.99906973e-01 -1.34975257e-02 -1.96520937e-03 2.26976556e+02] [ 1.34976241e-02 9.99908902e-01 3.68271940e-05 3.92980010e+00] [ 1.96453327e-03 -6.33494255e-05 9.99998068e-01 4.73291144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24439141799996 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:227.04, Y:3.93, Z:0.47 [[ 9.99954209e-01 -9.36581362e-03 -1.96520642e-03 2.27039106e+02] [ 9.36590438e-03 9.99956138e-01 3.69842864e-05 3.93009308e+00] [ 1.96477383e-03 -5.53885282e-05 9.99998068e-01 4.73237918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30439141799997 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:227.10, Y:3.93, Z:0.47 [[ 9.99972963e-01 -7.08605443e-03 -1.96520334e-03 2.27100345e+02] [ 7.08614111e-03 9.99974892e-01 3.71468590e-05 3.93100291e+00] [ 1.96489078e-03 -5.10715628e-05 9.99998068e-01 4.71880624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36439141799997 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:227.16, Y:3.93, Z:0.47 [[ 9.99963688e-01 -8.29216017e-03 -1.96520107e-03 2.27161911e+02] [ 8.29224941e-03 9.99965618e-01 3.72666997e-05 3.93201585e+00] [ 1.96482448e-03 -5.35612839e-05 9.99998068e-01 4.70962462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42439141799997 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:227.22, Y:3.93, Z:0.47 [[ 9.99935588e-01 -1.11784125e-02 -1.96519955e-03 2.27224039e+02] [ 1.11785075e-02 9.99937518e-01 3.73466264e-05 3.93226199e+00] [ 1.96465929e-03 -5.93122188e-05 9.99998068e-01 4.70674740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48439141799997 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:227.29, Y:3.93, Z:0.47 [[ 9.99934598e-01 -1.12666819e-02 -1.96519653e-03 2.27286193e+02] [ 1.12667774e-02 9.99936527e-01 3.75051898e-05 3.93209507e+00] [ 1.96464923e-03 -5.96441687e-05 9.99998068e-01 4.70323474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54439141799998 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:227.35, Y:3.93, Z:0.47 [[ 9.99926969e-01 -1.19245107e-02 -1.96519349e-03 2.27348496e+02] [ 1.19246077e-02 9.99928899e-01 3.76634344e-05 3.93240817e+00] [ 1.96460465e-03 -6.10948453e-05 9.99998068e-01 4.73515535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60439141799998 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:227.41, Y:3.93, Z:0.48 [[ 9.99958202e-01 -8.92923889e-03 -1.96519036e-03 2.27409286e+02] [ 8.92933046e-03 9.99960132e-01 3.78262425e-05 3.93417298e+00] [ 1.96477425e-03 -5.53724956e-05 9.99998068e-01 4.75182751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66439141799998 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:227.47, Y:3.93, Z:0.48 [[ 9.99972904e-01 -7.09438043e-03 -1.96518810e-03 2.27471104e+02] [ 7.09446869e-03 9.99974833e-01 3.79431916e-05 3.93403195e+00] [ 1.96486946e-03 -5.18841289e-05 9.99998068e-01 4.76326853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72439141799998 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:227.53, Y:3.93, Z:0.48 [[ 9.99991692e-01 -3.57125927e-03 -1.96518501e-03 2.27532554e+02] [ 3.57134105e-03 9.99993622e-01 3.81026617e-05 3.93397912e+00] [ 1.96503640e-03 -4.51206911e-05 9.99998068e-01 4.77061824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78439141799998 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:227.59, Y:3.93, Z:0.48 [[ 9.99997327e-01 -1.21791304e-03 -1.96518346e-03 2.27592775e+02] [ 1.21799043e-03 9.99999258e-01 3.81825785e-05 3.93336174e+00] [ 1.96513549e-03 -4.05760511e-05 9.99998068e-01 4.76962601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.844391418 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:227.65, Y:3.93, Z:0.48 [[ 9.99998009e-01 3.45332541e-04 -1.96518269e-03 2.27652143e+02] [-3.45258095e-04 9.99999940e-01 3.82217760e-05 3.93245002e+00] [ 1.96519577e-03 -3.75432047e-05 9.99998068e-01 4.76043539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.904391418 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:227.71, Y:3.93, Z:0.47 [[ 9.99997621e-01 9.46391333e-04 -1.96518421e-03 2.27711558e+02] [-9.46318201e-04 9.99999552e-01 3.81434836e-05 3.93037703e+00] [ 1.96521943e-03 -3.62837033e-05 9.99998068e-01 4.73772044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.964391418 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:227.77, Y:3.93, Z:0.47 [[ 9.99997868e-01 6.34470369e-04 -1.96518578e-03 2.27770173e+02] [-6.34396794e-04 9.99999798e-01 3.80624396e-05 3.92859441e+00] [ 1.96520954e-03 -3.68156508e-05 9.99998068e-01 4.72399120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02439141799996 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:227.83, Y:3.93, Z:0.47 [[ 9.99997950e-01 4.88127293e-04 -1.96518809e-03 2.27829850e+02] [-4.88053669e-04 9.99999880e-01 3.79431742e-05 3.92697691e+00] [ 1.96520637e-03 -3.69839791e-05 9.99998068e-01 4.72245768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08439141799997 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:227.89, Y:3.92, Z:0.47 [[ 9.99997964e-01 -4.58248273e-04 -1.96518959e-03 2.27889435e+02] [ 4.58323569e-04 9.99999894e-01 3.78650093e-05 3.92450510e+00] [ 1.96517203e-03 -3.87656249e-05 9.99998068e-01 4.73145123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14439141799997 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:227.95, Y:3.92, Z:0.47 [[ 9.99997115e-01 -1.38118179e-03 -1.96519109e-03 2.27948666e+02] [ 1.38125872e-03 9.99999045e-01 3.77869542e-05 3.92208933e+00] [ 1.96513703e-03 -4.05012825e-05 9.99998068e-01 4.74306676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20439141799997 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:228.01, Y:3.92, Z:0.47 [[ 9.99992090e-01 -3.45798929e-03 -1.96519259e-03 2.28009077e+02] [ 3.45807007e-03 9.99994020e-01 3.77088624e-05 3.91852815e+00] [ 1.96505044e-03 -4.45043378e-05 9.99998068e-01 4.74912326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26439141799997 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:228.07, Y:3.92, Z:0.48 [[ 9.99982982e-01 -5.49308430e-03 -1.96519259e-03 2.28069126e+02] [ 5.49316900e-03 9.99984912e-01 3.77088624e-05 3.91606810e+00] [ 1.96495580e-03 -4.85033557e-05 9.99998068e-01 4.75531864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32439141799998 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:228.13, Y:3.91, Z:0.47 [[ 9.99952567e-01 -9.53952431e-03 -1.96519259e-03 2.28129671e+02] [ 9.53961682e-03 9.99954496e-01 3.77088624e-05 3.91296361e+00] [ 1.96474344e-03 -5.64542580e-05 9.99998068e-01 4.74599496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38439141799998 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:228.19, Y:3.91, Z:0.47 [[ 9.99919973e-01 -1.24974613e-02 -1.96519185e-03 2.28191342e+02] [ 1.24975596e-02 9.99921902e-01 3.77475923e-05 3.90989411e+00] [ 1.96456662e-03 -6.23046738e-05 9.99998068e-01 4.73797194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44439141799998 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:228.25, Y:3.91, Z:0.47 [[ 9.99853333e-01 -1.70132430e-02 -1.96518892e-03 2.28252268e+02] [ 1.70133503e-02 9.99855262e-01 3.78994407e-05 3.90644970e+00] [ 1.96425969e-03 -7.13283296e-05 9.99998068e-01 4.72809469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50439141799998 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:228.31, Y:3.90, Z:0.47 [[ 9.99815563e-01 -1.91043914e-02 -1.96518675e-03 2.28314910e+02] [ 1.91045030e-02 9.99817492e-01 3.80116158e-05 3.90412357e+00] [ 1.96410190e-03 -7.55485213e-05 9.99998068e-01 4.73489725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56439141799999 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:228.38, Y:3.90, Z:0.47 [[ 9.99838534e-01 -1.78617817e-02 -1.96518363e-03 2.28375659e+02] [ 1.78618912e-02 9.99840463e-01 3.81723883e-05 3.90309866e+00] [ 1.96418828e-03 -7.32681208e-05 9.99998068e-01 4.73648617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.624391418 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:228.44, Y:3.90, Z:0.47 [[ 9.99880095e-01 -1.53601404e-02 -1.96518131e-03 2.28437396e+02] [ 1.53602453e-02 9.99882024e-01 3.82911215e-05 3.90252354e+00] [ 1.96436131e-03 -6.84721972e-05 9.99998068e-01 4.74954733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.684391418 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:228.50, Y:3.90, Z:0.47 [[ 9.99932680e-01 -1.14356637e-02 -1.96517813e-03 2.28498199e+02] [ 1.14357614e-02 9.99934609e-01 3.84535928e-05 3.90325838e+00] [ 1.96460989e-03 -6.09243122e-05 9.99998068e-01 4.74962665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74439141799996 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:228.56, Y:3.90, Z:0.48 [[ 9.99955185e-01 -9.26104654e-03 -1.96517578e-03 2.28560367e+02] [ 9.26114021e-03 9.99957114e-01 3.85733751e-05 3.90285252e+00] [ 1.96473427e-03 -5.67714149e-05 9.99998068e-01 4.75282673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80439141799997 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:228.62, Y:3.90, Z:0.48 [[ 9.99972358e-01 -7.17082597e-03 -1.96517255e-03 2.28621993e+02] [ 7.17091593e-03 9.99974288e-01 3.87371388e-05 3.90262484e+00] [ 1.96484425e-03 -5.28281552e-05 9.99998068e-01 4.75480672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86439141799997 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:228.68, Y:3.90, Z:0.48 [[ 9.99987493e-01 -4.59907123e-03 -1.96516722e-03 2.28683445e+02] [ 4.59915676e-03 9.99989423e-01 3.90059659e-05 3.90271712e+00] [ 1.96496704e-03 -4.80435902e-05 9.99998068e-01 4.76057575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92439141799997 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:228.74, Y:3.90, Z:0.48 [[ 9.99997573e-01 9.95574481e-04 -1.96516566e-03 2.28744812e+02] [-9.95499595e-04 9.99999504e-01 3.90844654e-05 3.90369868e+00] [ 1.96520359e-03 -3.71280489e-05 9.99998068e-01 4.76190568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98439141799997 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:228.80, Y:3.90, Z:0.48 [[ 9.99981140e-01 5.81880504e-03 -1.96516410e-03 2.28804333e+02] [-5.81873932e-03 9.99983070e-01 3.91625250e-05 3.90319216e+00] [ 1.96535871e-03 -2.77270088e-05 9.99998068e-01 4.75639064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04439141799998 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:228.86, Y:3.90, Z:0.48 [[ 9.99919936e-01 1.25003703e-02 -1.96516563e-03 2.28862239e+02] [-1.25003176e-02 9.99921867e-01 3.90859103e-05 3.90307183e+00] [ 1.96550067e-03 -1.45175864e-05 9.99998068e-01 4.76454246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10439141799998 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:228.92, Y:3.90, Z:0.48 [[ 9.99836678e-01 1.79654205e-02 -1.96517781e-03 2.28920566e+02] [-1.79653796e-02 9.99838609e-01 3.84635706e-05 3.90157938e+00] [ 1.96555166e-03 -3.15212338e-06 9.99998068e-01 4.77095694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16439141799998 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:228.98, Y:3.90, Z:0.48 [[ 9.99800569e-01 1.98736103e-02 -1.96518078e-03 2.28978544e+02] [-1.98735734e-02 9.99802500e-01 3.83110843e-05 3.89905358e+00] [ 1.96555404e-03 7.51720593e-07 9.99998068e-01 4.77752459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22439141799998 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:229.04, Y:3.90, Z:0.48 [[ 9.99816483e-01 1.90561710e-02 -1.96518539e-03 2.29036630e+02] [-1.90561330e-02 9.99818415e-01 3.80729493e-05 3.89552576e+00] [ 1.96555407e-03 -6.17128073e-07 9.99998068e-01 4.78064043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28439141799998 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:229.10, Y:3.89, Z:0.48 [[ 9.99900387e-01 1.39769388e-02 -1.96519002e-03 2.29095227e+02] [-1.39768914e-02 9.99902318e-01 3.78325608e-05 3.89047724e+00] [ 1.96552684e-03 -1.03615446e-05 9.99998068e-01 4.77010953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.344391418 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:229.15, Y:3.89, Z:0.48 [[ 9.99956791e-01 9.08587940e-03 -1.96519316e-03 2.29152530e+02] [-9.08582291e-03 9.99958722e-01 3.76690169e-05 3.88591682e+00] [ 1.96545429e-03 -1.98119922e-05 9.99998068e-01 4.76090750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.404391418 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:229.21, Y:3.88, Z:0.48 [[ 9.99993103e-01 3.15155400e-03 -1.96519698e-03 2.29211183e+02] [-3.15148646e-03 9.99995033e-01 3.74683953e-05 3.88058598e+00] [ 1.96530530e-03 -3.12748452e-05 9.99998068e-01 4.76474969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46439141799996 meters Centerline goodness : 0.998779 with order 1 Centerline is valid? [True, True] Translation: X:229.27, Y:3.88, Z:0.48 [[ 9.99997219e-01 1.30374581e-03 -1.96520003e-03 2.29269703e+02] [-1.30367501e-03 9.99999150e-01 3.73079119e-05 3.87629051e+00] [ 1.96524700e-03 -3.47458260e-05 9.99998068e-01 4.76305166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52439141799996 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:229.33, Y:3.87, Z:0.48 [[ 9.99995745e-01 2.15612554e-03 -1.96520307e-03 2.29328040e+02] [-2.15605670e-03 9.99997675e-01 3.71467517e-05 3.87302000e+00] [ 1.96527860e-03 -3.29095043e-05 9.99998068e-01 4.76580670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58439141799997 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:229.39, Y:3.87, Z:0.48 [[ 9.99993024e-01 3.17630799e-03 -1.96520590e-03 2.29386611e+02] [-3.17624142e-03 9.99994955e-01 3.69968060e-05 3.87082978e+00] [ 1.96531350e-03 -3.07545796e-05 9.99998068e-01 4.77159349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64439141799997 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:229.45, Y:3.87, Z:0.48 [[ 9.99987763e-01 4.54011663e-03 -1.96520879e-03 2.29445054e+02] [-4.54005299e-03 9.99989693e-01 3.68425143e-05 3.86747726e+00] [ 1.96535580e-03 -2.79199114e-05 9.99998068e-01 4.77962996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70439141799997 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:229.50, Y:3.86, Z:0.48 [[ 9.99991820e-01 3.53521440e-03 -1.96521922e-03 2.29503093e+02] [-3.53514993e-03 9.99993751e-01 3.62775076e-05 3.86347209e+00] [ 1.96533519e-03 -2.93298663e-05 9.99998068e-01 4.76623882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76439141799997 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:229.56, Y:3.86, Z:0.48 [[ 9.99996492e-01 1.77584106e-03 -1.96522285e-03 2.29561560e+02] [-1.77577358e-03 9.99998423e-01 3.60799423e-05 3.86010433e+00] [ 1.96528382e-03 -3.25900249e-05 9.99998068e-01 4.76283075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82439141799998 meters Centerline goodness : 0.998809 with order 1 Centerline is valid? [True, True] Translation: X:229.62, Y:3.86, Z:0.47 [[ 9.99996911e-01 -1.52157034e-03 -1.96522575e-03 2.29620804e+02] [ 1.52164387e-03 9.99998842e-01 3.59212475e-05 3.85656125e+00] [ 1.96516881e-03 -3.89115103e-05 9.99998068e-01 4.74434740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88439141799998 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:229.68, Y:3.86, Z:0.47 [[ 9.99995490e-01 -2.27126917e-03 -1.96522719e-03 2.29681337e+02] [ 2.27134400e-03 9.99997420e-01 3.58421193e-05 3.85514596e+00] [ 1.96514071e-03 -4.03056647e-05 9.99998068e-01 4.74283355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94439141799998 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:229.74, Y:3.85, Z:0.47 [[ 9.99992962e-01 -3.19601489e-03 -1.96522719e-03 2.29741902e+02] [ 3.19609150e-03 9.99994892e-01 3.58421193e-05 3.85312572e+00] [ 1.96510260e-03 -4.21229130e-05 9.99998068e-01 4.74866665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00439141799998 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:229.80, Y:3.85, Z:0.48 [[ 9.99995718e-01 -2.16825517e-03 -1.96522719e-03 2.29802000e+02] [ 2.16832979e-03 9.99997649e-01 3.58421193e-05 3.85244041e+00] [ 1.96514485e-03 -4.01032265e-05 9.99998068e-01 4.76305344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06439141799999 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:229.86, Y:3.85, Z:0.48 [[ 9.99997927e-01 -5.33630613e-04 -1.96522719e-03 2.29862316e+02] [ 5.33702081e-04 9.99999857e-01 3.58421193e-05 3.85220767e+00] [ 1.96520778e-03 -3.68908909e-05 9.99998068e-01 4.77927749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.124391418 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:229.92, Y:3.85, Z:0.48 [[ 9.99993861e-01 2.90091717e-03 -1.96522719e-03 2.29921776e+02] [-2.90085233e-03 9.99995792e-01 3.58421193e-05 3.85286913e+00] [ 1.96532289e-03 -3.01410654e-05 9.99998068e-01 4.80511237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.184391418 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:229.98, Y:3.85, Z:0.48 [[ 9.99995524e-01 2.25593505e-03 -1.96522874e-03 2.29980122e+02] [-2.25586914e-03 9.99997455e-01 3.57570533e-05 3.85029848e+00] [ 1.96530440e-03 -3.13235944e-05 9.99998068e-01 4.80654033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24439141799996 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:230.04, Y:3.85, Z:0.48 [[ 9.99998052e-01 -1.84195502e-04 -1.96523101e-03 2.30038895e+02] [ 1.84265882e-04 9.99999982e-01 3.56318611e-05 3.84918013e+00] [ 1.96522441e-03 -3.59939167e-05 9.99998068e-01 4.79614047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30439141799997 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:230.10, Y:3.85, Z:0.48 [[ 9.99992609e-01 -3.30457650e-03 -1.96523316e-03 2.30098028e+02] [ 3.30465267e-03 9.99994539e-01 3.55127771e-05 3.84693889e+00] [ 1.96510507e-03 -4.20069276e-05 9.99998068e-01 4.77823777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36439141799997 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:230.16, Y:3.85, Z:0.48 [[ 9.99991455e-01 -3.63706910e-03 -1.96523456e-03 2.30158254e+02] [ 3.63714575e-03 9.99993385e-01 3.54352358e-05 3.84555213e+00] [ 1.96509268e-03 -4.25827775e-05 9.99998068e-01 4.77701563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42439141799997 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:230.22, Y:3.85, Z:0.48 [[ 9.99997649e-01 -9.16933774e-04 -1.96523456e-03 2.30219053e+02] [ 9.17005183e-04 9.99999579e-01 3.54352358e-05 3.84597449e+00] [ 1.96520124e-03 -3.72372828e-05 9.99998068e-01 4.78965668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48439141799997 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:230.28, Y:3.85, Z:0.48 [[ 9.99997089e-01 1.40006562e-03 -1.96523456e-03 2.30278685e+02] [-1.39999869e-03 9.99999019e-01 3.54352358e-05 3.84526371e+00] [ 1.96528224e-03 -3.26838069e-05 9.99998068e-01 4.78918811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54439141799998 meters Centerline goodness : 0.998915 with order 1 Centerline is valid? [True, True] Translation: X:230.34, Y:3.84, Z:0.48 [[ 9.99992453e-01 3.35150429e-03 -1.96523526e-03 2.30338112e+02] [-3.35144119e-03 9.99994383e-01 3.53964028e-05 3.84464862e+00] [ 1.96534285e-03 -2.88097653e-05 9.99998068e-01 4.78721519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60439141799998 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:230.40, Y:3.84, Z:0.48 [[ 9.99996459e-01 1.79425354e-03 -1.96523668e-03 2.30396727e+02] [-1.79418760e-03 9.99998390e-01 3.53173958e-05 3.84340200e+00] [ 1.96529688e-03 -3.17912675e-05 9.99998068e-01 4.77898435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66439141799998 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:230.46, Y:3.84, Z:0.48 [[ 9.99997978e-01 -4.25745202e-04 -1.96523946e-03 2.30456112e+02] [ 4.25815126e-04 9.99999909e-01 3.51619991e-05 3.84166008e+00] [ 1.96522431e-03 -3.59987567e-05 9.99998068e-01 4.78219840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72439141799998 meters Centerline goodness : 0.998785 with order 1 Centerline is valid? [True, True] Translation: X:230.52, Y:3.84, Z:0.48 [[ 9.99991448e-01 -3.63899442e-03 -1.96524084e-03 2.30515336e+02] [ 3.63907039e-03 9.99993378e-01 3.50846907e-05 3.83842642e+00] [ 1.96510015e-03 -4.22360404e-05 9.99998068e-01 4.78768248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78439141799998 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:230.58, Y:3.84, Z:0.48 [[ 9.99991411e-01 -3.64897961e-03 -1.96524224e-03 2.30575429e+02] [ 3.64905545e-03 9.99993342e-01 3.50056744e-05 3.83617240e+00] [ 1.96510142e-03 -4.21766517e-05 9.99998068e-01 4.78526128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.844391418 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:230.64, Y:3.83, Z:0.48 [[ 9.99996026e-01 -2.02152301e-03 -1.96524224e-03 2.30635541e+02] [ 2.02159571e-03 9.99997956e-01 3.50056744e-05 3.83491992e+00] [ 1.96516746e-03 -3.89784606e-05 9.99998068e-01 4.77766940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.904391418 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:230.70, Y:3.83, Z:0.48 [[ 9.99997185e-01 1.32953817e-03 -1.96524154e-03 2.30695895e+02] [-1.32947186e-03 9.99999116e-01 3.50449329e-05 3.83310098e+00] [ 1.96528640e-03 -3.24321010e-05 9.99998068e-01 4.78976893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96439141799996 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:230.76, Y:3.83, Z:0.48 [[ 9.99988070e-01 4.47179790e-03 -1.96524154e-03 2.30755554e+02] [-4.47173766e-03 9.99990001e-01 3.50449329e-05 3.83151759e+00] [ 1.96537861e-03 -2.62564702e-05 9.99998068e-01 4.80882136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02439141799996 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:230.81, Y:3.83, Z:0.48 [[ 9.99967443e-01 7.82624713e-03 -1.96524294e-03 2.30814251e+02] [-7.82619352e-03 9.99969374e-01 3.49666837e-05 3.83026021e+00] [ 1.96545641e-03 -1.95851738e-05 9.99998068e-01 4.79996127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08439141799997 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:230.87, Y:3.83, Z:0.48 [[ 9.99950299e-01 9.77428145e-03 -1.96525260e-03 2.30873535e+02] [-9.77423268e-03 9.99952230e-01 3.44146588e-05 3.82790549e+00] [ 1.96549510e-03 -1.52041121e-05 9.99998068e-01 4.78705847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14439141799997 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:230.93, Y:3.82, Z:0.48 [[ 9.99923780e-01 1.21890334e-02 -1.96525470e-03 2.30932696e+02] [-1.21889895e-02 9.99925711e-01 3.42948001e-05 3.82434557e+00] [ 1.96552672e-03 -1.03377173e-05 9.99998068e-01 4.79235550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20439141799997 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:230.99, Y:3.82, Z:0.48 [[ 9.99913197e-01 1.30282548e-02 -1.96525748e-03 2.30991007e+02] [-1.30282128e-02 9.99915129e-01 3.41346205e-05 3.82170695e+00] [ 1.96553540e-03 -8.52786482e-06 9.99998068e-01 4.79524297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26439141799997 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:231.05, Y:3.82, Z:0.48 [[ 9.99914474e-01 1.29298885e-02 -1.96526020e-03 2.31049916e+02] [-1.29298467e-02 9.99916405e-01 3.39772295e-05 3.81722294e+00] [ 1.96553524e-03 -8.56381062e-06 9.99998068e-01 4.78823560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32439141799998 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:231.11, Y:3.81, Z:0.48 [[ 9.99928200e-01 1.18208633e-02 -1.96526298e-03 2.31108144e+02] [-1.18208197e-02 9.99930131e-01 3.38153821e-05 3.81147359e+00] [ 1.96552540e-03 -1.05819349e-05 9.99998068e-01 4.77924501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38439141799998 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:231.17, Y:3.81, Z:0.48 [[ 9.99951121e-01 9.68989610e-03 -1.96526572e-03 2.31166357e+02] [-9.68984867e-03 9.99953052e-01 3.36556408e-05 3.80679045e+00] [ 1.96549957e-03 -1.46108683e-05 9.99998068e-01 4.77549424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44439141799998 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:231.23, Y:3.80, Z:0.48 [[ 9.99967728e-01 7.78979482e-03 -1.96526906e-03 2.31225051e+02] [-7.78974411e-03 9.99969659e-01 3.34592774e-05 3.80287657e+00] [ 1.96547007e-03 -1.81492545e-05 9.99998068e-01 4.78249654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50439141799998 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:231.28, Y:3.80, Z:0.48 [[ 9.99993384e-01 3.06110734e-03 -1.96527168e-03 2.31282375e+02] [-3.06104779e-03 9.99995314e-01 3.33045619e-05 3.79782277e+00] [ 1.96536442e-03 -2.72885510e-05 9.99998068e-01 4.78305592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56439141799999 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:231.34, Y:3.79, Z:0.48 [[ 9.99997622e-01 -9.45421909e-04 -1.96527489e-03 2.31341264e+02] [ 9.45488813e-04 9.99999552e-01 3.31144057e-05 3.79404378e+00] [ 1.96524270e-03 -3.49724724e-05 9.99998068e-01 4.79747128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.624391418 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:231.40, Y:3.79, Z:0.48 [[ 9.99974910e-01 -6.80570382e-03 -1.96527755e-03 2.31400933e+02] [ 6.80578173e-03 9.99976840e-01 3.29553857e-05 3.78853012e+00] [ 1.96500775e-03 -4.63298089e-05 9.99998068e-01 4.80283151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.684391418 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:231.46, Y:3.78, Z:0.48 [[ 9.99919489e-01 -1.25360848e-02 -1.96527890e-03 2.31461965e+02] [ 1.25361736e-02 9.99921419e-01 3.28751833e-05 3.78450248e+00] [ 1.96471234e-03 -5.75096139e-05 9.99998068e-01 4.80237070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74439141799996 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:231.52, Y:3.78, Z:0.48 [[ 9.99827205e-01 -1.84850824e-02 -1.96527757e-03 2.31523940e+02] [ 1.84851828e-02 9.99829134e-01 3.29545726e-05 3.78043265e+00] [ 1.96433260e-03 -6.92773933e-05 9.99998068e-01 4.79444173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80439141799997 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:231.59, Y:3.78, Z:0.48 [[ 9.99786495e-01 -2.05694335e-02 -1.96526809e-03 2.31586361e+02] [ 2.05695390e-02 9.99788424e-01 3.35102376e-05 3.77838545e+00] [ 1.96416300e-03 -7.39277417e-05 9.99998068e-01 4.78979425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86439141799997 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:231.65, Y:3.78, Z:0.48 [[ 9.99693623e-01 -2.46738103e-02 -1.96526538e-03 2.31647487e+02] [ 2.46739241e-02 9.99695552e-01 3.36684685e-05 3.77554028e+00] [ 1.96383633e-03 -8.21489621e-05 9.99998068e-01 4.78317215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92439141799997 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:231.71, Y:3.77, Z:0.48 [[ 9.99568762e-01 -2.92989285e-02 -1.96526337e-03 2.31709573e+02] [ 2.92990515e-02 9.99570690e-01 3.37854221e-05 3.77258893e+00] [ 1.96342979e-03 -9.13512051e-05 9.99998068e-01 4.78007875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98439141799997 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:231.77, Y:3.77, Z:0.48 [[ 9.99534076e-01 -3.04592960e-02 -1.96526072e-03 2.31772103e+02] [ 3.04594214e-02 9.99536004e-01 3.39389314e-05 3.77166369e+00] [ 1.96331509e-03 -9.37838228e-05 9.99998068e-01 4.78291246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04439141799998 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:231.83, Y:3.77, Z:0.48 [[ 9.99647780e-01 -2.64660928e-02 -1.96525794e-03 2.31834044e+02] [ 2.64662109e-02 9.99649708e-01 3.40988072e-05 3.77217135e+00] [ 1.96366707e-03 -8.60997281e-05 9.99998068e-01 4.78197942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10439141799998 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:231.90, Y:3.77, Z:0.48 [[ 9.99835909e-01 -1.80081578e-02 -1.96525516e-03 2.31896396e+02] [ 1.80082598e-02 9.99837838e-01 3.42582634e-05 3.77458607e+00] [ 1.96431955e-03 -6.96434675e-05 9.99998068e-01 4.79829487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16439141799998 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:231.96, Y:3.78, Z:0.48 [[ 9.99936134e-01 -1.11294721e-02 -1.96525238e-03 2.31957366e+02] [ 1.11295612e-02 9.99938064e-01 3.44172462e-05 3.77622615e+00] [ 1.96474761e-03 -5.62874447e-05 9.99998068e-01 4.80231731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22439141799998 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:232.02, Y:3.78, Z:0.48 [[ 9.99997641e-01 -9.24853416e-04 -1.96525032e-03 2.32018473e+02] [ 9.24923070e-04 9.99999572e-01 3.45343619e-05 3.77982217e+00] [ 1.96521754e-03 -3.63519858e-05 9.99998068e-01 4.82124613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28439141799998 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:232.08, Y:3.78, Z:0.48 [[ 9.99981319e-01 5.78793912e-03 -1.96524890e-03 2.32077677e+02] [-5.78788226e-03 9.99983249e-01 3.46149070e-05 3.78113456e+00] [ 1.96541633e-03 -2.32396310e-05 9.99998068e-01 4.81925383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.344391418 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:232.14, Y:3.78, Z:0.48 [[ 9.99893392e-01 1.44686630e-02 -1.96524960e-03 2.32135296e+02] [-1.44686230e-02 9.99895323e-01 3.45753947e-05 3.78298949e+00] [ 1.96554414e-03 -6.13725310e-06 9.99998068e-01 4.82321615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.404391418 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:232.19, Y:3.78, Z:0.48 [[ 9.99784620e-01 2.06604003e-02 -1.96526071e-03 2.32193013e+02] [-2.06603735e-02 9.99786551e-01 3.39317963e-05 3.78296050e+00] [ 1.96554227e-03 6.67853225e-06 9.99998068e-01 4.81462823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46439141799996 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:232.25, Y:3.78, Z:0.48 [[ 9.99746372e-01 2.24349962e-02 -1.96526476e-03 2.32250996e+02] [-2.24349733e-02 9.99748304e-01 3.36954749e-05 3.78182842e+00] [ 1.96552607e-03 1.04037336e-05 9.99998068e-01 4.81105454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52439141799996 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:232.31, Y:3.78, Z:0.48 [[ 9.99793026e-01 2.02495214e-02 -1.96526873e-03 2.32309363e+02] [-2.02494948e-02 9.99794957e-01 3.34622305e-05 3.77826761e+00] [ 1.96554336e-03 6.34039425e-06 9.99998068e-01 4.80889294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58439141799997 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:232.37, Y:3.77, Z:0.48 [[ 9.99906293e-01 1.35478064e-02 -1.96527136e-03 2.32368514e+02] [-1.35477672e-02 9.99908224e-01 3.33070484e-05 3.77326750e+00] [ 1.96554224e-03 -6.67888842e-06 9.99998068e-01 4.81085578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64439141799997 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:232.43, Y:3.77, Z:0.48 [[ 9.99996876e-01 1.54480209e-03 -1.96527405e-03 2.32427550e+02] [-1.54473993e-03 9.99998806e-01 3.31478768e-05 3.76672768e+00] [ 1.96532291e-03 -3.01119360e-05 9.99998068e-01 4.83529983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70439141799997 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:232.49, Y:3.76, Z:0.48 [[ 9.99981989e-01 -5.67095002e-03 -1.96527673e-03 2.32486790e+02] [ 5.67102580e-03 9.99983919e-01 3.29881928e-05 3.76126928e+00] [ 1.96505805e-03 -4.41327337e-05 9.99998068e-01 4.83963883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76439141799997 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:232.55, Y:3.75, Z:0.48 [[ 9.99884248e-01 -1.50873852e-02 -1.96527809e-03 2.32547031e+02] [ 1.50874790e-02 9.99886177e-01 3.29071055e-05 3.75496102e+00] [ 1.96455791e-03 -6.25543884e-05 9.99998068e-01 4.83022711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82439141799998 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:232.61, Y:3.75, Z:0.48 [[ 9.99813074e-01 -1.92342286e-02 -1.96527809e-03 2.32607793e+02] [ 1.92343304e-02 9.99815003e-01 3.29071055e-05 3.75065325e+00] [ 1.96428157e-03 -7.07017623e-05 9.99998068e-01 4.81538054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88439141799998 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:232.67, Y:3.75, Z:0.48 [[ 9.99776580e-01 -2.10458355e-02 -1.96527607e-03 2.32668677e+02] [ 2.10459410e-02 9.99778509e-01 3.30270802e-05 3.74669437e+00] [ 1.96414570e-03 -7.43807856e-05 9.99998068e-01 4.80502498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94439141799998 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:232.73, Y:3.75, Z:0.48 [[ 9.99816256e-01 -1.90680651e-02 -1.96527430e-03 2.32730847e+02] [ 1.90681670e-02 9.99818185e-01 3.31318565e-05 3.74582718e+00] [ 1.96428523e-03 -7.05999474e-05 9.99998068e-01 4.81536071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00439141799998 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:232.79, Y:3.75, Z:0.48 [[ 9.99908925e-01 -1.33521439e-02 -1.96527150e-03 2.32791878e+02] [ 1.33522351e-02 9.99910854e-01 3.32975553e-05 3.74538961e+00] [ 1.96465171e-03 -5.95352898e-05 9.99998068e-01 4.80784046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06439141799999 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:232.85, Y:3.75, Z:0.48 [[ 9.99959437e-01 -8.78983629e-03 -1.96526942e-03 2.32853001e+02] [ 8.78991894e-03 9.99961367e-01 3.34198855e-05 3.74525965e+00] [ 1.96489974e-03 -5.06930887e-05 9.99998068e-01 4.80458498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.124391418 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:232.91, Y:3.75, Z:0.48 [[ 9.99997126e-01 -1.37320799e-03 -1.96526737e-03 2.32913878e+02] [ 1.37327656e-03 9.99999056e-01 3.35395597e-05 3.74683993e+00] [ 1.96521946e-03 -3.62383189e-05 9.99998068e-01 4.79690059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.184391418 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:232.97, Y:3.75, Z:0.48 [[ 9.99992739e-01 3.26487882e-03 -1.96526511e-03 2.32973112e+02] [-3.26481895e-03 9.99994670e-01 3.36717302e-05 3.74744444e+00] [ 1.96536457e-03 -2.72552510e-05 9.99998068e-01 4.78773116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24439141799996 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:233.03, Y:3.75, Z:0.48 [[ 9.99960200e-01 8.70260471e-03 -1.96526641e-03 2.33032018e+02] [-8.70255549e-03 9.99962131e-01 3.35956348e-05 3.74838475e+00] [ 1.96548436e-03 -1.64914578e-05 9.99998068e-01 4.78726062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30439141799997 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:233.09, Y:3.75, Z:0.48 [[ 9.99926284e-01 1.19818007e-02 -1.96527522e-03 2.33090633e+02] [-1.19817588e-02 9.99928216e-01 3.30722165e-05 3.74909951e+00] [ 1.96553041e-03 -9.52232483e-06 9.99998068e-01 4.80965453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36439141799997 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:233.15, Y:3.75, Z:0.48 [[ 9.99921028e-01 1.24126994e-02 -1.96527788e-03 2.33149111e+02] [-1.24126587e-02 9.99922959e-01 3.29131965e-05 3.74977616e+00] [ 1.96553502e-03 -8.51627363e-06 9.99998068e-01 4.81547911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42439141799997 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:233.21, Y:3.75, Z:0.48 [[ 9.99938664e-01 1.08998175e-02 -1.96528058e-03 2.33207398e+02] [-1.08997742e-02 9.99940595e-01 3.27516018e-05 3.74914187e+00] [ 1.96552081e-03 -1.13284785e-05 9.99998068e-01 4.81324663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48439141799997 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:233.27, Y:3.75, Z:0.48 [[ 9.99983240e-01 5.44583152e-03 -1.96528386e-03 2.33266658e+02] [-5.44577806e-03 9.99985171e-01 3.25534215e-05 3.74767855e+00] [ 1.96543200e-03 -2.18503762e-05 9.99998068e-01 4.82729396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54439141799998 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:233.33, Y:3.75, Z:0.48 [[ 9.99991925e-01 -3.50533166e-03 -1.96528645e-03 2.33326292e+02] [ 3.50540209e-03 9.99993856e-01 3.23958619e-05 3.74545831e+00] [ 1.96516082e-03 -3.92847195e-05 9.99998068e-01 4.84207441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60439141799998 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:233.39, Y:3.74, Z:0.48 [[ 9.99900090e-01 -1.39981574e-02 -1.96528778e-03 2.33386660e+02] [ 1.39982479e-02 9.99902019e-01 3.23155726e-05 3.74247657e+00] [ 1.96464286e-03 -5.98229294e-05 9.99998068e-01 4.84518028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66439141799998 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:233.45, Y:3.74, Z:0.48 [[ 9.99815847e-01 -1.90895412e-02 -1.96528778e-03 2.33447676e+02] [ 1.90896415e-02 9.99817776e-01 3.23155726e-05 3.73995249e+00] [ 1.96431276e-03 -6.98262607e-05 9.99998068e-01 4.83445058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72439141799998 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:233.51, Y:3.74, Z:0.48 [[ 9.99618396e-01 -2.75535874e-02 -1.96528513e-03 2.33509907e+02] [ 2.75537044e-02 9.99620324e-01 3.24757759e-05 3.73846443e+00] [ 1.96364413e-03 -8.66142685e-05 9.99998068e-01 4.83502708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78439141799998 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:233.57, Y:3.74, Z:0.48 [[ 9.99311746e-01 -3.70428316e-02 -1.96528246e-03 2.33572008e+02] [ 3.70429672e-02 9.99313673e-01 3.26363256e-05 3.73697687e+00] [ 1.96272469e-03 -1.05413757e-04 9.99998068e-01 4.82416080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.844391418 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:233.63, Y:3.74, Z:0.48 [[ 9.99093613e-01 -4.25216326e-02 -1.96527972e-03 2.33633886e+02] [ 4.25217791e-02 9.99095540e-01 3.28003803e-05 3.73526011e+00] [ 1.96210748e-03 -1.16337841e-04 9.99998068e-01 4.80164473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.904391418 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:233.70, Y:3.74, Z:0.48 [[ 9.98815806e-01 -4.86119731e-02 -1.96527697e-03 2.33695851e+02] [ 4.86121316e-02 9.98817731e-01 3.29645150e-05 3.73692727e+00] [ 1.96135101e-03 -1.28461781e-04 9.99998068e-01 4.83139280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96439141799996 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:233.76, Y:3.74, Z:0.48 [[ 9.98772540e-01 -4.94929388e-02 -1.96527423e-03 2.33758452e+02] [ 4.94930994e-02 9.98774465e-01 3.31272717e-05 3.73802806e+00] [ 1.96122615e-03 -1.30354122e-04 9.99998068e-01 4.83065925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02439141799996 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:233.82, Y:3.74, Z:0.48 [[ 9.98915289e-01 -4.65229397e-02 -1.96527008e-03 2.33820101e+02] [ 4.65230950e-02 9.98917214e-01 3.33716591e-05 3.74144734e+00] [ 1.96158956e-03 -1.24765907e-04 9.99998068e-01 4.82476874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08439141799997 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:233.88, Y:3.75, Z:0.48 [[ 9.99196210e-01 -4.00383704e-02 -1.96526666e-03 2.33882870e+02] [ 4.00385136e-02 9.99198137e-01 3.35717054e-05 3.74674147e+00] [ 1.96234663e-03 -1.12231077e-04 9.99998068e-01 4.83348054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14439141799997 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:233.94, Y:3.75, Z:0.48 [[ 9.99464140e-01 -3.26736974e-02 -1.96526254e-03 2.33944238e+02] [ 3.26738269e-02 9.99466067e-01 3.38111950e-05 3.75291438e+00] [ 1.96310849e-03 -9.80057251e-05 9.99998068e-01 4.82947901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20439141799997 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:234.01, Y:3.76, Z:0.48 [[ 9.99603833e-01 -2.80769361e-02 -1.96526052e-03 2.34005424e+02] [ 2.80770569e-02 9.99605761e-01 3.39284348e-05 3.75694376e+00] [ 1.96353313e-03 -8.90937249e-05 9.99998068e-01 4.82674267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26439141799997 meters Centerline goodness : 0.999027 with order 1 Centerline is valid? [True, True] Translation: X:234.07, Y:3.76, Z:0.49 [[ 9.99781027e-01 -2.08335344e-02 -1.96525857e-03 2.34067255e+02] [ 2.08336415e-02 9.99782956e-01 3.40408408e-05 3.76452800e+00] [ 1.96412283e-03 -7.49768793e-05 9.99998068e-01 4.85386159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32439141799998 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:234.13, Y:3.77, Z:0.49 [[ 9.99915528e-01 -1.28481613e-02 -1.96525645e-03 2.34129843e+02] [ 1.28482533e-02 9.99917457e-01 3.41628426e-05 3.77155536e+00] [ 1.96465530e-03 -5.94100693e-05 9.99998068e-01 4.86658624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38439141799998 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:234.19, Y:3.78, Z:0.49 [[ 9.99985646e-01 -4.98461616e-03 -1.96525366e-03 2.34191848e+02] [ 4.98469323e-03 9.99987576e-01 3.43225658e-05 3.77809600e+00] [ 1.96505816e-03 -4.41182598e-05 9.99998068e-01 4.87524946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44439141799998 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:234.25, Y:3.78, Z:0.49 [[ 9.99998013e-01 -3.34674226e-04 -1.96525086e-03 2.34252897e+02] [ 3.34742637e-04 9.99999943e-01 3.44818702e-05 3.78185440e+00] [ 1.96523921e-03 -3.51396549e-05 9.99998068e-01 4.87876183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50439141799998 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:234.31, Y:3.79, Z:0.49 [[ 9.99986374e-01 4.83629415e-03 -1.96524946e-03 2.34312805e+02] [-4.83623556e-03 9.99988305e-01 3.45615802e-05 3.78819490e+00] [ 1.96539363e-03 -2.50567000e-05 9.99998068e-01 4.88488317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56439141799999 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:234.37, Y:3.79, Z:0.49 [[ 9.99962903e-01 8.38632597e-03 -1.96525094e-03 2.34371074e+02] [-8.38627440e-03 9.99964834e-01 3.44772107e-05 3.78998953e+00] [ 1.96547097e-03 -1.79947980e-05 9.99998068e-01 4.88719704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.624391418 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:234.43, Y:3.79, Z:0.49 [[ 9.99957954e-01 8.95697415e-03 -1.96526097e-03 2.34430313e+02] [-8.95692483e-03 9.99959885e-01 3.38957718e-05 3.79166378e+00] [ 1.96548574e-03 -1.62916518e-05 9.99998068e-01 4.87949922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.684391418 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:234.49, Y:3.79, Z:0.49 [[ 9.99975535e-01 6.71321176e-03 -1.96526370e-03 2.34488755e+02] [-6.71315842e-03 9.99977466e-01 3.37367529e-05 3.79190315e+00] [ 1.96544590e-03 -2.05428010e-05 9.99998068e-01 4.86998620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74439141799996 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:234.55, Y:3.79, Z:0.49 [[ 9.99997109e-01 1.38579978e-03 -1.96526643e-03 2.34547091e+02] [-1.38573647e-03 9.99999039e-01 3.35766679e-05 3.79134682e+00] [ 1.96531108e-03 -3.08532294e-05 9.99998068e-01 4.85561233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80439141799997 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:234.61, Y:3.79, Z:0.49 [[ 9.99975975e-01 -6.64734277e-03 -1.96526915e-03 2.34607091e+02] [ 6.64742127e-03 9.99977905e-01 3.34167362e-05 3.79089145e+00] [ 1.96500360e-03 -4.64799054e-05 9.99998068e-01 4.86399401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86439141799997 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:234.67, Y:3.79, Z:0.49 [[ 9.99911225e-01 -1.31787694e-02 -1.96527053e-03 2.34668759e+02] [ 1.31788604e-02 9.99913154e-01 3.33356003e-05 3.78986669e+00] [ 1.96466053e-03 -5.92326669e-05 9.99998068e-01 4.87411840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92439141799997 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:234.73, Y:3.79, Z:0.49 [[ 9.99850479e-01 -1.71801383e-02 -1.96526918e-03 2.34731222e+02] [ 1.71802372e-02 9.99852408e-01 3.34149047e-05 3.78881682e+00] [ 1.96440505e-03 -6.71736991e-05 9.99998068e-01 4.87886648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98439141799997 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:234.79, Y:3.79, Z:0.49 [[ 9.99725561e-01 -2.33439399e-02 -1.96526650e-03 2.34794562e+02] [ 2.33440509e-02 9.99727490e-01 3.35721875e-05 3.78772160e+00] [ 1.96394723e-03 -7.94402551e-05 9.99998068e-01 4.88250571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04439141799998 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:234.86, Y:3.79, Z:0.49 [[ 9.99612010e-01 -2.77843127e-02 -1.96526232e-03 2.34857442e+02] [ 2.77844327e-02 9.99613938e-01 3.38146545e-05 3.78633927e+00] [ 1.96356409e-03 -8.84052336e-05 9.99998068e-01 4.88125853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10439141799998 meters Centerline goodness : 0.999336 with order 1 Centerline is valid? [True, True] Translation: X:234.92, Y:3.79, Z:0.49 [[ 9.99395563e-01 -3.47080073e-02 -1.96525816e-03 2.34920465e+02] [ 3.47081412e-02 9.99397490e-01 3.40551493e-05 3.78615244e+00] [ 1.96289208e-03 -1.02245023e-04 9.99998068e-01 4.88499998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16439141799998 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:234.98, Y:3.79, Z:0.49 [[ 9.99260466e-01 -3.84012865e-02 -1.96525390e-03 2.34982539e+02] [ 3.84014280e-02 9.99262393e-01 3.42990310e-05 3.78704289e+00] [ 1.96248719e-03 -1.09742222e-04 9.99998068e-01 4.88177186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22439141799998 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:235.04, Y:3.79, Z:0.49 [[ 9.99255296e-01 -3.85355802e-02 -1.96525103e-03 2.35044504e+02] [ 3.85357223e-02 9.99257223e-01 3.44628221e-05 3.78806642e+00] [ 1.96246324e-03 -1.10169525e-04 9.99998068e-01 4.87796820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28439141799998 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:235.11, Y:3.79, Z:0.49 [[ 9.99359685e-01 -3.57261600e-02 -1.96524746e-03 2.35107554e+02] [ 3.57262970e-02 9.99361611e-01 3.46651648e-05 3.79039951e+00] [ 1.96275441e-03 -1.04853983e-04 9.99998068e-01 4.87861375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.344391418 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:235.17, Y:3.79, Z:0.49 [[ 9.99529522e-01 -3.06083584e-02 -1.96524337e-03 2.35169495e+02] [ 3.06084860e-02 9.99531450e-01 3.48954702e-05 3.79440308e+00] [ 1.96325446e-03 -9.50321769e-05 9.99998068e-01 4.88071929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.404391418 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:235.23, Y:3.80, Z:0.49 [[ 9.99804890e-01 -1.96550159e-02 -1.96524053e-03 2.35231517e+02] [ 1.96551227e-02 9.99806819e-01 3.50544521e-05 3.79966159e+00] [ 1.96417189e-03 -7.36746564e-05 9.99998068e-01 4.86491392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46439141799996 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:235.29, Y:3.80, Z:0.49 [[ 9.99890031e-01 -1.46990950e-02 -1.96523773e-03 2.35293678e+02] [ 1.46991926e-02 9.99891960e-01 3.52109957e-05 3.80347748e+00] [ 1.96450783e-03 -6.40945314e-05 9.99998068e-01 4.89772305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52439141799996 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:235.36, Y:3.81, Z:0.49 [[ 9.99988938e-01 -4.27333218e-03 -1.96523482e-03 2.35356414e+02] [ 4.27340995e-03 9.99990868e-01 3.53727055e-05 3.80839699e+00] [ 1.96506571e-03 -4.37705683e-05 9.99998068e-01 4.91267110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58439141799997 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:235.42, Y:3.81, Z:0.49 [[ 9.99984216e-01 5.26361883e-03 -1.96523193e-03 2.35417782e+02] [-5.26355916e-03 9.99986147e-01 3.55324271e-05 3.81278208e+00] [ 1.96539173e-03 -2.51877517e-05 9.99998068e-01 4.92042611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64439141799997 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:235.48, Y:3.81, Z:0.49 [[ 9.99966962e-01 7.88751719e-03 -1.96523048e-03 2.35475622e+02] [-7.88746243e-03 9.99968893e-01 3.56124701e-05 3.81338593e+00] [ 1.96545024e-03 -2.01106120e-05 9.99998068e-01 4.92093744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70439141799997 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:235.53, Y:3.82, Z:0.49 [[ 9.99869779e-01 1.60175577e-02 -1.96524174e-03 2.35533559e+02] [-1.60175198e-02 9.99871711e-01 3.49797612e-05 3.81685356e+00] [ 1.96554991e-03 -3.49690757e-06 9.99998068e-01 4.92269751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76439141799997 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:235.59, Y:3.82, Z:0.49 [[ 9.99768300e-01 2.14355900e-02 -1.96525262e-03 2.35592489e+02] [-2.14355638e-02 9.99770231e-01 3.43573979e-05 3.81760131e+00] [ 1.96553754e-03 7.77686076e-06 9.99998068e-01 4.92433957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82439141799998 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:235.65, Y:3.82, Z:0.49 [[ 9.99750205e-01 2.22635395e-02 -1.96525541e-03 2.35650379e+02] [-2.22635152e-02 9.99752137e-01 3.41968914e-05 3.81688203e+00] [ 1.96552964e-03 9.56514472e-06 9.99998068e-01 4.91822140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88439141799998 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:235.71, Y:3.81, Z:0.49 [[ 9.99805314e-01 1.96334165e-02 -1.96525952e-03 2.35708275e+02] [-1.96333877e-02 9.99807246e-01 3.39592002e-05 3.81466797e+00] [ 1.96554744e-03 4.63211320e-06 9.99998068e-01 4.90454117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94439141799998 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:235.77, Y:3.81, Z:0.49 [[ 9.99908818e-01 1.33601385e-02 -1.96526359e-03 2.35767162e+02] [-1.33600980e-02 9.99910749e-01 3.37219010e-05 3.81007067e+00] [ 1.96553872e-03 -7.46271189e-06 9.99998068e-01 4.90680830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00439141799998 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:235.83, Y:3.80, Z:0.49 [[ 9.99985355e-01 5.04252114e-03 -1.96526633e-03 2.35825813e+02] [-5.04246492e-03 9.99987286e-01 3.35614709e-05 3.80437171e+00] [ 1.96541058e-03 -2.36511928e-05 9.99998068e-01 4.89713118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06439141799999 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:235.88, Y:3.80, Z:0.49 [[ 9.99997957e-01 -4.72076706e-04 -1.96526902e-03 2.35883261e+02] [ 4.72143264e-04 9.99999888e-01 3.34036710e-05 3.80042116e+00] [ 1.96525303e-03 -3.43314913e-05 9.99998068e-01 4.89006448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.124391418 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:235.94, Y:3.79, Z:0.49 [[ 9.99971570e-01 -7.27990688e-03 -1.96527229e-03 2.35942927e+02] [ 7.27998620e-03 9.99973500e-01 3.32096984e-05 3.79432277e+00] [ 1.96497845e-03 -4.75159094e-05 9.99998068e-01 4.89137970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.184391418 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:236.01, Y:3.79, Z:0.49 [[ 9.99951357e-01 -9.66550833e-03 -1.96527362e-03 2.36005435e+02] [ 9.66559210e-03 9.99953287e-01 3.31307183e-05 3.78874262e+00] [ 1.96486159e-03 -5.21246399e-05 9.99998068e-01 4.89348890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24439141799996 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:236.07, Y:3.79, Z:0.49 [[ 9.99965376e-01 -8.08603393e-03 -1.96527095e-03 2.36067955e+02] [ 8.08611496e-03 9.99967306e-01 3.32887067e-05 3.78517185e+00] [ 1.96493752e-03 -4.91789609e-05 9.99998068e-01 4.89272664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30439141799997 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:236.13, Y:3.78, Z:0.49 [[ 9.99995853e-01 -2.10532157e-03 -1.96526830e-03 2.36129161e+02] [ 2.10539136e-03 9.99997783e-01 3.34442337e-05 3.78118332e+00] [ 1.96519353e-03 -3.75817539e-05 9.99998068e-01 4.88746207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36439141799997 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:236.19, Y:3.78, Z:0.49 [[ 9.99969750e-01 7.52572004e-03 -1.96526694e-03 2.36188231e+02] [-7.52566869e-03 9.99971681e-01 3.35240391e-05 3.77824370e+00] [ 1.96546358e-03 -1.87330771e-05 9.99998068e-01 4.88117913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42439141799997 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:236.25, Y:3.78, Z:0.49 [[ 9.99831756e-01 1.82372339e-02 -1.96526761e-03 2.36246323e+02] [-1.82372033e-02 9.99833688e-01 3.34848689e-05 3.77568999e+00] [ 1.96555143e-03 2.36174963e-06 9.99998068e-01 4.89673286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48439141799997 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:236.30, Y:3.77, Z:0.49 [[ 9.99661612e-01 2.59383684e-02 -1.96527825e-03 2.36304398e+02] [-2.59383540e-02 9.99663544e-01 3.28482335e-05 3.77142032e+00] [ 1.96546905e-03 1.81389648e-05 9.99998068e-01 4.89246536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54439141799998 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:236.36, Y:3.77, Z:0.49 [[ 9.99592681e-01 2.84712205e-02 -1.96528875e-03 2.36363318e+02] [-2.84712121e-02 9.99594612e-01 3.22072656e-05 3.76742020e+00] [ 1.96540903e-03 2.37600060e-05 9.99998068e-01 4.87510929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60439141799998 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:236.42, Y:3.76, Z:0.49 [[ 9.99614575e-01 2.76918753e-02 -1.96529136e-03 2.36421017e+02] [-2.76918658e-02 9.99616506e-01 3.20471785e-05 3.76100584e+00] [ 1.96542513e-03 2.23877579e-05 9.99998068e-01 4.86173971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66439141799998 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:236.48, Y:3.75, Z:0.49 [[ 9.99757657e-01 2.19263327e-02 -1.96529455e-03 2.36479539e+02] [-2.19263125e-02 9.99759589e-01 3.18505347e-05 3.75314494e+00] [ 1.96552044e-03 1.12488465e-05 9.99998068e-01 4.87672401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72439141799998 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:236.54, Y:3.75, Z:0.49 [[ 9.99874481e-01 1.57213296e-02 -1.96529714e-03 2.36537046e+02] [-1.57212977e-02 9.99876412e-01 3.16897926e-05 3.74765646e+00] [ 1.96555246e-03 -7.88793458e-07 9.99998068e-01 4.88009033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78439141799998 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:236.60, Y:3.74, Z:0.49 [[ 9.99989051e-01 4.24674696e-03 -1.96530082e-03 2.36595213e+02] [-4.24669333e-03 9.99990982e-01 3.14602072e-05 3.73878482e+00] [ 1.96541670e-03 -2.31138329e-05 9.99998068e-01 4.89360912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.844391418 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:236.65, Y:3.73, Z:0.49 [[ 9.99980114e-01 -5.99235351e-03 -1.96530397e-03 2.36653306e+02] [ 5.99242652e-03 9.99982045e-01 3.12618362e-05 3.73008015e+00] [ 1.96508135e-03 -4.30381542e-05 9.99998068e-01 4.90209937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.904391418 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:236.71, Y:3.72, Z:0.49 [[ 9.99930867e-01 -1.15930675e-02 -1.96530527e-03 2.36714970e+02] [ 1.15931512e-02 9.99932797e-01 3.11802552e-05 3.72430422e+00] [ 1.96481172e-03 -5.39621807e-05 9.99998068e-01 4.90490078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96439141799996 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:236.78, Y:3.72, Z:0.49 [[ 9.99828759e-01 -1.84008201e-02 -1.96530401e-03 2.36776914e+02] [ 1.84009171e-02 9.99830688e-01 3.12592423e-05 3.71764580e+00] [ 1.96439607e-03 -6.74172855e-05 9.99998068e-01 4.89427247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02439141799996 meters Centerline goodness : 0.998813 with order 1 Centerline is valid? [True, True] Translation: X:236.84, Y:3.71, Z:0.49 [[ 9.99753357e-01 -2.21215320e-02 -1.96529515e-03 2.36837983e+02] [ 2.21216372e-02 9.99755286e-01 3.18068853e-05 3.71284956e+00] [ 1.96411060e-03 -7.52745865e-05 9.99998068e-01 4.88403821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08439141799997 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:236.90, Y:3.71, Z:0.49 [[ 9.99713709e-01 -2.38461383e-02 -1.96529326e-03 2.36900390e+02] [ 2.38462471e-02 9.99715637e-01 3.19228933e-05 3.71039835e+00] [ 1.96397317e-03 -7.87786228e-05 9.99998068e-01 4.88272931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14439141799997 meters Centerline goodness : 0.999386 with order 1 Centerline is valid? [True, True] Translation: X:236.96, Y:3.71, Z:0.49 [[ 9.99696297e-01 -2.45652498e-02 -1.96529066e-03 2.36962784e+02] [ 2.45653602e-02 9.99698225e-01 3.20822766e-05 3.70814465e+00] [ 1.96390948e-03 -8.03506061e-05 9.99998068e-01 4.86745815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20439141799997 meters Centerline goodness : 0.999449 with order 1 Centerline is valid? [True, True] Translation: X:237.03, Y:3.71, Z:0.49 [[ 9.99669601e-01 -2.56286337e-02 -1.96528806e-03 2.37025120e+02] [ 2.56287465e-02 9.99671529e-01 3.22409224e-05 3.70784887e+00] [ 1.96381623e-03 -8.25981395e-05 9.99998068e-01 4.86694650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26439141799997 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:237.09, Y:3.71, Z:0.49 [[ 9.99643565e-01 -2.66248048e-02 -1.96528541e-03 2.37085951e+02] [ 2.66249199e-02 9.99645493e-01 3.24014524e-05 3.70797620e+00] [ 1.96372602e-03 -8.47154700e-05 9.99998068e-01 4.86183615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32439141799998 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:237.15, Y:3.71, Z:0.49 [[ 9.99580921e-01 -2.88811345e-02 -1.96528345e-03 2.37147154e+02] [ 2.88812541e-02 9.99582849e-01 3.25197165e-05 3.70882424e+00] [ 1.96352443e-03 -8.92659391e-05 9.99998068e-01 4.86380226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38439141799998 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:237.21, Y:3.71, Z:0.49 [[ 9.99469107e-01 -3.25214139e-02 -1.96528158e-03 2.37209655e+02] [ 3.25215408e-02 9.99471034e-01 3.26327184e-05 3.71051939e+00] [ 1.96318075e-03 -9.65293789e-05 9.99998068e-01 4.88815165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44439141799998 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:237.27, Y:3.71, Z:0.49 [[ 9.99420040e-01 -3.39959060e-02 -1.96527900e-03 2.37272724e+02] [ 3.39960361e-02 9.99421967e-01 3.27870086e-05 3.71149040e+00] [ 1.96302838e-03 -9.95796894e-05 9.99998068e-01 4.89901132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50439141799998 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:237.34, Y:3.71, Z:0.49 [[ 9.99392268e-01 -3.48027650e-02 -1.96527515e-03 2.37335858e+02] [ 3.48028970e-02 9.99394195e-01 3.30164847e-05 3.71278130e+00] [ 1.96293551e-03 -1.01393688e-04 9.99998068e-01 4.90495522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56439141799999 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:237.40, Y:3.71, Z:0.49 [[ 9.99382182e-01 -3.50912071e-02 -1.96527113e-03 2.37398586e+02] [ 3.50913402e-02 9.99384109e-01 3.32539890e-05 3.71472631e+00] [ 1.96289381e-03 -1.02197442e-04 9.99998068e-01 4.91117860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.624391418 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:237.46, Y:3.72, Z:0.49 [[ 9.99414936e-01 -3.41456289e-02 -1.96526699e-03 2.37461611e+02] [ 3.41457606e-02 9.99416863e-01 3.34968709e-05 3.71997713e+00] [ 1.96297720e-03 -1.00582809e-04 9.99998068e-01 4.91656205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68439141799996 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:237.53, Y:3.72, Z:0.49 [[ 9.99458440e-01 -3.28476057e-02 -1.96526283e-03 2.37525053e+02] [ 3.28477354e-02 9.99460367e-01 3.37394868e-05 3.72409162e+00] [ 1.96309404e-03 -9.82756482e-05 9.99998068e-01 4.92254907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74439141799996 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:237.59, Y:3.73, Z:0.49 [[ 9.99481042e-01 -3.21525092e-02 -1.96525861e-03 2.37587784e+02] [ 3.21526380e-02 9.99482970e-01 3.39831345e-05 3.72618936e+00] [ 1.96314987e-03 -9.71537474e-05 9.99998068e-01 4.92344246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80439141799997 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:237.65, Y:3.73, Z:0.49 [[ 9.99471557e-01 -3.24460320e-02 -1.96525433e-03 2.37648720e+02] [ 3.24461618e-02 9.99473484e-01 3.42288390e-05 3.72982917e+00] [ 1.96310901e-03 -9.79757111e-05 9.99998068e-01 4.90323181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86439141799997 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:237.71, Y:3.73, Z:0.49 [[ 9.99449741e-01 -3.31112168e-02 -1.96525223e-03 2.37711888e+02] [ 3.31113482e-02 9.99451668e-01 3.43491864e-05 3.73148235e+00] [ 1.96303728e-03 -9.94024363e-05 9.99998068e-01 4.90252835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92439141799997 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:237.77, Y:3.74, Z:0.49 [[ 9.99390210e-01 -3.48618139e-02 -1.96524797e-03 2.37774482e+02] [ 3.48619492e-02 9.99392137e-01 3.45909247e-05 3.73555880e+00] [ 1.96284747e-03 -1.03082207e-04 9.99998068e-01 4.91597614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98439141799997 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:237.84, Y:3.74, Z:0.49 [[ 9.99405699e-01 -3.44149309e-02 -1.96524516e-03 2.37836563e+02] [ 3.44150656e-02 9.99407626e-01 3.47499824e-05 3.73873487e+00] [ 1.96288508e-03 -1.02363372e-04 9.99998068e-01 4.87723231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04439141799998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:237.90, Y:3.74, Z:0.49 [[ 9.99332157e-01 -3.64880386e-02 -1.96524235e-03 2.37898712e+02] [ 3.64881776e-02 9.99334084e-01 3.49085495e-05 3.74324235e+00] [ 1.96265991e-03 -1.06593348e-04 9.99998068e-01 4.92991018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10439141799998 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:237.96, Y:3.75, Z:0.49 [[ 9.99383764e-01 -3.50461054e-02 -1.96523947e-03 2.37961305e+02] [ 3.50462420e-02 9.99385691e-01 3.50695782e-05 3.74763499e+00] [ 1.96280316e-03 -1.03922225e-04 9.99998068e-01 4.94218925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16439141799998 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:238.02, Y:3.75, Z:0.49 [[ 9.99376241e-01 -3.52599969e-02 -1.96523591e-03 2.38023224e+02] [ 3.52601342e-02 9.99378168e-01 3.52678648e-05 3.75179703e+00] [ 1.96277032e-03 -1.04540348e-04 9.99998068e-01 4.92929783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22439141799998 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:238.08, Y:3.75, Z:0.49 [[ 9.99401975e-01 -3.45228994e-02 -1.96523293e-03 2.38084149e+02] [ 3.45230356e-02 9.99403902e-01 3.54335000e-05 3.75351817e+00] [ 1.96283819e-03 -1.03258116e-04 9.99998068e-01 4.92516716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28439141799998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:238.15, Y:3.75, Z:0.49 [[ 9.99368054e-01 -3.54912859e-02 -1.96523073e-03 2.38146464e+02] [ 3.54914242e-02 9.99369980e-01 3.55551743e-05 3.75437823e+00] [ 1.96273069e-03 -1.05281543e-04 9.99998068e-01 4.91274573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.344391418 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:238.21, Y:3.76, Z:0.49 [[ 9.99333030e-01 -3.64641272e-02 -1.96522785e-03 2.38208103e+02] [ 3.64642678e-02 9.99334957e-01 3.57132336e-05 3.75623015e+00] [ 1.96261864e-03 -1.07350009e-04 9.99998068e-01 4.89487199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.404391418 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:238.27, Y:3.76, Z:0.49 [[ 9.99453360e-01 -3.30018163e-02 -1.96522573e-03 2.38270944e+02] [ 3.30019504e-02 9.99455287e-01 3.58298171e-05 3.75879453e+00] [ 1.96297279e-03 -1.00666513e-04 9.99998068e-01 4.90409174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46439141799996 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:238.33, Y:3.76, Z:0.49 [[ 9.99673288e-01 -2.54844248e-02 -1.96522133e-03 2.38333252e+02] [ 2.54845448e-02 9.99675216e-01 3.60696419e-05 3.76315472e+00] [ 1.96366384e-03 -8.61406286e-05 9.99998068e-01 4.91316156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52439141799996 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:238.40, Y:3.77, Z:0.49 [[ 9.99881115e-01 -1.52936035e-02 -1.96521842e-03 2.38395753e+02] [ 1.52937042e-02 9.99883044e-01 3.62274775e-05 3.76790291e+00] [ 1.96443452e-03 -6.62786397e-05 9.99998068e-01 4.93503987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58439141799997 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:238.46, Y:3.77, Z:0.49 [[ 9.99983463e-01 -5.40478366e-03 -1.96521546e-03 2.38457215e+02] [ 5.40486560e-03 9.99985393e-01 3.63869304e-05 3.77198223e+00] [ 1.96499009e-03 -4.70080541e-05 9.99998068e-01 4.94400050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64439141799997 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:238.52, Y:3.77, Z:0.49 [[ 9.99997991e-01 -3.95196633e-04 -1.96521328e-03 2.38518891e+02] [ 3.95269135e-04 9.99999921e-01 3.65043457e-05 3.77415283e+00] [ 1.96519870e-03 -3.72810605e-05 9.99998068e-01 4.94979843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70439141799997 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:238.58, Y:3.78, Z:0.49 [[ 9.99986704e-01 4.76754325e-03 -1.96521181e-03 2.38578503e+02] [-4.76748056e-03 9.99988635e-01 3.65833665e-05 3.77640138e+00] [ 1.96536389e-03 -2.72137710e-05 9.99998068e-01 4.93906506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76439141799997 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:238.64, Y:3.78, Z:0.49 [[ 9.99977952e-01 6.34303143e-03 -1.96521253e-03 2.38637458e+02] [-6.34297186e-03 9.99979882e-01 3.65445925e-05 3.77691940e+00] [ 1.96540480e-03 -2.40784990e-05 9.99998068e-01 4.94346659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82439141799998 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:238.70, Y:3.78, Z:0.49 [[ 9.99981437e-01 5.76751026e-03 -1.96521550e-03 2.38695193e+02] [-5.76744989e-03 9.99983367e-01 3.63842622e-05 3.77759256e+00] [ 1.96539266e-03 -2.50493048e-05 9.99998068e-01 4.94818107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88439141799998 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:238.75, Y:3.78, Z:0.50 [[ 9.99995206e-01 2.39273458e-03 -1.96521952e-03 2.38752687e+02] [-2.39266812e-03 9.99997137e-01 3.61657889e-05 3.77590273e+00] [ 1.96530043e-03 -3.14634975e-05 9.99998068e-01 4.95651931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94439141799998 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:238.81, Y:3.77, Z:0.50 [[ 9.99994773e-01 -2.56735663e-03 -1.96522305e-03 2.38811729e+02] [ 2.56743228e-03 9.99996703e-01 3.59732515e-05 3.77312123e+00] [ 1.96512421e-03 -4.10186406e-05 9.99998068e-01 4.95196154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00439141799998 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:238.87, Y:3.77, Z:0.49 [[ 9.99975928e-01 -6.65437367e-03 -1.96522585e-03 2.38872294e+02] [ 6.65445691e-03 9.99977858e-01 3.58192344e-05 3.77004220e+00] [ 1.96494399e-03 -4.88958829e-05 9.99998068e-01 4.93680474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06439141799999 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:238.93, Y:3.76, Z:0.49 [[ 9.99858165e-01 -1.67268330e-02 -1.96522585e-03 2.38933349e+02] [ 1.67269357e-02 9.99860094e-01 3.58192344e-05 3.76226012e+00] [ 1.96435177e-03 -6.86863604e-05 9.99998068e-01 4.90902039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.124391418 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:239.00, Y:3.76, Z:0.49 [[ 9.99754639e-01 -2.20635342e-02 -1.96522445e-03 2.38996654e+02] [ 2.20636473e-02 9.99756567e-01 3.58963159e-05 3.75832017e+00] [ 1.96395405e-03 -7.92475275e-05 9.99998068e-01 4.91976659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18439141799996 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:239.06, Y:3.75, Z:0.49 [[ 9.99589968e-01 -2.85663160e-02 -1.96521992e-03 2.39057664e+02] [ 2.85664422e-02 9.99591895e-01 3.61424079e-05 3.75292043e+00] [ 1.96338545e-03 -9.22669296e-05 9.99998068e-01 4.93330617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24439141799996 meters Centerline goodness : 0.999366 with order 1 Centerline is valid? [True, True] Translation: X:239.12, Y:3.75, Z:0.49 [[ 9.99501069e-01 -3.15238069e-02 -1.96521769e-03 2.39119763e+02] [ 3.15239390e-02 9.99502996e-01 3.62630142e-05 3.74877882e+00] [ 1.96309783e-03 -9.81963242e-05 9.99998068e-01 4.94666450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30439141799997 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:239.18, Y:3.74, Z:0.50 [[ 9.99414652e-01 -3.41539251e-02 -1.96521471e-03 2.39182337e+02] [ 3.41540626e-02 9.99416579e-01 3.64240610e-05 3.74398058e+00] [ 1.96282414e-03 -1.03522806e-04 9.99998068e-01 4.95815144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36439141799997 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:239.24, Y:3.74, Z:0.50 [[ 9.99364010e-01 -3.56049659e-02 -1.96521017e-03 2.39243981e+02] [ 3.56051066e-02 9.99365937e-01 3.66673187e-05 3.73940397e+00] [ 1.96265856e-03 -1.06615516e-04 9.99998068e-01 4.95470267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42439141799997 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:239.31, Y:3.74, Z:0.50 [[ 9.99365895e-01 -3.55520084e-02 -1.96520643e-03 2.39306660e+02] [ 3.55521494e-02 9.99367822e-01 3.68668325e-05 3.73689971e+00] [ 1.96265338e-03 -1.06710768e-04 9.99998068e-01 4.95595587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48439141799997 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:239.37, Y:3.73, Z:0.49 [[ 9.99398921e-01 -3.46111870e-02 -1.96520180e-03 2.39367869e+02] [ 3.46113267e-02 9.99400848e-01 3.71119026e-05 3.73255802e+00] [ 1.96273986e-03 -1.05107837e-04 9.99998068e-01 4.93140709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54439141799998 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:239.43, Y:3.73, Z:0.49 [[ 9.99587290e-01 -2.86598523e-02 -1.96519580e-03 2.39429632e+02] [ 2.86599812e-02 9.99589218e-01 3.74270554e-05 3.72778136e+00] [ 1.96331588e-03 -9.37340834e-05 9.99998068e-01 4.88740322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60439141799998 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:239.49, Y:3.73, Z:0.50 [[ 9.99789368e-01 -2.04293207e-02 -1.96519264e-03 2.39491284e+02] [ 2.04294340e-02 9.99791297e-01 3.75921345e-05 3.72838721e+00] [ 1.96401452e-03 -7.77319897e-05 9.99998068e-01 4.95330134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66439141799998 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:239.55, Y:3.73, Z:0.50 [[ 9.99928090e-01 -1.18301418e-02 -1.96519031e-03 2.39553496e+02] [ 1.18302388e-02 9.99930020e-01 3.77134821e-05 3.72799659e+00] [ 1.96460663e-03 -6.09594408e-05 9.99998068e-01 4.97511613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72439141799998 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:239.62, Y:3.73, Z:0.50 [[ 9.99994193e-01 2.78441140e-03 -1.96518722e-03 2.39615164e+02] [-2.78434235e-03 9.99996123e-01 3.78737540e-05 3.72660794e+00] [ 1.96528506e-03 -3.24017800e-05 9.99998068e-01 4.98239044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78439141799998 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:239.67, Y:3.73, Z:0.50 [[ 9.99877915e-01 1.55013689e-02 -1.96518491e-03 2.39674326e+02] [-1.55013241e-02 9.99879847e-01 3.79932945e-05 3.72583676e+00] [ 1.96553774e-03 -7.52568780e-06 9.99998068e-01 4.97207974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.844391418 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:239.73, Y:3.72, Z:0.50 [[ 9.99701216e-01 2.43642630e-02 -1.96519552e-03 2.39730895e+02] [-2.43642365e-02 9.99703147e-01 3.74363043e-05 3.72329063e+00] [ 1.96552426e-03 1.04553696e-05 9.99998068e-01 4.97029476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.904391418 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:239.79, Y:3.72, Z:0.50 [[ 9.99585342e-01 2.87277126e-02 -1.96520065e-03 2.39788090e+02] [-2.87276950e-02 9.99587274e-01 3.71649934e-05 3.72032338e+00] [ 1.96545723e-03 1.93061024e-05 9.99998068e-01 4.96400728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96439141799996 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:239.84, Y:3.72, Z:0.50 [[ 9.99520220e-01 3.09106530e-02 -1.96520546e-03 2.39844569e+02] [-3.09106401e-02 9.99522151e-01 3.69088531e-05 3.71547241e+00] [ 1.96540727e-03 2.38546139e-05 9.99998068e-01 4.96171579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02439141799996 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:239.90, Y:3.71, Z:0.50 [[ 9.99641530e-01 2.67010993e-02 -1.96521200e-03 2.39902822e+02] [-2.67010790e-02 9.99643462e-01 3.65572942e-05 3.70873552e+00] [ 1.96548745e-03 1.59290914e-05 9.99998068e-01 4.97181127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08439141799997 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:239.96, Y:3.70, Z:0.50 [[ 9.99778157e-01 2.09708109e-02 -1.96521490e-03 2.39960288e+02] [-2.09707798e-02 9.99780088e-01 3.64007730e-05 3.70264818e+00] [ 1.96554608e-03 4.81939129e-06 9.99998068e-01 4.96839653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14439141799997 meters Centerline goodness : 0.998796 with order 1 Centerline is valid? [True, True] Translation: X:240.02, Y:3.69, Z:0.50 [[ 9.99931164e-01 1.15674015e-02 -1.96521918e-03 2.40018314e+02] [-1.15673528e-02 9.99933095e-01 3.61681291e-05 3.69387413e+00] [ 1.96550607e-03 -1.34332559e-05 9.99998068e-01 4.96542115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20439141799997 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:240.08, Y:3.69, Z:0.50 [[ 9.99977502e-01 6.41357224e-03 -1.96522267e-03 2.40076833e+02] [-6.41351392e-03 9.99979433e-01 3.59776964e-05 3.68785801e+00] [ 1.96541300e-03 -2.33729040e-05 9.99998068e-01 4.96718480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26439141799997 meters Centerline goodness : 0.998786 with order 1 Centerline is valid? [True, True] Translation: X:240.13, Y:3.68, Z:0.50 [[ 9.99997948e-01 4.92126328e-04 -1.96522542e-03 2.40134487e+02] [-4.92056870e-04 9.99999878e-01 3.58268571e-05 3.67874655e+00] [ 1.96524281e-03 -3.48597809e-05 9.99998068e-01 4.96386744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32439141799998 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:240.19, Y:3.67, Z:0.50 [[ 9.99990041e-01 -4.00698146e-03 -1.96522906e-03 2.40194400e+02] [ 4.00705921e-03 9.99991971e-01 3.56258441e-05 3.67039851e+00] [ 1.96507053e-03 -4.35002785e-05 9.99998068e-01 4.96092693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38439141799998 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:240.25, Y:3.66, Z:0.50 [[ 9.99978142e-01 -6.31297690e-03 -1.96523037e-03 2.40254648e+02] [ 6.31305896e-03 9.99980072e-01 3.55534012e-05 3.66499813e+00] [ 1.96496676e-03 -4.79592392e-05 9.99998068e-01 4.95850114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44439141799998 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:240.32, Y:3.65, Z:0.49 [[ 9.99990968e-01 -3.76851776e-03 -1.96523037e-03 2.40315666e+02] [ 3.76859490e-03 9.99992898e-01 3.55534012e-05 3.65164818e+00] [ 1.96508243e-03 -4.29592372e-05 9.99998068e-01 4.87530856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50439141799998 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:240.38, Y:3.65, Z:0.49 [[ 9.99929498e-01 -1.17105162e-02 -1.96522888e-03 2.40376178e+02] [ 1.17106088e-02 9.99931428e-01 3.56360657e-05 3.65054257e+00] [ 1.96467680e-03 -5.86475799e-05 9.99998068e-01 4.94379180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56439141799999 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:240.44, Y:3.64, Z:0.49 [[ 9.99886735e-01 -1.49216305e-02 -1.96522813e-03 2.40436784e+02] [ 1.49217294e-02 9.99888664e-01 3.56770361e-05 3.64422650e+00] [ 1.96447697e-03 -6.49975976e-05 9.99998068e-01 4.93790030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.624391418 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:240.50, Y:3.64, Z:0.49 [[ 9.99856343e-01 -1.68354457e-02 -1.96522601e-03 2.40498879e+02] [ 1.68355486e-02 9.99858271e-01 3.57932684e-05 3.63968318e+00] [ 1.96434489e-03 -6.88737845e-05 9.99998068e-01 4.93925689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68439141799996 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:240.56, Y:3.63, Z:0.49 [[ 9.99832247e-01 -1.82103011e-02 -1.96522315e-03 2.40561094e+02] [ 1.82104069e-02 9.99834176e-01 3.59499762e-05 3.63381199e+00] [ 1.96424261e-03 -7.17314585e-05 9.99998068e-01 4.93455296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74439141799996 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:240.62, Y:3.63, Z:0.49 [[ 9.99838035e-01 -1.78897208e-02 -1.96522029e-03 2.40623271e+02] [ 1.78898263e-02 9.99839964e-01 3.61056436e-05 3.63049837e+00] [ 1.96425986e-03 -7.12572454e-05 9.99998068e-01 4.94456016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80439141799997 meters Centerline goodness : 0.998755 with order 1 Centerline is valid? [True, True] Translation: X:240.69, Y:3.63, Z:0.49 [[ 9.99867807e-01 -1.61402197e-02 -1.96521745e-03 2.40685439e+02] [ 1.61403221e-02 9.99869736e-01 3.62596273e-05 3.62590125e+00] [ 1.96437621e-03 -6.79740766e-05 9.99998068e-01 4.94432787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86439141799997 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:240.75, Y:3.62, Z:0.49 [[ 9.99910640e-01 -1.32231052e-02 -1.96521442e-03 2.40746159e+02] [ 1.32232023e-02 9.99912569e-01 3.64226954e-05 3.62160195e+00] [ 1.96456098e-03 -6.24058685e-05 9.99998068e-01 4.94531229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92439141799997 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:240.81, Y:3.62, Z:0.49 [[ 9.99951329e-01 -9.66838533e-03 -1.96521219e-03 2.40807680e+02] [ 9.66847580e-03 9.99953259e-01 3.65429102e-05 3.61888279e+00] [ 1.96476702e-03 -5.55417382e-05 9.99998068e-01 4.93984559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98439141799997 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:240.87, Y:3.62, Z:0.50 [[ 9.99982631e-01 -5.55651912e-03 -1.96520927e-03 2.40868930e+02] [ 5.55660196e-03 9.99984561e-01 3.66993786e-05 3.61575249e+00] [ 1.96497501e-03 -4.76186268e-05 9.99998068e-01 4.95179858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04439141799998 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:240.93, Y:3.61, Z:0.49 [[ 9.99996676e-01 1.66929718e-03 -1.96520777e-03 2.40929411e+02] [-1.66922812e-03 9.99998606e-01 3.67794591e-05 3.61376318e+00] [ 1.96526643e-03 -3.34989568e-05 9.99998068e-01 4.94483995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10439141799998 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:240.99, Y:3.61, Z:0.50 [[ 9.99968786e-01 7.65278408e-03 -1.96520777e-03 2.40988416e+02] [-7.65272657e-03 9.99970717e-01 3.67794591e-05 3.61269083e+00] [ 1.96543169e-03 -2.17391134e-05 9.99998068e-01 4.95091873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16439141799998 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:241.05, Y:3.61, Z:0.50 [[ 9.99865385e-01 1.62895555e-02 -1.96520998e-03 2.41046080e+02] [-1.62895150e-02 9.99867316e-01 3.66608127e-05 3.61167845e+00] [ 1.96554642e-03 -4.64356023e-06 9.99998068e-01 4.96862074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22439141799998 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:241.10, Y:3.61, Z:0.50 [[ 9.99773889e-01 2.11732919e-02 -1.96522166e-03 2.41104127e+02] [-2.11732620e-02 9.99775821e-01 3.60240152e-05 3.60907223e+00] [ 1.96554384e-03 5.59428323e-06 9.99998068e-01 4.97743663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28439141799998 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:241.16, Y:3.61, Z:0.50 [[ 9.99778260e-01 2.09659164e-02 -1.96522606e-03 2.41161991e+02] [-2.09658865e-02 9.99780191e-01 3.57818528e-05 3.60579475e+00] [ 1.96554429e-03 5.42878818e-06 9.99998068e-01 4.97040068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.344391418 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:241.22, Y:3.60, Z:0.50 [[ 9.99842320e-01 1.76485812e-02 -1.96523040e-03 2.41220276e+02] [-1.76485454e-02 9.99844252e-01 3.55422058e-05 3.60177019e+00] [ 1.96555159e-03 -8.53143620e-07 9.99998068e-01 4.96561526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.404391418 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:241.28, Y:3.60, Z:0.50 [[ 9.99961746e-01 8.52314591e-03 -1.96523326e-03 2.41279236e+02] [-8.52309283e-03 9.99963677e-01 3.53830194e-05 3.59563321e+00] [ 1.96546346e-03 -1.86318003e-05 9.99998068e-01 4.95929796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46439141799996 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:241.34, Y:3.59, Z:0.50 [[ 9.99997337e-01 1.21008814e-03 -1.96523612e-03 2.41338386e+02] [-1.21002125e-03 9.99999267e-01 3.52235098e-05 3.59114514e+00] [ 1.96527731e-03 -3.28454385e-05 9.99998068e-01 4.96317678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52439141799996 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:241.40, Y:3.59, Z:0.50 [[ 9.99963385e-01 -8.32870550e-03 -1.96523894e-03 2.41396728e+02] [ 8.32879049e-03 9.99965314e-01 3.50657123e-05 3.58617893e+00] [ 1.96487872e-03 -5.14324917e-05 9.99998068e-01 4.96086003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58439141799997 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:241.46, Y:3.58, Z:0.49 [[ 9.99918246e-01 -1.26348351e-02 -1.96524102e-03 2.41456820e+02] [ 1.26349282e-02 9.99920176e-01 3.49488606e-05 3.58199667e+00] [ 1.96464257e-03 -5.97766825e-05 9.99998068e-01 4.93863342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64439141799997 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:241.52, Y:3.58, Z:0.50 [[ 9.99895675e-01 -1.43100492e-02 -1.96524027e-03 2.41518573e+02] [ 1.43101456e-02 9.99897604e-01 3.49905443e-05 3.57911579e+00] [ 1.96453833e-03 -6.31097683e-05 9.99998068e-01 4.95868825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70439141799997 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:241.58, Y:3.58, Z:0.50 [[ 9.99904247e-01 -1.36979641e-02 -1.96523728e-03 2.41580067e+02] [ 1.36980596e-02 9.99906177e-01 3.51580457e-05 3.57709470e+00] [ 1.96457130e-03 -6.20746167e-05 9.99998068e-01 4.95625853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76439141799997 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:241.64, Y:3.58, Z:0.50 [[ 9.99912090e-01 -1.31130069e-02 -1.96523523e-03 2.41642686e+02] [ 1.31131015e-02 9.99914019e-01 3.52720465e-05 3.57542060e+00] [ 1.96460374e-03 -6.10392748e-05 9.99998068e-01 4.96454733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82439141799998 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:241.70, Y:3.57, Z:0.50 [[ 9.99925125e-01 -1.20781788e-02 -1.96523230e-03 2.41704013e+02] [ 1.20782718e-02 9.99927054e-01 3.54344435e-05 3.57336673e+00] [ 1.96466097e-03 -5.91684003e-05 9.99998068e-01 4.95319133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88439141799998 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:241.77, Y:3.57, Z:0.49 [[ 9.99934055e-01 -1.13147099e-02 -1.96522744e-03 2.41765729e+02] [ 1.13148019e-02 9.99935985e-01 3.57019306e-05 3.57251107e+00] [ 1.96469768e-03 -5.79357356e-05 9.99998068e-01 4.94729976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94439141799998 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:241.83, Y:3.57, Z:0.49 [[ 9.99939091e-01 -1.08605488e-02 -1.96522453e-03 2.41828086e+02] [ 1.08606402e-02 9.99941021e-01 3.58616318e-05 3.57173291e+00] [ 1.96471915e-03 -5.72030441e-05 9.99998068e-01 4.93837605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00439141799998 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:241.89, Y:3.57, Z:0.49 [[ 9.99937264e-01 -1.10275165e-02 -1.96522152e-03 2.41889181e+02] [ 1.10276086e-02 9.99939193e-01 3.60259225e-05 3.57249885e+00] [ 1.96470474e-03 -5.76953561e-05 9.99998068e-01 4.91132044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06439141799999 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:241.95, Y:3.57, Z:0.49 [[ 9.99895931e-01 -1.42921240e-02 -1.96521929e-03 2.41951154e+02] [ 1.42922226e-02 9.99897860e-01 3.61469652e-05 3.57397716e+00] [ 1.96450195e-03 -6.42305550e-05 9.99998068e-01 4.92858381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.124391418 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:242.01, Y:3.57, Z:0.49 [[ 9.99857273e-01 -1.67800800e-02 -1.96521628e-03 2.42012659e+02] [ 1.67801837e-02 9.99859202e-01 3.63100542e-05 3.57333941e+00] [ 1.96433030e-03 -6.92815620e-05 9.99998068e-01 4.93605299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18439141799996 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:242.08, Y:3.57, Z:0.50 [[ 9.99830732e-01 -1.82933340e-02 -1.96521404e-03 2.42075216e+02] [ 1.82934409e-02 9.99832660e-01 3.64307180e-05 3.57442011e+00] [ 1.96421874e-03 -7.23750783e-05 9.99998068e-01 4.97051824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24439141799996 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:242.14, Y:3.58, Z:0.50 [[ 9.99856276e-01 -1.68394177e-02 -1.96521111e-03 2.42137727e+02] [ 1.68395221e-02 9.99858205e-01 3.65881441e-05 3.57699204e+00] [ 1.96431633e-03 -6.96761014e-05 9.99998068e-01 4.98150337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30439141799997 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:242.20, Y:3.58, Z:0.50 [[ 9.99872248e-01 -1.58626931e-02 -1.96520811e-03 2.42199857e+02] [ 1.58627959e-02 9.99874177e-01 3.67487646e-05 3.57679538e+00] [ 1.96437791e-03 -6.79177650e-05 9.99998068e-01 4.98130294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36439141799997 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:242.26, Y:3.58, Z:0.50 [[ 9.99894006e-01 -1.44261737e-02 -1.96520511e-03 2.42261712e+02] [ 1.44262741e-02 9.99895935e-01 3.69085600e-05 3.57578106e+00] [ 1.96446815e-03 -6.52552355e-05 9.99998068e-01 4.97646350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42439141799997 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:242.32, Y:3.58, Z:0.50 [[ 9.99934590e-01 -1.12674134e-02 -1.96520203e-03 2.42324023e+02] [ 1.12675080e-02 9.99936519e-01 3.70717272e-05 3.57763765e+00] [ 1.96465957e-03 -5.92122320e-05 9.99998068e-01 4.98034311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48439141799997 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:242.38, Y:3.58, Z:0.50 [[ 9.99969555e-01 -7.55156244e-03 -1.96519895e-03 2.42384415e+02] [ 7.55165019e-03 9.99971485e-01 3.72340224e-05 3.57839738e+00] [ 1.96486174e-03 -5.20733839e-05 9.99998068e-01 4.97638957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54439141799998 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:242.45, Y:3.58, Z:0.50 [[ 9.99998029e-01 -2.81409008e-04 -1.96519820e-03 2.42445872e+02] [ 2.81482802e-04 9.99999960e-01 3.72736052e-05 3.57909208e+00] [ 1.96518763e-03 -3.78267013e-05 9.99998068e-01 4.97566182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60439141799998 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:242.51, Y:3.58, Z:0.50 [[ 9.99985602e-01 4.99341402e-03 -1.96519671e-03 2.42505532e+02] [-4.99335026e-03 9.99987532e-01 3.73523372e-05 3.58064455e+00] [ 1.96535872e-03 -2.75388840e-05 9.99998068e-01 4.97474171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66439141799998 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:242.56, Y:3.58, Z:0.50 [[ 9.99983393e-01 5.41771960e-03 -1.96519744e-03 2.42564528e+02] [-5.41765673e-03 9.99985324e-01 3.73137560e-05 3.58065805e+00] [ 1.96537075e-03 -2.66663712e-05 9.99998068e-01 4.96933242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72439141799998 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:242.62, Y:3.58, Z:0.50 [[ 9.99997921e-01 5.44202862e-04 -1.96520032e-03 2.42623162e+02] [-5.44130882e-04 9.99999851e-01 3.71615800e-05 3.57895620e+00] [ 1.96522025e-03 -3.60921766e-05 9.99998068e-01 4.96053631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78439141799998 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:242.68, Y:3.58, Z:0.50 [[ 9.99953227e-01 -9.47006909e-03 -1.96520315e-03 2.42682469e+02] [ 9.47016010e-03 9.99955156e-01 3.70111833e-05 3.57838178e+00] [ 1.96476452e-03 -5.56202406e-05 9.99998068e-01 4.97085428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.844391418 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:242.74, Y:3.57, Z:0.50 [[ 9.99816232e-01 -1.90693453e-02 -1.96520389e-03 2.42743275e+02] [ 1.90694548e-02 9.99818161e-01 3.69718504e-05 3.57405709e+00] [ 1.96414151e-03 -7.44404229e-05 9.99998068e-01 4.96084123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.904391418 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:242.81, Y:3.57, Z:0.50 [[ 9.99675187e-01 -2.54098202e-02 -1.96519413e-03 2.42805320e+02] [ 2.54099429e-02 9.99677115e-01 3.74836285e-05 3.57164743e+00] [ 1.96360714e-03 -8.74069239e-05 9.99998068e-01 4.95086499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96439141799996 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:242.87, Y:3.57, Z:0.49 [[ 9.99455051e-01 -3.29505599e-02 -1.96519123e-03 2.42867698e+02] [ 3.29506974e-02 9.99456978e-01 3.76350986e-05 3.56978182e+00] [ 1.96288399e-03 -1.02369011e-04 9.99998068e-01 4.93815835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02439141799996 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:242.93, Y:3.57, Z:0.49 [[ 9.99331042e-01 -3.65185693e-02 -1.96518412e-03 2.42931074e+02] [ 3.65187144e-02 9.99332969e-01 3.80027005e-05 3.56999910e+00] [ 1.96248547e-03 -1.09743276e-04 9.99998068e-01 4.94662221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08439141799997 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:242.99, Y:3.57, Z:0.50 [[ 9.99254238e-01 -3.85630035e-02 -1.96517982e-03 2.42992106e+02] [ 3.85631530e-02 9.99256164e-01 3.82237628e-05 3.57247093e+00] [ 1.96224402e-03 -1.13978787e-04 9.99998068e-01 4.96032865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14439141799997 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:243.06, Y:3.58, Z:0.50 [[ 9.99303323e-01 -3.72693772e-02 -1.96517770e-03 2.43055525e+02] [ 3.72695244e-02 9.99305249e-01 3.83323209e-05 3.57654093e+00] [ 1.96238377e-03 -1.11546854e-04 9.99998068e-01 4.97982599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20439141799997 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:243.12, Y:3.58, Z:0.50 [[ 9.99429488e-01 -3.37170085e-02 -1.96517296e-03 2.43117535e+02] [ 3.37171493e-02 9.99431415e-01 3.85739347e-05 3.58146495e+00] [ 1.96275499e-03 -1.04811958e-04 9.99998068e-01 4.97003709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26439141799997 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:243.18, Y:3.58, Z:0.50 [[ 9.99489668e-01 -3.18832646e-02 -1.96516976e-03 2.43178923e+02] [ 3.18834022e-02 9.99491594e-01 3.87364257e-05 3.58228911e+00] [ 1.96293561e-03 -1.01372955e-04 9.99998068e-01 4.96591903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32439141799998 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:243.24, Y:3.59, Z:0.50 [[ 9.99638806e-01 -2.68028901e-02 -1.96516739e-03 2.43240819e+02] [ 2.68030182e-02 9.99640734e-01 3.88561507e-05 3.58714781e+00] [ 1.96341991e-03 -9.15145334e-05 9.99998068e-01 4.95557959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38439141799998 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:243.30, Y:3.59, Z:0.50 [[ 9.99786985e-01 -2.05456087e-02 -1.96516420e-03 2.43303300e+02] [ 2.05457250e-02 9.99788914e-01 3.90168445e-05 3.59364368e+00] [ 1.96394775e-03 -7.93842566e-05 9.99998068e-01 4.95977646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44439141799998 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:243.36, Y:3.60, Z:0.50 [[ 9.99873320e-01 -1.57949711e-02 -1.96516095e-03 2.43364669e+02] [ 1.57950786e-02 9.99875249e-01 3.91796709e-05 3.59748945e+00] [ 1.96429695e-03 -7.02145792e-05 9.99998068e-01 4.95691955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50439141799998 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:243.43, Y:3.60, Z:0.50 [[ 9.99967362e-01 -7.83665901e-03 -1.96515855e-03 2.43426735e+02] [ 7.83675136e-03 9.99969291e-01 3.92996954e-05 3.60341396e+00] [ 1.96479023e-03 -5.46988717e-05 9.99998068e-01 4.97354110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56439141799999 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:243.49, Y:3.61, Z:0.50 [[ 9.99998013e-01 3.34126022e-04 -1.96515548e-03 2.43488653e+02] [-3.34049136e-04 9.99999943e-01 3.94528279e-05 3.60952827e+00] [ 1.96516855e-03 -3.87962910e-05 9.99998068e-01 4.99306473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.624391418 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:243.55, Y:3.61, Z:0.50 [[ 9.99984074e-01 5.29049637e-03 -1.96515384e-03 2.43548877e+02] [-5.29042889e-03 9.99986005e-01 3.95340441e-05 3.61329632e+00] [ 1.96533549e-03 -2.91369078e-05 9.99998068e-01 4.99884778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68439141799996 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:243.61, Y:3.62, Z:0.50 [[ 9.99942681e-01 1.05248590e-02 -1.96515549e-03 2.43606736e+02] [-1.05248018e-02 9.99944612e-01 3.94518860e-05 3.61793168e+00] [ 1.96546187e-03 -1.87667526e-05 9.99998068e-01 4.99916102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74439141799996 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:243.67, Y:3.62, Z:0.50 [[ 9.99923691e-01 1.21963426e-02 -1.96515951e-03 2.43665571e+02] [-1.21962890e-02 9.99925622e-01 3.92505197e-05 3.61980382e+00] [ 1.96549206e-03 -1.52798712e-05 9.99998068e-01 5.00149210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80439141799997 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:243.72, Y:3.62, Z:0.50 [[ 9.99927094e-01 1.19140201e-02 -1.96516269e-03 2.43723796e+02] [-1.19139663e-02 9.99929025e-01 3.90910161e-05 3.62137747e+00] [ 1.96548894e-03 -1.56752840e-05 9.99998068e-01 5.00533081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86439141799997 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:243.78, Y:3.62, Z:0.50 [[ 9.99960250e-01 8.69687872e-03 -1.96516656e-03 2.43782396e+02] [-8.69681908e-03 9.99962181e-01 3.88952607e-05 3.62155557e+00] [ 1.96543051e-03 -2.18030166e-05 9.99998068e-01 5.00833121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92439141799997 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:243.84, Y:3.62, Z:0.50 [[ 9.99981166e-01 5.81427226e-03 -1.96516974e-03 2.43841366e+02] [-5.81420737e-03 9.99983097e-01 3.87341810e-05 3.62051570e+00] [ 1.96536173e-03 -2.73075472e-05 9.99998068e-01 5.00290120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98439141799997 meters Centerline goodness : 0.999336 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:3.62, Z:0.50 [[ 9.99997106e-01 1.38764586e-03 -1.96517285e-03 2.43899928e+02] [-1.38757273e-03 9.99999037e-01 3.85754905e-05 3.61957838e+00] [ 1.96522449e-03 -3.58485587e-05 9.99998068e-01 4.99716778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04439141799998 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:3.62, Z:0.50 [[ 9.99988736e-01 -4.32035415e-03 -1.96517593e-03 2.43959405e+02] [ 4.32043799e-03 9.99990666e-01 3.84178652e-05 3.61864934e+00] [ 1.96499161e-03 -4.69078533e-05 9.99998068e-01 4.99351019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10439141799998 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:244.02, Y:3.62, Z:0.50 [[ 9.99941821e-01 -1.06062696e-02 -1.96517751e-03 2.44019768e+02] [ 1.06063654e-02 9.99943750e-01 3.83372028e-05 3.61679474e+00] [ 1.96466035e-03 -5.91783631e-05 9.99998068e-01 4.97942725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16439141799998 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:244.08, Y:3.62, Z:0.50 [[ 9.99900228e-01 -1.39882875e-02 -1.96517673e-03 2.44082190e+02] [ 1.39883899e-02 9.99902157e-01 3.83768273e-05 3.61520439e+00] [ 1.96444763e-03 -6.58626568e-05 9.99998068e-01 4.97967455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22439141799998 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:244.14, Y:3.61, Z:0.50 [[ 9.99831591e-01 -1.82462964e-02 -1.96517360e-03 2.44143762e+02] [ 1.82464074e-02 9.99833520e-01 3.85363526e-05 3.61481418e+00] [ 1.96414330e-03 -7.43872209e-05 9.99998068e-01 4.97373947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28439141799998 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:3.61, Z:0.50 [[ 9.99774359e-01 -2.11510865e-02 -1.96516868e-03 2.44205662e+02] [ 2.11512035e-02 9.99776288e-01 3.87856853e-05 3.61422320e+00] [ 1.96390869e-03 -8.03426165e-05 9.99998068e-01 4.98096200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.344391418 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:244.27, Y:3.61, Z:0.50 [[ 9.99741616e-01 -2.26459691e-02 -1.96516569e-03 2.44267918e+02] [ 2.26460893e-02 9.99743544e-01 3.89367945e-05 3.61399021e+00] [ 1.96377995e-03 -8.34300516e-05 9.99998068e-01 5.00267168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40439141799996 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:3.61, Z:0.50 [[ 9.99712096e-01 -2.39136570e-02 -1.96516250e-03 2.44330316e+02] [ 2.39137799e-02 9.99714024e-01 3.90972576e-05 3.61480046e+00] [ 1.96366555e-03 -8.60804649e-05 9.99998068e-01 5.01046349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46439141799996 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:3.62, Z:0.50 [[ 9.99684315e-01 -2.50481128e-02 -1.96515931e-03 2.44393138e+02] [ 2.50482383e-02 9.99686243e-01 3.92568016e-05 3.61831973e+00] [ 1.96355942e-03 -8.84681875e-05 9.99998068e-01 5.02297578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52439141799996 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:3.62, Z:0.50 [[ 9.99767581e-01 -2.14690801e-02 -1.96515518e-03 2.44454146e+02] [ 2.14691991e-02 9.99769509e-01 3.94626081e-05 3.61598062e+00] [ 1.96385500e-03 -8.16437439e-05 9.99998068e-01 4.99056246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58439141799997 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:244.52, Y:3.62, Z:0.50 [[ 9.99835532e-01 -1.80290358e-02 -1.96515273e-03 2.44516794e+02] [ 1.80291484e-02 9.99837461e-01 3.95839691e-05 3.61889917e+00] [ 1.96411966e-03 -7.50074890e-05 9.99998068e-01 4.98754631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64439141799997 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:244.58, Y:3.62, Z:0.50 [[ 9.99894146e-01 -1.44164520e-02 -1.96514948e-03 2.44579429e+02] [ 1.44165579e-02 9.99896075e-01 3.97446617e-05 3.62038769e+00] [ 1.96437228e-03 -6.80711460e-05 9.99998068e-01 4.99493244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70439141799997 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:244.64, Y:3.62, Z:0.50 [[ 9.99970647e-01 -7.40558854e-03 -1.96514626e-03 2.44640284e+02] [ 7.40568125e-03 9.99972577e-01 3.99031267e-05 3.62318432e+00] [ 1.96479687e-03 -5.44552023e-05 9.99998068e-01 5.01164962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76439141799997 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:244.70, Y:3.63, Z:0.50 [[ 9.99996678e-01 1.66781866e-03 -1.96514107e-03 2.44701217e+02] [-1.66774297e-03 9.99998609e-01 4.01574480e-05 3.62592641e+00] [ 1.96520531e-03 -3.68799644e-05 9.99998068e-01 5.03008248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82439141799998 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:244.76, Y:3.63, Z:0.50 [[ 9.99965490e-01 8.07197453e-03 -1.96513951e-03 2.44759998e+02] [-8.07191105e-03 9.99967421e-01 4.02335007e-05 3.62724535e+00] [ 1.96540025e-03 -2.43696810e-05 9.99998068e-01 5.04102174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88439141799998 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:244.82, Y:3.63, Z:0.51 [[ 9.99847493e-01 1.73530891e-02 -1.96515011e-03 2.44818082e+02] [-1.73530446e-02 9.99849424e-01 3.97091010e-05 3.62835232e+00] [ 1.96554328e-03 -5.60170764e-06 9.99998068e-01 5.05676690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94439141799998 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:244.88, Y:3.63, Z:0.51 [[ 9.99694559e-01 2.46358879e-02 -1.96516212e-03 2.44876661e+02] [-2.46358586e-02 9.99696490e-01 3.91051975e-05 3.62904321e+00] [ 1.96552907e-03 9.32020310e-06 9.99998068e-01 5.06874037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00439141799998 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:244.93, Y:3.63, Z:0.51 [[ 9.99609224e-01 2.78843667e-02 -1.96517325e-03 2.44934078e+02] [-2.78843448e-02 9.99611155e-01 3.85378283e-05 3.62843642e+00] [ 1.96548371e-03 1.62747999e-05 9.99998068e-01 5.05990527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06439141799999 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:244.99, Y:3.63, Z:0.51 [[ 9.99627219e-01 2.72316315e-02 -1.96517713e-03 2.44993215e+02] [-2.72316087e-02 9.99629150e-01 3.83390690e-05 3.63152850e+00] [ 1.96549238e-03 1.51901577e-05 9.99998068e-01 5.07577082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.124391418 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:245.05, Y:3.62, Z:0.51 [[ 9.99551453e-01 2.98836291e-02 -1.96518038e-03 2.45051208e+02] [-2.98836118e-02 9.99553384e-01 3.81716158e-05 3.62433597e+00] [ 1.96544341e-03 2.05721936e-05 9.99998068e-01 5.05083067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18439141799996 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:245.11, Y:3.62, Z:0.50 [[ 9.99598691e-01 2.82594322e-02 -1.96518436e-03 2.45109449e+02] [-2.82594122e-02 9.99600622e-01 3.79655305e-05 3.62292020e+00] [ 1.96547240e-03 1.75846603e-05 9.99998068e-01 5.04471389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24439141799996 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:245.17, Y:3.62, Z:0.51 [[ 9.99699246e-01 2.44449647e-02 -1.96518951e-03 2.45167873e+02] [-2.44449379e-02 9.99701177e-01 3.76972207e-05 3.61959675e+00] [ 1.96552377e-03 1.03530523e-05 9.99998068e-01 5.08080612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30439141799997 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:245.23, Y:3.62, Z:0.51 [[ 9.99780823e-01 2.08433142e-02 -1.96519252e-03 2.45226910e+02] [-2.08432807e-02 9.99782755e-01 3.75398352e-05 3.61591724e+00] [ 1.96554804e-03 3.42945189e-06 9.99998068e-01 5.09098364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36439141799997 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:245.28, Y:3.61, Z:0.51 [[ 9.99870552e-01 1.59692565e-02 -1.96519560e-03 2.45284096e+02] [-1.59692139e-02 9.99872483e-01 3.73776595e-05 3.60977455e+00] [ 1.96554190e-03 -5.99019221e-06 9.99998068e-01 5.08295081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42439141799997 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:245.34, Y:3.60, Z:0.51 [[ 9.99916290e-01 1.27887168e-02 -1.96520012e-03 2.45342354e+02] [-1.27886685e-02 9.99918221e-01 3.71386213e-05 3.60315222e+00] [ 1.96551436e-03 -1.20032197e-05 9.99998068e-01 5.06590010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48439141799997 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:245.40, Y:3.60, Z:0.51 [[ 9.99934404e-01 1.12838465e-02 -1.96520302e-03 2.45400950e+02] [-1.12837956e-02 9.99936335e-01 3.69843036e-05 3.59856014e+00] [ 1.96549523e-03 -1.48069284e-05 9.99998068e-01 5.07714979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54439141799998 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:245.46, Y:3.59, Z:0.51 [[ 9.99928782e-01 1.17715082e-02 -1.96520600e-03 2.45458640e+02] [-1.17714586e-02 9.99930713e-01 3.68256105e-05 3.59200263e+00] [ 1.96550333e-03 -1.36896469e-05 9.99998068e-01 5.07316451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60439141799998 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:245.52, Y:3.59, Z:0.51 [[ 9.99871563e-01 1.59058314e-02 -1.96520995e-03 2.45517194e+02] [-1.59057902e-02 9.99873494e-01 3.66134461e-05 3.58711995e+00] [ 1.96554371e-03 -5.35052652e-06 9.99998068e-01 5.08263605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66439141799998 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:245.57, Y:3.58, Z:0.51 [[ 9.99797970e-01 2.00039170e-02 -1.96521280e-03 2.45574653e+02] [-2.00038840e-02 9.99799902e-01 3.64597311e-05 3.58342690e+00] [ 1.96554890e-03 2.85952377e-06 9.99998068e-01 5.08983111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72439141799998 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:245.63, Y:3.58, Z:0.51 [[ 9.99643730e-01 2.66186152e-02 -1.96521703e-03 2.45632114e+02] [-2.66185954e-02 9.99645662e-01 3.62303067e-05 3.57753791e+00] [ 1.96548508e-03 1.60939181e-05 9.99998068e-01 5.08892393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78439141799998 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:245.69, Y:3.57, Z:0.51 [[ 9.99480772e-01 3.21609056e-02 -1.96522144e-03 2.45690828e+02] [-3.21608970e-02 9.99482704e-01 3.59893072e-05 3.57103784e+00] [ 1.96536229e-03 2.72326639e-05 9.99998068e-01 5.07501896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.844391418 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:245.75, Y:3.56, Z:0.51 [[ 9.99403040e-01 3.44920423e-02 -1.96522438e-03 2.45749687e+02] [-3.44920385e-02 9.99404972e-01 3.58280486e-05 3.56464131e+00] [ 1.96529080e-03 3.19779344e-05 9.99998068e-01 5.07248001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90439141799996 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:245.81, Y:3.56, Z:0.51 [[ 9.99435675e-01 3.35330950e-02 -1.96522726e-03 2.45807947e+02] [-3.35330897e-02 9.99437607e-01 3.56695227e-05 3.55894181e+00] [ 1.96531814e-03 3.02507485e-05 9.99998068e-01 5.08297843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96439141799996 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:245.87, Y:3.55, Z:0.51 [[ 9.99601416e-01 2.81628769e-02 -1.96523158e-03 2.45865368e+02] [-2.81628616e-02 9.99603347e-01 3.54300179e-05 3.55012280e+00] [ 1.96544987e-03 1.99306489e-05 9.99998068e-01 5.08722973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02439141799996 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:245.92, Y:3.54, Z:0.51 [[ 9.99816684e-01 1.90456364e-02 -1.96523651e-03 2.45923880e+02] [-1.90456041e-02 9.99818615e-01 3.51544071e-05 3.54162000e+00] [ 1.96554958e-03 2.28115383e-06 9.99998068e-01 5.10323375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08439141799997 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:245.98, Y:3.54, Z:0.51 [[ 9.99938767e-01 1.08903656e-02 -1.96523938e-03 2.45982317e+02] [-1.08903179e-02 9.99940698e-01 3.49933996e-05 3.53541391e+00] [ 1.96550392e-03 -1.35891753e-05 9.99998068e-01 5.10077053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14439141799997 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:246.04, Y:3.53, Z:0.51 [[ 9.99994318e-01 -2.73896400e-03 -1.96524223e-03 2.46039704e+02] [ 2.73903774e-03 9.99996248e-01 3.48323140e-05 3.52636647e+00] [ 1.96513945e-03 -4.02149887e-05 9.99998068e-01 5.09266938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20439141799997 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:246.10, Y:3.52, Z:0.51 [[ 9.99922044e-01 -1.23305653e-02 -1.96524571e-03 2.46100111e+02] [ 1.23306571e-02 9.99923974e-01 3.46348625e-05 3.52116316e+00] [ 1.96466923e-03 -5.88649336e-05 9.99998068e-01 5.10199715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26439141799997 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:246.16, Y:3.52, Z:0.51 [[ 9.99684543e-01 -2.50390117e-02 -1.96524571e-03 2.46162427e+02] [ 2.50391281e-02 9.99686471e-01 3.46348625e-05 3.51552135e+00] [ 1.96376233e-03 -8.38319759e-05 9.99998068e-01 5.10139340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32439141799998 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:246.23, Y:3.51, Z:0.51 [[ 9.99460556e-01 -3.27831546e-02 -1.96523500e-03 2.46225060e+02] [ 3.27832871e-02 9.99462483e-01 3.52321662e-05 3.51282818e+00] [ 1.96302363e-03 -9.96400237e-05 9.99998068e-01 5.09410313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38439141799998 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:246.29, Y:3.51, Z:0.51 [[ 9.99410051e-01 -3.42882912e-02 -1.96523206e-03 2.46286992e+02] [ 3.42884269e-02 9.99411978e-01 3.53956746e-05 3.51165541e+00] [ 1.96286280e-03 -1.02759509e-04 9.99998068e-01 5.08534559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44439141799998 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:246.35, Y:3.51, Z:0.51 [[ 9.99463529e-01 -3.26923747e-02 -1.96522907e-03 2.46348123e+02] [ 3.26925076e-02 9.99465456e-01 3.55606756e-05 3.51318663e+00] [ 1.96301601e-03 -9.97898647e-05 9.99998068e-01 5.07768704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50439141799998 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:246.41, Y:3.51, Z:0.51 [[ 9.99562488e-01 -2.95122082e-02 -1.96522686e-03 2.46409889e+02] [ 2.95123353e-02 9.99564416e-01 3.56822910e-05 3.51497581e+00] [ 1.96331778e-03 -9.36651136e-05 9.99998068e-01 5.09077357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56439141799999 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:246.47, Y:3.52, Z:0.51 [[ 9.99721451e-01 -2.35193123e-02 -1.96522387e-03 2.46471457e+02] [ 2.35194281e-02 9.99723379e-01 3.58466029e-05 3.51944096e+00] [ 1.96383716e-03 -8.20575593e-05 9.99998068e-01 5.11678187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.624391418 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:246.53, Y:3.52, Z:0.51 [[ 9.99863726e-01 -1.63910949e-02 -1.96522165e-03 2.46533400e+02] [ 1.63911972e-02 9.99865655e-01 3.59677620e-05 3.52481992e+00] [ 1.96436808e-03 -6.81751962e-05 9.99998068e-01 5.14266958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68439141799996 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:246.59, Y:3.53, Z:0.51 [[ 9.99929604e-01 -1.17015130e-02 -1.96521868e-03 2.46594402e+02] [ 1.17016066e-02 9.99931533e-01 3.61291391e-05 3.52779092e+00] [ 1.96466136e-03 -5.91228117e-05 9.99998068e-01 5.14572720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74439141799996 meters Centerline goodness : 0.998838 with order 1 Centerline is valid? [True, True] Translation: X:246.66, Y:3.53, Z:0.51 [[ 9.99986972e-01 -4.71101065e-03 -1.96521649e-03 2.46656378e+02] [ 4.71109097e-03 9.99988902e-01 3.62480015e-05 3.53275579e+00] [ 1.96502391e-03 -4.55058429e-05 9.99998068e-01 5.14690481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80439141799997 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:246.72, Y:3.54, Z:0.52 [[ 9.99997016e-01 1.45152087e-03 -1.96521352e-03 2.46716504e+02] [-1.45145213e-03 9.99998946e-01 3.64081225e-05 3.53719095e+00] [ 1.96526430e-03 -3.35556005e-05 9.99998068e-01 5.15112787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86439141799997 meters Centerline goodness : 0.998788 with order 1 Centerline is valid? [True, True] Translation: X:246.78, Y:3.54, Z:0.52 [[ 9.99971091e-01 7.34545476e-03 -1.96521352e-03 2.46775980e+02] [-7.34539739e-03 9.99973022e-01 3.64081225e-05 3.54138624e+00] [ 1.96542794e-03 -2.19717957e-05 9.99998068e-01 5.15324419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92439141799997 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:246.83, Y:3.54, Z:0.52 [[ 9.99941114e-01 1.06727015e-02 -1.96521503e-03 2.46833657e+02] [-1.06726508e-02 9.99943045e-01 3.63268211e-05 3.54349098e+00] [ 1.96549080e-03 -1.53506283e-05 9.99998068e-01 5.15764425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98439141799997 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:246.89, Y:3.55, Z:0.52 [[ 9.99916409e-01 1.27794100e-02 -1.96522675e-03 2.46892689e+02] [-1.27793646e-02 9.99918340e-01 3.56808435e-05 3.54591051e+00] [ 1.96552225e-03 -1.05635117e-05 9.99998068e-01 5.16591581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04439141799998 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:246.95, Y:3.55, Z:0.52 [[ 9.99922041e-01 1.23308807e-02 -1.96522966e-03 2.46950111e+02] [-1.23308347e-02 9.99923972e-01 3.55201070e-05 3.54532930e+00] [ 1.96551824e-03 -1.12844157e-05 9.99998068e-01 5.16430331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10439141799998 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:247.01, Y:3.54, Z:0.52 [[ 9.99962801e-01 8.39848268e-03 -1.96523320e-03 2.47008477e+02] [-8.39842947e-03 9.99964732e-01 3.53228661e-05 3.54488154e+00] [ 1.96546055e-03 -1.88166797e-05 9.99998068e-01 5.17728140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16439141799998 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:247.07, Y:3.54, Z:0.52 [[ 9.99997483e-01 1.08210502e-03 -1.96523602e-03 2.47066443e+02] [-1.08203800e-03 9.99999414e-01 3.51657175e-05 3.54284529e+00] [ 1.96527292e-03 -3.30391690e-05 9.99998068e-01 5.17204503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22439141799998 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:247.13, Y:3.54, Z:0.52 [[ 9.99984593e-01 -5.19141627e-03 -1.96523945e-03 2.47125934e+02] [ 5.19149502e-03 9.99986523e-01 3.49726003e-05 3.54043030e+00] [ 1.96503141e-03 -4.51745923e-05 9.99998068e-01 5.16594729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28439141799998 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:247.19, Y:3.54, Z:0.52 [[ 9.99973322e-01 -7.03513360e-03 -1.96524088e-03 2.47186772e+02] [ 7.03521575e-03 9.99975252e-01 3.48923515e-05 3.53867439e+00] [ 1.96494677e-03 -4.87173142e-05 9.99998068e-01 5.15910710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.344391418 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:247.25, Y:3.54, Z:0.52 [[ 9.99986300e-01 -4.85150045e-03 -1.96523943e-03 2.47248131e+02] [ 4.85157855e-03 9.99988230e-01 3.49736997e-05 3.53822818e+00] [ 1.96504663e-03 -4.45077340e-05 9.99998068e-01 5.15289186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40439141799996 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:247.31, Y:3.54, Z:0.51 [[ 9.99997955e-01 -4.78016177e-04 -1.96523728e-03 2.47309007e+02] [ 4.78086068e-04 9.99999885e-01 3.50941190e-05 3.53785140e+00] [ 1.96522028e-03 -3.60335998e-05 9.99998068e-01 5.14865662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46439141799996 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:247.37, Y:3.54, Z:0.52 [[ 9.99953004e-01 9.49350722e-03 -1.96523590e-03 2.47368657e+02] [-9.49345643e-03 9.99954936e-01 3.51712810e-05 3.53811279e+00] [ 1.96548124e-03 -1.65127467e-05 9.99998068e-01 5.15268000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52439141799996 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:247.43, Y:3.54, Z:0.52 [[ 9.99769821e-01 2.13645438e-02 -1.96523734e-03 2.47425896e+02] [-2.13645161e-02 9.99771752e-01 3.50907423e-05 3.53890815e+00] [ 1.96553847e-03 6.90367957e-06 9.99998068e-01 5.15807163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58439141799997 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:247.48, Y:3.54, Z:0.51 [[ 9.99534143e-01 3.04570999e-02 -1.96524223e-03 2.47483900e+02] [-3.04570903e-02 9.99536075e-01 3.48144295e-05 3.53814991e+00] [ 1.96539085e-03 2.50573491e-05 9.99998068e-01 5.14644041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64439141799997 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:247.54, Y:3.54, Z:0.51 [[ 9.99448820e-01 3.31390190e-02 -1.96525327e-03 2.47542238e+02] [-3.31390159e-02 9.99450751e-01 3.41795863e-05 3.53629930e+00] [ 1.96530654e-03 3.09658122e-05 9.99998068e-01 5.13448226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70439141799997 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:247.60, Y:3.53, Z:0.51 [[ 9.99497248e-01 3.16447255e-02 -1.96525745e-03 2.47599865e+02] [-3.16447199e-02 9.99499180e-01 3.39376823e-05 3.53170473e+00] [ 1.96534716e-03 2.82694014e-05 9.99998068e-01 5.10635371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76439141799997 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:247.66, Y:3.53, Z:0.51 [[ 9.99680808e-01 2.51876974e-02 -1.96526085e-03 2.47657369e+02] [-2.51876798e-02 9.99682740e-01 3.37398093e-05 3.52609208e+00] [ 1.96548718e-03 1.57713211e-05 9.99998068e-01 5.10486024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82439141799998 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:247.72, Y:3.52, Z:0.51 [[ 9.99892296e-01 1.45441841e-02 -1.96526486e-03 2.47715555e+02] [-1.45441464e-02 9.99894228e-01 3.35041827e-05 3.51952506e+00] [ 1.96554429e-03 -4.91747432e-06 9.99998068e-01 5.11616262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88439141799998 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:247.77, Y:3.51, Z:0.51 [[ 9.99980665e-01 5.89979191e-03 -1.96526822e-03 2.47774650e+02] [-5.89973784e-03 9.99982596e-01 3.33060040e-05 3.51439910e+00] [ 1.96543052e-03 -2.17107927e-05 9.99998068e-01 5.13154630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94439141799998 meters Centerline goodness : 0.999112 with order 1 Centerline is valid? [True, True] Translation: X:247.83, Y:3.51, Z:0.51 [[ 9.99959816e-01 -8.74671870e-03 -1.96527091e-03 2.47833108e+02] [ 8.74680072e-03 9.99961745e-01 3.31464152e-05 3.50797064e+00] [ 1.96490581e-03 -5.03349163e-05 9.99998068e-01 5.14703400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00439141799998 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:247.89, Y:3.50, Z:0.51 [[ 9.99865894e-01 -1.62582541e-02 -1.96527362e-03 2.47894128e+02] [ 1.62583503e-02 9.99867824e-01 3.29855012e-05 3.50023765e+00] [ 1.96447757e-03 -6.49331846e-05 9.99998068e-01 5.09397765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06439141799999 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:247.96, Y:3.50, Z:0.51 [[ 9.99414152e-01 -3.41685462e-02 -1.96527223e-03 2.47955309e+02] [ 3.41686771e-02 9.99416080e-01 3.30681167e-05 3.49800868e+00] [ 1.96299477e-03 -1.00199496e-04 9.99998068e-01 5.13299620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.124391418 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:248.02, Y:3.50, Z:0.51 [[ 9.99041823e-01 -4.37215451e-02 -1.96526319e-03 2.48018489e+02] [ 4.37216954e-02 9.99043749e-01 3.35967787e-05 3.49544007e+00] [ 1.96191500e-03 -1.19489226e-04 9.99998068e-01 5.13224884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18439141799996 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:248.08, Y:3.50, Z:0.51 [[ 9.98996739e-01 -4.47398439e-02 -1.96525900e-03 2.48081572e+02] [ 4.47399967e-02 9.98998664e-01 3.38400424e-05 3.49725292e+00] [ 1.96177712e-03 -1.21731773e-04 9.99998068e-01 5.11490825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24439141799996 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:248.14, Y:3.50, Z:0.51 [[ 9.99104487e-01 -4.22653659e-02 -1.96525475e-03 2.48144895e+02] [ 4.22655144e-02 9.99106413e-01 3.40848489e-05 3.49915766e+00] [ 1.96205802e-03 -1.17116828e-04 9.99998068e-01 5.10472105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30439141799997 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:248.21, Y:3.50, Z:0.51 [[ 9.99365274e-01 -3.55694548e-02 -1.96525048e-03 2.48207011e+02] [ 3.55695909e-02 9.99367201e-01 3.43292338e-05 3.50404064e+00] [ 1.96278580e-03 -1.04210600e-04 9.99998068e-01 5.09419255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36439141799997 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:248.27, Y:3.51, Z:0.51 [[ 9.99527234e-01 -3.06830052e-02 -1.96524766e-03 2.48270097e+02] [ 3.06831322e-02 9.99529161e-01 3.44901859e-05 3.50802390e+00] [ 1.96326408e-03 -9.47738339e-05 9.99998068e-01 5.09080087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42439141799997 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:248.33, Y:3.52, Z:0.51 [[ 9.99713608e-01 -2.38503739e-02 -1.96524346e-03 2.48332598e+02] [ 2.38504882e-02 9.99715536e-01 3.47280842e-05 3.51500675e+00] [ 1.96385614e-03 -8.15901542e-05 9.99998068e-01 5.09827764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48439141799997 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:248.39, Y:3.52, Z:0.51 [[ 9.99847572e-01 -1.73485326e-02 -1.96524063e-03 2.48394597e+02] [ 1.73486347e-02 9.99849501e-01 3.48872924e-05 3.52072758e+00] [ 1.96433962e-03 -6.89762163e-05 9.99998068e-01 5.11241982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54439141799998 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:248.46, Y:3.53, Z:0.51 [[ 9.99932193e-01 -1.14780788e-02 -1.96523782e-03 2.48457367e+02] [ 1.14781698e-02 9.99934123e-01 3.50445730e-05 3.52689875e+00] [ 1.96470612e-03 -5.75995302e-05 9.99998068e-01 5.13032274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60439141799998 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:248.52, Y:3.53, Z:0.51 [[ 9.99972504e-01 -7.15051062e-03 -1.96523491e-03 2.48518594e+02] [ 7.15059361e-03 9.99974434e-01 3.52071482e-05 3.53020218e+00] [ 1.96493292e-03 -4.92587763e-05 9.99998068e-01 5.13059499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66439141799998 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:248.58, Y:3.53, Z:0.51 [[ 9.99997911e-01 -5.62305044e-04 -1.96523276e-03 2.48579885e+02] [ 5.62375555e-04 9.99999841e-01 3.53271202e-05 3.53438201e+00] [ 1.96521258e-03 -3.64322452e-05 9.99998068e-01 5.12651509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72439141799998 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:248.64, Y:3.54, Z:0.51 [[ 9.99987524e-01 4.59229011e-03 -1.96523128e-03 2.48639653e+02] [-4.59222939e-03 9.99989455e-01 3.54087357e-05 3.53659206e+00] [ 1.96537317e-03 -2.63835011e-05 9.99998068e-01 5.12253293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78439141799998 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:248.70, Y:3.54, Z:0.51 [[ 9.99916491e-01 1.27729501e-02 -1.96523274e-03 2.48698700e+02] [-1.27729054e-02 9.99918422e-01 3.53277684e-05 3.54176017e+00] [ 1.96552366e-03 -1.02230864e-05 9.99998068e-01 5.13187827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.844391418 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:248.76, Y:3.54, Z:0.51 [[ 9.99824130e-01 1.86506728e-02 -1.96524262e-03 2.48756031e+02] [-1.86506405e-02 9.99826061e-01 3.47693234e-05 3.54405529e+00] [ 1.96554926e-03 1.88982501e-06 9.99998068e-01 5.13643857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90439141799996 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:248.81, Y:3.54, Z:0.51 [[ 9.99819941e-01 1.88738992e-02 -1.96524674e-03 2.48814283e+02] [-1.88738678e-02 9.99821872e-01 3.45349976e-05 3.54347123e+00] [ 1.96554848e-03 2.56302782e-06 9.99998068e-01 5.13702626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96439141799996 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:248.87, Y:3.54, Z:0.51 [[ 9.99873630e-01 1.57753503e-02 -1.96525077e-03 2.48871803e+02] [-1.57753134e-02 9.99875561e-01 3.43038513e-05 3.54231253e+00] [ 1.96554738e-03 -3.29706953e-06 9.99998068e-01 5.14003368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02439141799996 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:248.93, Y:3.54, Z:0.51 [[ 9.99966548e-01 7.93980948e-03 -1.96525501e-03 2.48929891e+02] [-7.93975787e-03 9.99968479e-01 3.40596512e-05 3.53953458e+00] [ 1.96546349e-03 -1.84548629e-05 9.99998068e-01 5.13501414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08439141799997 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:248.99, Y:3.54, Z:0.51 [[ 9.99996791e-01 1.59870594e-03 -1.96525845e-03 2.48988404e+02] [-1.59864249e-03 9.99998722e-01 3.38599348e-05 3.53658960e+00] [ 1.96531007e-03 -3.07180805e-05 9.99998068e-01 5.13092718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14439141799997 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:249.05, Y:3.53, Z:0.51 [[ 9.99970605e-01 -7.41132368e-03 -1.96526112e-03 2.49048446e+02] [ 7.41140422e-03 9.99972535e-01 3.37040656e-05 3.53112109e+00] [ 1.96495735e-03 -4.82684195e-05 9.99998068e-01 5.10895253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20439141799997 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:249.11, Y:3.53, Z:0.51 [[ 9.99895679e-01 -1.43097412e-02 -1.96526243e-03 2.49109355e+02] [ 1.43098349e-02 9.99897609e-01 3.36272537e-05 3.52746883e+00] [ 1.96458001e-03 -6.17463265e-05 9.99998068e-01 5.10694330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26439141799997 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:249.17, Y:3.53, Z:0.51 [[ 9.99856560e-01 -1.68225132e-02 -1.96526109e-03 2.49171873e+02] [ 1.68226119e-02 9.99858489e-01 3.37053172e-05 3.52506477e+00] [ 1.96441598e-03 -6.67613073e-05 9.99998068e-01 5.10647783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32439141799998 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:249.23, Y:3.52, Z:0.51 [[ 9.99857425e-01 -1.67710347e-02 -1.96525841e-03 2.49234424e+02] [ 1.67711336e-02 9.99859354e-01 3.38609155e-05 3.52452999e+00] [ 1.96441413e-03 -6.68156992e-05 9.99998068e-01 5.10756681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38439141799998 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:249.30, Y:3.52, Z:0.51 [[ 9.99873052e-01 -1.58119509e-02 -1.96525574e-03 2.49297061e+02] [ 1.58120482e-02 9.99874981e-01 3.40152039e-05 3.52471734e+00] [ 1.96447220e-03 -6.50856044e-05 9.99998068e-01 5.10508266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44439141799998 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:249.36, Y:3.53, Z:0.51 [[ 9.99873356e-01 -1.57926899e-02 -1.96525311e-03 2.49359662e+02] [ 1.57927875e-02 9.99875286e-01 3.41668335e-05 3.52543376e+00] [ 1.96446843e-03 -6.51993313e-05 9.99998068e-01 5.09815313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50439141799998 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:249.42, Y:3.53, Z:0.51 [[ 9.99864698e-01 -1.63316414e-02 -1.96525049e-03 2.49421582e+02] [ 1.63317403e-02 9.99866628e-01 3.43169993e-05 3.52557960e+00] [ 1.96442792e-03 -6.64083168e-05 9.99998068e-01 5.09088748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56439141799999 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:249.48, Y:3.53, Z:0.51 [[ 9.99861311e-01 -1.65377054e-02 -1.96524776e-03 2.49483505e+02] [ 1.65378051e-02 9.99863241e-01 3.44726156e-05 3.52631976e+00] [ 1.96440889e-03 -6.69687190e-05 9.99998068e-01 5.08290482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.624391418 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:249.54, Y:3.53, Z:0.51 [[ 9.99910732e-01 -1.32161362e-02 -1.96524498e-03 2.49544938e+02] [ 1.32162297e-02 9.99912661e-01 3.46298967e-05 3.52828529e+00] [ 1.96461567e-03 -6.05999346e-05 9.99998068e-01 5.08291439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68439141799996 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:249.61, Y:3.53, Z:0.51 [[ 9.99984376e-01 -5.23307091e-03 -1.96524293e-03 2.49606953e+02] [ 5.23314929e-03 9.99986306e-01 3.47460230e-05 3.53094117e+00] [ 1.96503419e-03 -4.50298898e-05 9.99998068e-01 5.10600298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74439141799996 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:249.67, Y:3.53, Z:0.51 [[ 9.99987040e-01 4.69645547e-03 -1.96524013e-03 2.49667503e+02] [-4.69639594e-03 9.99988971e-01 3.49039345e-05 3.53349200e+00] [ 1.96538238e-03 -2.56739364e-05 9.99998068e-01 5.11825461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80439141799997 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:249.73, Y:3.53, Z:0.51 [[ 9.99948759e-01 9.93063369e-03 -1.96523944e-03 2.49725899e+02] [-9.93058420e-03 9.99950690e-01 3.49425269e-05 3.53456340e+00] [ 1.96548954e-03 -1.54247607e-05 9.99998068e-01 5.12547723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86439141799997 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:249.78, Y:3.53, Z:0.51 [[ 9.99907029e-01 1.34933503e-02 -1.96525040e-03 2.49784222e+02] [-1.34933089e-02 9.99908961e-01 3.43148973e-05 3.53450923e+00] [ 1.96553451e-03 -7.79397637e-06 9.99998068e-01 5.12604493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92439141799997 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:249.84, Y:3.53, Z:0.51 [[ 9.99875921e-01 1.56294866e-02 -1.96525444e-03 2.49842065e+02] [-1.56294498e-02 9.99877852e-01 3.40817634e-05 3.53413667e+00] [ 1.96554707e-03 -3.36168893e-06 9.99998068e-01 5.11750871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98439141799997 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:249.90, Y:3.53, Z:0.51 [[ 9.99877843e-01 1.55060161e-02 -1.96525773e-03 2.49900647e+02] [-1.55059794e-02 9.99879775e-01 3.38909366e-05 3.53313767e+00] [ 1.96554697e-03 -3.41355066e-06 9.99998068e-01 5.09818283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04439141799998 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:249.96, Y:3.53, Z:0.51 [[ 9.99926871e-01 1.19327162e-02 -1.96526059e-03 2.49957911e+02] [-1.19326729e-02 9.99928803e-01 3.37245397e-05 3.52952325e+00] [ 1.96552309e-03 -1.02712616e-05 9.99998068e-01 5.10649462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10439141799998 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:250.02, Y:3.53, Z:0.51 [[ 9.99962463e-01 8.43866894e-03 -1.96526448e-03 2.50017142e+02] [-8.43861941e-03 9.99964394e-01 3.34960253e-05 3.52675885e+00] [ 1.96547717e-03 -1.69106489e-05 9.99998068e-01 5.10041417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16439141799998 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:250.08, Y:3.52, Z:0.51 [[ 9.99997370e-01 1.18213949e-03 -1.96526712e-03 2.50075928e+02] [-1.18207625e-03 9.99999301e-01 3.33404466e-05 3.52261305e+00] [ 1.96530516e-03 -3.10172633e-05 9.99998068e-01 5.11026379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22439141799998 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:250.13, Y:3.52, Z:0.51 [[ 9.99985201e-01 -5.07298271e-03 -1.96526985e-03 2.50134961e+02] [ 5.07305771e-03 9.99987131e-01 3.31787744e-05 3.51920225e+00] [ 1.96507625e-03 -4.31482108e-05 9.99998068e-01 5.11469204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28439141799998 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:250.20, Y:3.51, Z:0.51 [[ 9.99866448e-01 -1.62241951e-02 -1.96527186e-03 2.50196429e+02] [ 1.62242913e-02 9.99868377e-01 3.30595177e-05 3.51435659e+00] [ 1.96447682e-03 -6.49402457e-05 9.99998068e-01 5.11534416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.344391418 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:250.26, Y:3.51, Z:0.51 [[ 9.99719483e-01 -2.36028018e-02 -1.96527055e-03 2.50259006e+02] [ 2.36029124e-02 9.99721412e-01 3.31373454e-05 3.50991689e+00] [ 1.96394091e-03 -7.95141584e-05 9.99998068e-01 5.10027722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40439141799996 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:250.32, Y:3.50, Z:0.51 [[ 9.99425414e-01 -3.38375525e-02 -1.96526702e-03 2.50321508e+02] [ 3.38376834e-02 9.99427341e-01 3.33450294e-05 3.50474802e+00] [ 1.96301328e-03 -9.98259530e-05 9.99998068e-01 5.10226567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46439141799996 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:250.38, Y:3.50, Z:0.51 [[ 9.99268181e-01 -3.82000152e-02 -1.96526259e-03 2.50383715e+02] [ 3.82001549e-02 9.99270107e-01 3.36043576e-05 3.50169297e+00] [ 1.96254447e-03 -1.08653101e-04 9.99998068e-01 5.09766725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52439141799996 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:250.45, Y:3.50, Z:0.51 [[ 9.99323013e-01 -3.67376195e-02 -1.96525912e-03 2.50445923e+02] [ 3.67377568e-02 9.99324940e-01 3.38061910e-05 3.50135945e+00] [ 1.96269049e-03 -1.05982516e-04 9.99998068e-01 5.08650834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58439141799997 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:250.51, Y:3.50, Z:0.51 [[ 9.99453477e-01 -3.29982571e-02 -1.96525635e-03 2.50507279e+02] [ 3.29983875e-02 9.99455404e-01 3.39664685e-05 3.50160225e+00] [ 1.96306524e-03 -9.87981955e-05 9.99998068e-01 5.07820006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64439141799997 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:250.57, Y:3.50, Z:0.51 [[ 9.99708032e-01 -2.40829308e-02 -1.96525429e-03 2.50570595e+02] [ 2.40830443e-02 9.99709961e-01 3.40847309e-05 3.50414108e+00] [ 1.96386343e-03 -8.14040854e-05 9.99998068e-01 5.08042621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70439141799997 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:250.63, Y:3.51, Z:0.51 [[ 9.99870540e-01 -1.59699752e-02 -1.96525017e-03 2.50631943e+02] [ 1.59700735e-02 9.99872470e-01 3.43207799e-05 3.50595795e+00] [ 1.96445144e-03 -6.57015263e-05 9.99998068e-01 5.08612510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76439141799997 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:250.69, Y:3.51, Z:0.51 [[ 9.99997039e-01 -1.43507385e-03 -1.96524815e-03 2.50694220e+02] [ 1.43514430e-03 9.99998970e-01 3.44362116e-05 3.51030873e+00] [ 1.96519671e-03 -3.72565243e-05 9.99998068e-01 5.08758140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82439141799998 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:250.75, Y:3.51, Z:0.51 [[ 9.99890694e-01 1.46539137e-02 -1.96524547e-03 2.50753455e+02] [-1.46538740e-02 9.99892626e-01 3.45882020e-05 3.51362784e+00] [ 1.96554131e-03 -5.78596166e-06 9.99998068e-01 5.09852382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88439141799998 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:250.81, Y:3.51, Z:0.51 [[ 9.99803722e-01 1.97143527e-02 -1.96524687e-03 2.50810036e+02] [-1.97143230e-02 9.99805653e-01 3.45087441e-05 3.51384423e+00] [ 1.96554525e-03 4.24154079e-06 9.99998068e-01 5.09424122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94439141799998 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:250.87, Y:3.52, Z:0.52 [[ 9.99686821e-01 2.49478871e-02 -1.96525161e-03 2.50868975e+02] [-2.49478680e-02 9.99688753e-01 3.42363520e-05 3.52053367e+00] [ 1.96549406e-03 1.48032080e-05 9.99998068e-01 5.15011304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00439141799998 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:250.93, Y:3.52, Z:0.51 [[ 9.99247651e-01 3.87333108e-02 -1.96525458e-03 2.50926433e+02] [-3.87333187e-02 9.99249583e-01 3.40651638e-05 3.51654132e+00] [ 1.96509928e-03 4.20812971e-05 9.99998068e-01 5.08678429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06439141799999 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:250.98, Y:3.52, Z:0.51 [[ 9.99112215e-01 4.20822980e-02 -1.96525827e-03 2.50984283e+02] [-4.20823127e-02 9.99114147e-01 3.38511582e-05 3.51552467e+00] [ 1.96494187e-03 4.88815074e-05 9.99998068e-01 5.08696954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.124391418 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:251.04, Y:3.51, Z:0.51 [[ 9.99215834e-01 3.95455954e-02 -1.96526235e-03 2.51041950e+02] [-3.95456057e-02 9.99217766e-01 3.36125047e-05 3.51318534e+00] [ 1.96505428e-03 4.41313432e-05 9.99998068e-01 5.09874050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18439141799996 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:251.10, Y:3.52, Z:0.51 [[ 9.99513783e-01 3.11180820e-02 -1.96526731e-03 2.51100477e+02] [-3.11180766e-02 9.99515715e-01 3.33198821e-05 3.51624620e+00] [ 1.96535241e-03 2.78516573e-05 9.99998068e-01 5.13609060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24439141799996 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:251.16, Y:3.51, Z:0.51 [[ 9.99770910e-01 2.13135134e-02 -1.96526998e-03 2.51158386e+02] [-2.13134894e-02 9.99772841e-01 3.31614462e-05 3.50589396e+00] [ 1.96553034e-03 8.73291183e-06 9.99998068e-01 5.10056539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30439141799997 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:251.22, Y:3.50, Z:0.51 [[ 9.99944793e-01 1.03222178e-02 -1.96527330e-03 2.51215861e+02] [-1.03221729e-02 9.99946724e-01 3.29638758e-05 3.50112335e+00] [ 1.96550886e-03 -1.26761652e-05 9.99998068e-01 5.09395670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36439141799997 meters Centerline goodness : 0.999399 with order 1 Centerline is valid? [True, True] Translation: X:251.27, Y:3.49, Z:0.51 [[ 9.99967651e-01 -7.79961981e-03 -1.96527643e-03 2.51274147e+02] [ 7.79969928e-03 9.99969581e-01 3.27762165e-05 3.49388196e+00] [ 1.96496101e-03 -4.81037214e-05 9.99998068e-01 5.08939397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42439141799997 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:251.34, Y:3.49, Z:0.51 [[ 9.99736031e-01 -2.28911650e-02 -1.96527895e-03 2.51335149e+02] [ 2.28912733e-02 9.99737960e-01 3.26245357e-05 3.48822709e+00] [ 1.96401715e-03 -7.76036613e-05 9.99998068e-01 5.08502694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48439141799997 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:251.40, Y:3.48, Z:0.51 [[ 9.99550049e-01 -2.99305428e-02 -1.96527767e-03 2.51397230e+02] [ 2.99306648e-02 9.99551977e-01 3.27009761e-05 3.48307457e+00] [ 1.96341843e-03 -9.15083296e-05 9.99998068e-01 5.07345348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54439141799998 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:251.46, Y:3.48, Z:0.51 [[ 9.99449386e-01 -3.31219272e-02 -1.96527499e-03 2.51459217e+02] [ 3.31220557e-02 9.99451314e-01 3.28615052e-05 3.48088416e+00] [ 1.96310823e-03 -9.79373588e-05 9.99998068e-01 5.08858029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60439141799998 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:251.52, Y:3.48, Z:0.51 [[ 9.99459668e-01 -3.28102034e-02 -1.96527224e-03 2.51520245e+02] [ 3.28103316e-02 9.99461596e-01 3.30249373e-05 3.47942985e+00] [ 1.96313058e-03 -9.74883270e-05 9.99998068e-01 5.07597786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66439141799998 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:251.58, Y:3.48, Z:0.51 [[ 9.99505009e-01 -3.13986460e-02 -1.96526706e-03 2.51582771e+02] [ 3.13987721e-02 9.99506936e-01 3.33307357e-05 3.47918236e+00] [ 1.96325152e-03 -9.50212097e-05 9.99998068e-01 5.05849594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72439141799998 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:251.65, Y:3.48, Z:0.51 [[ 9.99539912e-01 -3.02671630e-02 -1.96526446e-03 2.51645703e+02] [ 3.02672872e-02 9.99541840e-01 3.34831779e-05 3.47909475e+00] [ 1.96335061e-03 -9.29509966e-05 9.99998068e-01 5.05670155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78439141799998 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:251.71, Y:3.48, Z:0.51 [[ 9.99632272e-01 -2.70454876e-02 -1.96526044e-03 2.51707812e+02] [ 2.70456061e-02 9.99634200e-01 3.37173285e-05 3.48097577e+00] [ 1.96362965e-03 -8.68565895e-05 9.99998068e-01 5.05576882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.844391418 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:251.77, Y:3.48, Z:0.51 [[ 9.99773396e-01 -2.11965586e-02 -1.96525776e-03 2.51769926e+02] [ 2.11966661e-02 9.99775325e-01 3.38729455e-05 3.48434372e+00] [ 1.96409823e-03 -7.55221822e-05 9.99998068e-01 5.06526801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90439141799996 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:251.83, Y:3.49, Z:0.51 [[ 9.99875282e-01 -1.56702928e-02 -1.96525496e-03 2.51832174e+02] [ 1.56703899e-02 9.99877211e-01 3.40349116e-05 3.48656371e+00] [ 1.96448031e-03 -6.48269783e-05 9.99998068e-01 5.07274673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96439141799996 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:251.89, Y:3.49, Z:0.51 [[ 9.99968635e-01 -7.67242553e-03 -1.96525213e-03 2.51894384e+02] [ 7.67250755e-03 9.99970565e-01 3.41972317e-05 3.49109258e+00] [ 1.96493191e-03 -4.92745709e-05 9.99998068e-01 5.09868059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02439141799996 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:251.96, Y:3.49, Z:0.51 [[ 9.99994954e-01 -2.49593493e-03 -1.96524933e-03 2.51955535e+02] [ 2.49600727e-03 9.99996884e-01 3.43575286e-05 3.49481325e+00] [ 1.96515745e-03 -3.92626319e-05 9.99998068e-01 5.11859728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08439141799997 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:252.02, Y:3.50, Z:0.51 [[ 9.99997737e-01 -8.14411052e-04 -1.96524795e-03 2.52016069e+02] [ 8.14480299e-04 9.99999668e-01 3.44360683e-05 3.49560101e+00] [ 1.96521925e-03 -3.60366461e-05 9.99998068e-01 5.10847201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14439141799997 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:252.08, Y:3.50, Z:0.51 [[ 9.99992284e-01 -3.40128811e-03 -1.96524795e-03 2.52075957e+02] [ 3.40136235e-03 9.99994215e-01 3.44360683e-05 3.49731158e+00] [ 1.96511946e-03 -4.11203230e-05 9.99998068e-01 5.13174592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20439141799997 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:252.14, Y:3.50, Z:0.51 [[ 9.99986993e-01 -4.70654343e-03 -1.96524940e-03 2.52136028e+02] [ 4.70662003e-03 9.99988923e-01 3.43530089e-05 3.49699662e+00] [ 1.96506595e-03 -4.36022443e-05 9.99998068e-01 5.14037054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26439141799997 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:252.20, Y:3.50, Z:0.52 [[ 9.99963618e-01 -8.30062087e-03 -1.96524940e-03 2.52197767e+02] [ 8.30070440e-03 9.99965548e-01 3.43530089e-05 3.49677108e+00] [ 1.96489655e-03 -5.06647134e-05 9.99998068e-01 5.15566279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32439141799998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:252.26, Y:3.50, Z:0.52 [[ 9.99930704e-01 -1.16070929e-02 -1.96524805e-03 2.52259787e+02] [ 1.16071829e-02 9.99932634e-01 3.44302514e-05 3.49588053e+00] [ 1.96471603e-03 -5.72388592e-05 9.99998068e-01 5.18537616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38439141799998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:252.32, Y:3.49, Z:0.52 [[ 9.99910304e-01 -1.32484474e-02 -1.96524521e-03 2.52321667e+02] [ 1.32485410e-02 9.99912234e-01 3.45914555e-05 3.49439757e+00] [ 1.96461445e-03 -6.06249845e-05 9.99998068e-01 5.18716334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44439141799998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:252.38, Y:3.49, Z:0.52 [[ 9.99912794e-01 -1.30591875e-02 -1.96524242e-03 2.52383047e+02] [ 1.30592810e-02 9.99914723e-01 3.47497039e-05 3.49330113e+00] [ 1.96462102e-03 -6.04113264e-05 9.99998068e-01 5.19620722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50439141799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.45, Y:3.49, Z:0.52 [[ 9.99954773e-01 -9.30534972e-03 -1.96524034e-03 2.52445194e+02] [ 9.30543620e-03 9.99956703e-01 3.48666561e-05 3.49259031e+00] [ 1.96483081e-03 -5.31524978e-05 9.99998068e-01 5.22520550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56439141799999 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:252.51, Y:3.49, Z:0.52 [[ 9.99997482e-01 -1.08326521e-03 -1.96523749e-03 2.52506580e+02] [ 1.08333613e-03 9.99999413e-01 3.50265303e-05 3.49166708e+00] [ 1.96519839e-03 -3.71554549e-05 9.99998068e-01 5.21793896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62439141799996 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:252.57, Y:3.49, Z:0.52 [[ 9.99995736e-01 2.16026503e-03 -1.96523608e-03 2.52565882e+02] [-2.16020021e-03 9.99997666e-01 3.51055986e-05 3.48994617e+00] [ 1.96530733e-03 -3.08601455e-05 9.99998068e-01 5.19875508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68439141799996 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:252.62, Y:3.49, Z:0.52 [[ 9.99952228e-01 9.57492241e-03 -1.96523677e-03 2.52624299e+02] [-9.57487198e-03 9.99954159e-01 3.50667656e-05 3.48738928e+00] [ 1.96548245e-03 -1.62481998e-05 9.99998068e-01 5.21531729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74439141799996 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:252.68, Y:3.49, Z:0.52 [[ 9.99935455e-01 1.11903104e-02 -1.96524646e-03 2.52682924e+02] [-1.11902642e-02 9.99937386e-01 3.45153023e-05 3.48589950e+00] [ 1.96550964e-03 -1.25214474e-05 9.99998068e-01 5.22132819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80439141799997 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:252.74, Y:3.48, Z:0.52 [[ 9.99907410e-01 1.34651039e-02 -1.96524928e-03 2.52741257e+02] [-1.34650623e-02 9.99909341e-01 3.43538072e-05 3.48366160e+00] [ 1.96553369e-03 -7.88842235e-06 9.99998068e-01 5.21233761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86439141799997 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:252.80, Y:3.48, Z:0.52 [[ 9.99925010e-01 1.20876655e-02 -1.96525205e-03 2.52799373e+02] [-1.20876217e-02 9.99926941e-01 3.41946193e-05 3.47976593e+00] [ 1.96552180e-03 -1.04368317e-05 9.99998068e-01 5.20523056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92439141799997 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:252.86, Y:3.48, Z:0.52 [[ 9.99953804e-01 9.40887255e-03 -1.96525616e-03 2.52858077e+02] [-9.40882398e-03 9.99955735e-01 3.39567023e-05 3.47638835e+00] [ 1.96548866e-03 -1.54643843e-05 9.99998068e-01 5.18925370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98439141799997 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:252.92, Y:3.47, Z:0.52 [[ 9.99987976e-01 4.49291292e-03 -1.96525831e-03 2.52915761e+02] [-4.49285511e-03 9.99989907e-01 3.38321405e-05 3.47319933e+00] [ 1.96539047e-03 -2.50021129e-05 9.99998068e-01 5.20939552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04439141799998 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:252.97, Y:3.47, Z:0.52 [[ 9.99994674e-01 -2.60559389e-03 -1.96526186e-03 2.52974530e+02] [ 2.60566500e-03 9.99996605e-01 3.36243826e-05 3.46837809e+00] [ 1.96516758e-03 -3.87450176e-05 9.99998068e-01 5.22111854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10439141799998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:253.04, Y:3.46, Z:0.52 [[ 9.99954706e-01 -9.31256399e-03 -1.96526385e-03 2.53035367e+02] [ 9.31264781e-03 9.99956636e-01 3.35078824e-05 3.46391432e+00] [ 1.96486658e-03 -5.18081747e-05 9.99998068e-01 5.21890165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16439141799998 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:253.10, Y:3.46, Z:0.52 [[ 9.99879712e-01 -1.53850134e-02 -1.96526385e-03 2.53097189e+02] [ 1.53851089e-02 9.99881642e-01 3.35078824e-05 3.46066972e+00] [ 1.96451572e-03 -6.37396502e-05 9.99998068e-01 5.21969748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22439141799998 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:253.16, Y:3.46, Z:0.52 [[ 9.99821897e-01 -1.87699796e-02 -1.96525437e-03 2.53159013e+02] [ 1.87700828e-02 9.99823826e-01 3.40546825e-05 3.45803425e+00] [ 1.96426894e-03 -7.09366045e-05 9.99998068e-01 5.22410345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28439141799998 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:253.22, Y:3.46, Z:0.52 [[ 9.99757849e-01 -2.19175769e-02 -1.96525163e-03 2.53220744e+02] [ 2.19176865e-02 9.99759778e-01 3.42119641e-05 3.45663907e+00] [ 1.96402969e-03 -7.72774488e-05 9.99998068e-01 5.23221320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.344391418 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:253.28, Y:3.46, Z:0.52 [[ 9.99756410e-01 -2.19831347e-02 -1.96524878e-03 2.53281554e+02] [ 2.19832447e-02 9.99758339e-01 3.43750558e-05 3.45600674e+00] [ 1.96401818e-03 -7.75692272e-05 9.99998068e-01 5.22330001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40439141799996 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:253.34, Y:3.46, Z:0.52 [[ 9.99789851e-01 -2.04056644e-02 -1.96524667e-03 2.53342698e+02] [ 2.04057715e-02 9.99791780e-01 3.44954029e-05 3.45600295e+00] [ 1.96413356e-03 -7.45905282e-05 9.99998068e-01 5.21007637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46439141799996 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:253.41, Y:3.46, Z:0.52 [[ 9.99853345e-01 -1.70125153e-02 -1.96524459e-03 2.53405289e+02] [ 1.70126162e-02 9.99855274e-01 3.46132482e-05 3.45603959e+00] [ 1.96437131e-03 -6.80421240e-05 9.99998068e-01 5.21423704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52439141799996 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:253.47, Y:3.46, Z:0.52 [[ 9.99898757e-01 -1.40930045e-02 -1.96524181e-03 2.53467192e+02] [ 1.40931000e-02 9.99900687e-01 3.47704363e-05 3.45707227e+00] [ 1.96455662e-03 -6.24632653e-05 9.99998068e-01 5.22472949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58439141799997 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:253.53, Y:3.46, Z:0.52 [[ 9.99948787e-01 -9.92778257e-03 -1.96523900e-03 2.53529530e+02] [ 9.92787038e-03 9.99950717e-01 3.49287397e-05 3.45839038e+00] [ 1.96479538e-03 -5.44375889e-05 9.99998068e-01 5.23353736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64439141799997 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:253.59, Y:3.46, Z:0.52 [[ 9.99965876e-01 -8.02403096e-03 -1.96523621e-03 2.53591508e+02] [ 8.02411540e-03 9.99967806e-01 3.50850453e-05 3.45847032e+00] [ 1.96489141e-03 -5.08531302e-05 9.99998068e-01 5.23425395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70439141799997 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:253.65, Y:3.46, Z:0.52 [[ 9.99971348e-01 -7.31031933e-03 -1.96523338e-03 2.53653416e+02] [ 7.31040270e-03 9.99973278e-01 3.52424732e-05 3.45835674e+00] [ 1.96492324e-03 -4.96081108e-05 9.99998068e-01 5.22512885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76439141799997 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:253.72, Y:3.46, Z:0.52 [[ 9.99973565e-01 -7.00047932e-03 -1.96523055e-03 2.53715946e+02] [ 7.00056240e-03 9.99975495e-01 3.54000486e-05 3.45817942e+00] [ 1.96493457e-03 -4.91568319e-05 9.99998068e-01 5.23140401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82439141799998 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:253.78, Y:3.46, Z:0.52 [[ 9.99982087e-01 -5.65367215e-03 -1.96522769e-03 2.53777733e+02] [ 5.65375294e-03 9.99984017e-01 3.55578849e-05 3.45888412e+00] [ 1.96499525e-03 -4.66681598e-05 9.99998068e-01 5.24242475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88439141799998 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:253.84, Y:3.46, Z:0.53 [[ 9.99991831e-01 -3.53216878e-03 -1.96522628e-03 2.53838832e+02] [ 3.53224563e-03 9.99993761e-01 3.56356745e-05 3.45956605e+00] [ 1.96508815e-03 -4.25770453e-05 9.99998068e-01 5.25188625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94439141799998 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:253.90, Y:3.46, Z:0.53 [[ 9.99994114e-01 -2.81243119e-03 -1.96522483e-03 2.53899626e+02] [ 2.81250681e-03 9.99996044e-01 3.57153546e-05 3.46012076e+00] [ 1.96511661e-03 -4.12423526e-05 9.99998068e-01 5.25714688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00439141799998 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:253.96, Y:3.46, Z:0.53 [[ 9.99995165e-01 -2.41003935e-03 -1.96522483e-03 2.53960212e+02] [ 2.41011419e-03 9.99997095e-01 3.57153546e-05 3.45967209e+00] [ 1.96513305e-03 -4.04515982e-05 9.99998068e-01 5.25927991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06439141799999 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:254.02, Y:3.46, Z:0.53 [[ 9.99989592e-01 -4.11754745e-03 -1.96522483e-03 2.54019747e+02] [ 4.11762558e-03 9.99991522e-01 3.57153546e-05 3.45967748e+00] [ 1.96506111e-03 -4.38070429e-05 9.99998068e-01 5.25990731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12439141799996 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:254.08, Y:3.46, Z:0.53 [[ 9.99982542e-01 -5.57265294e-03 -1.96522558e-03 2.54080038e+02] [ 5.57273381e-03 9.99984472e-01 3.56742698e-05 3.45927699e+00] [ 1.96499626e-03 -4.66253260e-05 9.99998068e-01 5.26961192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18439141799996 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:254.14, Y:3.46, Z:0.53 [[ 9.99979290e-01 -6.12842921e-03 -1.96522558e-03 2.54141044e+02] [ 6.12851115e-03 9.99981220e-01 3.56742698e-05 3.45932151e+00] [ 1.96497004e-03 -4.77174379e-05 9.99998068e-01 5.25873706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24439141799996 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:254.20, Y:3.46, Z:0.53 [[ 9.99967960e-01 -7.75995221e-03 -1.96522415e-03 2.54202779e+02] [ 7.76003745e-03 9.99969890e-01 3.57525695e-05 3.46179242e+00] [ 1.96488754e-03 -5.10016370e-05 9.99998068e-01 5.27262851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30439141799997 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:254.26, Y:3.46, Z:0.52 [[ 9.99987471e-01 -4.60396635e-03 -1.96522266e-03 2.54263902e+02] [ 4.60404566e-03 9.99989401e-01 3.58343544e-05 3.46094627e+00] [ 1.96503685e-03 -4.48818803e-05 9.99998068e-01 5.24080589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36439141799997 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:254.32, Y:3.46, Z:0.52 [[ 9.99998025e-01 2.95316957e-04 -1.96522046e-03 2.54323821e+02] [-2.95246868e-04 9.99999956e-01 3.59547573e-05 3.46289302e+00] [ 1.96523099e-03 -3.53744611e-05 9.99998068e-01 5.24244522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42439141799997 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:254.38, Y:3.46, Z:0.53 [[ 9.99968590e-01 7.67829600e-03 -1.96521974e-03 2.54383024e+02] [-7.67824009e-03 9.99970521e-01 3.59939371e-05 3.46458620e+00] [ 1.96543818e-03 -2.09033776e-05 9.99998068e-01 5.26302500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48439141799997 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:254.44, Y:3.47, Z:0.53 [[ 9.99926018e-01 1.20040423e-02 -1.96522189e-03 2.54440943e+02] [-1.20039950e-02 9.99927949e-01 3.58763745e-05 3.46501309e+00] [ 1.96551095e-03 -1.22832067e-05 9.99998068e-01 5.27139391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54439141799998 meters Centerline goodness : 0.999386 with order 1 Centerline is valid? [True, True] Translation: X:254.50, Y:3.47, Z:0.53 [[ 9.99841085e-01 1.77184390e-02 -1.96523327e-03 2.54498097e+02] [-1.77184040e-02 9.99843016e-01 3.52415377e-05 3.46541163e+00] [ 1.96554919e-03 -4.15140230e-07 9.99998068e-01 5.26458350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60439141799998 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:254.56, Y:3.46, Z:0.53 [[ 9.99791277e-01 2.03356653e-02 -1.96523811e-03 2.54556627e+02] [-2.03356359e-02 9.99793209e-01 3.49695589e-05 3.46460981e+00] [ 1.96554285e-03 5.00210666e-06 9.99998068e-01 5.25843006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66439141799998 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:254.62, Y:3.47, Z:0.53 [[ 9.99803423e-01 1.97294822e-02 -1.96524091e-03 2.54615956e+02] [-1.97294519e-02 9.99805355e-01 3.48113509e-05 3.46666138e+00] [ 1.96554520e-03 3.96861823e-06 9.99998068e-01 5.27271286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72439141799998 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:254.68, Y:3.47, Z:0.54 [[ 9.99861123e-01 1.65490840e-02 -1.96524640e-03 2.54675600e+02] [-1.65490482e-02 9.99863055e-01 3.44988249e-05 3.46844816e+00] [ 1.96554819e-03 -1.97107651e-06 9.99998068e-01 5.36817639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78439141799998 meters Centerline goodness : 0.999387 with order 1 Centerline is valid? [True, True] Translation: X:254.73, Y:3.47, Z:0.53 [[ 9.99848561e-01 1.72913852e-02 -1.96524805e-03 2.54734038e+02] [-1.72913509e-02 9.99850493e-01 3.44043354e-05 3.46508952e+00] [ 1.96554913e-03 -4.17331508e-07 9.99998068e-01 5.34807956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.844391418 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:254.79, Y:3.46, Z:0.53 [[ 9.99841257e-01 1.77087242e-02 -1.96525375e-03 2.54791930e+02] [-1.77086914e-02 9.99843188e-01 3.40760574e-05 3.46046378e+00] [ 1.96554901e-03 7.31424008e-07 9.99998068e-01 5.33688054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90439141799996 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:254.85, Y:3.45, Z:0.53 [[ 9.99819851e-01 1.88786642e-02 -1.96525844e-03 2.54850159e+02] [-1.88786343e-02 9.99821782e-01 3.38029005e-05 3.45339278e+00] [ 1.96554635e-03 3.30458452e-06 9.99998068e-01 5.30778048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96439141799996 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:254.91, Y:3.44, Z:0.53 [[ 9.99806618e-01 1.95669147e-02 -1.96526206e-03 2.54907623e+02] [-1.95668864e-02 9.99808550e-01 3.35911434e-05 3.44490577e+00] [ 1.96554309e-03 4.86941219e-06 9.99998068e-01 5.28084495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02439141799996 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:254.96, Y:3.44, Z:0.53 [[ 9.99862667e-01 1.64555634e-02 -1.96526566e-03 2.54964198e+02] [-1.64555295e-02 9.99864598e-01 3.33793859e-05 3.43835881e+00] [ 1.96554884e-03 -1.03531467e-06 9.99998068e-01 5.28792497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08439141799997 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:255.02, Y:3.43, Z:0.53 [[ 9.99913508e-01 1.30044182e-02 -1.96527013e-03 2.55023339e+02] [-1.30043782e-02 9.99915439e-01 3.31139415e-05 3.43130740e+00] [ 1.96553457e-03 -7.55396128e-06 9.99998068e-01 5.28719025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14439141799997 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:255.08, Y:3.42, Z:0.53 [[ 9.99928491e-01 1.17962321e-02 -1.96527264e-03 2.55080535e+02] [-1.17961901e-02 9.99930422e-01 3.29641962e-05 3.42385982e+00] [ 1.96552476e-03 -9.77910915e-06 9.99998068e-01 5.27697860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20439141799997 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:255.14, Y:3.42, Z:0.53 [[ 9.99909857e-01 1.32821476e-02 -1.96527571e-03 2.55138977e+02] [-1.32821088e-02 9.99911788e-01 3.27803745e-05 3.41880998e+00] [ 1.96553774e-03 -6.67441382e-06 9.99998068e-01 5.26048240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26439141799997 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:255.20, Y:3.41, Z:0.53 [[ 9.99906648e-01 1.35215681e-02 -1.96527811e-03 2.55197842e+02] [-1.35215301e-02 9.99908579e-01 3.26357303e-05 3.41313786e+00] [ 1.96553973e-03 -6.05911660e-06 9.99998068e-01 5.25317530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32439141799998 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:255.26, Y:3.41, Z:0.52 [[ 9.99836254e-01 1.79889833e-02 -1.96528051e-03 2.55255330e+02] [-1.79889542e-02 9.99838185e-01 3.24906149e-05 3.40595189e+00] [ 1.96554697e-03 2.86804646e-06 9.99998068e-01 5.23922970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38439141799998 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:255.31, Y:3.40, Z:0.53 [[ 9.99831314e-01 1.82614911e-02 -1.96528366e-03 2.55313284e+02] [-1.82614629e-02 9.99833245e-01 3.22989536e-05 3.40230786e+00] [ 1.96554577e-03 3.59544936e-06 9.99998068e-01 5.28072438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44439141799998 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:255.37, Y:3.39, Z:0.53 [[ 9.99857348e-01 1.67756014e-02 -1.96528786e-03 2.55371318e+02] [-1.67755708e-02 9.99859280e-01 3.20411634e-05 3.39307404e+00] [ 1.96554882e-03 9.32233089e-07 9.99998068e-01 5.27269404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50439141799998 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:255.43, Y:3.39, Z:0.53 [[ 9.99909181e-01 1.33329131e-02 -1.96529103e-03 2.55430288e+02] [-1.33328762e-02 9.99911113e-01 3.18460117e-05 3.38735430e+00] [ 1.96554094e-03 -5.64013746e-06 9.99998068e-01 5.26668375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56439141799999 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:255.49, Y:3.38, Z:0.53 [[ 9.99983088e-01 5.47362991e-03 -1.96529346e-03 2.55489453e+02] [-5.47357819e-03 9.99985019e-01 3.16953035e-05 3.37925030e+00] [ 1.96543750e-03 -2.09375801e-05 9.99998068e-01 5.25136967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62439141799996 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:255.55, Y:3.37, Z:0.53 [[ 9.99988346e-01 -4.40976454e-03 -1.96529611e-03 2.55547554e+02] [ 4.40983502e-03 9.99990276e-01 3.15299108e-05 3.37104999e+00] [ 1.96513796e-03 -4.01961749e-05 9.99998068e-01 5.25281636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68439141799996 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:255.61, Y:3.37, Z:0.53 [[ 9.99949014e-01 -9.90488548e-03 -1.96529809e-03 2.55607754e+02] [ 9.90496632e-03 9.99950944e-01 3.14058598e-05 3.36618864e+00] [ 1.96489061e-03 -5.08704700e-05 9.99998068e-01 5.27723989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74439141799996 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:255.67, Y:3.36, Z:0.53 [[ 9.99873332e-01 -1.57942189e-02 -1.96529809e-03 2.55669551e+02] [ 1.57943111e-02 9.99875262e-01 3.14058598e-05 3.36105131e+00] [ 1.96455691e-03 -6.24424112e-05 9.99998068e-01 5.28810382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80439141799997 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:255.73, Y:3.36, Z:0.53 [[ 9.99785418e-01 -2.06217395e-02 -1.96528908e-03 2.55731309e+02] [ 2.06218422e-02 9.99787347e-01 3.19602453e-05 3.35699728e+00] [ 1.96421208e-03 -7.24812684e-05 9.99998068e-01 5.29516901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86439141799997 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:255.79, Y:3.35, Z:0.53 [[ 9.99714681e-01 -2.38053495e-02 -1.96528640e-03 2.55793760e+02] [ 2.38054586e-02 9.99716609e-01 3.21238589e-05 3.35471026e+00] [ 1.96396474e-03 -7.88992374e-05 9.99998068e-01 5.29239224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92439141799997 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:255.86, Y:3.36, Z:0.53 [[ 9.99490281e-01 -3.18640268e-02 -1.96528374e-03 2.55855639e+02] [ 3.18641517e-02 9.99492208e-01 3.22858273e-05 3.35510138e+00] [ 1.96325703e-03 -9.48914699e-05 9.99998068e-01 5.34538368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98439141799997 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:255.92, Y:3.35, Z:0.53 [[ 9.99376128e-01 -3.52631921e-02 -1.96528168e-03 2.55916354e+02] [ 3.52633239e-02 9.99378055e-01 3.24109444e-05 3.34990455e+00] [ 1.96291647e-03 -1.01693088e-04 9.99998068e-01 5.26362774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04439141799998 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:255.98, Y:3.35, Z:0.53 [[ 9.99209460e-01 -3.97063235e-02 -1.96527692e-03 2.55978913e+02] [ 3.97064644e-02 9.99211387e-01 3.26967447e-05 3.34924631e+00] [ 1.96242881e-03 -1.10705095e-04 9.99998068e-01 5.26752633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10439141799998 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:256.04, Y:3.35, Z:0.53 [[ 9.99215000e-01 -3.95666720e-02 -1.96527299e-03 2.56042022e+02] [ 3.95668130e-02 9.99216927e-01 3.29317489e-05 3.34981629e+00] [ 1.96243103e-03 -1.10665486e-04 9.99998068e-01 5.27486395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16439141799998 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:256.10, Y:3.35, Z:0.53 [[ 9.99423834e-01 -3.38841920e-02 -1.96526886e-03 2.56104261e+02] [ 3.38843226e-02 9.99425761e-01 3.31761362e-05 3.35301890e+00] [ 1.96301618e-03 -9.97488252e-05 9.99998068e-01 5.28233309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22439141799998 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:256.17, Y:3.36, Z:0.53 [[ 9.99740250e-01 -2.27061783e-02 -1.96526613e-03 2.56165387e+02] [ 2.27062876e-02 9.99742178e-01 3.33368383e-05 3.35795382e+00] [ 1.96400249e-03 -7.79520772e-05 9.99998068e-01 5.29778638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28439141799998 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:256.23, Y:3.36, Z:0.53 [[ 9.99912366e-01 -1.30918766e-02 -1.96526412e-03 2.56227743e+02] [ 1.30919676e-02 9.99914296e-01 3.34553942e-05 3.36130994e+00] [ 1.96465769e-03 -5.91816366e-05 9.99998068e-01 5.31665274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.344391418 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:256.29, Y:3.36, Z:0.53 [[ 9.99994364e-01 -2.72221091e-03 -1.96526142e-03 2.56290070e+02] [ 2.72228222e-03 9.99996294e-01 3.36127504e-05 3.36437620e+00] [ 1.96516264e-03 -3.89625572e-05 9.99998068e-01 5.33050898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40439141799996 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:256.35, Y:3.37, Z:0.53 [[ 9.99910423e-01 1.32394418e-02 -1.96525868e-03 2.56349314e+02] [-1.32394010e-02 9.99912355e-01 3.37724741e-05 3.36904671e+00] [ 1.96553356e-03 -7.75060110e-06 9.99998068e-01 5.32750923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46439141799996 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:256.41, Y:3.37, Z:0.53 [[ 9.99761436e-01 2.17533433e-02 -1.96525935e-03 2.56407510e+02] [-2.17533190e-02 9.99763368e-01 3.37335005e-05 3.37157060e+00] [ 1.96552812e-03 9.02546066e-06 9.99998068e-01 5.33077663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52439141799996 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:256.47, Y:3.37, Z:0.53 [[ 9.99515169e-01 3.10735421e-02 -1.96526986e-03 2.56465938e+02] [-3.10735370e-02 9.99517101e-01 3.31098430e-05 3.37247486e+00] [ 1.96534967e-03 2.79740953e-05 9.99998068e-01 5.34338273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58439141799997 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:256.52, Y:3.37, Z:0.53 [[ 9.99513418e-01 3.11298107e-02 -1.96527380e-03 2.56523029e+02] [-3.11298062e-02 9.99515350e-01 3.28743264e-05 3.37160010e+00] [ 1.96534470e-03 2.83202621e-05 9.99998068e-01 5.34319360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64439141799997 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:256.58, Y:3.37, Z:0.53 [[ 9.99641790e-01 2.66913843e-02 -1.96527828e-03 2.56581508e+02] [-2.66913718e-02 9.99643721e-01 3.26041006e-05 3.36921546e+00] [ 1.96544834e-03 1.98635518e-05 9.99998068e-01 5.34037274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70439141799997 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:256.64, Y:3.36, Z:0.53 [[ 9.99871901e-01 1.58845493e-02 -1.96528084e-03 2.56640314e+02] [-1.58845162e-02 9.99873833e-01 3.24490793e-05 3.36292195e+00] [ 1.96554832e-03 -1.22738725e-06 9.99998068e-01 5.34098824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76439141799997 meters Centerline goodness : 0.999387 with order 1 Centerline is valid? [True, True] Translation: X:256.70, Y:3.36, Z:0.54 [[ 9.99983517e-01 5.39482646e-03 -1.96528335e-03 2.56698681e+02] [-5.39477341e-03 9.99985448e-01 3.22959913e-05 3.35786223e+00] [ 1.96542899e-03 -2.16932005e-05 9.99998068e-01 5.35827246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82439141799998 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:256.76, Y:3.35, Z:0.54 [[ 9.99924168e-01 -1.21571581e-02 -1.96528593e-03 2.56757679e+02] [ 1.21572447e-02 9.99926097e-01 3.21387468e-05 3.35040433e+00] [ 1.96474997e-03 -5.60287716e-05 9.99998068e-01 5.36791590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88439141799998 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:256.82, Y:3.34, Z:0.54 [[ 9.99612817e-01 -2.77552620e-02 -1.96528781e-03 2.56820257e+02] [ 2.77553785e-02 9.99614745e-01 3.20230644e-05 3.34170075e+00] [ 1.96364186e-03 -8.65579726e-05 9.99998068e-01 5.36808215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94439141799998 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:256.88, Y:3.34, Z:0.54 [[ 9.99201960e-01 -3.98946168e-02 -1.96527876e-03 2.56881437e+02] [ 3.98947577e-02 9.99203887e-01 3.25689052e-05 3.33576305e+00] [ 1.96241486e-03 -1.10947234e-04 9.99998068e-01 5.44891481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00439141799998 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:256.94, Y:3.33, Z:0.54 [[ 9.99105505e-01 -4.22412935e-02 -1.96527737e-03 2.56943905e+02] [ 4.22414392e-02 9.99107432e-01 3.26527106e-05 3.33212991e+00] [ 1.96214394e-03 -1.15639647e-04 9.99998068e-01 5.38800594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06439141799999 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:257.01, Y:3.33, Z:0.53 [[ 9.99114627e-01 -4.20249795e-02 -1.96527464e-03 2.57005761e+02] [ 4.20251251e-02 9.99116554e-01 3.28165837e-05 3.32916307e+00] [ 1.96215931e-03 -1.15378441e-04 9.99998068e-01 5.34518064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12439141799996 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:257.07, Y:3.33, Z:0.54 [[ 9.99199888e-01 -3.99464829e-02 -1.96527147e-03 2.57067215e+02] [ 3.99466249e-02 9.99201814e-01 3.30051776e-05 3.32980647e+00] [ 1.96238438e-03 -1.11484732e-04 9.99998068e-01 5.37212628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18439141799996 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:257.13, Y:3.33, Z:0.53 [[ 9.99318540e-01 -3.68591072e-02 -1.96526908e-03 2.57129182e+02] [ 3.68592435e-02 9.99320467e-01 3.31468955e-05 3.33037527e+00] [ 1.96271185e-03 -1.05562639e-04 9.99998068e-01 5.33166558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24439141799996 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:257.19, Y:3.33, Z:0.54 [[ 9.99413142e-01 -3.41981038e-02 -1.96526499e-03 2.57191523e+02] [ 3.41982354e-02 9.99415069e-01 3.33873069e-05 3.32780152e+00] [ 1.96297367e-03 -1.00576308e-04 9.99998068e-01 5.35137353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30439141799997 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:257.25, Y:3.33, Z:0.53 [[ 9.99440949e-01 -3.33755566e-02 -1.96526163e-03 2.57253618e+02] [ 3.33756870e-02 9.99442876e-01 3.35839695e-05 3.32962860e+00] [ 1.96304586e-03 -9.91571514e-05 9.99998068e-01 5.34887204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36439141799997 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:257.32, Y:3.33, Z:0.54 [[ 9.99530225e-01 -3.05854187e-02 -1.96525734e-03 2.57315946e+02] [ 3.05855442e-02 9.99532152e-01 3.38333698e-05 3.33208895e+00] [ 1.96330309e-03 -9.39259410e-05 9.99998068e-01 5.36676595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42439141799997 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:257.38, Y:3.34, Z:0.54 [[ 9.99624959e-01 -2.73144342e-02 -1.96525439e-03 2.57378181e+02] [ 2.73145537e-02 9.99626887e-01 3.40037537e-05 3.33673396e+00] [ 1.96359234e-03 -8.76710476e-05 9.99998068e-01 5.40830696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48439141799997 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:257.44, Y:3.34, Z:0.54 [[ 9.99739263e-01 -2.27495997e-02 -1.96525147e-03 2.57440673e+02] [ 2.27497108e-02 9.99741191e-01 3.41717195e-05 3.33767800e+00] [ 1.96396545e-03 -7.88717122e-05 9.99998068e-01 5.41927351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54439141799998 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:257.50, Y:3.34, Z:0.54 [[ 9.99896069e-01 -1.42824575e-02 -1.96524865e-03 2.57502876e+02] [ 1.42825525e-02 9.99897999e-01 3.43331970e-05 3.34070539e+00] [ 1.96455783e-03 -6.23983958e-05 9.99998068e-01 5.42824624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60439141799998 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:257.56, Y:3.34, Z:0.54 [[ 9.99993798e-01 -2.92275201e-03 -1.96524582e-03 2.57563751e+02] [ 2.92282544e-03 9.99995728e-01 3.44944988e-05 3.34295569e+00] [ 1.96513660e-03 -4.02383553e-05 9.99998068e-01 5.41419893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66439141799998 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:257.62, Y:3.34, Z:0.54 [[ 9.99993946e-01 2.87138508e-03 -1.96524443e-03 2.57624485e+02] [-2.87132268e-03 9.99995877e-01 3.45731955e-05 3.34354546e+00] [ 1.96533561e-03 -2.89301353e-05 9.99998068e-01 5.43042248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72439141799998 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:257.68, Y:3.35, Z:0.55 [[ 9.99901182e-01 1.39198923e-02 -1.96524443e-03 2.57682911e+02] [-1.39198512e-02 9.99903114e-01 3.45731955e-05 3.34760534e+00] [ 1.96553528e-03 -7.21386899e-06 9.99998068e-01 5.45659085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78439141799998 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:257.74, Y:3.35, Z:0.54 [[ 9.99816093e-01 1.90766460e-02 -1.96525439e-03 2.57740664e+02] [-1.90766161e-02 9.99818024e-01 3.39974894e-05 3.34593689e+00] [ 1.96554532e-03 3.49916655e-06 9.99998068e-01 5.43508507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.844391418 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:257.80, Y:3.34, Z:0.54 [[ 9.99769299e-01 2.13889386e-02 -1.96525786e-03 2.57798355e+02] [-2.13889135e-02 9.99771230e-01 3.37960157e-05 3.34388102e+00] [ 1.96553113e-03 8.24651136e-06 9.99998068e-01 5.42054387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90439141799996 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:257.86, Y:3.34, Z:0.54 [[ 9.99832050e-01 1.82211301e-02 -1.96526178e-03 2.57857394e+02] [-1.82210994e-02 9.99833981e-01 3.35665934e-05 3.34001112e+00] [ 1.96554713e-03 2.24827424e-06 9.99998068e-01 5.43019864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96439141799996 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:257.92, Y:3.34, Z:0.55 [[ 9.99939293e-01 1.08419197e-02 -1.96526442e-03 2.57916573e+02] [-1.08418749e-02 9.99941225e-01 3.34111048e-05 3.34068790e+00] [ 1.96551115e-03 -1.21019255e-05 9.99998068e-01 5.47305537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.024391418 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:257.98, Y:3.33, Z:0.54 [[ 9.99994422e-01 2.70078521e-03 -1.96526647e-03 2.57976235e+02] [-2.70072500e-03 9.99996352e-01 3.32903657e-05 3.33063680e+00] [ 1.96534921e-03 -2.79825358e-05 9.99998068e-01 5.43629465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.084391418 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:258.03, Y:3.32, Z:0.54 [[ 9.99964937e-01 -8.14019236e-03 -1.96526786e-03 2.58034765e+02] [ 8.14027334e-03 9.99966867e-01 3.32078385e-05 3.32356229e+00] [ 1.96493243e-03 -4.92044917e-05 9.99998068e-01 5.42812252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.144391418 meters Centerline goodness : 0.999387 with order 1 Centerline is valid? [True, True] Translation: X:258.10, Y:3.32, Z:0.54 [[ 9.99862723e-01 -1.64521692e-02 -1.96526986e-03 2.58096423e+02] [ 1.64522659e-02 9.99864652e-01 3.30890057e-05 3.31780380e+00] [ 1.96445948e-03 -6.54176058e-05 9.99998068e-01 5.43458537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.204391418 meters Centerline goodness : 0.999346 with order 1 Centerline is valid? [True, True] Translation: X:258.16, Y:3.31, Z:0.54 [[ 9.99811493e-01 -1.93161984e-02 -1.96526851e-03 2.58158045e+02] [ 1.93163009e-02 9.99813422e-01 3.31691365e-05 3.31466107e+00] [ 1.96426113e-03 -7.11246017e-05 9.99998068e-01 5.43384343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26439141799995 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:258.22, Y:3.31, Z:0.54 [[ 9.99836966e-01 -1.79493734e-02 -1.96526650e-03 2.58218696e+02] [ 1.79494735e-02 9.99838895e-01 3.32880019e-05 3.31176350e+00] [ 1.96435238e-03 -6.85580736e-05 9.99998068e-01 5.43280085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32439141799995 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:258.28, Y:3.31, Z:0.54 [[ 9.99881605e-01 -1.52614809e-02 -1.96526452e-03 2.58280915e+02] [ 1.52615760e-02 9.99883535e-01 3.34044118e-05 3.31081153e+00] [ 1.96452583e-03 -6.33934907e-05 9.99998068e-01 5.44182921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38439141799995 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:258.34, Y:3.31, Z:0.55 [[ 9.99938855e-01 -1.08822560e-02 -1.96526192e-03 2.58342863e+02] [ 1.08823430e-02 9.99940785e-01 3.35566283e-05 3.31073375e+00] [ 1.96478037e-03 -5.49412306e-05 9.99998068e-01 5.45001082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44439141799995 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:258.40, Y:3.31, Z:0.54 [[ 9.99978253e-01 -6.29540101e-03 -1.96525912e-03 2.58404553e+02] [ 6.29547943e-03 9.99980183e-01 3.37194627e-05 3.31038556e+00] [ 1.96500790e-03 -4.60909778e-05 9.99998068e-01 5.43799272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50439141799995 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:258.46, Y:3.31, Z:0.54 [[ 9.99987199e-01 -4.66256526e-03 -1.96525773e-03 2.58464480e+02] [ 4.66264069e-03 9.99989129e-01 3.38006042e-05 3.30986256e+00] [ 1.96507877e-03 -4.29634621e-05 9.99998068e-01 5.43251241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56439141799996 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:258.52, Y:3.31, Z:0.54 [[ 9.99998056e-01 -1.60634928e-04 -1.96525541e-03 2.58523786e+02] [ 1.60701929e-04 9.99999987e-01 3.39347712e-05 3.31140302e+00] [ 1.96524993e-03 -3.42505255e-05 9.99998068e-01 5.42346697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62439141799996 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:258.58, Y:3.31, Z:0.54 [[ 9.99992406e-01 3.36548863e-03 -1.96525541e-03 2.58583632e+02] [-3.36542843e-03 9.99994336e-01 3.39347712e-05 3.31266431e+00] [ 1.96535849e-03 -2.73205870e-05 9.99998068e-01 5.44553457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68439141799996 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:258.64, Y:3.31, Z:0.55 [[ 9.99986906e-01 4.72499908e-03 -1.96525679e-03 2.58642748e+02] [-4.72494167e-03 9.99988837e-01 3.38547329e-05 3.31498750e+00] [ 1.96539482e-03 -2.45685659e-05 9.99998068e-01 5.45944676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74439141799996 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:258.70, Y:3.32, Z:0.55 [[ 9.99991095e-01 3.73478223e-03 -1.96525943e-03 2.58701925e+02] [-3.73472321e-03 9.99993025e-01 3.37009604e-05 3.31566580e+00] [ 1.96537159e-03 -2.63609602e-05 9.99998068e-01 5.46083169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80439141799997 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:258.76, Y:3.32, Z:0.55 [[ 9.99997552e-01 -1.01659372e-03 -1.96526201e-03 2.58760537e+02] [ 1.01666161e-03 9.99999483e-01 3.35495042e-05 3.31658751e+00] [ 1.96522689e-03 -3.55474285e-05 9.99998068e-01 5.46742417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86439141799997 meters Centerline goodness : 0.998839 with order 1 Centerline is valid? [True, True] Translation: X:258.82, Y:3.32, Z:0.55 [[ 9.99959148e-01 -8.82275813e-03 -1.96526474e-03 2.58819999e+02] [ 8.82284078e-03 9.99961077e-01 3.33889969e-05 3.31689212e+00] [ 1.96489366e-03 -5.07268508e-05 9.99998068e-01 5.45964551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92439141799997 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:258.88, Y:3.32, Z:0.55 [[ 9.99840510e-01 -1.77508166e-02 -1.96526541e-03 2.58882345e+02] [ 1.77509164e-02 9.99842440e-01 3.33495868e-05 3.31696780e+00] [ 1.96436378e-03 -6.82295297e-05 9.99998068e-01 5.45136561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.984391418 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:258.95, Y:3.32, Z:0.54 [[ 9.99659595e-01 -2.60160109e-02 -1.96525593e-03 2.58945133e+02] [ 2.60161277e-02 9.99661523e-01 3.38988894e-05 3.31726934e+00] [ 1.96370882e-03 -8.50156994e-05 9.99998068e-01 5.44275863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.044391418 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:259.01, Y:3.32, Z:0.54 [[ 9.99520168e-01 -3.09123359e-02 -1.96524479e-03 2.59007768e+02] [ 3.09124634e-02 9.99522095e-01 3.45327909e-05 3.31749412e+00] [ 1.96323811e-03 -9.52667787e-05 9.99998068e-01 5.44840825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.104391418 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:259.07, Y:3.32, Z:0.54 [[ 9.99332595e-01 -3.64760475e-02 -1.96524202e-03 2.59070399e+02] [ 3.64761860e-02 9.99334522e-01 3.46899789e-05 3.31992604e+00] [ 1.96266884e-03 -1.06351360e-04 9.99998068e-01 5.44171298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.164391418 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:259.13, Y:3.32, Z:0.54 [[ 9.99241890e-01 -3.88816629e-02 -1.96523780e-03 2.59132124e+02] [ 3.88818065e-02 9.99243816e-01 3.49271455e-05 3.32172500e+00] [ 1.96239370e-03 -1.11312663e-04 9.99998068e-01 5.43637588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.224391418 meters Centerline goodness : 0.999027 with order 1 Centerline is valid? [True, True] Translation: X:259.19, Y:3.32, Z:0.54 [[ 9.99212669e-01 -3.96254883e-02 -1.96523432e-03 2.59194894e+02] [ 3.96256338e-02 9.99214596e-01 3.51222156e-05 3.32238129e+00] [ 1.96229908e-03 -1.12968218e-04 9.99998068e-01 5.43591481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.284391418 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:259.26, Y:3.32, Z:0.54 [[ 9.99148403e-01 -4.12141573e-02 -1.96523015e-03 2.59257598e+02] [ 4.12143063e-02 9.99150329e-01 3.53541145e-05 3.32445400e+00] [ 1.96210326e-03 -1.16319604e-04 9.99998068e-01 5.43180103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.344391418 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:259.32, Y:3.33, Z:0.54 [[ 9.99175870e-01 -4.05427911e-02 -1.96522735e-03 2.59319158e+02] [ 4.05429391e-02 9.99177796e-01 3.55087749e-05 3.32576707e+00] [ 1.96217191e-03 -1.15155604e-04 9.99998068e-01 5.42726199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.404391418 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:259.38, Y:3.33, Z:0.54 [[ 9.99343043e-01 -3.61886900e-02 -1.96522189e-03 2.59382088e+02] [ 3.61888301e-02 9.99344969e-01 3.58087714e-05 3.32880565e+00] [ 1.96263873e-03 -1.06904328e-04 9.99998068e-01 5.44910174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.464391418 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:259.44, Y:3.33, Z:0.55 [[ 9.99609267e-01 -2.78828186e-02 -1.96521753e-03 2.59443465e+02] [ 2.78829433e-02 9.99611195e-01 3.60463005e-05 3.33286471e+00] [ 1.96344837e-03 -9.08282649e-05 9.99998068e-01 5.46339630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.524391418 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:259.51, Y:3.34, Z:0.55 [[ 9.99791734e-01 -2.03132051e-02 -1.96521538e-03 2.59506031e+02] [ 2.03133154e-02 9.99793663e-01 3.61628834e-05 3.33507945e+00] [ 1.96407530e-03 -7.60753918e-05 9.99998068e-01 5.48032485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.584391418 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:259.57, Y:3.34, Z:0.55 [[ 9.99957325e-01 -9.02694586e-03 -1.96521255e-03 2.59568639e+02] [ 9.02703465e-03 9.99959255e-01 3.63164071e-05 3.33895068e+00] [ 1.96480465e-03 -5.40548991e-05 9.99998068e-01 5.48664661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.644391418 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:259.63, Y:3.34, Z:0.55 [[ 9.99997783e-01 7.56909596e-04 -1.96520968e-03 2.59629617e+02] [-7.56839384e-04 9.99999713e-01 3.64708340e-05 3.34109623e+00] [ 1.96523672e-03 -3.49834050e-05 9.99998068e-01 5.48162843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.704391418 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:259.69, Y:3.34, Z:0.55 [[ 9.99979414e-01 6.10822542e-03 -1.96520827e-03 2.59688924e+02] [-6.10816539e-03 9.99981344e-01 3.65468547e-05 3.34272132e+00] [ 1.96539484e-03 -2.45422852e-05 9.99998068e-01 5.48331249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76439141799995 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:259.75, Y:3.34, Z:0.55 [[ 9.99974162e-01 6.91471395e-03 -1.96520975e-03 2.59746977e+02] [-6.91465564e-03 9.99976093e-01 3.64668660e-05 3.34298946e+00] [ 1.96541493e-03 -2.28771751e-05 9.99998068e-01 5.47430430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82439141799995 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:259.81, Y:3.34, Z:0.55 [[ 9.99990296e-01 3.94281165e-03 -1.96521336e-03 2.59805792e+02] [-3.94274798e-03 9.99992227e-01 3.62714254e-05 3.34272194e+00] [ 1.96534109e-03 -2.85227325e-05 9.99998068e-01 5.48927435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88439141799995 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:259.86, Y:3.34, Z:0.55 [[ 9.99997936e-01 5.15071430e-04 -1.96521628e-03 2.59863206e+02] [-5.15001455e-04 9.99999867e-01 3.61126558e-05 3.34208000e+00] [ 1.96523461e-03 -3.51004921e-05 9.99998068e-01 5.49063756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94439141799995 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:259.92, Y:3.34, Z:0.55 [[ 9.99970128e-01 -7.47539118e-03 -1.96521984e-03 2.59923207e+02] [ 7.47547619e-03 9.99972058e-01 3.59177849e-05 3.34033194e+00] [ 1.96489643e-03 -5.06076661e-05 9.99998068e-01 5.50115520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00439141799995 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:259.98, Y:3.34, Z:0.55 [[ 9.99902006e-01 -1.38606063e-02 -1.96522129e-03 2.59984524e+02] [ 1.38607035e-02 9.99903935e-01 3.58380346e-05 3.33776072e+00] [ 1.96453577e-03 -6.30738723e-05 9.99998068e-01 5.48787860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06439141799996 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:260.05, Y:3.33, Z:0.55 [[ 9.99709888e-01 -2.40057939e-02 -1.96521186e-03 2.60046868e+02] [ 2.40059117e-02 9.99711816e-01 3.63480147e-05 3.33432578e+00] [ 1.96377295e-03 -8.35141720e-05 9.99998068e-01 5.47323939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12439141799996 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:260.11, Y:3.33, Z:0.55 [[ 9.99462984e-01 -3.27090585e-02 -1.96520125e-03 2.60109709e+02] [ 3.27091942e-02 9.99464910e-01 3.69128061e-05 3.33145608e+00] [ 1.96294231e-03 -1.01173133e-04 9.99998068e-01 5.47979709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18439141799996 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:260.17, Y:3.33, Z:0.55 [[ 9.99324196e-01 -3.67054494e-02 -1.96519672e-03 2.60172167e+02] [ 3.67055932e-02 9.99326122e-01 3.71525144e-05 3.32914327e+00] [ 1.96250872e-03 -1.09261118e-04 9.99998068e-01 5.46961039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24439141799996 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:260.23, Y:3.33, Z:0.55 [[ 9.99363965e-01 -3.56062205e-02 -1.96519298e-03 2.60234962e+02] [ 3.56063626e-02 9.99365892e-01 3.73490972e-05 3.32823087e+00] [ 1.96261698e-03 -1.07298716e-04 9.99998068e-01 5.46357332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30439141799997 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:260.30, Y:3.33, Z:0.55 [[ 9.99583092e-01 -2.88059116e-02 -1.96518858e-03 2.60298273e+02] [ 2.88060411e-02 9.99585019e-01 3.75796060e-05 3.32878714e+00] [ 1.96329054e-03 -9.41732415e-05 9.99998068e-01 5.46520519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36439141799997 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:260.36, Y:3.33, Z:0.55 [[ 9.99670169e-01 -2.56064639e-02 -1.96518397e-03 2.60361294e+02] [ 2.56065876e-02 9.99672097e-01 3.78189411e-05 3.32839060e+00] [ 1.96357117e-03 -8.81281227e-05 9.99998068e-01 5.47324326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42439141799997 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:260.42, Y:3.33, Z:0.55 [[ 9.99867105e-01 -1.61836450e-02 -1.96517924e-03 2.60423358e+02] [ 1.61837511e-02 9.99869034e-01 3.80631994e-05 3.32974177e+00] [ 1.96430587e-03 -6.98621126e-05 9.99998068e-01 5.47133549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.484391418 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:260.49, Y:3.33, Z:0.55 [[ 9.99965493e-01 -8.07156557e-03 -1.96517612e-03 2.60485939e+02] [ 8.07165626e-03 9.99967423e-01 3.82234904e-05 3.33142895e+00] [ 1.96480358e-03 -5.40843976e-05 9.99998068e-01 5.46507652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.544391418 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:260.55, Y:3.33, Z:0.55 [[ 9.99996329e-01 -1.86545083e-03 -1.96517295e-03 2.60545943e+02] [ 1.86552987e-03 9.99998259e-01 3.83857255e-05 3.33240480e+00] [ 1.96509792e-03 -4.20516734e-05 9.99998068e-01 5.45102564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.604391418 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:260.61, Y:3.33, Z:0.54 [[ 9.99996691e-01 1.66007956e-03 -1.96517218e-03 2.60605286e+02] [-1.66000726e-03 9.99998621e-01 3.84253266e-05 3.33254125e+00] [ 1.96523326e-03 -3.51629994e-05 9.99998068e-01 5.44900858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.664391418 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:260.66, Y:3.33, Z:0.55 [[ 9.99986290e-01 4.85367968e-03 -1.96517293e-03 2.60664778e+02] [-4.85361362e-03 9.99988220e-01 3.83867100e-05 3.33313040e+00] [ 1.96533610e-03 -2.88479937e-05 9.99998068e-01 5.46280836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.724391418 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:260.72, Y:3.33, Z:0.55 [[ 9.99987704e-01 4.55291775e-03 -1.96517447e-03 2.60723538e+02] [-4.55285126e-03 9.99989635e-01 3.83078550e-05 3.33283759e+00] [ 1.96532851e-03 -2.93602369e-05 9.99998068e-01 5.46890988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.784391418 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:260.78, Y:3.33, Z:0.55 [[ 9.99997531e-01 1.03723081e-03 -1.96517752e-03 2.60782226e+02] [-1.03715784e-03 9.99999461e-01 3.81504707e-05 3.33136848e+00] [ 1.96521604e-03 -3.61121772e-05 9.99998068e-01 5.47985541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.844391418 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:260.84, Y:3.33, Z:0.55 [[ 9.99994191e-01 -2.78483515e-03 -1.96518056e-03 2.60841138e+02] [ 2.78491519e-03 9.99996121e-01 3.79932346e-05 3.33005287e+00] [ 1.96506714e-03 -4.34658752e-05 9.99998068e-01 5.47691644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.904391418 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:260.90, Y:3.33, Z:0.55 [[ 9.99985589e-01 -4.99606070e-03 -1.96518280e-03 2.60901540e+02] [ 4.99614478e-03 9.99987518e-01 3.78772106e-05 3.32879778e+00] [ 1.96496904e-03 -4.76950026e-05 9.99998068e-01 5.47628990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.964391418 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:260.96, Y:3.33, Z:0.55 [[ 9.99981094e-01 -5.82657075e-03 -1.96518280e-03 2.60961522e+02] [ 5.82665643e-03 9.99983024e-01 3.78772106e-05 3.32775209e+00] [ 1.96492875e-03 -4.93269396e-05 9.99998068e-01 5.47376426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.024391418 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:261.02, Y:3.33, Z:0.55 [[ 9.99984596e-01 -5.19085201e-03 -1.96518206e-03 2.61022960e+02] [ 5.19093654e-03 9.99986526e-01 3.79154401e-05 3.32725844e+00] [ 1.96495877e-03 -4.81159914e-05 9.99998068e-01 5.46788347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.084391418 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:261.08, Y:3.33, Z:0.55 [[ 9.99991972e-01 -3.49194541e-03 -1.96518061e-03 2.61084224e+02] [ 3.49202681e-03 9.99993902e-01 3.79903527e-05 3.32747863e+00] [ 1.96503597e-03 -4.48525111e-05 9.99998068e-01 5.47749220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.144391418 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:261.15, Y:3.33, Z:0.55 [[ 9.99995010e-01 -2.47365568e-03 -1.96517908e-03 2.61145118e+02] [ 2.47373527e-03 9.99996940e-01 3.80694472e-05 3.32709794e+00] [ 1.96507890e-03 -4.29305900e-05 9.99998068e-01 5.48762181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.204391418 meters Centerline goodness : 0.998732 with order 1 Centerline is valid? [True, True] Translation: X:261.20, Y:3.33, Z:0.55 [[ 9.99993865e-01 -2.89977204e-03 -1.96517908e-03 2.61204775e+02] [ 2.89985245e-03 9.99995795e-01 3.80694472e-05 3.32633865e+00] [ 1.96506043e-03 -4.37679430e-05 9.99998068e-01 5.48038636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26439141799995 meters Centerline goodness : 0.998509 with order 1 Centerline is valid? [True, True] Translation: X:261.27, Y:3.33, Z:0.55 [[ 9.99982809e-01 -5.52450386e-03 -1.96517889e-03 2.61265507e+02] [ 5.52458935e-03 9.99984739e-01 3.80795332e-05 3.32586129e+00] [ 1.96493853e-03 -4.89356849e-05 9.99998068e-01 5.49392087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32439141799995 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:261.33, Y:3.32, Z:0.55 [[ 9.99959026e-01 -8.83648504e-03 -1.96517889e-03 2.61326477e+02] [ 8.83657693e-03 9.99960956e-01 3.80795332e-05 3.32474502e+00] [ 1.96476567e-03 -5.54434274e-05 9.99998068e-01 5.49406511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38439141799995 meters Centerline goodness : 0.998793 with order 1 Centerline is valid? [True, True] Translation: X:261.39, Y:3.32, Z:0.55 [[ 9.99884872e-01 -1.50459638e-02 -1.96517738e-03 2.61388598e+02] [ 1.50460678e-02 9.99886801e-01 3.81569337e-05 3.32284541e+00] [ 1.96438082e-03 -6.77207329e-05 9.99998068e-01 5.49304443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44439141799995 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:261.45, Y:3.32, Z:0.55 [[ 9.99736192e-01 -2.28841527e-02 -1.96516657e-03 2.61452004e+02] [ 2.28842729e-02 9.99738120e-01 3.87062113e-05 3.32093693e+00] [ 1.96376617e-03 -8.36674084e-05 9.99998068e-01 5.49339374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50439141799995 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:261.51, Y:3.32, Z:0.55 [[ 9.99606487e-01 -2.79823187e-02 -1.96515398e-03 2.61513867e+02] [ 2.79824500e-02 9.99608414e-01 3.93348876e-05 3.31909745e+00] [ 1.96328377e-03 -9.43092318e-05 9.99998068e-01 5.49297385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56439141799996 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:261.58, Y:3.32, Z:0.55 [[ 9.99416333e-01 -3.41047193e-02 -1.96515006e-03 2.61576477e+02] [ 3.41048628e-02 9.99418259e-01 3.95296540e-05 3.31721327e+00] [ 1.96265871e-03 -1.06527755e-04 9.99998068e-01 5.50959584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62439141799996 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:261.64, Y:3.31, Z:0.55 [[ 9.99319865e-01 -3.68231798e-02 -1.96514696e-03 2.61638549e+02] [ 3.68233288e-02 9.99321790e-01 3.96832429e-05 3.31480739e+00] [ 1.96235292e-03 -1.12019506e-04 9.99998068e-01 5.52632124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68439141799996 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:261.70, Y:3.31, Z:0.55 [[ 9.99307170e-01 -3.71660866e-02 -1.96514373e-03 2.61701098e+02] [ 3.71662366e-02 9.99309096e-01 3.98424630e-05 3.31280633e+00] [ 1.96230522e-03 -1.12851856e-04 9.99998068e-01 5.52913911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74439141799996 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:261.76, Y:3.31, Z:0.55 [[ 9.99388133e-01 -3.49213187e-02 -1.96513885e-03 2.61764538e+02] [ 3.49214649e-02 9.99390059e-01 4.00819140e-05 3.31094606e+00] [ 1.96254052e-03 -1.08682916e-04 9.99998068e-01 5.52200329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80439141799997 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:261.83, Y:3.31, Z:0.55 [[ 9.99481253e-01 -3.21459753e-02 -1.96513399e-03 2.61826423e+02] [ 3.21461165e-02 9.99483179e-01 4.03187839e-05 3.30998150e+00] [ 1.96282228e-03 -1.03469295e-04 9.99998068e-01 5.50678004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86439141799997 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:261.89, Y:3.31, Z:0.55 [[ 9.99695843e-01 -2.45837365e-02 -1.96513080e-03 2.61888305e+02] [ 2.45838635e-02 9.99697770e-01 4.04739216e-05 3.31032465e+00] [ 1.96354187e-03 -8.87721183e-05 9.99998068e-01 5.49554976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92439141799997 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:261.95, Y:3.31, Z:0.55 [[ 9.99920915e-01 -1.24218638e-02 -1.96512763e-03 2.61950501e+02] [ 1.24219676e-02 9.99922844e-01 4.06271918e-05 3.31166122e+00] [ 1.96447134e-03 -6.50347305e-05 9.99998068e-01 5.50519604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.984391418 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:262.01, Y:3.31, Z:0.55 [[ 9.99994986e-01 -2.48316051e-03 -1.96512449e-03 2.62012573e+02] [ 2.48324544e-03 9.99996916e-01 4.07782121e-05 3.31252300e+00] [ 1.96501717e-03 -4.56578941e-05 9.99998068e-01 5.51680805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.044391418 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:262.07, Y:3.31, Z:0.55 [[ 9.99918693e-01 1.25994309e-02 -1.96512139e-03 2.62072130e+02] [-1.25993748e-02 9.99920624e-01 4.09269815e-05 3.31476990e+00] [ 1.96548107e-03 -1.61643529e-05 9.99998068e-01 5.54310552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.104391418 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:262.13, Y:3.32, Z:0.56 [[ 9.99692590e-01 2.47156537e-02 -1.96512215e-03 2.62130280e+02] [-2.47156211e-02 9.99694522e-01 4.08906012e-05 3.31517753e+00] [ 1.96553249e-03 7.69118338e-06 9.99998068e-01 5.56005660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.164391418 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:262.19, Y:3.31, Z:0.55 [[ 9.99452868e-01 3.30167036e-02 -1.96513539e-03 2.62186909e+02] [-3.30166883e-02 9.99454800e-01 4.02442820e-05 3.31381332e+00] [ 1.96539273e-03 2.46599995e-05 9.99998068e-01 5.54382898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.224391418 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:262.25, Y:3.31, Z:0.55 [[ 9.99377046e-01 3.52371580e-02 -1.96514101e-03 2.62245736e+02] [-3.52371475e-02 9.99378978e-01 3.99678525e-05 3.31107383e+00] [ 1.96532897e-03 2.93030093e-05 9.99998068e-01 5.54423454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.284391418 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:262.30, Y:3.31, Z:0.55 [[ 9.99374177e-01 3.53184487e-02 -1.96514418e-03 2.62303699e+02] [-3.53184387e-02 9.99376109e-01 3.98111161e-05 3.30872358e+00] [ 1.96532422e-03 2.96196230e-05 9.99998068e-01 5.54264143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.344391418 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:262.36, Y:3.30, Z:0.55 [[ 9.99495191e-01 3.17096427e-02 -1.96514888e-03 2.62362014e+02] [-3.17096262e-02 9.99497123e-01 3.95781294e-05 3.30299945e+00] [ 1.96541566e-03 2.27559863e-05 9.99998068e-01 5.53337024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.404391418 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:262.42, Y:3.30, Z:0.55 [[ 9.99739437e-01 2.27419367e-02 -1.96515200e-03 2.62418973e+02] [-2.27419032e-02 9.99741369e-01 3.94225046e-05 3.29574345e+00] [ 1.96554029e-03 5.27906389e-06 9.99998068e-01 5.52005525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.464391418 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:262.48, Y:3.29, Z:0.55 [[ 9.99923507e-01 1.22114160e-02 -1.96515883e-03 2.62477746e+02] [-1.22113628e-02 9.99925438e-01 3.90791072e-05 3.28709886e+00] [ 1.96548951e-03 -1.50788505e-05 9.99998068e-01 5.51661265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.524391418 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:262.54, Y:3.28, Z:0.55 [[ 9.99992712e-01 3.27318110e-03 -1.96516194e-03 2.62535283e+02] [-3.27311093e-03 9.99994643e-01 3.89221303e-05 3.27886775e+00] [ 1.96527881e-03 -3.24896536e-05 9.99998068e-01 5.52201911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.584391418 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:262.59, Y:3.27, Z:0.55 [[ 9.99996185e-01 -1.94100252e-03 -1.96516585e-03 2.62594103e+02] [ 1.94108237e-03 9.99998115e-01 3.87237732e-05 3.27327272e+00] [ 1.96508698e-03 -4.25381743e-05 9.99998068e-01 5.51644853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.644391418 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:262.65, Y:3.27, Z:0.55 [[ 9.99976231e-01 -6.60875260e-03 -1.96516908e-03 2.62654852e+02] [ 6.60884113e-03 9.99978161e-01 3.85587383e-05 3.26515584e+00] [ 1.96487134e-03 -5.15453121e-05 9.99998068e-01 5.50125875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70439141799994 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:262.72, Y:3.26, Z:0.55 [[ 9.99966720e-01 -7.91816278e-03 -1.96516908e-03 2.62715943e+02] [ 7.91825384e-03 9.99968649e-01 3.85587383e-05 3.25849868e+00] [ 1.96480216e-03 -5.41181627e-05 9.99998068e-01 5.49775027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76439141799995 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:262.78, Y:3.25, Z:0.55 [[ 9.99982442e-01 -5.59053286e-03 -1.96516757e-03 2.62777176e+02] [ 5.59061958e-03 9.99984372e-01 3.86357906e-05 3.25492183e+00] [ 1.96492086e-03 -4.96216165e-05 9.99998068e-01 5.48997852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82439141799995 meters Centerline goodness : 0.998684 with order 1 Centerline is valid? [True, True] Translation: X:262.84, Y:3.25, Z:0.54 [[ 9.99997807e-01 -7.23700902e-04 -1.96516607e-03 2.62838041e+02] [ 7.23778375e-04 9.99999737e-01 3.87120001e-05 3.24696174e+00] [ 1.96513754e-03 -4.01342600e-05 9.99998068e-01 5.43605308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88439141799995 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:262.90, Y:3.25, Z:0.55 [[ 9.99988177e-01 -4.44789898e-03 -1.96516443e-03 2.62897435e+02] [ 4.44798381e-03 9.99990107e-01 3.87950524e-05 3.24752342e+00] [ 1.96497243e-03 -4.75356133e-05 9.99998068e-01 5.48328320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94439141799995 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:262.96, Y:3.24, Z:0.55 [[ 9.99967442e-01 -7.82649244e-03 -1.96516522e-03 2.62958276e+02] [ 7.82658370e-03 9.99969371e-01 3.87550741e-05 3.24341372e+00] [ 1.96480171e-03 -5.41343423e-05 9.99998068e-01 5.47145857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00439141799995 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:263.02, Y:3.24, Z:0.55 [[ 9.99930023e-01 -1.16656849e-02 -1.96516522e-03 2.63019530e+02] [ 1.16657835e-02 9.99931952e-01 3.87550741e-05 3.24040516e+00] [ 1.96457939e-03 -6.16775541e-05 9.99998068e-01 5.46061632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06439141799996 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:263.08, Y:3.24, Z:0.55 [[ 9.99772575e-01 -2.12352414e-02 -1.96516374e-03 2.63081594e+02] [ 2.12353586e-02 9.99774504e-01 3.88299107e-05 3.23553351e+00] [ 1.96389604e-03 -8.05520366e-05 9.99998068e-01 5.47104208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12439141799996 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:263.14, Y:3.23, Z:0.55 [[ 9.99639359e-01 -2.67822715e-02 -1.96515326e-03 2.63144075e+02] [ 2.67824005e-02 9.99641286e-01 3.93533701e-05 3.23250214e+00] [ 1.96339436e-03 -9.19706992e-05 9.99998068e-01 5.48081377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18439141799996 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:263.21, Y:3.23, Z:0.55 [[ 9.99436370e-01 -3.35123911e-02 -1.96515025e-03 2.63206619e+02] [ 3.35125334e-02 9.99438297e-01 3.95029231e-05 3.22834487e+00] [ 1.96272258e-03 -1.05337821e-04 9.99998068e-01 5.49011575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24439141799996 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:263.27, Y:3.23, Z:0.55 [[ 9.99322200e-01 -3.67597356e-02 -1.96514549e-03 2.63268587e+02] [ 3.67598846e-02 9.99324126e-01 3.97383491e-05 3.22582499e+00] [ 1.96235653e-03 -1.11949936e-04 9.99998068e-01 5.49800796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30439141799997 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:263.33, Y:3.22, Z:0.55 [[ 9.99419076e-01 -3.40242302e-02 -1.96514156e-03 2.63330584e+02] [ 3.40243743e-02 9.99421003e-01 3.99315629e-05 3.22375223e+00] [ 1.96264511e-03 -1.06771078e-04 9.99998068e-01 5.47433434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36439141799997 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:263.39, Y:3.23, Z:0.55 [[ 9.99486865e-01 -3.19709885e-02 -1.96513825e-03 2.63391836e+02] [ 3.19711289e-02 9.99488792e-01 4.00940308e-05 3.22623883e+00] [ 1.96285181e-03 -1.02901145e-04 9.99998068e-01 5.49525298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42439141799997 meters Centerline goodness : 0.998590 with order 1 Centerline is valid? [True, True] Translation: X:263.45, Y:3.23, Z:0.55 [[ 9.99731734e-01 -2.30780812e-02 -1.96513579e-03 2.63453761e+02] [ 2.30782048e-02 9.99733662e-01 4.02142409e-05 3.22814921e+00] [ 1.96368433e-03 -8.55552590e-05 9.99998068e-01 5.49388029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.484391418 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:263.52, Y:3.23, Z:0.55 [[ 9.99933575e-01 -1.13571434e-02 -1.96513252e-03 2.63515702e+02] [ 1.13572447e-02 9.99935504e-01 4.03732698e-05 3.23170001e+00] [ 1.96454725e-03 -6.26890788e-05 9.99998068e-01 5.50291951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.544391418 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:263.58, Y:3.24, Z:0.55 [[ 9.99997817e-01 -7.10698185e-04 -1.96512929e-03 2.63577674e+02] [ 7.10779203e-04 9.99999747e-01 4.05300623e-05 3.23555229e+00] [ 1.96509998e-03 -4.19267468e-05 9.99998068e-01 5.51482090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.604391418 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:263.64, Y:3.24, Z:0.55 [[ 9.99991743e-01 3.55697932e-03 -1.96512602e-03 2.63637695e+02] [-3.55690622e-03 9.99993673e-01 4.06878161e-05 3.23578481e+00] [ 1.96525831e-03 -3.36977112e-05 9.99998068e-01 5.51682926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.664391418 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:263.70, Y:3.24, Z:0.55 [[ 9.99985586e-01 4.99654350e-03 -1.96512765e-03 2.63695395e+02] [-4.99647334e-03 9.99987517e-01 4.06087295e-05 3.23614577e+00] [ 1.96530603e-03 -3.07894362e-05 9.99998068e-01 5.51522656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.724391418 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:263.75, Y:3.24, Z:0.55 [[ 9.99994703e-01 2.59455571e-03 -1.96513165e-03 2.63754341e+02] [-2.59448130e-03 9.99996634e-01 4.04145683e-05 3.23501543e+00] [ 1.96522989e-03 -3.53158569e-05 9.99998068e-01 5.51052015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.784391418 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:263.81, Y:3.23, Z:0.55 [[ 9.99989256e-01 -4.19844729e-03 -1.96513492e-03 2.63813428e+02] [ 4.19853449e-03 9.99991185e-01 4.02549141e-05 3.23262676e+00] [ 1.96494859e-03 -4.85051683e-05 9.99998068e-01 5.50713543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.844391418 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:263.87, Y:3.23, Z:0.55 [[ 9.99933939e-01 -1.13250137e-02 -1.96513732e-03 2.63873599e+02] [ 1.13251145e-02 9.99935868e-01 4.01373566e-05 3.22976113e+00] [ 1.96455673e-03 -6.23901101e-05 9.99998068e-01 5.50821132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.904391418 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:263.94, Y:3.23, Z:0.55 [[ 9.99881804e-01 -1.52484755e-02 -1.96513655e-03 2.63936119e+02] [ 1.52485838e-02 9.99883733e-01 4.01750634e-05 3.22779763e+00] [ 1.96429546e-03 -7.01358643e-05 9.99998068e-01 5.50615992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.964391418 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:264.00, Y:3.23, Z:0.55 [[ 9.99813774e-01 -1.91978019e-02 -1.96513334e-03 2.63998295e+02] [ 1.91979182e-02 9.99815702e-01 4.03311965e-05 3.22612116e+00] [ 1.96399690e-03 -7.80501550e-05 9.99998068e-01 5.49620651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.024391418 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:264.06, Y:3.22, Z:0.55 [[ 9.99784248e-01 -2.06783774e-02 -1.96513018e-03 2.64060417e+02] [ 2.06784969e-02 9.99786176e-01 4.04849954e-05 3.22471340e+00] [ 1.96387282e-03 -8.11121988e-05 9.99998068e-01 5.49810441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.084391418 meters Centerline goodness : 0.999194 with order 1 Centerline is valid? [True, True] Translation: X:264.12, Y:3.22, Z:0.55 [[ 9.99777538e-01 -2.10003109e-02 -1.96512705e-03 2.64122587e+02] [ 2.10004312e-02 9.99779466e-01 4.06363238e-05 3.22417838e+00] [ 1.96384029e-03 -8.18957992e-05 9.99998068e-01 5.51429578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.144391418 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:264.18, Y:3.23, Z:0.55 [[ 9.99759462e-01 -2.18439081e-02 -1.96512379e-03 2.64183958e+02] [ 2.18440304e-02 9.99761390e-01 4.07930968e-05 3.22548179e+00] [ 1.96376381e-03 -8.37095083e-05 9.99998068e-01 5.51311150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20439141799994 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:264.25, Y:3.22, Z:0.55 [[ 9.99749121e-01 -2.23121580e-02 -1.96512138e-03 2.64246617e+02] [ 2.23122814e-02 9.99751049e-01 4.09089881e-05 3.22440507e+00] [ 1.96371939e-03 -8.47450662e-05 9.99998068e-01 5.50788769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26439141799995 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:264.31, Y:3.22, Z:0.55 [[ 9.99719216e-01 -2.36141557e-02 -1.96511821e-03 2.64307620e+02] [ 2.36142820e-02 9.99721143e-01 4.10605210e-05 3.22380976e+00] [ 1.96360062e-03 -8.74538474e-05 9.99998068e-01 5.49705264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32439141799995 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:264.37, Y:3.22, Z:0.55 [[ 9.99649725e-01 -2.63925365e-02 -1.96511587e-03 2.64369705e+02] [ 2.63926683e-02 9.99651652e-01 4.11723669e-05 3.22495480e+00] [ 1.96334468e-03 -9.30225965e-05 9.99998068e-01 5.49994521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38439141799995 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:264.43, Y:3.23, Z:0.55 [[ 9.99554837e-01 -2.97702141e-02 -1.96511262e-03 2.64432341e+02] [ 2.97703527e-02 9.99556764e-01 4.13270368e-05 3.22583308e+00] [ 1.96301129e-03 -9.98107352e-05 9.99998068e-01 5.49709948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44439141799995 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:264.49, Y:3.23, Z:0.55 [[ 9.99477041e-01 -3.22766490e-02 -1.96510926e-03 2.64494601e+02] [ 3.22767927e-02 9.99478968e-01 4.14862540e-05 3.22779207e+00] [ 1.96274633e-03 -1.04891983e-04 9.99998068e-01 5.51569027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50439141799995 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:264.56, Y:3.23, Z:0.55 [[ 9.99501137e-01 -3.15216513e-02 -1.96510591e-03 2.64556374e+02] [ 3.15217940e-02 9.99503064e-01 4.16440611e-05 3.22929280e+00] [ 1.96281669e-03 -1.03566950e-04 9.99998068e-01 5.53271244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56439141799996 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:264.62, Y:3.23, Z:0.56 [[ 9.99598096e-01 -2.82804824e-02 -1.96509970e-03 2.64618499e+02] [ 2.82806194e-02 9.99600022e-01 4.19349921e-05 3.23273904e+00] [ 1.96312777e-03 -9.74923750e-05 9.99998068e-01 5.56696198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62439141799996 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:264.68, Y:3.24, Z:0.56 [[ 9.99804031e-01 -1.96986832e-02 -1.96509631e-03 2.64680470e+02] [ 1.96988039e-02 9.99805959e-01 4.20934531e-05 3.23690830e+00] [ 1.96388581e-03 -8.07952508e-05 9.99998068e-01 5.58218971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68439141799996 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:264.74, Y:3.24, Z:0.56 [[ 9.99921127e-01 -1.24048046e-02 -1.96509283e-03 2.64742535e+02] [ 1.24049116e-02 9.99923055e-01 4.22550734e-05 3.24153415e+00] [ 1.96441746e-03 -6.66285434e-05 9.99998068e-01 5.59750342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74439141799996 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:264.81, Y:3.24, Z:0.56 [[ 9.99957791e-01 -8.97523394e-03 -1.96508938e-03 2.64805268e+02] [ 8.97533461e-03 9.99959720e-01 4.24150117e-05 3.24337287e+00] [ 1.96462954e-03 -6.00505562e-05 9.99998068e-01 5.59626384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80439141799997 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:264.87, Y:3.24, Z:0.56 [[ 9.99976595e-01 -6.55350911e-03 -1.96508590e-03 2.64867338e+02] [ 6.55360542e-03 9.99978524e-01 4.25757192e-05 3.24468140e+00] [ 1.96476468e-03 -5.54531204e-05 9.99998068e-01 5.59323910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86439141799997 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:264.93, Y:3.25, Z:0.56 [[ 9.99992651e-01 -3.29182893e-03 -1.96508245e-03 2.64928487e+02] [ 3.29191926e-03 9.99994581e-01 4.27344986e-05 3.24711387e+00] [ 1.96493112e-03 -4.92030773e-05 9.99998068e-01 5.58670428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92439141799997 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:264.99, Y:3.25, Z:0.56 [[ 9.99997992e-01 3.94208842e-04 -1.96508071e-03 2.64989333e+02] [-3.94125470e-04 9.99999921e-01 4.28142873e-05 3.24994551e+00] [ 1.96509743e-03 -4.20397129e-05 9.99998068e-01 5.57521576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.984391418 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:265.05, Y:3.25, Z:0.56 [[ 9.99992133e-01 3.44572645e-03 -1.96508071e-03 2.65048867e+02] [-3.44564897e-03 9.99994063e-01 4.28142873e-05 3.25148158e+00] [ 1.96521657e-03 -3.60429721e-05 9.99998068e-01 5.57747650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.044391418 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:265.11, Y:3.25, Z:0.56 [[ 9.99975988e-01 6.64546620e-03 -1.96508243e-03 2.65108048e+02] [-6.64539505e-03 9.99977918e-01 4.27351559e-05 3.25285340e+00] [ 1.96532303e-03 -2.96753807e-05 9.99998068e-01 5.58981364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.104391418 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:265.17, Y:3.25, Z:0.56 [[ 9.99978801e-01 6.20765531e-03 -1.96509458e-03 2.65166070e+02] [-6.20758442e-03 9.99980732e-01 4.21688494e-05 3.25341089e+00] [ 1.96531849e-03 -2.99694650e-05 9.99998068e-01 5.58080650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.164391418 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:265.22, Y:3.25, Z:0.56 [[ 9.99989498e-01 4.14033363e-03 -1.96509923e-03 2.65224850e+02] [-4.14025919e-03 9.99991428e-01 4.19512801e-05 3.25360498e+00] [ 1.96525607e-03 -3.38148194e-05 9.99998068e-01 5.55418205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.224391418 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:265.28, Y:3.25, Z:0.55 [[ 9.99994264e-01 2.75862338e-03 -1.96510254e-03 2.65282291e+02] [-2.75854657e-03 9.99996194e-01 4.17954235e-05 3.25206062e+00] [ 1.96521036e-03 -3.63743569e-05 9.99998068e-01 5.52865585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.284391418 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:265.34, Y:3.25, Z:0.55 [[ 9.99997079e-01 1.40754067e-03 -1.96510659e-03 2.65341264e+02] [-1.40746163e-03 9.99999009e-01 4.16040646e-05 3.25054861e+00] [ 1.96516320e-03 -3.88381309e-05 9.99998068e-01 5.51743608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.344391418 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:265.40, Y:3.25, Z:0.55 [[ 9.99998067e-01 7.06410648e-05 -1.96510991e-03 2.65400979e+02] [-7.05597538e-05 9.99999997e-01 4.14467600e-05 3.24915276e+00] [ 1.96511283e-03 -4.13080222e-05 9.99998068e-01 5.50989191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.404391418 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:265.46, Y:3.25, Z:0.55 [[ 9.99997648e-01 -9.17791440e-04 -1.96511155e-03 2.65460962e+02] [ 9.17874506e-04 9.99999578e-01 4.13687445e-05 3.24727412e+00] [ 1.96507275e-03 -4.31723730e-05 9.99998068e-01 5.49345217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.464391418 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:265.52, Y:3.24, Z:0.55 [[ 9.99993931e-01 -2.87683447e-03 -1.96511317e-03 2.65520898e+02] [ 2.87692117e-03 9.99995861e-01 4.12918590e-05 3.24363930e+00] [ 1.96498624e-03 -4.69450841e-05 9.99998068e-01 5.47768157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.524391418 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:265.58, Y:3.24, Z:0.55 [[ 9.99987973e-01 -4.49348652e-03 -1.96511479e-03 2.65581189e+02] [ 4.49357618e-03 9.99989903e-01 4.12145111e-05 3.24004670e+00] [ 1.96490975e-03 -5.00444084e-05 9.99998068e-01 5.47780402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.584391418 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:265.64, Y:3.24, Z:0.55 [[ 9.99981046e-01 -5.83493845e-03 -1.96511479e-03 2.65642353e+02] [ 5.83503070e-03 9.99982975e-01 4.12145111e-05 3.23722440e+00] [ 1.96484085e-03 -5.26802350e-05 9.99998068e-01 5.46604910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.644391418 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:265.70, Y:3.23, Z:0.54 [[ 9.99969484e-01 -7.56098846e-03 -1.96511312e-03 2.65702302e+02] [ 7.56108420e-03 9.99971414e-01 4.12937714e-05 3.23255428e+00] [ 1.96474473e-03 -5.61508971e-05 9.99998068e-01 5.44470630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70439141799994 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:265.76, Y:3.23, Z:0.54 [[ 9.99955247e-01 -9.25427751e-03 -1.96511231e-03 2.65764233e+02] [ 9.25437659e-03 9.99957176e-01 4.13326755e-05 3.22821199e+00] [ 1.96464565e-03 -5.95167150e-05 9.99998068e-01 5.42820172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76439141799995 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:265.83, Y:3.23, Z:0.54 [[ 9.99952725e-01 -9.52294532e-03 -1.96510900e-03 2.65826171e+02] [ 9.52304523e-03 9.99954654e-01 4.14890628e-05 3.22528685e+00] [ 1.96462480e-03 -6.02009234e-05 9.99998068e-01 5.42428657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82439141799995 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:265.89, Y:3.22, Z:0.54 [[ 9.99969077e-01 -7.61468345e-03 -1.96510570e-03 2.65888776e+02] [ 7.61477998e-03 9.99971006e-01 4.16448847e-05 3.22359435e+00] [ 1.96473161e-03 -5.66074445e-05 9.99998068e-01 5.44108559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88439141799995 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:265.95, Y:3.23, Z:0.55 [[ 9.99944792e-01 -1.03223754e-02 -1.96510240e-03 2.65949694e+02] [ 1.03224775e-02 9.99946721e-01 4.18001639e-05 3.22967097e+00] [ 1.96456622e-03 -6.20825814e-05 9.99998068e-01 5.54866209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94439141799995 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:266.01, Y:3.22, Z:0.55 [[ 9.99993056e-01 -3.16628374e-03 -1.96510152e-03 2.66009323e+02] [ 3.16637207e-03 9.99994986e-01 4.18414228e-05 3.21919065e+00] [ 1.96495919e-03 -4.80633748e-05 9.99998068e-01 5.47325890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00439141799995 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:266.07, Y:3.22, Z:0.55 [[ 9.99991065e-01 -3.74272041e-03 -1.96510152e-03 2.66070051e+02] [ 3.74280985e-03 9.99992995e-01 4.18414228e-05 3.21678539e+00] [ 1.96493115e-03 -4.91960503e-05 9.99998068e-01 5.45684688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06439141799996 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:266.13, Y:3.21, Z:0.55 [[ 9.99980399e-01 -5.94466287e-03 -1.96510071e-03 2.66130399e+02] [ 5.94475664e-03 9.99982329e-01 4.18796682e-05 3.21418700e+00] [ 1.96481702e-03 -5.35608928e-05 9.99998068e-01 5.48043375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12439141799996 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:266.19, Y:3.21, Z:0.55 [[ 9.99974526e-01 -6.86196712e-03 -1.96510071e-03 2.66192195e+02] [ 6.86206266e-03 9.99976455e-01 4.18796682e-05 3.21254104e+00] [ 1.96476706e-03 -5.53632455e-05 9.99998068e-01 5.47913493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18439141799996 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:266.25, Y:3.21, Z:0.55 [[ 9.99953254e-01 -9.46726304e-03 -1.96509903e-03 2.66253133e+02] [ 9.46736376e-03 9.99955183e-01 4.19582019e-05 3.21083490e+00] [ 1.96461373e-03 -6.05605479e-05 9.99998068e-01 5.47076524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24439141799996 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:266.32, Y:3.21, Z:0.55 [[ 9.99934887e-01 -1.12410309e-02 -1.96509654e-03 2.66315329e+02] [ 1.12411352e-02 9.99936816e-01 4.20744945e-05 3.20925455e+00] [ 1.96449941e-03 -6.41616708e-05 9.99998068e-01 5.48064444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30439141799997 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:266.38, Y:3.21, Z:0.55 [[ 9.99914006e-01 -1.29660830e-02 -1.96509323e-03 2.66376864e+02] [ 1.29661910e-02 9.99915935e-01 4.22283795e-05 3.20827409e+00] [ 1.96438050e-03 -6.77045223e-05 9.99998068e-01 5.49280672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36439141799997 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:266.44, Y:3.21, Z:0.55 [[ 9.99928442e-01 -1.18003875e-02 -1.96509078e-03 2.66439440e+02] [ 1.18004935e-02 9.99930371e-01 4.23421010e-05 3.20859121e+00] [ 1.96445430e-03 -6.55281120e-05 9.99998068e-01 5.52462800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42439141799997 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:266.50, Y:3.21, Z:0.55 [[ 9.99977252e-01 -6.45238104e-03 -1.96508730e-03 2.66501160e+02] [ 6.45247701e-03 9.99979182e-01 4.25028857e-05 3.20986285e+00] [ 1.96477215e-03 -5.51815995e-05 9.99998068e-01 5.53050594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.484391418 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:266.56, Y:3.21, Z:0.55 [[ 9.99995140e-01 -2.42058434e-03 -1.96508473e-03 2.66562529e+02] [ 2.42067277e-03 9.99997069e-01 4.26214456e-05 3.20969109e+00] [ 1.96497580e-03 -4.73780656e-05 9.99998068e-01 5.53550713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.544391418 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:266.62, Y:3.21, Z:0.55 [[ 9.99993235e-01 3.10934025e-03 -1.96508306e-03 2.66622655e+02] [-3.10926234e-03 9.99995165e-01 4.26986102e-05 3.20909694e+00] [ 1.96520632e-03 -3.65883626e-05 9.99998068e-01 5.54486929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.604391418 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:266.68, Y:3.21, Z:0.55 [[ 9.99985256e-01 5.06219013e-03 -1.96508306e-03 2.66681455e+02] [-5.06211600e-03 9.99987187e-01 4.26986102e-05 3.20741786e+00] [ 1.96527402e-03 -3.27505023e-05 9.99998068e-01 5.54017831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.664391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.74, Y:3.21, Z:0.55 [[ 9.99973281e-01 7.04094181e-03 -1.96509462e-03 2.66739822e+02] [-7.04087256e-03 9.99975212e-01 4.21594373e-05 3.20591968e+00] [ 1.96534275e-03 -2.83223301e-05 9.99998068e-01 5.53147503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.724391418 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:266.80, Y:3.21, Z:0.55 [[ 9.99967451e-01 7.82530700e-03 -1.96509801e-03 2.66798414e+02] [-7.82523957e-03 9.99969381e-01 4.20011838e-05 3.20505412e+00] [ 1.96536651e-03 -2.66224540e-05 9.99998068e-01 5.52760318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.784391418 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:266.86, Y:3.20, Z:0.55 [[ 9.99964242e-01 8.22516946e-03 -1.96510139e-03 2.66856336e+02] [-8.22510311e-03 9.99966172e-01 4.18420262e-05 3.20447010e+00] [ 1.96537908e-03 -2.56773685e-05 9.99998068e-01 5.52309586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.844391418 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:266.91, Y:3.20, Z:0.55 [[ 9.99979040e-01 6.16912704e-03 -1.96510553e-03 2.66914291e+02] [-6.16905711e-03 9.99980970e-01 4.16467795e-05 3.20368769e+00] [ 1.96532506e-03 -2.95230584e-05 9.99998068e-01 5.52088369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.904391418 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:266.97, Y:3.20, Z:0.55 [[ 9.99992693e-01 3.27910742e-03 -1.96510953e-03 2.66972693e+02] [-3.27903228e-03 9.99994623e-01 4.14574789e-05 3.20186563e+00] [ 1.96523490e-03 -3.50135184e-05 9.99998068e-01 5.53084368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.964391418 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:267.03, Y:3.20, Z:0.55 [[ 9.99997182e-01 -1.33241348e-03 -1.96511275e-03 2.67030936e+02] [ 1.33249722e-03 9.99999111e-01 4.13042465e-05 3.19983510e+00] [ 1.96505597e-03 -4.39226374e-05 9.99998068e-01 5.53185068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.024391418 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:267.09, Y:3.20, Z:0.55 [[ 9.99984695e-01 -5.17193321e-03 -1.96511669e-03 2.67091504e+02] [ 5.17202399e-03 9.99986624e-01 4.11159478e-05 3.19913565e+00] [ 1.96487775e-03 -5.12789492e-05 9.99998068e-01 5.54499347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.084391418 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:267.15, Y:3.20, Z:0.55 [[ 9.99976716e-01 -6.53502240e-03 -1.96511669e-03 2.67152150e+02] [ 6.53511580e-03 9.99978645e-01 4.11159478e-05 3.19753235e+00] [ 1.96480603e-03 -5.39572556e-05 9.99998068e-01 5.54275514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.144391418 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:267.21, Y:3.20, Z:0.56 [[ 9.99975173e-01 -6.76690730e-03 -1.96511587e-03 2.67213483e+02] [ 6.76700124e-03 9.99977103e-01 4.11549883e-05 3.19724562e+00] [ 1.96479238e-03 -5.44519081e-05 9.99998068e-01 5.55989474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20439141799994 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:267.27, Y:3.20, Z:0.56 [[ 9.99983419e-01 -5.41300380e-03 -1.96511419e-03 2.67274641e+02] [ 5.41309528e-03 9.99985348e-01 4.12350358e-05 3.19683373e+00] [ 1.96486219e-03 -5.18717025e-05 9.99998068e-01 5.56331208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26439141799995 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:267.33, Y:3.20, Z:0.56 [[ 9.99985620e-01 -4.98978705e-03 -1.96511252e-03 2.67334687e+02] [ 4.98987787e-03 9.99987550e-01 4.13142118e-05 3.19537453e+00] [ 1.96488191e-03 -5.11192892e-05 9.99998068e-01 5.55438268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32439141799995 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:267.40, Y:3.19, Z:0.55 [[ 9.99982269e-01 -5.62132965e-03 -1.96511171e-03 2.67396035e+02] [ 5.62142177e-03 9.99984199e-01 4.13530934e-05 3.19491586e+00] [ 1.96484820e-03 -5.23990819e-05 9.99998068e-01 5.53495217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38439141799995 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:267.46, Y:3.19, Z:0.55 [[ 9.99968446e-01 -7.69705137e-03 -1.96511007e-03 2.67456068e+02] [ 7.69714764e-03 9.99970376e-01 4.14307161e-05 3.19473494e+00] [ 1.96473296e-03 -5.65551511e-05 9.99998068e-01 5.52585905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44439141799995 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:267.52, Y:3.19, Z:0.55 [[ 9.99957511e-01 -9.00637136e-03 -1.96510926e-03 2.67518492e+02] [ 9.00647023e-03 9.99959440e-01 4.14688699e-05 3.19395735e+00] [ 1.96465608e-03 -5.91658060e-05 9.99998068e-01 5.53196871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50439141799995 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:267.58, Y:3.19, Z:0.55 [[ 9.99956217e-01 -9.14890975e-03 -1.96510587e-03 2.67580737e+02] [ 9.14900921e-03 9.99958146e-01 4.16291351e-05 3.19386949e+00] [ 1.96464276e-03 -5.96060842e-05 9.99998068e-01 5.53378477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56439141799996 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:267.64, Y:3.19, Z:0.56 [[ 9.99957517e-01 -9.00565544e-03 -1.96510246e-03 2.67642736e+02] [ 9.00575494e-03 9.99959446e-01 4.17894001e-05 3.19435958e+00] [ 1.96464643e-03 -5.94848560e-05 9.99998068e-01 5.56200298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62439141799996 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:267.70, Y:3.19, Z:0.56 [[ 9.99968774e-01 -7.65433679e-03 -1.96509906e-03 2.67703465e+02] [ 7.65443399e-03 9.99970704e-01 4.19489391e-05 3.19484249e+00] [ 1.96472039e-03 -5.69893503e-05 9.99998068e-01 5.58400981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68439141799996 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:267.77, Y:3.19, Z:0.56 [[ 9.99964583e-01 -8.18356546e-03 -1.96509738e-03 2.67765793e+02] [ 8.18366384e-03 9.99966512e-01 4.20273187e-05 3.19478968e+00] [ 1.96468764e-03 -5.81075266e-05 9.99998068e-01 5.58517023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74439141799996 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:267.83, Y:3.19, Z:0.56 [[ 9.99948660e-01 -9.94066037e-03 -1.96509393e-03 2.67827658e+02] [ 9.94076246e-03 9.99950589e-01 4.21880838e-05 3.19477402e+00] [ 1.96457745e-03 -6.17204498e-05 9.99998068e-01 5.58458642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80439141799997 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:267.89, Y:3.19, Z:0.56 [[ 9.99940561e-01 -1.07243712e-02 -1.96509139e-03 2.67889591e+02] [ 1.07244750e-02 9.99942490e-01 4.23060288e-05 3.19474578e+00] [ 1.96452467e-03 -6.33780877e-05 9.99998068e-01 5.59129235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86439141799997 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:267.95, Y:3.20, Z:0.56 [[ 9.99953577e-01 -9.43302420e-03 -1.96508797e-03 2.67951113e+02] [ 9.43312585e-03 9.99955506e-01 4.24643395e-05 3.19579956e+00] [ 1.96459997e-03 -6.09992903e-05 9.99998068e-01 5.57688500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92439141799997 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:268.01, Y:3.20, Z:0.56 [[ 9.99972494e-01 -7.15192122e-03 -1.96508544e-03 2.68013495e+02] [ 7.15201869e-03 9.99974423e-01 4.25810910e-05 3.19644579e+00] [ 1.96473064e-03 -5.66342476e-05 9.99998068e-01 5.58984961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.984391418 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:268.08, Y:3.20, Z:0.56 [[ 9.99980994e-01 -5.84386941e-03 -1.96508200e-03 2.68076185e+02] [ 5.84396468e-03 9.99982923e-01 4.27393072e-05 3.19633063e+00] [ 1.96479868e-03 -5.42223646e-05 9.99998068e-01 5.59641490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.044391418 meters Centerline goodness : 0.998696 with order 1 Centerline is valid? [True, True] Translation: X:268.14, Y:3.20, Z:0.56 [[ 9.99996317e-01 -1.87211411e-03 -1.96507855e-03 2.68137124e+02] [ 1.87220202e-03 9.99998247e-01 4.28972058e-05 3.19789253e+00] [ 1.96499480e-03 -4.65760718e-05 9.99998068e-01 5.60287525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.104391418 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:268.20, Y:3.20, Z:0.56 [[ 9.99998021e-01 -3.11079004e-04 -1.96507294e-03 2.68197978e+02] [ 3.11164403e-04 9.99999951e-01 4.31526556e-05 3.19907874e+00] [ 1.96505942e-03 -4.37640310e-05 9.99998068e-01 5.63675336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.164391418 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:268.26, Y:3.20, Z:0.56 [[ 9.99997459e-01 -1.10509827e-03 -1.96507294e-03 2.68257456e+02] [ 1.10518520e-03 9.99999388e-01 4.31526556e-05 3.19847427e+00] [ 1.96502405e-03 -4.53243155e-05 9.99998068e-01 5.63829745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.224391418 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:268.32, Y:3.20, Z:0.56 [[ 9.99985290e-01 -5.05553207e-03 -1.96507466e-03 2.68316740e+02] [ 5.05562647e-03 9.99987219e-01 4.30743307e-05 3.19735110e+00] [ 1.96483178e-03 -5.30083806e-05 9.99998068e-01 5.61605933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.284391418 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:268.38, Y:3.20, Z:0.56 [[ 9.99921016e-01 -1.24136728e-02 -1.96507637e-03 2.68377339e+02] [ 1.24137812e-02 9.99922945e-01 4.29961982e-05 3.19610671e+00] [ 1.96439121e-03 -6.73868303e-05 9.99998068e-01 5.60356611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.344391418 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:268.44, Y:3.19, Z:0.56 [[ 9.99803668e-01 -1.97171209e-02 -1.96507553e-03 2.68440115e+02] [ 1.97172435e-02 9.99805595e-01 4.30346145e-05 3.19413767e+00] [ 1.96384499e-03 -8.17720380e-05 9.99998068e-01 5.61566353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.404391418 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:268.50, Y:3.19, Z:0.56 [[ 9.99685805e-01 -2.49885794e-02 -1.96506169e-03 2.68501922e+02] [ 2.49887134e-02 9.99687732e-01 4.36572067e-05 3.19278420e+00] [ 1.96335714e-03 -9.27478533e-05 9.99998068e-01 5.63394587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.464391418 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:268.56, Y:3.19, Z:0.56 [[ 9.99637138e-01 -2.68650445e-02 -1.96505825e-03 2.68563288e+02] [ 2.68651824e-02 9.99639065e-01 4.38116216e-05 3.19171358e+00] [ 1.96317199e-03 -9.65873723e-05 9.99998068e-01 5.63908661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.524391418 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:268.63, Y:3.19, Z:0.57 [[ 9.99623670e-01 -2.73615985e-02 -1.96505217e-03 2.68625889e+02] [ 2.73617379e-02 9.99625597e-01 4.40826562e-05 3.18993101e+00] [ 1.96311028e-03 -9.78333090e-05 9.99998068e-01 5.65301604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.584391418 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:268.69, Y:3.19, Z:0.57 [[ 9.99640226e-01 -2.67499062e-02 -1.96504676e-03 2.68688835e+02] [ 2.67500449e-02 9.99642153e-01 4.43223463e-05 3.18823051e+00] [ 1.96315796e-03 -9.68714894e-05 9.99998068e-01 5.66461990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.644391418 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:268.75, Y:3.19, Z:0.57 [[ 9.99692834e-01 -2.47057867e-02 -1.96504135e-03 2.68751355e+02] [ 2.47059219e-02 9.99694761e-01 4.45609084e-05 3.18593079e+00] [ 1.96334064e-03 -9.30953791e-05 9.99998068e-01 5.66194040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70439141799994 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:268.81, Y:3.18, Z:0.56 [[ 9.99813887e-01 -1.91919264e-02 -1.96503775e-03 2.68813055e+02] [ 1.91920513e-02 9.99815815e-01 4.47193842e-05 3.18314450e+00] [ 1.96381757e-03 -8.24241665e-05 9.99998068e-01 5.62685181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76439141799995 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:268.88, Y:3.18, Z:0.56 [[ 9.99892327e-01 -1.45420929e-02 -1.96503322e-03 2.68875698e+02] [ 1.45422092e-02 9.99894255e-01 4.49176605e-05 3.18242663e+00] [ 1.96417223e-03 -7.34887481e-05 9.99998068e-01 5.64432279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82439141799995 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:268.94, Y:3.18, Z:0.57 [[ 9.99993458e-01 -3.03671651e-03 -1.96502943e-03 2.68937480e+02] [ 3.03681096e-03 9.99995388e-01 4.50827259e-05 3.18337720e+00] [ 1.96488346e-03 -5.10498538e-05 9.99998068e-01 5.65178331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88439141799995 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:269.00, Y:3.18, Z:0.57 [[ 9.99923736e-01 1.21926668e-02 -1.96502572e-03 2.68997913e+02] [-1.21926015e-02 9.99925666e-01 4.52437571e-05 3.18470553e+00] [ 1.96543130e-03 -2.12815312e-05 9.99998068e-01 5.65587123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94439141799995 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:269.06, Y:3.19, Z:0.57 [[ 9.99730111e-01 2.31482946e-02 -1.96502572e-03 2.69055616e+02] [-2.31482503e-02 9.99732042e-01 4.52437571e-05 3.18579429e+00] [ 1.96554649e-03 2.55360980e-07 9.99998068e-01 5.66192556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00439141799995 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:269.11, Y:3.19, Z:0.57 [[ 9.99347130e-01 3.60756509e-02 -1.96503989e-03 2.69114307e+02] [-3.60756329e-02 9.99349062e-01 4.46195734e-05 3.18654276e+00] [ 1.96537045e-03 2.62996152e-05 9.99998068e-01 5.67528792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06439141799996 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:269.17, Y:3.18, Z:0.57 [[ 9.99077249e-01 4.29044133e-02 -1.96505192e-03 2.69172972e+02] [-4.29044096e-02 9.99079181e-01 4.40836222e-05 3.18348556e+00] [ 1.96513384e-03 4.02664483e-05 9.99998068e-01 5.66816743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12439141799996 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:269.23, Y:3.18, Z:0.57 [[ 9.99231753e-01 3.91413113e-02 -1.96505527e-03 2.69231675e+02] [-3.91413006e-02 9.99233685e-01 4.39338100e-05 3.17992803e+00] [ 1.96526904e-03 3.30147609e-05 9.99998068e-01 5.67344335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18439141799996 meters Centerline goodness : 0.999386 with order 1 Centerline is valid? [True, True] Translation: X:269.29, Y:3.17, Z:0.57 [[ 9.99591841e-01 2.85007013e-02 -1.96505862e-03 2.69290438e+02] [-2.85006703e-02 9.99593772e-01 4.37834921e-05 3.17369050e+00] [ 1.96550822e-03 1.22398661e-05 9.99998068e-01 5.65472655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24439141799996 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:269.35, Y:3.17, Z:0.56 [[ 9.99839721e-01 1.77952230e-02 -1.96506186e-03 2.69348824e+02] [-1.77951716e-02 9.99841652e-01 4.36374265e-05 3.16731050e+00] [ 1.96552723e-03 -8.66181936e-06 9.99998068e-01 5.64948619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30439141799997 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:269.41, Y:3.15, Z:0.57 [[ 9.99990348e-01 -3.92975925e-03 -1.96506523e-03 2.69406973e+02] [ 3.92985228e-03 9.99992277e-01 4.34852610e-05 3.15499412e+00] [ 1.96487916e-03 -5.12072574e-05 9.99998068e-01 5.65052536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36439141799997 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:269.47, Y:3.15, Z:0.57 [[ 9.99929223e-01 -1.17340613e-02 -1.96506865e-03 2.69466965e+02] [ 1.17341691e-02 9.99931151e-01 4.33301122e-05 3.14896364e+00] [ 1.96442492e-03 -6.63854933e-05 9.99998068e-01 5.66079196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42439141799997 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:269.53, Y:3.14, Z:0.57 [[ 9.99851926e-01 -1.70957404e-02 -1.96506865e-03 2.69529018e+02] [ 1.70958585e-02 9.99853854e-01 4.33301122e-05 3.14189855e+00] [ 1.96404070e-03 -7.69182317e-05 9.99998068e-01 5.68345136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.484391418 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:269.59, Y:3.14, Z:0.57 [[ 9.99872271e-01 -1.58612786e-02 -1.96506518e-03 2.69591274e+02] [ 1.58613947e-02 9.99874199e-01 4.34867341e-05 3.13614904e+00] [ 1.96412822e-03 -7.46498541e-05 9.99998068e-01 5.68569690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.544391418 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:269.65, Y:3.13, Z:0.57 [[ 9.99911043e-01 -1.31926048e-02 -1.96506171e-03 2.69653446e+02] [ 1.31927160e-02 9.99912971e-01 4.36428615e-05 3.13228112e+00] [ 1.96431494e-03 -6.95634803e-05 9.99998068e-01 5.68572668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.604391418 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:269.72, Y:3.13, Z:0.57 [[ 9.99959341e-01 -8.80081785e-03 -1.96505820e-03 2.69715341e+02] [ 8.80092090e-03 9.99961270e-01 4.38003684e-05 3.12753168e+00] [ 1.96459662e-03 -6.10929094e-05 9.99998068e-01 5.68462137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.664391418 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:269.78, Y:3.12, Z:0.57 [[ 9.99989407e-01 -4.16215835e-03 -1.96505453e-03 2.69776260e+02] [ 4.16225277e-03 9.99991337e-01 4.39643833e-05 3.12333436e+00] [ 1.96485452e-03 -5.21429713e-05 9.99998068e-01 5.66272615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.724391418 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:269.84, Y:3.12, Z:0.57 [[ 9.99996812e-01 -1.58593985e-03 -1.96505274e-03 2.69836359e+02] [ 1.58602946e-03 9.99998741e-01 4.40444576e-05 3.12032738e+00] [ 1.96498041e-03 -4.71609487e-05 9.99998068e-01 5.65161921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.784391418 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:269.90, Y:3.12, Z:0.56 [[ 9.99994836e-01 2.54306433e-03 -1.96505274e-03 2.69895713e+02] [-2.54298269e-03 9.99996766e-01 4.40444576e-05 3.11795485e+00] [ 1.96515839e-03 -3.90471350e-05 9.99998068e-01 5.64543644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.844391418 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:269.95, Y:3.12, Z:0.56 [[ 9.99963757e-01 8.28396893e-03 -1.96505361e-03 2.69954369e+02] [-8.28389845e-03 9.99965687e-01 4.40054515e-05 3.11684756e+00] [ 1.96535073e-03 -2.77255520e-05 9.99998068e-01 5.64206946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.904391418 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:270.01, Y:3.12, Z:0.56 [[ 9.99946078e-01 1.01970307e-02 -1.96505615e-03 2.70013178e+02] [-1.01969641e-02 9.99948009e-01 4.38920967e-05 3.11537143e+00] [ 1.96540155e-03 -2.38521229e-05 9.99998068e-01 5.64305604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.964391418 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:270.07, Y:3.11, Z:0.57 [[ 9.99906121e-01 1.35605161e-02 -1.96505949e-03 2.70072419e+02] [-1.35604564e-02 9.99908052e-01 4.37417110e-05 3.11271217e+00] [ 1.96547197e-03 -1.70905011e-05 9.99998068e-01 5.65791647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.024391418 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:270.13, Y:3.11, Z:0.57 [[ 9.99899857e-01 1.40147854e-02 -1.96506293e-03 2.70130806e+02] [-1.40147268e-02 9.99901788e-01 4.35868510e-05 3.10905043e+00] [ 1.96548080e-03 -1.60426660e-05 9.99998068e-01 5.67813820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.084391418 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:270.19, Y:3.11, Z:0.57 [[ 9.99877170e-01 1.55493607e-02 -1.96506632e-03 2.70188095e+02] [-1.55493053e-02 9.99879101e-01 4.34331644e-05 3.10598134e+00] [ 1.96550411e-03 -1.28724132e-05 9.99998068e-01 5.69384990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.144391418 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:270.25, Y:3.10, Z:0.57 [[ 9.99855926e-01 1.68601611e-02 -1.96507048e-03 2.70247029e+02] [-1.68601087e-02 9.99857857e-01 4.32443377e-05 3.10298222e+00] [ 1.96552027e-03 -1.01068055e-05 9.99998068e-01 5.70082084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20439141799994 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:270.30, Y:3.10, Z:0.57 [[ 9.99857714e-01 1.67538098e-02 -1.96507374e-03 2.70304446e+02] [-1.67537574e-02 9.99859645e-01 4.30954581e-05 3.09822554e+00] [ 1.96551995e-03 -1.01669574e-05 9.99998068e-01 5.69473122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26439141799995 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:270.36, Y:3.09, Z:0.57 [[ 9.99893489e-01 1.44619818e-02 -1.96507774e-03 2.70363143e+02] [-1.44619253e-02 9.99895420e-01 4.29125201e-05 3.09429100e+00] [ 1.96549283e-03 -1.44891418e-05 9.99998068e-01 5.69411464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32439141799995 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:270.42, Y:3.09, Z:0.57 [[ 9.99957019e-01 9.06080284e-03 -1.96508107e-03 2.70420525e+02] [-9.06073630e-03 9.99958950e-01 4.27592901e-05 3.08853118e+00] [ 1.96538784e-03 -2.49523709e-05 9.99998068e-01 5.67601294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38439141799995 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:270.48, Y:3.08, Z:0.57 [[ 9.99993212e-01 3.11666861e-03 -1.96508515e-03 2.70479252e+02] [-3.11659097e-03 9.99995143e-01 4.25710149e-05 3.08314466e+00] [ 1.96520829e-03 -3.64463593e-05 9.99998068e-01 5.67538020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44439141799995 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:270.54, Y:3.08, Z:0.57 [[ 9.99997394e-01 -1.16229734e-03 -1.96508842e-03 2.70537869e+02] [ 1.16238294e-03 9.99999324e-01 4.24194343e-05 3.07889681e+00] [ 1.96503779e-03 -4.47035090e-05 9.99998068e-01 5.67475686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50439141799995 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:270.60, Y:3.08, Z:0.57 [[ 9.99994163e-01 -2.79522754e-03 -1.96509165e-03 2.70597350e+02] [ 2.79531600e-03 9.99996092e-01 4.22693171e-05 3.07546553e+00] [ 1.96496582e-03 -4.77621225e-05 9.99998068e-01 5.67461964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56439141799996 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:270.66, Y:3.07, Z:0.57 [[ 9.99987087e-01 -4.68661263e-03 -1.96509326e-03 2.70656449e+02] [ 4.68670459e-03 9.99989016e-01 4.21943793e-05 3.07165398e+00] [ 1.96487393e-03 -5.14036460e-05 9.99998068e-01 5.68161936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62439141799996 meters Centerline goodness : 0.998901 with order 1 Centerline is valid? [True, True] Translation: X:270.72, Y:3.07, Z:0.57 [[ 9.99988931e-01 -4.27500391e-03 -1.96509405e-03 2.70716465e+02] [ 4.27509500e-03 9.99990861e-01 4.21575506e-05 3.06905309e+00] [ 1.96489587e-03 -5.05580478e-05 9.99998068e-01 5.70416856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68439141799996 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:270.78, Y:3.07, Z:0.57 [[ 9.99997506e-01 -1.06120721e-03 -1.96509405e-03 2.70777091e+02] [ 1.06129210e-03 9.99999436e-01 4.21575506e-05 3.06595507e+00] [ 1.96504821e-03 -4.42429843e-05 9.99998068e-01 5.70109372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74439141799996 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:270.84, Y:3.06, Z:0.57 [[ 9.99997231e-01 1.29495697e-03 -1.96509405e-03 2.70837009e+02] [-1.29487663e-03 9.99999161e-01 4.21575506e-05 3.06375165e+00] [ 1.96514700e-03 -3.96128795e-05 9.99998068e-01 5.70703040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80439141799997 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:270.90, Y:3.06, Z:0.57 [[ 9.99990056e-01 4.00333770e-03 -1.96509572e-03 2.70896726e+02] [-4.00326274e-03 9.99991986e-01 4.20795446e-05 3.06080248e+00] [ 1.96524843e-03 -3.42123316e-05 9.99998068e-01 5.71518764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86439141799997 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:270.95, Y:3.06, Z:0.57 [[ 9.99987810e-01 4.52974895e-03 -1.96509744e-03 2.70954369e+02] [-4.52967516e-03 9.99989740e-01 4.19993017e-05 3.05786467e+00] [ 1.96526752e-03 -3.30975367e-05 9.99998068e-01 5.69715801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92439141799997 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:271.01, Y:3.05, Z:0.57 [[ 9.99983570e-01 5.38489949e-03 -1.96510216e-03 2.71013542e+02] [-5.38482779e-03 9.99985501e-01 4.17771624e-05 3.05299047e+00] [ 1.96529863e-03 -3.11947393e-05 9.99998068e-01 5.67581668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.984391418 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:271.07, Y:3.05, Z:0.57 [[ 9.99996429e-01 1.81111867e-03 -1.96510552e-03 2.71072719e+02] [-1.81104038e-03 9.99998359e-01 4.16186463e-05 3.04947310e+00] [ 1.96517767e-03 -3.80596123e-05 9.99998068e-01 5.67216392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.044391418 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:271.13, Y:3.05, Z:0.57 [[ 9.99996755e-01 1.62114093e-03 -1.96510887e-03 2.71131862e+02] [-1.62106259e-03 9.99998685e-01 4.14596400e-05 3.04649548e+00] [ 1.96517350e-03 -3.82739410e-05 9.99998068e-01 5.68224768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.104391418 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:271.19, Y:3.04, Z:0.57 [[ 9.99996886e-01 1.53853666e-03 -1.96511048e-03 2.71191053e+02] [-1.53845831e-03 9.99998816e-01 4.13831330e-05 3.04215271e+00] [ 1.96517183e-03 -3.83597636e-05 9.99998068e-01 5.70268486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.164391418 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:271.25, Y:3.04, Z:0.57 [[ 9.99998037e-01 2.53340400e-04 -1.96511212e-03 2.71250804e+02] [-2.53259719e-04 9.99999967e-01 4.13052444e-05 3.03691477e+00] [ 1.96512252e-03 -4.08074796e-05 9.99998068e-01 5.71758500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.224391418 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:271.31, Y:3.03, Z:0.57 [[ 9.99997622e-01 -9.45313095e-04 -1.96511375e-03 2.71309759e+02] [ 9.45395936e-04 9.99999552e-01 4.12274285e-05 3.03206247e+00] [ 1.96507390e-03 -4.30851410e-05 9.99998068e-01 5.71290810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.284391418 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:271.37, Y:3.03, Z:0.57 [[ 9.99997361e-01 1.18987448e-03 -1.96511456e-03 2.71369308e+02] [-1.18979584e-03 9.99999291e-01 4.11891008e-05 3.02758805e+00] [ 1.96516217e-03 -3.88509070e-05 9.99998068e-01 5.68643012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.344391418 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:271.43, Y:3.02, Z:0.57 [[ 9.99997985e-01 -4.10018755e-04 -1.96511541e-03 2.71428350e+02] [ 4.10100407e-04 9.99999915e-01 4.11485091e-05 3.02390896e+00] [ 1.96509837e-03 -4.19543208e-05 9.99998068e-01 5.69180881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.404391418 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:271.49, Y:3.02, Z:0.57 [[ 9.99997237e-01 1.28975696e-03 -1.96511795e-03 2.71488442e+02] [-1.28967883e-03 9.99999168e-01 4.10266247e-05 3.02112817e+00] [ 1.96516923e-03 -3.84921403e-05 9.99998068e-01 5.69651753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.464391418 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:271.55, Y:3.02, Z:0.57 [[ 9.99995362e-01 2.32694065e-03 -1.96511949e-03 2.71548230e+02] [-2.32686467e-03 9.99997292e-01 4.09527618e-05 3.01805654e+00] [ 1.96520946e-03 -3.63800047e-05 9.99998068e-01 5.69216796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.524391418 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:271.61, Y:3.01, Z:0.57 [[ 9.99995371e-01 2.32283080e-03 -1.96512101e-03 2.71607077e+02] [-2.32275495e-03 9.99997302e-01 4.08798016e-05 3.01389869e+00] [ 1.96521066e-03 -3.63151178e-05 9.99998068e-01 5.69379793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.584391418 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:271.67, Y:3.01, Z:0.57 [[ 9.99997603e-01 9.65442168e-04 -1.96512414e-03 2.71665614e+02] [-9.65363994e-04 9.99999533e-01 4.07288854e-05 3.01057568e+00] [ 1.96516254e-03 -3.88317276e-05 9.99998068e-01 5.69092026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.644391418 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:271.73, Y:3.01, Z:0.57 [[ 9.99991282e-01 -3.68441734e-03 -1.96512644e-03 2.71725195e+02] [ 3.68450427e-03 9.99993211e-01 4.06176508e-05 3.00590232e+00] [ 1.96496344e-03 -4.78578134e-05 9.99998068e-01 5.69916056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70439141799994 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:271.79, Y:3.00, Z:0.57 [[ 9.99939393e-01 -1.08327192e-02 -1.96512799e-03 2.71785972e+02] [ 1.08328197e-02 9.99941322e-01 4.05420851e-05 3.00017310e+00] [ 1.96457350e-03 -6.18275053e-05 9.99998068e-01 5.70449709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76439141799995 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:271.85, Y:2.99, Z:0.57 [[ 9.99834908e-01 -1.80636109e-02 -1.96512799e-03 2.71846839e+02] [ 1.80637254e-02 9.99836837e-01 4.05420851e-05 2.99427309e+00] [ 1.96407502e-03 -7.60329245e-05 9.99998068e-01 5.69548804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82439141799995 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:271.91, Y:2.99, Z:0.57 [[ 9.99795712e-01 -2.01164624e-02 -1.96511721e-03 2.71909133e+02] [ 2.01165819e-02 9.99797640e-01 4.10584627e-05 2.99167481e+00] [ 1.96389359e-03 -8.05815162e-05 9.99998068e-01 5.69663742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88439141799995 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:271.97, Y:2.99, Z:0.57 [[ 9.99683805e-01 -2.50684830e-02 -1.96511396e-03 2.71970967e+02] [ 2.50686124e-02 9.99685732e-01 4.12134184e-05 2.98810492e+00] [ 1.96346323e-03 -9.04630669e-05 9.99998068e-01 5.68681659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94439141799995 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:272.03, Y:2.99, Z:0.57 [[ 9.99622264e-01 -2.74129139e-02 -1.96511052e-03 2.72032601e+02] [ 2.74130480e-02 9.99624191e-01 4.13764194e-05 2.98572331e+00] [ 1.96323777e-03 -9.52304593e-05 9.99998068e-01 5.68001474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00439141799995 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:272.09, Y:2.99, Z:0.57 [[ 9.99520252e-01 -3.09096205e-02 -1.96510499e-03 2.72094368e+02] [ 3.09097620e-02 9.99522178e-01 4.16374777e-05 2.98569117e+00] [ 1.96287902e-03 -1.02358430e-04 9.99998068e-01 5.70181699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06439141799996 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:272.16, Y:2.99, Z:0.57 [[ 9.99432733e-01 -3.36206838e-02 -1.96510142e-03 2.72155519e+02] [ 3.36208308e-02 9.99434659e-01 4.18053466e-05 2.98596020e+00] [ 1.96258494e-03 -1.07849974e-04 9.99998068e-01 5.68270319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12439141799996 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:272.22, Y:2.99, Z:0.57 [[ 9.99362951e-01 -3.56346782e-02 -1.96509793e-03 2.72217529e+02] [ 3.56348294e-02 9.99364877e-01 4.19688647e-05 2.98578883e+00] [ 1.96235430e-03 -1.11968058e-04 9.99998068e-01 5.67899298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18439141799996 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:272.28, Y:2.99, Z:0.57 [[ 9.99264713e-01 -3.82906247e-02 -1.96509362e-03 2.72280407e+02] [ 3.82907814e-02 9.99266638e-01 4.21698309e-05 2.98704899e+00] [ 1.96203778e-03 -1.17383794e-04 9.99998068e-01 5.66098024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24439141799996 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:272.34, Y:2.99, Z:0.57 [[ 9.99231952e-01 -3.91362242e-02 -1.96508855e-03 2.72342718e+02] [ 3.91363830e-02 9.99233877e-01 4.24048131e-05 2.98847012e+00] [ 1.96192348e-03 -1.19278702e-04 9.99998068e-01 5.65481777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30439141799997 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:272.40, Y:2.99, Z:0.56 [[ 9.99222339e-01 -3.93809165e-02 -1.96508520e-03 2.72404668e+02] [ 3.93810760e-02 9.99224264e-01 4.25593198e-05 2.99056005e+00] [ 1.96188479e-03 -1.19913393e-04 9.99998068e-01 5.64597180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36439141799997 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:272.47, Y:2.99, Z:0.57 [[ 9.99333420e-01 -3.64534550e-02 -1.96508190e-03 2.72467114e+02] [ 3.64536092e-02 9.99335345e-01 4.27110733e-05 2.99410934e+00] [ 1.96221883e-03 -1.14316931e-04 9.99998068e-01 5.66804462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42439141799997 meters Centerline goodness : 0.998890 with order 1 Centerline is valid? [True, True] Translation: X:272.53, Y:3.00, Z:0.57 [[ 9.99601554e-01 -2.81579700e-02 -1.96507841e-03 2.72528036e+02] [ 2.81581086e-02 9.99603481e-01 4.28709346e-05 2.99983611e+00] [ 1.96309206e-03 -9.81867442e-05 9.99998068e-01 5.68842586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.484391418 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:272.59, Y:3.01, Z:0.57 [[ 9.99898429e-01 -1.41163316e-02 -1.96507227e-03 2.72590550e+02] [ 1.41164436e-02 9.99900357e-01 4.31507558e-05 3.00648098e+00] [ 1.96426733e-03 -7.08862048e-05 9.99998068e-01 5.69664417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.544391418 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:272.65, Y:3.01, Z:0.57 [[ 9.99990069e-01 -4.00004618e-03 -1.96506903e-03 2.72652619e+02] [ 4.00013898e-03 9.99991998e-01 4.32979491e-05 3.01047621e+00] [ 1.96488011e-03 -5.11580683e-05 9.99998068e-01 5.70038439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.604391418 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:272.71, Y:3.02, Z:0.57 [[ 9.99967467e-01 7.82328826e-03 -1.96506563e-03 2.72713104e+02] [-7.82321798e-03 9.99969397e-01 4.34514432e-05 3.01626818e+00] [ 1.96534543e-03 -2.80768928e-05 9.99998068e-01 5.69942305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.664391418 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:272.77, Y:3.02, Z:0.57 [[ 9.99906514e-01 1.35315033e-02 -1.96506563e-03 2.72769967e+02] [-1.35314441e-02 9.99908445e-01 4.34514432e-05 3.01870887e+00] [ 1.96547368e-03 -1.68572054e-05 9.99998068e-01 5.67587498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.724391418 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:272.83, Y:3.02, Z:0.57 [[ 9.99893890e-01 1.44342172e-02 -1.96507510e-03 2.72828880e+02] [-1.44341605e-02 9.99895821e-01 4.30187271e-05 3.01894966e+00] [ 1.96549133e-03 -1.46499529e-05 9.99998068e-01 5.66730468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.784391418 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:272.89, Y:3.02, Z:0.57 [[ 9.99908997e-01 1.33467429e-02 -1.96507847e-03 2.72887283e+02] [-1.33466845e-02 9.99910928e-01 4.28642591e-05 3.02065955e+00] [ 1.96547554e-03 -1.66330760e-05 9.99998068e-01 5.66278717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.844391418 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:272.95, Y:3.02, Z:0.57 [[ 9.99934802e-01 1.12486075e-02 -1.96508195e-03 2.72946543e+02] [-1.12485453e-02 9.99936732e-01 4.27043427e-05 3.01955645e+00] [ 1.96543799e-03 -2.05972452e-05 9.99998068e-01 5.66634635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.904391418 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:273.00, Y:3.02, Z:0.57 [[ 9.99967443e-01 7.82631202e-03 -1.96508535e-03 2.73004360e+02] [-7.82624352e-03 9.99969374e-01 4.25470400e-05 3.01827978e+00] [ 1.96535816e-03 -2.71664183e-05 9.99998068e-01 5.65796998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.964391418 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:273.06, Y:3.02, Z:0.57 [[ 9.99983282e-01 5.43815059e-03 -1.96508953e-03 2.73063105e+02] [-5.43807785e-03 9.99985213e-01 4.23533775e-05 3.01689268e+00] [ 1.96529079e-03 -3.16663596e-05 9.99998068e-01 5.65666628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.024391418 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:273.12, Y:3.01, Z:0.57 [[ 9.99994798e-01 2.55789899e-03 -1.96509282e-03 2.73121488e+02] [-2.55782100e-03 9.99996728e-01 4.22003043e-05 3.01406793e+00] [ 1.96519433e-03 -3.71737291e-05 9.99998068e-01 5.65112221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.084391418 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:273.18, Y:3.01, Z:0.56 [[ 9.99996205e-01 1.93086430e-03 -1.96509617e-03 2.73179884e+02] [-1.93078540e-03 9.99998135e-01 4.20437367e-05 3.01225486e+00] [ 1.96517368e-03 -3.82493981e-05 9.99998068e-01 5.64642046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.144391418 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:273.24, Y:3.01, Z:0.56 [[ 9.99989977e-01 4.02299920e-03 -1.96509958e-03 2.73239718e+02] [-4.02292466e-03 9.99991907e-01 4.18834158e-05 3.01117011e+00] [ 1.96525218e-03 -3.39775484e-05 9.99998068e-01 5.64683818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20439141799994 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:273.30, Y:3.01, Z:0.56 [[ 9.99965502e-01 8.07054482e-03 -1.96510130e-03 2.73298169e+02] [-8.07047825e-03 9.99967432e-01 4.18025420e-05 3.01047637e+00] [ 1.96537467e-03 -2.59417925e-05 9.99998068e-01 5.64992356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26439141799995 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:273.36, Y:3.01, Z:0.57 [[ 9.99851966e-01 1.70933861e-02 -1.96511312e-03 2.73355696e+02] [-1.70933381e-02 9.99853897e-01 4.12394789e-05 3.00929186e+00] [ 1.96553093e-03 -7.64303118e-06 9.99998068e-01 5.65123193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32439141799995 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:273.41, Y:3.01, Z:0.56 [[ 9.99709752e-01 2.40114422e-02 -1.96512621e-03 2.73413178e+02] [-2.40114088e-02 9.99711684e-01 4.06058331e-05 3.00708554e+00] [ 1.96553464e-03 6.59140145e-06 9.99998068e-01 5.64265254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38439141799995 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:273.47, Y:3.00, Z:0.56 [[ 9.99682022e-01 2.51394914e-02 -1.96513110e-03 2.73471563e+02] [-2.51394606e-02 9.99683953e-01 4.03678180e-05 3.00371208e+00] [ 1.96552485e-03 9.04735409e-06 9.99998068e-01 5.61730554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44439141799995 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:273.53, Y:3.00, Z:0.56 [[ 9.99748340e-01 2.23471330e-02 -1.96513435e-03 2.73529143e+02] [-2.23470972e-02 9.99750272e-01 4.02091487e-05 3.00077440e+00] [ 1.96554216e-03 3.71601857e-06 9.99998068e-01 5.60529182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50439141799995 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:273.59, Y:3.00, Z:0.56 [[ 9.99882210e-01 1.52218413e-02 -1.96513911e-03 2.73586460e+02] [-1.52217921e-02 9.99884141e-01 3.99749672e-05 2.99597656e+00] [ 1.96551993e-03 -1.00573195e-05 9.99998068e-01 5.60840133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56439141799996 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:273.65, Y:2.99, Z:0.56 [[ 9.99980585e-01 5.91327757e-03 -1.96514301e-03 2.73645042e+02] [-5.91321081e-03 9.99982516e-01 3.97824377e-05 2.99120880e+00] [ 1.96534390e-03 -2.81613604e-05 9.99998068e-01 5.61650786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62439141799996 meters Centerline goodness : 0.998849 with order 1 Centerline is valid? [True, True] Translation: X:273.70, Y:2.99, Z:0.56 [[ 9.99998069e-01 -3.46211448e-05 -1.96514621e-03 2.73702659e+02] [ 3.46990777e-05 9.99999999e-01 3.96235981e-05 2.98825808e+00] [ 1.96514484e-03 -3.96917103e-05 9.99998068e-01 5.61646730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68439141799996 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:273.76, Y:2.98, Z:0.56 [[ 9.99958838e-01 -8.85780537e-03 -1.96515013e-03 2.73762462e+02] [ 8.85789995e-03 9.99960767e-01 3.94282554e-05 2.98409505e+00] [ 1.96472379e-03 -5.68337357e-05 9.99998068e-01 5.62282548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74439141799996 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:273.82, Y:2.98, Z:0.56 [[ 9.99877646e-01 -1.55187454e-02 -1.96515172e-03 2.73823887e+02] [ 1.55188527e-02 9.99879575e-01 3.93488770e-05 2.98099580e+00] [ 1.96430442e-03 -6.98409626e-05 9.99998068e-01 5.62965817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80439141799997 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:273.89, Y:2.98, Z:0.56 [[ 9.99747562e-01 -2.23819127e-02 -1.96515013e-03 2.73886487e+02] [ 2.23820334e-02 9.99749490e-01 3.94284309e-05 2.97837745e+00] [ 1.96377535e-03 -8.34025334e-05 9.99998068e-01 5.64216786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86439141799997 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:273.95, Y:2.98, Z:0.57 [[ 9.99344553e-01 -3.61469573e-02 -1.96514524e-03 2.73948625e+02] [ 3.61471050e-02 9.99346479e-01 3.96703875e-05 2.98091144e+00] [ 1.96242701e-03 -1.10678697e-04 9.99998068e-01 5.70330894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92439141799997 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:274.01, Y:2.98, Z:0.56 [[ 9.99276496e-01 -3.79818686e-02 -1.96513366e-03 2.74010662e+02] [ 3.79820209e-02 9.99278422e-01 4.02361966e-05 2.97500248e+00] [ 1.96218741e-03 -1.14846833e-04 9.99998068e-01 5.64570627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.984391418 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:274.07, Y:2.98, Z:0.56 [[ 9.99245353e-01 -3.87925489e-02 -1.96513037e-03 2.74073982e+02] [ 3.87927031e-02 9.99247279e-01 4.03962345e-05 2.97574729e+00] [ 1.96208410e-03 -1.16598469e-04 9.99998068e-01 5.64224453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.044391418 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:274.14, Y:2.98, Z:0.56 [[ 9.99293293e-01 -3.75373642e-02 -1.96512530e-03 2.74136252e+02] [ 3.75375165e-02 9.99295218e-01 4.06411432e-05 2.97670342e+00] [ 1.96221476e-03 -1.14378345e-04 9.99998068e-01 5.63500044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.104391418 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:274.20, Y:2.98, Z:0.56 [[ 9.99454275e-01 -3.29740785e-02 -1.96512186e-03 2.74198642e+02] [ 3.29742223e-02 9.99456202e-01 4.08070967e-05 2.97968929e+00] [ 1.96270765e-03 -1.05583192e-04 9.99998068e-01 5.62768615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.164391418 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:274.26, Y:2.98, Z:0.56 [[ 9.99665299e-01 -2.57958818e-02 -1.96511847e-03 2.74260937e+02] [ 2.57960121e-02 9.99667227e-01 4.09696417e-05 2.98455538e+00] [ 1.96340768e-03 -9.16481488e-05 9.99998068e-01 5.64179010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.224391418 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:274.32, Y:2.99, Z:0.57 [[ 9.99798324e-01 -1.99862384e-02 -1.96511427e-03 2.74322975e+02] [ 1.99863579e-02 9.99800252e-01 4.11699840e-05 2.98755250e+00] [ 1.96389891e-03 -8.04371580e-05 9.99998068e-01 5.65987864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.284391418 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:274.39, Y:2.99, Z:0.57 [[ 9.99950809e-01 -9.72203376e-03 -1.96511092e-03 2.74385804e+02] [ 9.72213374e-03 9.99952738e-01 4.13292573e-05 2.99402977e+00] [ 1.96461624e-03 -6.04322954e-05 9.99998068e-01 5.68137567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.344391418 meters Centerline goodness : 0.998942 with order 1 Centerline is valid? [True, True] Translation: X:274.45, Y:3.00, Z:0.57 [[ 9.99994981e-01 -2.48522597e-03 -1.96510749e-03 2.74446198e+02] [ 2.48531230e-03 9.99996911e-01 4.14915655e-05 2.99700028e+00] [ 1.96499831e-03 -4.63752630e-05 9.99998068e-01 5.67848146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.404391418 meters Centerline goodness : 0.998813 with order 1 Centerline is valid? [True, True] Translation: X:274.51, Y:3.00, Z:0.57 [[ 9.99976296e-01 6.59898116e-03 -1.96510666e-03 2.74507293e+02] [-6.59891228e-03 9.99978226e-01 4.15310856e-05 3.00133954e+00] [ 1.96533793e-03 -2.85625347e-05 9.99998068e-01 5.66732613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.464391418 meters Centerline goodness : 0.998829 with order 1 Centerline is valid? [True, True] Translation: X:274.57, Y:3.00, Z:0.56 [[ 9.99899502e-01 1.40400830e-02 -1.96510666e-03 2.74565449e+02] [-1.40400285e-02 9.99901433e-01 4.15310856e-05 3.00414196e+00] [ 1.96549606e-03 -1.39367583e-05 9.99998068e-01 5.64729632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.524391418 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:274.62, Y:3.01, Z:0.57 [[ 9.99836489e-01 1.79759013e-02 -1.96511891e-03 2.74623182e+02] [-1.79758556e-02 9.99838420e-01 4.09430942e-05 3.00725030e+00] [ 1.96553737e-03 -5.61170591e-06 9.99998068e-01 5.65186387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.584391418 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:274.68, Y:3.01, Z:0.57 [[ 9.99788033e-01 2.04945736e-02 -1.96512296e-03 2.74682419e+02] [-2.04945331e-02 9.99789964e-01 4.07474571e-05 3.00773901e+00] [ 1.96554532e-03 -4.64542413e-07 9.99998068e-01 5.66110301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.644391418 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:274.74, Y:3.01, Z:0.57 [[ 9.99817725e-01 1.89909378e-02 -1.96512610e-03 2.74740694e+02] [-1.89908947e-02 9.99819656e-01 4.05955808e-05 3.00649010e+00] [ 1.96554265e-03 -3.26867848e-06 9.99998068e-01 5.67650304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70439141799994 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:274.80, Y:3.00, Z:0.57 [[ 9.99950805e-01 9.72245125e-03 -1.96513065e-03 2.74799821e+02] [-9.72239068e-03 9.99952736e-01 4.03743924e-05 3.00328599e+00] [ 1.96543030e-03 -2.12666383e-05 9.99998068e-01 5.67326092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76439141799995 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:274.86, Y:3.00, Z:0.57 [[ 9.99998062e-01 -1.18061722e-04 -1.96513392e-03 2.74858485e+02] [ 1.18140977e-04 9.99999992e-01 4.02144717e-05 2.99975448e+00] [ 1.96512916e-03 -4.04465566e-05 9.99998068e-01 5.66909095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82439141799995 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:274.92, Y:2.99, Z:0.57 [[ 9.99881914e-01 -1.52412923e-02 -1.96513721e-03 2.74917630e+02] [ 1.52414004e-02 9.99883842e-01 4.00531422e-05 2.99397210e+00] [ 1.96429848e-03 -6.99998555e-05 9.99998068e-01 5.65697508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88439141799995 meters Centerline goodness : 0.999027 with order 1 Centerline is valid? [True, True] Translation: X:274.98, Y:2.99, Z:0.56 [[ 9.99673747e-01 -2.54664090e-02 -1.96513885e-03 2.74980667e+02] [ 2.54665367e-02 9.99675674e-01 3.99721789e-05 2.98921084e+00] [ 1.96348356e-03 -9.00044185e-05 9.99998068e-01 5.64555557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94439141799995 meters Centerline goodness : 0.998790 with order 1 Centerline is valid? [True, True] Translation: X:275.04, Y:2.99, Z:0.56 [[ 9.99585624e-01 -2.87179013e-02 -1.96512544e-03 2.75043181e+02] [ 2.87180366e-02 9.99587551e-01 4.06210321e-05 2.98768633e+00] [ 1.96314838e-03 -9.70387440e-05 9.99998068e-01 5.64117189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00439141799995 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:275.11, Y:2.99, Z:0.56 [[ 9.99565185e-01 -2.94207230e-02 -1.96512207e-03 2.75105254e+02] [ 2.94208599e-02 9.99567112e-01 4.07833415e-05 2.98693795e+00] [ 1.96307152e-03 -9.85811894e-05 9.99998068e-01 5.63854471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06439141799996 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:275.17, Y:2.99, Z:0.56 [[ 9.99567486e-01 -2.93424500e-02 -1.96511789e-03 2.75168331e+02] [ 2.93425872e-02 9.99569413e-01 4.09840918e-05 2.98650804e+00] [ 1.96306916e-03 -9.86280085e-05 9.99998068e-01 5.63891272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12439141799996 meters Centerline goodness : 0.998746 with order 1 Centerline is valid? [True, True] Translation: X:275.23, Y:2.99, Z:0.56 [[ 9.99541815e-01 -3.02042619e-02 -1.96511288e-03 2.75230077e+02] [ 3.02044012e-02 9.99543742e-01 4.12227099e-05 2.98677745e+00] [ 1.96297118e-03 -1.00558880e-04 9.99998068e-01 5.62662544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18439141799996 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:275.29, Y:2.99, Z:0.56 [[ 9.99458196e-01 -3.28550132e-02 -1.96510871e-03 2.75293556e+02] [ 3.28551579e-02 9.99460123e-01 4.14205711e-05 2.98690708e+00] [ 1.96268692e-03 -1.05962086e-04 9.99998068e-01 5.63441433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24439141799996 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:275.35, Y:2.99, Z:0.56 [[ 9.99370282e-01 -3.54284898e-02 -1.96510351e-03 2.75354802e+02] [ 3.54286400e-02 9.99372208e-01 4.16655955e-05 2.98716826e+00] [ 1.96239369e-03 -1.11260303e-04 9.99998068e-01 5.60119734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30439141799997 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:275.42, Y:2.99, Z:0.56 [[ 9.99325085e-01 -3.66812436e-02 -1.96510103e-03 2.75417002e+02] [ 3.66813965e-02 9.99327010e-01 4.17824707e-05 2.98677197e+00] [ 1.96224590e-03 -1.13836921e-04 9.99998068e-01 5.59213225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36439141799997 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:275.48, Y:2.99, Z:0.56 [[ 9.99305484e-01 -3.72114080e-02 -1.96509756e-03 2.75478846e+02] [ 3.72115622e-02 9.99307409e-01 4.19449353e-05 2.98931987e+00] [ 1.96217572e-03 -1.15040154e-04 9.99998068e-01 5.59218266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42439141799997 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:275.54, Y:2.99, Z:0.56 [[ 9.99455899e-01 -3.29248172e-02 -1.96509412e-03 2.75539999e+02] [ 3.29249635e-02 9.99457826e-01 4.21057004e-05 2.99329137e+00] [ 1.96264237e-03 -1.06783443e-04 9.99998068e-01 5.58784947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.484391418 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:275.60, Y:3.00, Z:0.56 [[ 9.99623554e-01 -2.73658449e-02 -1.96509068e-03 2.75602051e+02] [ 2.73659807e-02 9.99625481e-01 4.22657151e-05 2.99899959e+00] [ 1.96319807e-03 -9.60264379e-05 9.99998068e-01 5.64767061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.544391418 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:275.66, Y:3.00, Z:0.57 [[ 9.99717035e-01 -2.37062929e-02 -1.96508717e-03 2.75664030e+02] [ 2.37064220e-02 9.99718962e-01 4.24281993e-05 3.00172563e+00] [ 1.96352909e-03 -8.90013792e-05 9.99998068e-01 5.65209500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.604391418 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:275.73, Y:3.00, Z:0.57 [[ 9.99717181e-01 -2.37001561e-02 -1.96508372e-03 2.75725364e+02] [ 2.37002855e-02 9.99719108e-01 4.25873193e-05 3.00387095e+00] [ 1.96352242e-03 -8.91483200e-05 9.99998068e-01 5.68169644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.664391418 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:275.79, Y:3.00, Z:0.57 [[ 9.99700800e-01 -2.43813401e-02 -1.96508112e-03 2.75788597e+02] [ 2.43814711e-02 9.99702727e-01 4.27068536e-05 3.00471510e+00] [ 1.96345571e-03 -9.06056442e-05 9.99998068e-01 5.68653889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.724391418 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:275.85, Y:3.01, Z:0.57 [[ 9.99618971e-01 -2.75327228e-02 -1.96507584e-03 2.75850863e+02] [ 2.75328603e-02 9.99620898e-01 4.29483079e-05 3.00717346e+00] [ 1.96314840e-03 -9.70361021e-05 9.99998068e-01 5.67093762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.784391418 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:275.91, Y:3.01, Z:0.56 [[ 9.99545977e-01 -3.00662459e-02 -1.96507239e-03 2.75913156e+02] [ 3.00663886e-02 9.99547903e-01 4.31058706e-05 3.00933133e+00] [ 1.96288795e-03 -1.02168930e-04 9.99998068e-01 5.62572150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.844391418 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:275.98, Y:3.01, Z:0.56 [[ 9.99529271e-01 -3.06165822e-02 -1.96506894e-03 2.75976326e+02] [ 3.06167263e-02 9.99531197e-01 4.32623278e-05 3.00970238e+00] [ 1.96282317e-03 -1.03405941e-04 9.99998068e-01 5.61728100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.904391418 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:276.04, Y:3.01, Z:0.56 [[ 9.99677356e-01 -2.53243297e-02 -1.96506380e-03 2.76038757e+02] [ 2.53244640e-02 9.99679283e-01 4.34949060e-05 3.01264398e+00] [ 1.96333209e-03 -9.32450599e-05 9.99998068e-01 5.61993822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.964391418 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:276.10, Y:3.02, Z:0.57 [[ 9.99889594e-01 -1.47288525e-02 -1.96505533e-03 2.76101050e+02] [ 1.47289671e-02 9.99891522e-01 4.38738750e-05 3.01676444e+00] [ 1.96419596e-03 -7.28122665e-05 9.99998068e-01 5.66080645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.024391418 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:276.16, Y:3.02, Z:0.57 [[ 9.99981544e-01 -5.74893322e-03 -1.96505186e-03 2.76163165e+02] [ 5.74903083e-03 9.99983473e-01 4.40291502e-05 3.01930076e+00] [ 1.96476626e-03 -5.53254813e-05 9.99998068e-01 5.67783132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.084391418 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:276.22, Y:3.02, Z:0.57 [[ 9.99978091e-01 6.32102721e-03 -1.96504837e-03 2.76223886e+02] [-6.32095259e-03 9.99980022e-01 4.41841911e-05 3.02297054e+00] [ 1.96528840e-03 -3.17622455e-05 9.99998068e-01 5.68712792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.144391418 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:276.28, Y:3.02, Z:0.57 [[ 9.99885347e-01 1.50143884e-02 -1.96504752e-03 2.76281950e+02] [-1.50143305e-02 9.99887278e-01 4.42220972e-05 3.02490277e+00] [ 1.96548998e-03 -1.47131543e-05 9.99998068e-01 5.67715736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20439141799994 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:276.34, Y:3.03, Z:0.57 [[ 9.99799911e-01 1.99066746e-02 -1.96506137e-03 2.76340869e+02] [-1.99066273e-02 9.99801843e-01 4.35976708e-05 3.02505154e+00] [ 1.96553986e-03 -4.47120301e-06 9.99998068e-01 5.66091989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26439141799995 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:276.40, Y:3.03, Z:0.56 [[ 9.99651945e-01 2.63083277e-02 -1.96506479e-03 2.76399769e+02] [-2.63082931e-02 9.99653876e-01 4.34428997e-05 3.02500985e+00] [ 1.96552755e-03 8.26972133e-06 9.99998068e-01 5.64099337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32439141799995 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:276.46, Y:3.02, Z:0.56 [[ 9.99383815e-01 3.50446664e-02 -1.96506828e-03 2.76457884e+02] [-3.50446490e-02 9.99385747e-01 4.32845553e-05 3.02486326e+00] [ 1.96537812e-03 2.56072441e-05 9.99998068e-01 5.63465618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38439141799995 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:276.52, Y:3.02, Z:0.57 [[ 9.99123631e-01 4.18103952e-02 -1.96507260e-03 2.76516440e+02] [-4.18103913e-02 9.99125562e-01 4.30873306e-05 3.02408911e+00] [ 1.96515577e-03 3.91108843e-05 9.99998068e-01 5.68786375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44439141799995 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:276.57, Y:3.02, Z:0.57 [[ 9.99014602e-01 4.43391950e-02 -1.96507611e-03 2.76574834e+02] [-4.43391963e-02 9.99016533e-01 4.29269345e-05 3.02118044e+00] [ 1.96504687e-03 4.42452610e-05 9.99998068e-01 5.68941208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50439141799995 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:276.63, Y:3.02, Z:0.57 [[ 9.99225430e-01 3.93024099e-02 -1.96507948e-03 2.76633732e+02] [-3.93024018e-02 9.99227361e-01 4.27720184e-05 3.01546256e+00] [ 1.96524223e-03 3.44934548e-05 9.99998068e-01 5.69474970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56439141799996 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:276.69, Y:3.01, Z:0.57 [[ 9.99676741e-01 2.53486068e-02 -1.96508288e-03 2.76692269e+02] [-2.53485720e-02 9.99678672e-01 4.26152692e-05 3.00729730e+00] [ 1.96553168e-03 7.21055132e-06 9.99998068e-01 5.67449966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62439141799996 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:276.75, Y:3.00, Z:0.57 [[ 9.99910596e-01 1.32264200e-02 -1.96508627e-03 2.76750620e+02] [-1.32263621e-02 9.99912527e-01 4.24583722e-05 2.99979503e+00] [ 1.96547595e-03 -1.64636338e-05 9.99998068e-01 5.65804230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68439141799996 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:276.81, Y:2.99, Z:0.56 [[ 9.99987476e-01 -4.60294007e-03 -1.96508966e-03 2.76809580e+02] [ 4.60303208e-03 9.99989405e-01 4.23009028e-05 2.98962370e+00] [ 1.96487413e-03 -5.13457437e-05 9.99998068e-01 5.63914367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74439141799996 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:276.87, Y:2.98, Z:0.56 [[ 9.99856535e-01 -1.68240386e-02 -1.96509307e-03 2.76870729e+02] [ 1.68241539e-02 9.99858463e-01 4.21419160e-05 2.98076724e+00] [ 1.96410594e-03 -7.51968983e-05 9.99998068e-01 5.64416289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80439141799997 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:276.93, Y:2.98, Z:0.57 [[ 9.99747447e-01 -2.23870736e-02 -1.96509135e-03 2.76932735e+02] [ 2.23871998e-02 9.99749374e-01 4.22218290e-05 2.97587342e+00] [ 1.96365363e-03 -8.62040585e-05 9.99998068e-01 5.66292661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86439141799997 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:276.99, Y:2.97, Z:0.57 [[ 9.99596926e-01 -2.83217920e-02 -1.96508792e-03 2.76994904e+02] [ 2.83219299e-02 9.99598853e-01 4.23808740e-05 2.97065610e+00] [ 1.96309933e-03 -9.80188737e-05 9.99998068e-01 5.69820921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92439141799997 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:277.06, Y:2.97, Z:0.57 [[ 9.99470847e-01 -3.24678843e-02 -1.96508450e-03 2.77057227e+02] [ 3.24680305e-02 9.99472774e-01 4.25388667e-05 2.96529721e+00] [ 1.96266731e-03 -1.06318781e-04 9.99998068e-01 5.69981651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.984391418 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:277.12, Y:2.96, Z:0.57 [[ 9.99357655e-01 -3.57829012e-02 -1.96508110e-03 2.77120158e+02] [ 3.57830541e-02 9.99359581e-01 4.26953248e-05 2.96129602e+00] [ 1.96229486e-03 -1.12984503e-04 9.99998068e-01 5.68689457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.044391418 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:277.18, Y:2.96, Z:0.56 [[ 9.99247491e-01 -3.87374553e-02 -1.96507593e-03 2.77181908e+02] [ 3.87376143e-02 9.99249416e-01 4.29318558e-05 2.95694662e+00] [ 1.96193791e-03 -1.19021903e-04 9.99998068e-01 5.64056857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.104391418 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:277.24, Y:2.95, Z:0.56 [[ 9.99209275e-01 -3.97110020e-02 -1.96507253e-03 2.77244412e+02] [ 3.97111632e-02 9.99211200e-01 4.30872232e-05 2.95452808e+00] [ 1.96181144e-03 -1.21088469e-04 9.99998068e-01 5.61194463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.164391418 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:277.31, Y:2.95, Z:0.56 [[ 9.99328808e-01 -3.65796621e-02 -1.96506912e-03 2.77306308e+02] [ 3.65798176e-02 9.99330734e-01 4.32419424e-05 2.95496087e+00] [ 1.96217219e-03 -1.15094789e-04 9.99998068e-01 5.61291528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.224391418 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:277.37, Y:2.96, Z:0.56 [[ 9.99648573e-01 -2.64361380e-02 -1.96506553e-03 2.77368132e+02] [ 2.64362743e-02 9.99650500e-01 4.34044830e-05 2.95732966e+00] [ 1.96323129e-03 -9.53382409e-05 9.99998068e-01 5.63556267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.284391418 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:277.43, Y:2.96, Z:0.57 [[ 9.99866747e-01 -1.62057620e-02 -1.96505882e-03 2.77430161e+02] [ 1.62058792e-02 9.99868675e-01 4.37061778e-05 2.95959562e+00] [ 1.96409247e-03 -7.55458597e-05 9.99998068e-01 5.66742932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.344391418 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:277.49, Y:2.96, Z:0.57 [[ 9.99997535e-01 1.03395080e-03 -1.96505524e-03 2.77492220e+02] [-1.03386659e-03 9.99999465e-01 4.38666322e-05 2.96385708e+00] [ 1.96509954e-03 -4.18349191e-05 9.99998068e-01 5.70679414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.404391418 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:277.55, Y:2.97, Z:0.57 [[ 9.99938717e-01 1.08949704e-02 -1.96505165e-03 2.77551293e+02] [-1.08949049e-02 9.99940648e-01 4.40268364e-05 2.96568347e+00] [ 1.96541469e-03 -2.26150875e-05 9.99998068e-01 5.71274690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.464391418 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:277.61, Y:2.97, Z:0.57 [[ 9.99793851e-01 2.02087392e-02 -1.96504902e-03 2.77609027e+02] [-2.02086914e-02 9.99795783e-01 4.41440478e-05 2.96684862e+00] [ 1.96553982e-03 -4.42387833e-06 9.99998068e-01 5.69811438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.524391418 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:277.67, Y:2.97, Z:0.57 [[ 9.99742611e-01 2.26019985e-02 -1.96506303e-03 2.77667367e+02] [-2.26019566e-02 9.99744542e-01 4.35113965e-05 2.96590754e+00] [ 1.96554448e-03 9.14072193e-07 9.99998068e-01 5.67912798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.584391418 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:277.73, Y:2.96, Z:0.57 [[ 9.99743083e-01 2.25810959e-02 -1.96506655e-03 2.77725105e+02] [-2.25810543e-02 9.99745015e-01 4.33514997e-05 2.96454614e+00] [ 1.96554441e-03 1.03291263e-06 9.99998068e-01 5.66331199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64439141799994 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:277.78, Y:2.96, Z:0.57 [[ 9.99796904e-01 2.00571676e-02 -1.96507248e-03 2.77783312e+02] [-2.00571217e-02 9.99798835e-01 4.30812806e-05 2.96145882e+00] [ 1.96554126e-03 -3.65883312e-06 9.99998068e-01 5.65742659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70439141799994 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:277.84, Y:2.96, Z:0.57 [[ 9.99891915e-01 1.45704199e-02 -1.96507661e-03 2.77841810e+02] [-1.45703637e-02 9.99893846e-01 4.28921757e-05 2.95693376e+00] [ 1.96549296e-03 -1.42556587e-05 9.99998068e-01 5.67105456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76439141799995 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:277.90, Y:2.95, Z:0.57 [[ 9.99948650e-01 9.94158040e-03 -1.96508005e-03 2.77899282e+02] [-9.94151561e-03 9.99950581e-01 4.27337370e-05 2.95380348e+00] [ 1.96540778e-03 -2.31956686e-05 9.99998068e-01 5.67834089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82439141799995 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:277.96, Y:2.95, Z:0.57 [[ 9.99996428e-01 1.81165144e-03 -1.96508427e-03 2.77957860e+02] [-1.81157135e-03 9.99998358e-01 4.25389925e-05 2.94742785e+00] [ 1.96515811e-03 -3.89789502e-05 9.99998068e-01 5.68761967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88439141799995 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:278.02, Y:2.94, Z:0.57 [[ 9.99977959e-01 -6.34185204e-03 -1.96508775e-03 2.78017374e+02] [ 6.34194756e-03 9.99979889e-01 4.23775107e-05 2.94005020e+00] [ 1.96477948e-03 -5.48390602e-05 9.99998068e-01 5.68296835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94439141799995 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:278.08, Y:2.93, Z:0.57 [[ 9.99921556e-01 -1.23701229e-02 -1.96508946e-03 2.78077615e+02] [ 1.23702298e-02 9.99923485e-01 4.22981727e-05 2.93321560e+00] [ 1.96441586e-03 -6.66034629e-05 9.99998068e-01 5.67385149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00439141799995 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:278.14, Y:2.93, Z:0.57 [[ 9.99880830e-01 -1.53122445e-02 -1.96508862e-03 2.78139477e+02] [ 1.53123572e-02 9.99882758e-01 4.23372126e-05 2.92653988e+00] [ 1.96420995e-03 -7.24223061e-05 9.99998068e-01 5.66145141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06439141799996 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:278.20, Y:2.92, Z:0.57 [[ 9.99891198e-01 -1.46195360e-02 -1.96508531e-03 2.78201328e+02] [ 1.46196477e-02 9.99893126e-01 4.24898671e-05 2.92267386e+00] [ 1.96425412e-03 -7.12140992e-05 9.99998068e-01 5.65483696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12439141799996 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:278.26, Y:2.92, Z:0.57 [[ 9.99948403e-01 -9.96647126e-03 -1.96508197e-03 2.78262034e+02] [ 9.96657429e-03 9.99950332e-01 4.26439109e-05 2.92024478e+00] [ 1.96455936e-03 -6.22268460e-05 9.99998068e-01 5.65006962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18439141799996 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:278.32, Y:2.92, Z:0.56 [[ 9.99995807e-01 -2.12717922e-03 -1.96507643e-03 2.78323155e+02] [ 2.12726762e-03 9.99997736e-01 4.28979004e-05 2.91814110e+00] [ 1.96498073e-03 -4.70779640e-05 9.99998068e-01 5.64147671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24439141799996 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:278.38, Y:2.92, Z:0.56 [[ 9.99986439e-01 4.82295240e-03 -1.96507466e-03 2.78382321e+02] [-4.82287726e-03 9.99988369e-01 4.29786037e-05 2.91616440e+00] [ 1.96525909e-03 -3.35007070e-05 9.99998068e-01 5.62451030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30439141799997 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:278.44, Y:2.91, Z:0.56 [[ 9.99970793e-01 7.38591986e-03 -1.96507553e-03 2.78440943e+02] [-7.38584973e-03 9.99972723e-01 4.29390154e-05 2.91486791e+00] [ 1.96533907e-03 -2.84240087e-05 9.99998068e-01 5.63023368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36439141799997 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:278.50, Y:2.91, Z:0.56 [[ 9.99964106e-01 8.24165620e-03 -1.96508778e-03 2.78498911e+02] [-8.24158885e-03 9.99966037e-01 4.23706271e-05 2.91267089e+00] [ 1.96537025e-03 -2.61736607e-05 9.99998068e-01 5.62680500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42439141799997 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:278.56, Y:2.91, Z:0.56 [[ 9.99974267e-01 6.89953460e-03 -1.96509203e-03 2.78557311e+02] [-6.89946505e-03 9.99976198e-01 4.21724888e-05 2.90947481e+00] [ 1.96533623e-03 -2.86133198e-05 9.99998068e-01 5.62207567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.484391418 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:278.62, Y:2.91, Z:0.56 [[ 9.99995529e-01 2.25388072e-03 -1.96509546e-03 2.78616377e+02] [-2.25380251e-03 9.99997459e-01 4.20120727e-05 2.90644172e+00] [ 1.96518516e-03 -3.75829477e-05 9.99998068e-01 5.61425616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.544391418 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:278.67, Y:2.90, Z:0.56 [[ 9.99990497e-01 -3.89148684e-03 -1.96509884e-03 2.78674758e+02] [ 3.89157659e-03 9.99992427e-01 4.18535752e-05 2.90302405e+00] [ 1.96492109e-03 -4.95005102e-05 9.99998068e-01 5.62358862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.604391418 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:278.74, Y:2.90, Z:0.56 [[ 9.99911046e-01 -1.31923444e-02 -1.96510216e-03 2.78735105e+02] [ 1.31924517e-02 9.99912975e-01 4.16973183e-05 2.90004575e+00] [ 1.96438106e-03 -6.76181245e-05 9.99998068e-01 5.62881798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.664391418 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:278.80, Y:2.90, Z:0.56 [[ 9.99794135e-01 -2.01946975e-02 -1.96510216e-03 2.78797153e+02] [ 2.01948184e-02 9.99796063e-01 4.16973183e-05 2.89761695e+00] [ 1.96385933e-03 -8.13736154e-05 9.99998068e-01 5.63873339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.724391418 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:278.86, Y:2.90, Z:0.57 [[ 9.99563370e-01 -2.94823381e-02 -1.96508977e-03 2.78860360e+02] [ 2.94824780e-02 9.99565296e-01 4.22731831e-05 2.89574820e+00] [ 1.96298922e-03 -1.00190441e-04 9.99998068e-01 5.65710047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.784391418 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:278.92, Y:2.89, Z:0.57 [[ 9.99355110e-01 -3.58539196e-02 -1.96508478e-03 2.78923436e+02] [ 3.58540723e-02 9.99357035e-01 4.25037091e-05 2.89281820e+00] [ 1.96229738e-03 -1.12932591e-04 9.99998068e-01 5.66483803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.844391418 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:278.99, Y:2.89, Z:0.57 [[ 9.99164224e-01 -4.08288082e-02 -1.96507974e-03 2.78985860e+02] [ 4.08289709e-02 9.99166149e-01 4.27356201e-05 2.89075740e+00] [ 1.96169631e-03 -1.22932086e-04 9.99998068e-01 5.65346468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.904391418 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:279.05, Y:2.89, Z:0.56 [[ 9.99064285e-01 -4.32052508e-02 -1.96507621e-03 2.79047592e+02] [ 4.32054184e-02 9.99066209e-01 4.28971409e-05 2.88913845e+00] [ 1.96138786e-03 -1.27758941e-04 9.99998068e-01 5.63753769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.964391418 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:279.11, Y:2.89, Z:0.56 [[ 9.98990468e-01 -4.48796552e-02 -1.96507269e-03 2.79108465e+02] [ 4.48798263e-02 9.98992392e-01 4.30580987e-05 2.88823208e+00] [ 1.96116023e-03 -1.31206751e-04 9.99998068e-01 5.61339575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.024391418 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:279.17, Y:2.89, Z:0.56 [[ 9.99079720e-01 -4.28468426e-02 -1.96507008e-03 2.79171886e+02] [ 4.28470100e-02 9.99081644e-01 4.31768253e-05 2.88966198e+00] [ 1.96141545e-03 -1.27334468e-04 9.99998068e-01 5.62770205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.084391418 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:279.24, Y:2.89, Z:0.56 [[ 9.99215125e-01 -3.95635170e-02 -1.96506496e-03 2.79235401e+02] [ 3.95636786e-02 9.99217050e-01 4.34085986e-05 2.89090305e+00] [ 1.96180901e-03 -1.21119727e-04 9.99998068e-01 5.64490674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14439141799994 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:279.30, Y:2.89, Z:0.56 [[ 9.99468740e-01 -3.25326849e-02 -1.96505962e-03 2.79297233e+02] [ 3.25328335e-02 9.99470666e-01 4.36486630e-05 2.89422186e+00] [ 1.96259944e-03 -1.07554432e-04 9.99998068e-01 5.64370304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20439141799994 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:279.36, Y:2.90, Z:0.56 [[ 9.99640001e-01 -2.67583187e-02 -1.96505523e-03 2.79359191e+02] [ 2.67584565e-02 9.99641927e-01 4.38455330e-05 2.89730529e+00] [ 1.96317837e-03 -9.64115935e-05 9.99998068e-01 5.64004800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26439141799995 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:279.42, Y:2.90, Z:0.56 [[ 9.99699440e-01 -2.44370158e-02 -1.96505174e-03 2.79421411e+02] [ 2.44371494e-02 9.99701367e-01 4.40012782e-05 2.89812238e+00] [ 1.96338966e-03 -9.20083163e-05 9.99998068e-01 5.63370165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32439141799995 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:279.48, Y:2.90, Z:0.56 [[ 9.99736010e-01 -2.28920991e-02 -1.96504826e-03 2.79482920e+02] [ 2.28922300e-02 9.99737938e-01 4.41562474e-05 2.89950428e+00] [ 1.96352247e-03 -8.91289274e-05 9.99998068e-01 5.62647828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38439141799995 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:279.55, Y:2.90, Z:0.56 [[ 9.99810543e-01 -1.93653591e-02 -1.96504569e-03 2.79545143e+02] [ 1.93654834e-02 9.99812470e-01 4.42705888e-05 2.90133710e+00] [ 1.96381987e-03 -8.23162611e-05 9.99998068e-01 5.62935943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44439141799995 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:279.61, Y:2.90, Z:0.56 [[ 9.99819181e-01 -1.89141200e-02 -1.96504227e-03 2.79607053e+02] [ 1.89142437e-02 9.99821109e-01 4.44216028e-05 2.90080106e+00] [ 1.96385055e-03 -8.15808590e-05 9.99998068e-01 5.64491137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50439141799995 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:279.67, Y:2.90, Z:0.56 [[ 9.99934244e-01 -1.12980840e-02 -1.96503881e-03 2.79669660e+02] [ 1.12981933e-02 9.99936172e-01 4.45742022e-05 2.90239758e+00] [ 1.96440978e-03 -6.67726596e-05 9.99998068e-01 5.64414784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56439141799996 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:279.73, Y:2.90, Z:0.57 [[ 9.99976559e-01 -6.55894505e-03 -1.96503532e-03 2.79730838e+02] [ 6.55904559e-03 9.99978488e-01 4.47276237e-05 2.90465182e+00] [ 1.96469968e-03 -5.76153315e-05 9.99998068e-01 5.65654486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62439141799996 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:279.79, Y:2.91, Z:0.57 [[ 9.99996579e-01 -1.72617547e-03 -1.96503270e-03 2.79792342e+02] [ 1.72626692e-03 9.99998509e-01 4.48423563e-05 2.90570181e+00] [ 1.96495236e-03 -4.82343739e-05 9.99998068e-01 5.66762067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68439141799996 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:279.85, Y:2.91, Z:0.57 [[ 9.99986216e-01 4.86890507e-03 -1.96503093e-03 2.79852054e+02] [-4.86882620e-03 9.99988146e-01 4.49197065e-05 2.90691654e+00] [ 1.96522635e-03 -3.53516932e-05 9.99998068e-01 5.66908262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74439141799996 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:279.91, Y:2.91, Z:0.57 [[ 9.99963678e-01 8.29345668e-03 -1.96503180e-03 2.79909798e+02] [-8.29338449e-03 9.99965608e-01 4.48817719e-05 2.90725906e+00] [ 1.96533644e-03 -2.85833775e-05 9.99998068e-01 5.67948465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80439141799997 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:279.97, Y:2.91, Z:0.57 [[ 9.99958026e-01 8.94897230e-03 -1.96504507e-03 2.79968339e+02] [-8.94890253e-03 9.99959957e-01 4.42931351e-05 2.90573598e+00] [ 1.96536276e-03 -2.67062792e-05 9.99998068e-01 5.68034959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86439141799997 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:280.03, Y:2.90, Z:0.57 [[ 9.99967053e-01 7.87599956e-03 -1.96504834e-03 2.80026846e+02] [-7.87592801e-03 9.99968983e-01 4.41472776e-05 2.90340393e+00] [ 1.96533510e-03 -2.86692438e-05 9.99998068e-01 5.69101770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92439141799997 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:280.09, Y:2.90, Z:0.57 [[ 9.99987365e-01 4.62692617e-03 -1.96505183e-03 2.80085233e+02] [-4.62684865e-03 9.99989295e-01 4.39917160e-05 2.90111842e+00] [ 1.96523434e-03 -3.48991627e-05 9.99998068e-01 5.68834208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.984391418 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:280.14, Y:2.90, Z:0.57 [[ 9.99997961e-01 4.64562534e-04 -1.96505533e-03 2.80143613e+02] [-4.64477294e-04 9.99999891e-01 4.38346558e-05 2.89904957e+00] [ 1.96507548e-03 -4.29218429e-05 9.99998068e-01 5.68882899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.044391418 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:280.20, Y:2.90, Z:0.57 [[ 9.99952122e-01 -9.58605612e-03 -1.96505886e-03 2.80203341e+02] [ 9.58616044e-03 9.99954051e-01 4.36759926e-05 2.89579528e+00] [ 1.96454988e-03 -6.25112710e-05 9.99998068e-01 5.66750585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.104391418 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:280.27, Y:2.89, Z:0.56 [[ 9.99768077e-01 -2.14460060e-02 -1.96506060e-03 2.80265565e+02] [ 2.14461331e-02 9.99770004e-01 4.35972346e-05 2.89184799e+00] [ 1.96367366e-03 -8.57300746e-05 9.99998068e-01 5.64833559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.164391418 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:280.33, Y:2.89, Z:0.56 [[ 9.99556373e-01 -2.97186171e-02 -1.96504827e-03 2.80328042e+02] [ 2.97187612e-02 9.99558299e-01 4.41463403e-05 2.88975633e+00] [ 1.96286834e-03 -1.02525556e-04 9.99998068e-01 5.63591789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.224391418 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:280.39, Y:2.89, Z:0.56 [[ 9.99497568e-01 -3.16346360e-02 -1.96503948e-03 2.80390662e+02] [ 3.16347845e-02 9.99499494e-01 4.45338709e-05 2.88955643e+00] [ 1.96264716e-03 -1.06675096e-04 9.99998068e-01 5.64902544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.284391418 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:280.45, Y:2.89, Z:0.57 [[ 9.99575133e-01 -2.90807903e-02 -1.96503599e-03 2.80452435e+02] [ 2.90809341e-02 9.99577059e-01 4.46876625e-05 2.89122975e+00] [ 1.96290534e-03 -1.01813758e-04 9.99998068e-01 5.67200436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.344391418 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:280.51, Y:2.89, Z:0.57 [[ 9.99716368e-01 -2.37344226e-02 -1.96503236e-03 2.80514539e+02] [ 2.37345565e-02 9.99718295e-01 4.48464378e-05 2.89395358e+00] [ 1.96341440e-03 -9.14728895e-05 9.99998068e-01 5.68486057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.404391418 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:280.58, Y:2.90, Z:0.57 [[ 9.99836711e-01 -1.79635811e-02 -1.96502877e-03 2.80576878e+02] [ 1.79637042e-02 9.99838639e-01 4.50034616e-05 2.89726234e+00] [ 1.96390326e-03 -8.02953086e-05 9.99998068e-01 5.68499006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.464391418 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:280.64, Y:2.90, Z:0.57 [[ 9.99897986e-01 -1.41476319e-02 -1.96502520e-03 2.80639495e+02] [ 1.41477479e-02 9.99899915e-01 4.51585006e-05 2.89880758e+00] [ 1.96418965e-03 -7.29545751e-05 9.99998068e-01 5.67584676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.524391418 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:280.70, Y:2.90, Z:0.57 [[ 9.99958054e-01 -8.94593057e-03 -1.96502170e-03 2.80701662e+02] [ 8.94603687e-03 9.99959982e-01 4.53105605e-05 2.90327016e+00] [ 1.96453772e-03 -6.28878165e-05 9.99998068e-01 5.65759190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.584391418 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:280.76, Y:2.91, Z:0.56 [[ 9.99995332e-01 -2.33963521e-03 -1.96501823e-03 2.80763456e+02] [ 2.33972906e-03 9.99997262e-01 4.54602716e-05 2.90868207e+00] [ 1.96490649e-03 -5.00576697e-05 9.99998068e-01 5.64433918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64439141799994 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:280.82, Y:2.91, Z:0.56 [[ 9.99984464e-01 5.21645497e-03 -1.96501567e-03 2.80824446e+02] [-5.21637549e-03 9.99986394e-01 4.55707330e-05 2.91411998e+00] [ 1.96522665e-03 -3.53197654e-05 9.99998068e-01 5.64036909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70439141799994 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:280.88, Y:2.92, Z:0.57 [[ 9.99949052e-01 9.90108758e-03 -1.96501567e-03 2.80883413e+02] [-9.90101714e-03 9.99950983e-01 4.55707330e-05 2.91711179e+00] [ 1.96537055e-03 -2.61127574e-05 9.99998068e-01 5.65030075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76439141799995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:280.94, Y:2.92, Z:0.57 [[ 9.99856348e-01 1.68351166e-02 -1.96502709e-03 2.80942323e+02] [-1.68350606e-02 9.99858279e-01 4.50731748e-05 2.92221618e+00] [ 1.96550741e-03 -1.19853499e-05 9.99998068e-01 5.69210720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82439141799995 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:281.00, Y:2.92, Z:0.57 [[ 9.99723267e-01 2.34420187e-02 -1.96503933e-03 2.81001200e+02] [-2.34419764e-02 9.99725198e-01 4.45330745e-05 2.92419171e+00] [ 1.96554327e-03 1.54365484e-06 9.99998068e-01 5.68494612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88439141799995 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:281.06, Y:2.92, Z:0.57 [[ 9.99770879e-01 2.13149858e-02 -1.96504195e-03 2.81060148e+02] [-2.13149396e-02 9.99772810e-01 4.44170682e-05 2.92337249e+00] [ 1.96554226e-03 -2.52214083e-06 9.99998068e-01 5.69791275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94439141799995 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:281.12, Y:2.92, Z:0.57 [[ 9.99852802e-01 1.70444474e-02 -1.96504560e-03 2.81117711e+02] [-1.70443933e-02 9.99854733e-01 4.42547280e-05 2.92006192e+00] [ 1.96551444e-03 -1.07552036e-05 9.99998068e-01 5.71681052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00439141799995 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:281.18, Y:2.92, Z:0.57 [[ 9.99962964e-01 8.37904389e-03 -1.96505139e-03 2.81175405e+02] [-8.37897360e-03 9.99964895e-01 4.39964042e-05 2.91659107e+00] [ 1.96535105e-03 -2.75296610e-05 9.99998068e-01 5.68702181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06439141799996 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:281.23, Y:2.91, Z:0.57 [[ 9.99994270e-01 2.75663356e-03 -1.96505605e-03 2.81234599e+02] [-2.75655283e-03 9.99996200e-01 4.37872918e-05 2.91204202e+00] [ 1.96516929e-03 -3.83702601e-05 9.99998068e-01 5.68252381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12439141799996 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:281.29, Y:2.91, Z:0.57 [[ 9.99998058e-01 1.53292987e-04 -1.96505956e-03 2.81293192e+02] [-1.53207549e-04 9.99999987e-01 4.36292844e-05 2.90846268e+00] [ 1.96506622e-03 -4.33281376e-05 9.99998068e-01 5.67963157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18439141799996 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:281.35, Y:2.91, Z:0.57 [[ 9.99997923e-01 -5.40093912e-04 -1.96506300e-03 2.81352628e+02] [ 5.40180383e-04 9.99999853e-01 4.34737218e-05 2.90584818e+00] [ 1.96503923e-03 -4.45351200e-05 9.99998068e-01 5.68044452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24439141799996 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:281.41, Y:2.90, Z:0.57 [[ 9.99997930e-01 5.28412338e-04 -1.96506469e-03 2.81411897e+02] [-5.28328080e-04 9.99999859e-01 4.33972166e-05 2.90116078e+00] [ 1.96508734e-03 -4.23589279e-05 9.99998068e-01 5.67203430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30439141799997 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:281.47, Y:2.90, Z:0.57 [[ 9.99994717e-01 2.58937975e-03 -1.96506639e-03 2.81470909e+02] [-2.58929962e-03 9.99996647e-01 4.33200310e-05 2.89636071e+00] [ 1.96517197e-03 -3.82316565e-05 9.99998068e-01 5.67163484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36439141799997 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:281.53, Y:2.89, Z:0.57 [[ 9.99991719e-01 3.56371312e-03 -1.96506808e-03 2.81529967e+02] [-3.56363503e-03 9.99993649e-01 4.32430763e-05 2.89422143e+00] [ 1.96520971e-03 -3.62399327e-05 9.99998068e-01 5.68185914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42439141799997 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:281.59, Y:2.89, Z:0.57 [[ 9.99966354e-01 7.96428438e-03 -1.96507170e-03 2.81588593e+02] [-7.96421510e-03 9.99968284e-01 4.30778663e-05 2.88996225e+00] [ 1.96535246e-03 -2.74261631e-05 9.99998068e-01 5.67498266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.484391418 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:281.65, Y:2.89, Z:0.57 [[ 9.99930593e-01 1.16166761e-02 -1.96508365e-03 2.81646363e+02] [-1.16166150e-02 9.99932524e-01 4.25260289e-05 2.88559549e+00] [ 1.96544506e-03 -1.96954571e-05 9.99998068e-01 5.65864790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.544391418 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:281.71, Y:2.89, Z:0.57 [[ 9.99969205e-01 7.59791232e-03 -1.96508781e-03 2.81706432e+02] [-7.59784380e-03 9.99971135e-01 4.23329481e-05 2.88881036e+00] [ 1.96535273e-03 -2.74012142e-05 9.99998068e-01 5.74727780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.604391418 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:281.76, Y:2.88, Z:0.56 [[ 9.99905618e-01 1.35975498e-02 -1.96509196e-03 2.81764528e+02] [-1.35974932e-02 9.99907549e-01 4.21391346e-05 2.87572431e+00] [ 1.96548328e-03 -1.54148328e-05 9.99998068e-01 5.63743769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.664391418 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:281.82, Y:2.87, Z:0.56 [[ 9.99934358e-01 1.12879181e-02 -1.96509638e-03 2.81822865e+02] [-1.12878574e-02 9.99936289e-01 4.19321360e-05 2.87190920e+00] [ 1.96544451e-03 -1.97476558e-05 9.99998068e-01 5.64691051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.724391418 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:281.88, Y:2.87, Z:0.57 [[ 9.99975565e-01 6.70882299e-03 -1.96509963e-03 2.81881669e+02] [-6.70875384e-03 9.99977495e-01 4.17793429e-05 2.87366190e+00] [ 1.96533569e-03 -2.85949524e-05 9.99998068e-01 5.69260045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.784391418 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:281.94, Y:2.86, Z:0.56 [[ 9.99997250e-01 1.27980692e-03 -1.96510245e-03 2.81939109e+02] [-1.27972755e-03 9.99999180e-01 4.16462652e-05 2.86355732e+00] [ 1.96515414e-03 -3.91313549e-05 9.99998068e-01 5.64378744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.844391418 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:282.00, Y:2.86, Z:0.57 [[ 9.99976485e-01 -6.57022233e-03 -1.96510713e-03 2.81998247e+02] [ 6.57031642e-03 9.99978414e-01 4.14242919e-05 2.85937181e+00] [ 1.96479254e-03 -5.43346934e-05 9.99998068e-01 5.65248254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.904391418 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:282.06, Y:2.85, Z:0.57 [[ 9.99791568e-01 -2.03213706e-02 -1.96510878e-03 2.82059664e+02] [ 2.03214911e-02 9.99793496e-01 4.13458462e-05 2.85365321e+00] [ 1.96386277e-03 -8.12711689e-05 9.99998068e-01 5.65225339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.964391418 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:282.12, Y:2.85, Z:0.57 [[ 9.99330838e-01 -3.65241566e-02 -1.96510718e-03 2.82122398e+02] [ 3.65243085e-02 9.99332764e-01 4.14216735e-05 2.85465698e+00] [ 1.96228310e-03 -1.13168136e-04 9.99998068e-01 5.71720842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.024391418 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:282.19, Y:2.85, Z:0.57 [[ 9.99182955e-01 -4.03678141e-02 -1.96510278e-03 2.82185324e+02] [ 4.03679737e-02 9.99184880e-01 4.16294696e-05 2.85077005e+00] [ 1.96182049e-03 -1.20922674e-04 9.99998068e-01 5.71988933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.084391418 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:282.25, Y:2.84, Z:0.56 [[ 9.99322955e-01 -3.67392054e-02 -1.96509750e-03 2.82246725e+02] [ 3.67393585e-02 9.99324881e-01 4.18772810e-05 2.84167219e+00] [ 1.96223228e-03 -1.14045350e-04 9.99998068e-01 5.64407733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14439141799994 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:282.31, Y:2.85, Z:0.57 [[ 9.99328224e-01 -3.65956284e-02 -1.96509490e-03 2.82308887e+02] [ 3.65957815e-02 9.99330149e-01 4.19988139e-05 2.84916406e+00] [ 1.96224160e-03 -1.13884784e-04 9.99998068e-01 5.70493174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20439141799994 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:282.37, Y:2.84, Z:0.56 [[ 9.99827042e-01 -1.84939286e-02 -1.96509110e-03 2.82369354e+02] [ 1.84940472e-02 9.99828970e-01 4.21755850e-05 2.84409448e+00] [ 1.96397502e-03 -7.85107779e-05 9.99998068e-01 5.62613189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26439141799995 meters Centerline goodness : 0.998220 with order 1 Centerline is valid? [True, True] Translation: X:282.43, Y:2.85, Z:0.56 [[ 9.99991387e-01 -3.65571167e-03 -1.96508504e-03 2.82430457e+02] [ 3.65580216e-03 9.99993317e-01 4.24560885e-05 2.84814666e+00] [ 1.96491670e-03 -4.96396850e-05 9.99998068e-01 5.58823848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32439141799995 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:282.49, Y:2.85, Z:0.56 [[ 9.99949682e-01 9.83727939e-03 -1.96508110e-03 2.82490027e+02] [-9.83721460e-03 9.99951613e-01 4.26377991e-05 2.84953459e+00] [ 1.96540546e-03 -2.33047292e-05 9.99998068e-01 5.61419930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38439141799995 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:282.55, Y:2.85, Z:0.57 [[ 9.99689229e-01 2.48512410e-02 -1.96508198e-03 2.82548998e+02] [-2.48512053e-02 9.99691160e-01 4.25970380e-05 2.85187893e+00] [ 1.96553368e-03 6.25085581e-06 9.99998068e-01 5.66015360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44439141799995 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:282.61, Y:2.85, Z:0.57 [[ 9.99351251e-01 3.59613064e-02 -1.96509386e-03 2.82607872e+02] [-3.59612932e-02 9.99353183e-01 4.20417941e-05 2.85182190e+00] [ 1.96533468e-03 2.86527971e-05 9.99998068e-01 5.66398984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50439141799995 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:282.67, Y:2.85, Z:0.57 [[ 9.99226532e-01 3.92743586e-02 -1.96509728e-03 2.82666303e+02] [-3.92743521e-02 9.99228464e-01 4.18815505e-05 2.85062164e+00] [ 1.96522601e-03 3.53287660e-05 9.99998068e-01 5.66076596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56439141799996 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:282.73, Y:2.85, Z:0.57 [[ 9.99328368e-01 3.65916825e-02 -1.96510051e-03 2.82725387e+02] [-3.65916711e-02 9.99330300e-01 4.17295211e-05 2.84723665e+00] [ 1.96531143e-03 3.02048173e-05 9.99998068e-01 5.65999989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62439141799996 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:282.78, Y:2.84, Z:0.57 [[ 9.99685824e-01 2.49878413e-02 -1.96510370e-03 2.82783647e+02] [-2.49878079e-02 9.99687755e-01 4.15787429e-05 2.83974341e+00] [ 1.96552907e-03 7.53795380e-06 9.99998068e-01 5.67296135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68439141799996 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:282.84, Y:2.83, Z:0.57 [[ 9.99951790e-01 9.62062520e-03 -1.96510867e-03 2.82841723e+02] [-9.62056253e-03 9.99953720e-01 4.13424135e-05 2.83141250e+00] [ 1.96541547e-03 -2.24349695e-05 9.99998068e-01 5.67572640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74439141799996 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:282.90, Y:2.83, Z:0.57 [[ 9.99997788e-01 -7.49245049e-04 -1.96511361e-03 2.82899078e+02] [ 7.49327274e-04 9.99999718e-01 4.11062218e-05 2.82567657e+00] [ 1.96508226e-03 -4.25786441e-05 9.99998068e-01 5.65555420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80439141799997 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:282.96, Y:2.82, Z:0.56 [[ 9.99911058e-01 -1.31914565e-02 -1.96511765e-03 2.82958674e+02] [ 1.31915623e-02 9.99912987e-01 4.09122645e-05 2.81677038e+00] [ 1.96440696e-03 -6.68315976e-05 9.99998068e-01 5.64760143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86439141799997 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:283.02, Y:2.81, Z:0.57 [[ 9.99809232e-01 -1.94329089e-02 -1.96511839e-03 2.83021245e+02] [ 1.94330267e-02 9.99811160e-01 4.08767875e-05 2.80936374e+00] [ 1.96395294e-03 -7.90571876e-05 9.99998068e-01 5.68936138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92439141799997 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:283.08, Y:2.81, Z:0.58 [[ 9.99831441e-01 -1.82545245e-02 -1.96510500e-03 2.83083901e+02] [ 1.82546413e-02 9.99833369e-01 4.15102866e-05 2.80900207e+00] [ 1.96401981e-03 -7.73755765e-05 9.99998068e-01 5.75643566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.984391418 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:283.14, Y:2.80, Z:0.57 [[ 9.99967249e-01 -7.85104967e-03 -1.96510066e-03 2.83144432e+02] [ 7.85114679e-03 9.99969178e-01 4.17151041e-05 2.80349847e+00] [ 1.96471258e-03 -5.71420316e-05 9.99998068e-01 5.70118559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.044391418 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:283.21, Y:2.80, Z:0.57 [[ 9.99976110e-01 6.62710126e-03 -1.96509454e-03 2.83205723e+02] [-6.62703151e-03 9.99978040e-01 4.20013322e-05 2.80210987e+00] [ 1.96532973e-03 -2.89775853e-05 9.99998068e-01 5.70399493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.104391418 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:283.26, Y:2.80, Z:0.57 [[ 9.99846011e-01 1.74382565e-02 -1.96509287e-03 2.83264361e+02] [-1.74382075e-02 9.99847942e-01 4.20793525e-05 2.80015322e+00] [ 1.96552785e-03 -7.80517555e-06 9.99998068e-01 5.68602485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.164391418 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:283.32, Y:2.80, Z:0.57 [[ 9.99800338e-01 1.98852110e-02 -1.96510458e-03 2.83322745e+02] [-1.98851678e-02 9.99802270e-01 4.15251017e-05 2.79847506e+00] [ 1.96554175e-03 -2.44037648e-06 9.99998068e-01 5.66963251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.224391418 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:283.38, Y:2.80, Z:0.56 [[ 9.99832641e-01 1.81886938e-02 -1.96510796e-03 2.83381934e+02] [-1.81886476e-02 9.99834572e-01 4.13646072e-05 2.79579607e+00] [ 1.96553524e-03 -5.61502837e-06 9.99998068e-01 5.63968141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.284391418 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:283.44, Y:2.79, Z:0.56 [[ 9.99950631e-01 9.74035321e-03 -1.96511337e-03 2.83440964e+02] [-9.74029123e-03 9.99952561e-01 4.11058965e-05 2.79098972e+00] [ 1.96542053e-03 -2.19630906e-05 9.99998068e-01 5.62709125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.344391418 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:283.50, Y:2.79, Z:0.56 [[ 9.99994817e-01 2.55040459e-03 -1.96511670e-03 2.83498305e+02] [-2.55032905e-03 9.99996747e-01 4.09460723e-05 2.78751235e+00] [ 1.96521474e-03 -3.59341659e-05 9.99998068e-01 5.62993366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.404391418 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:283.56, Y:2.78, Z:0.57 [[ 9.99964842e-01 -8.15189156e-03 -1.96512078e-03 2.83556795e+02] [ 8.15198737e-03 9.99966771e-01 4.07495385e-05 2.78305735e+00] [ 1.96472329e-03 -5.67677456e-05 9.99998068e-01 5.65583009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.464391418 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:283.62, Y:2.78, Z:0.57 [[ 9.99877204e-01 -1.55471642e-02 -1.96512315e-03 2.83617763e+02] [ 1.55472740e-02 9.99879133e-01 4.06346610e-05 2.77849666e+00] [ 1.96425388e-03 -7.11819794e-05 9.99998068e-01 5.68717746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.524391418 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:283.68, Y:2.78, Z:0.58 [[ 9.99590290e-01 -2.85550262e-02 -1.96512149e-03 2.83679067e+02] [ 2.85551613e-02 9.99592217e-01 4.07149881e-05 2.78264339e+00] [ 1.96315753e-03 -9.68126678e-05 9.99998068e-01 5.79576892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.584391418 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:283.74, Y:2.77, Z:0.57 [[ 9.99570820e-01 -2.92286352e-02 -1.96512064e-03 2.83738325e+02] [ 2.92287717e-02 9.99572747e-01 4.07557446e-05 2.77231803e+00] [ 1.96308980e-03 -9.81763156e-05 9.99998068e-01 5.72633464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64439141799994 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:283.80, Y:2.77, Z:0.57 [[ 9.99367194e-01 -3.55154898e-02 -1.96511993e-03 2.83800668e+02] [ 3.55156384e-02 9.99369120e-01 4.07899412e-05 2.77062162e+00] [ 1.96243150e-03 -1.10556618e-04 9.99998068e-01 5.73985746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70439141799994 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:283.86, Y:2.77, Z:0.57 [[ 9.99282470e-01 -3.78243760e-02 -1.96511666e-03 2.83862515e+02] [ 3.78245294e-02 9.99284396e-01 4.09469720e-05 2.77009580e+00] [ 1.96216162e-03 -1.15247204e-04 9.99998068e-01 5.73187222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76439141799995 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:283.92, Y:2.77, Z:0.57 [[ 9.99331044e-01 -3.65185225e-02 -1.96511340e-03 2.83923748e+02] [ 3.65186737e-02 9.99332970e-01 4.11027221e-05 2.77187379e+00] [ 1.96230160e-03 -1.12838561e-04 9.99998068e-01 5.70454801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82439141799995 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:283.99, Y:2.77, Z:0.57 [[ 9.99409499e-01 -3.43044019e-02 -1.96511099e-03 2.83986256e+02] [ 3.43045490e-02 9.99411425e-01 4.12176302e-05 2.77283776e+00] [ 1.96254043e-03 -1.08605538e-04 9.99998068e-01 5.69423302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88439141799995 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:284.05, Y:2.78, Z:0.58 [[ 9.99408717e-01 -3.43271818e-02 -1.96510780e-03 2.84047527e+02] [ 3.43273293e-02 9.99410643e-01 4.13693171e-05 2.78330080e+00] [ 1.96252956e-03 -1.08801759e-04 9.99998068e-01 5.75251901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94439141799995 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:284.11, Y:2.78, Z:0.57 [[ 9.99741508e-01 -2.26507292e-02 -1.96510699e-03 2.84108675e+02] [ 2.26508543e-02 9.99743436e-01 4.14079139e-05 2.78147753e+00] [ 1.96366489e-03 -8.59085623e-05 9.99998068e-01 5.69412662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00439141799995 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:284.17, Y:2.79, Z:0.57 [[ 9.99903759e-01 -1.37335680e-02 -1.96510615e-03 2.84170986e+02] [ 1.37336760e-02 9.99905688e-01 4.14474109e-05 2.78741739e+00] [ 1.96435160e-03 -6.84315531e-05 9.99998068e-01 5.72822669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06439141799996 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:284.23, Y:2.79, Z:0.57 [[ 9.99968495e-01 -7.69068112e-03 -1.96510280e-03 2.84233067e+02] [ 7.69077772e-03 9.99970425e-01 4.16056481e-05 2.79044509e+00] [ 1.96472471e-03 -5.67175062e-05 9.99998068e-01 5.74187933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12439141799996 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:284.29, Y:2.80, Z:0.58 [[ 9.99992738e-01 -3.26537584e-03 -1.96509948e-03 2.84294283e+02] [ 3.26546421e-03 9.99994667e-01 4.17621077e-05 2.79940912e+00] [ 1.96495263e-03 -4.81787664e-05 9.99998068e-01 5.81972957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18439141799996 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:284.35, Y:2.80, Z:0.58 [[ 9.99974027e-01 6.93428038e-03 -1.96509765e-03 2.84354245e+02] [-6.93421153e-03 9.99975957e-01 4.18479455e-05 2.79755511e+00] [ 1.96534059e-03 -2.82204558e-05 9.99998068e-01 5.75006374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24439141799996 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:284.41, Y:2.80, Z:0.57 [[ 9.99932496e-01 1.14517531e-02 -1.96509765e-03 2.84411963e+02] [-1.14516930e-02 9.99934426e-01 4.18479455e-05 2.80039235e+00] [ 1.96544802e-03 -1.93414256e-05 9.99998068e-01 5.74884464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30439141799997 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:284.47, Y:2.80, Z:0.58 [[ 9.99896360e-01 1.42621214e-02 -1.96511126e-03 2.84470251e+02] [-1.42620679e-02 9.99898291e-01 4.11985748e-05 2.80056737e+00] [ 1.96549897e-03 -1.31677546e-05 9.99998068e-01 5.75156191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36439141799997 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:284.53, Y:2.80, Z:0.58 [[ 9.99848696e-01 1.72836357e-02 -1.96511634e-03 2.84529134e+02] [-1.72835886e-02 9.99850627e-01 4.09551622e-05 2.80077443e+00] [ 1.96553065e-03 -6.98470329e-06 9.99998068e-01 5.75417374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42439141799997 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:284.59, Y:2.80, Z:0.58 [[ 9.99821774e-01 1.87765177e-02 -1.96511968e-03 2.84588026e+02] [-1.87764738e-02 9.99823706e-01 4.07941832e-05 2.79975936e+00] [ 1.96553921e-03 -3.88889443e-06 9.99998068e-01 5.75351682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.484391418 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:284.65, Y:2.81, Z:0.58 [[ 9.99912166e-01 1.31071589e-02 -1.96512295e-03 2.84647523e+02] [-1.31071043e-02 9.99914097e-01 4.06359276e-05 2.80515341e+00] [ 1.96548676e-03 -1.48752869e-05 9.99998068e-01 5.83332238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.544391418 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:284.71, Y:2.79, Z:0.57 [[ 9.99860710e-01 1.65740702e-02 -1.96512469e-03 2.84705525e+02] [-1.65740225e-02 9.99862641e-01 4.05517016e-05 2.79317845e+00] [ 1.96552687e-03 -7.97603235e-06 9.99998068e-01 5.74291310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.604391418 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:284.76, Y:2.79, Z:0.57 [[ 9.99926983e-01 1.19234143e-02 -1.96512799e-03 2.84763915e+02] [-1.19233580e-02 9.99928913e-01 4.03908661e-05 2.78943943e+00] [ 1.96546990e-03 -1.69569923e-05 9.99998068e-01 5.74748501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.664391418 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:284.82, Y:2.79, Z:0.57 [[ 9.99945759e-01 1.02282961e-02 -1.96513110e-03 2.84822266e+02] [-1.02282368e-02 9.99947689e-01 4.02390586e-05 2.78555916e+00] [ 1.96543988e-03 -2.01370498e-05 9.99998068e-01 5.74437787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.724391418 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:284.88, Y:2.78, Z:0.58 [[ 9.99937528e-01 1.10035577e-02 -1.96513431e-03 2.84881083e+02] [-1.10035001e-02 9.99939459e-01 4.00815856e-05 2.78157048e+00] [ 1.96545638e-03 -1.84557259e-05 9.99998068e-01 5.75487718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.784391418 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:284.94, Y:2.78, Z:0.58 [[ 9.99900108e-01 1.39968388e-02 -1.96513759e-03 2.84939970e+02] [-1.39967874e-02 9.99902039e-01 3.99204121e-05 2.77794407e+00] [ 1.96550384e-03 -1.24108114e-05 9.99998068e-01 5.76590268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.844391418 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:285.00, Y:2.77, Z:0.57 [[ 9.99839321e-01 1.78177132e-02 -1.96514083e-03 2.84998341e+02] [-1.78176694e-02 9.99841252e-01 3.97603373e-05 2.77142776e+00] [ 1.96553730e-03 -4.73971896e-06 9.99998068e-01 5.72585826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.904391418 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:285.06, Y:2.77, Z:0.57 [[ 9.99963699e-01 8.29086104e-03 -1.96514417e-03 2.85055708e+02] [-8.29079924e-03 9.99965630e-01 3.95945065e-05 2.76631958e+00] [ 1.96540490e-03 -2.33004534e-05 9.99998068e-01 5.74447285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.964391418 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:285.11, Y:2.76, Z:0.57 [[ 9.99997553e-01 1.01567645e-03 -1.96514826e-03 2.85113513e+02] [-1.01560100e-03 9.99999484e-01 3.93904874e-05 2.76101224e+00] [ 1.96518725e-03 -3.73945844e-05 9.99998068e-01 5.73102625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.024391418 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:285.17, Y:2.75, Z:0.57 [[ 9.99923531e-01 -1.22093994e-02 -1.96515251e-03 2.85173530e+02] [ 1.22095000e-02 9.99925461e-01 3.91770400e-05 2.75404077e+00] [ 1.96452770e-03 -6.31675738e-05 9.99998068e-01 5.72136834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.084391418 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:285.24, Y:2.74, Z:0.57 [[ 9.99856560e-01 -1.68225079e-02 -1.96515331e-03 2.85235222e+02] [ 1.68226172e-02 9.99858489e-01 3.91370160e-05 2.74459528e+00] [ 1.96421684e-03 -7.21904242e-05 9.99998068e-01 5.66540623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14439141799994 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:285.30, Y:2.75, Z:0.57 [[ 9.99608797e-01 -2.78996456e-02 -1.96515004e-03 2.85296317e+02] [ 2.78997767e-02 9.99610725e-01 3.93003585e-05 2.74566577e+00] [ 1.96328859e-03 -9.41122314e-05 9.99998068e-01 5.71172197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20439141799994 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:285.36, Y:2.74, Z:0.57 [[ 9.99327909e-01 -3.66042167e-02 -1.96513953e-03 2.85358188e+02] [ 3.66043655e-02 9.99329835e-01 3.98190208e-05 2.74183234e+00] [ 1.96236502e-03 -1.11724945e-04 9.99998068e-01 5.73780374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26439141799995 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:285.42, Y:2.74, Z:0.57 [[ 9.99239676e-01 -3.89385190e-02 -1.96513616e-03 2.85419717e+02] [ 3.89386726e-02 9.99241602e-01 3.99848935e-05 2.73912878e+00] [ 1.96208885e-03 -1.16474286e-04 9.99998068e-01 5.74642969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32439141799995 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:285.48, Y:2.74, Z:0.58 [[ 9.98993761e-01 -4.48062814e-02 -1.96512995e-03 2.85482225e+02] [ 4.48064470e-02 9.98995686e-01 4.02878715e-05 2.73771297e+00] [ 1.96135119e-03 -1.28297823e-04 9.99998068e-01 5.75092144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38439141799995 meters Centerline goodness : 0.998838 with order 1 Centerline is valid? [True, True] Translation: X:285.54, Y:2.73, Z:0.57 [[ 9.99104140e-01 -4.22735746e-02 -1.96512651e-03 2.85544788e+02] [ 4.22737357e-02 9.99106065e-01 4.04549248e-05 2.73283128e+00] [ 1.96165964e-03 -1.23491921e-04 9.99998068e-01 5.71233014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44439141799995 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:285.61, Y:2.74, Z:0.57 [[ 9.98959297e-01 -4.55682030e-02 -1.96512304e-03 2.85606365e+02] [ 4.55683707e-02 9.98961221e-01 4.06227116e-05 2.73752668e+00] [ 1.96123061e-03 -1.30127891e-04 9.99998068e-01 5.74221646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50439141799995 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:285.67, Y:2.74, Z:0.57 [[ 9.99016029e-01 -4.43070178e-02 -1.96512049e-03 2.85668181e+02] [ 4.43071833e-02 9.99017954e-01 4.07458731e-05 2.73769638e+00] [ 1.96138532e-03 -1.27774734e-04 9.99998068e-01 5.73956583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56439141799996 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:285.73, Y:2.74, Z:0.57 [[ 9.99258273e-01 -3.84583092e-02 -1.96511706e-03 2.85729228e+02] [ 3.84584638e-02 9.99260199e-01 4.09104179e-05 2.73997679e+00] [ 1.96208992e-03 -1.16455457e-04 9.99998068e-01 5.72056308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62439141799996 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:285.79, Y:2.74, Z:0.57 [[ 9.99481035e-01 -3.21527593e-02 -1.96511453e-03 2.85791631e+02] [ 3.21529020e-02 9.99482961e-01 4.10315860e-05 2.74207657e+00] [ 1.96277921e-03 -1.04194427e-04 9.99998068e-01 5.72392867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68439141799996 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:285.85, Y:2.75, Z:0.57 [[ 9.99803363e-01 -1.97325778e-02 -1.96511115e-03 2.85853337e+02] [ 1.97326969e-02 9.99805291e-01 4.11929543e-05 2.74681719e+00] [ 1.96391568e-03 -7.99617968e-05 9.99998068e-01 5.74016542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74439141799996 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:285.92, Y:2.75, Z:0.58 [[ 9.99988229e-01 -4.43631196e-03 -1.96510546e-03 2.85916069e+02] [ 4.43640200e-03 9.99990158e-01 4.14623781e-05 2.75130114e+00] [ 1.96490218e-03 -5.01798879e-05 9.99998068e-01 5.76902552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80439141799997 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:285.98, Y:2.75, Z:0.58 [[ 9.99940323e-01 1.07465773e-02 -1.96510205e-03 2.85976650e+02] [-1.07465163e-02 9.99942254e-01 4.16234156e-05 2.75468167e+00] [ 1.96543588e-03 -2.05029305e-05 9.99998068e-01 5.77315708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86439141799997 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:286.03, Y:2.76, Z:0.58 [[ 9.99749809e-01 2.22813165e-02 -1.96510205e-03 2.86034950e+02] [-2.22812777e-02 9.99751741e-01 4.16234156e-05 2.75687721e+00] [ 1.96554162e-03 2.17198264e-06 9.99998068e-01 5.77138766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92439141799997 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:286.09, Y:2.76, Z:0.58 [[ 9.99623939e-01 2.73517630e-02 -1.96511542e-03 2.86092249e+02] [-2.73517353e-02 9.99625870e-01 4.09826871e-05 2.75714289e+00] [ 1.96550116e-03 1.27820416e-05 9.99998068e-01 5.76872855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.984391418 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:286.15, Y:2.76, Z:0.58 [[ 9.99587853e-01 2.86402286e-02 -1.96512110e-03 2.86150621e+02] [-2.86402039e-02 9.99589784e-01 4.07084951e-05 2.75626953e+00] [ 1.96548087e-03 1.55897516e-05 9.99998068e-01 5.76397138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.044391418 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:286.21, Y:2.75, Z:0.58 [[ 9.99756591e-01 2.19748961e-02 -1.96512599e-03 2.86209081e+02] [-2.19748590e-02 9.99758523e-01 4.04707070e-05 2.75266101e+00] [ 1.96554080e-03 2.72251046e-06 9.99998068e-01 5.78155817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.104391418 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:286.27, Y:2.75, Z:0.58 [[ 9.99871632e-01 1.59014975e-02 -1.96512929e-03 2.86266908e+02] [-1.59014490e-02 9.99873563e-01 4.03097863e-05 2.74902145e+00] [ 1.96552181e-03 -9.05620861e-06 9.99998068e-01 5.78566335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.164391418 meters Centerline goodness : 0.999447 with order 1 Centerline is valid? [True, True] Translation: X:286.33, Y:2.74, Z:0.58 [[ 9.99977162e-01 6.46634635e-03 -1.96513334e-03 2.86325634e+02] [-6.46628001e-03 9.99979093e-01 4.01117380e-05 2.74475303e+00] [ 1.96535163e-03 -2.74037195e-05 9.99998068e-01 5.79482800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.224391418 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:286.38, Y:2.74, Z:0.58 [[ 9.99998056e-01 1.64209166e-04 -1.96513656e-03 2.86383838e+02] [-1.64130970e-04 9.99999986e-01 3.99529748e-05 2.74081787e+00] [ 1.96514310e-03 -3.96303574e-05 9.99998068e-01 5.78795786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.284391418 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:286.44, Y:2.73, Z:0.58 [[ 9.99960157e-01 -8.70767628e-03 -1.96514051e-03 2.86443527e+02] [ 8.70777121e-03 9.99962086e-01 3.97578161e-05 2.73470687e+00] [ 1.96471981e-03 -5.68682260e-05 9.99998068e-01 5.81081204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.344391418 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:286.50, Y:2.73, Z:0.58 [[ 9.99889416e-01 -1.47408890e-02 -1.96514209e-03 2.86504849e+02] [ 1.47409954e-02 9.99891345e-01 3.96796443e-05 2.72910705e+00] [ 1.96434365e-03 -6.86434070e-05 9.99998068e-01 5.82625751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.404391418 meters Centerline goodness : 0.999387 with order 1 Centerline is valid? [True, True] Translation: X:286.57, Y:2.72, Z:0.58 [[ 9.99886069e-01 -1.49662341e-02 -1.96513596e-03 2.86567022e+02] [ 1.49663416e-02 9.99887997e-01 3.99811991e-05 2.72390921e+00] [ 1.96431749e-03 -6.93875399e-05 9.99998068e-01 5.83147349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.464391418 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:286.63, Y:2.72, Z:0.58 [[ 9.99944651e-01 -1.03360495e-02 -1.96513266e-03 2.86628413e+02] [ 1.03361483e-02 9.99946580e-01 4.01424714e-05 2.72113822e+00] [ 1.96461277e-03 -6.04521521e-05 9.99998068e-01 5.80958377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.524391418 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:286.69, Y:2.72, Z:0.58 [[ 9.99974251e-01 -6.90190190e-03 -1.96513023e-03 2.86690098e+02] [ 6.90199434e-03 9.99976180e-01 4.02612165e-05 2.71989201e+00] [ 1.96480554e-03 -5.38234975e-05 9.99998068e-01 5.81311095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.584391418 meters Centerline goodness : 0.998836 with order 1 Centerline is valid? [True, True] Translation: X:286.75, Y:2.72, Z:0.58 [[ 9.99985373e-01 -5.03899029e-03 -1.96512859e-03 2.86750362e+02] [ 5.03907929e-03 9.99987303e-01 4.03407984e-05 2.71834536e+00] [ 1.96490037e-03 -5.02426471e-05 9.99998068e-01 5.78585878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64439141799994 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:286.81, Y:2.72, Z:0.57 [[ 9.99967786e-01 -7.78235496e-03 -1.96512779e-03 2.86810466e+02] [ 7.78244933e-03 9.99969715e-01 4.03798574e-05 2.71682295e+00] [ 1.96475403e-03 -5.56720640e-05 9.99998068e-01 5.73885705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70439141799994 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:286.87, Y:2.72, Z:0.58 [[ 9.99930787e-01 -1.15999684e-02 -1.96512358e-03 2.86872306e+02] [ 1.16000705e-02 9.99932716e-01 4.05836495e-05 2.71678472e+00] [ 1.96452059e-03 -6.33764127e-05 9.99998068e-01 5.76634636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76439141799995 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:286.93, Y:2.72, Z:0.58 [[ 9.99884801e-01 -1.50507106e-02 -1.96512033e-03 2.86933737e+02] [ 1.50508197e-02 9.99886729e-01 4.07403904e-05 2.71601049e+00] [ 1.96428457e-03 -7.03123690e-05 9.99998068e-01 5.76934920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82439141799995 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:287.00, Y:2.72, Z:0.58 [[ 9.99865824e-01 -1.62625800e-02 -1.96511782e-03 2.86995225e+02] [ 1.62626917e-02 9.99867753e-01 4.08610483e-05 2.71711555e+00] [ 1.96419344e-03 -7.28136710e-05 9.99998068e-01 5.78857610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88439141799995 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:287.06, Y:2.72, Z:0.58 [[ 9.99871565e-01 -1.59056859e-02 -1.96511537e-03 2.87057227e+02] [ 1.59057972e-02 9.99873494e-01 4.09786915e-05 2.71808682e+00] [ 1.96421498e-03 -7.22301550e-05 9.99998068e-01 5.81918622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94439141799995 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:287.12, Y:2.72, Z:0.58 [[ 9.99910176e-01 -1.32581739e-02 -1.96511204e-03 2.87119147e+02] [ 1.32582803e-02 9.99912104e-01 4.11378138e-05 2.71935121e+00] [ 1.96439390e-03 -6.71881249e-05 9.99998068e-01 5.84495491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00439141799995 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:287.18, Y:2.72, Z:0.58 [[ 9.99954977e-01 -9.28347165e-03 -1.96510867e-03 2.87181724e+02] [ 9.28357072e-03 9.99956906e-01 4.12983293e-05 2.71932418e+00] [ 1.96464059e-03 -5.95396952e-05 9.99998068e-01 5.84486340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06439141799996 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:287.24, Y:2.72, Z:0.58 [[ 9.99988815e-01 -4.30209163e-03 -1.96510537e-03 2.87242012e+02] [ 4.30218139e-03 9.99990745e-01 4.14547894e-05 2.71935195e+00] [ 1.96490884e-03 -4.99085654e-05 9.99998068e-01 5.83965416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12439141799996 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:287.30, Y:2.72, Z:0.58 [[ 9.99997739e-01 8.12239912e-04 -1.96510456e-03 2.87302391e+02] [-8.12159942e-04 9.99999669e-01 4.14930173e-05 2.72058681e+00] [ 1.96513761e-03 -3.98969443e-05 9.99998068e-01 5.84335669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18439141799996 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:287.36, Y:2.72, Z:0.58 [[ 9.99967476e-01 7.82209872e-03 -1.96510456e-03 2.87361710e+02] [-7.82203228e-03 9.99969407e-01 4.14930173e-05 2.72262616e+00] [ 1.96536900e-03 -2.61205565e-05 9.99998068e-01 5.84344191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24439141799996 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:287.42, Y:2.72, Z:0.58 [[ 9.99966866e-01 7.89974918e-03 -1.96510622e-03 2.87419662e+02] [-7.89968304e-03 9.99968796e-01 4.14141650e-05 2.72263798e+00] [ 1.96537206e-03 -2.58890765e-05 9.99998068e-01 5.81848065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30439141799997 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:287.48, Y:2.72, Z:0.58 [[ 9.99986079e-01 4.89694971e-03 -1.96511029e-03 2.87478346e+02] [-4.89687816e-03 9.99988009e-01 4.12202986e-05 2.72120532e+00] [ 1.96528858e-03 -3.15968191e-05 9.99998068e-01 5.82537125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36439141799997 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:287.54, Y:2.72, Z:0.58 [[ 9.99995287e-01 -2.35888512e-03 -1.96511357e-03 2.87536838e+02] [ 2.35897037e-03 9.99997217e-01 4.10631598e-05 2.71957730e+00] [ 1.96501124e-03 -4.56986109e-05 9.99998068e-01 5.83334121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42439141799997 meters Centerline goodness : 0.998877 with order 1 Centerline is valid? [True, True] Translation: X:287.60, Y:2.72, Z:0.58 [[ 9.99966339e-01 -7.96614022e-03 -1.96511685e-03 2.87595832e+02] [ 7.96623597e-03 9.99968268e-01 4.09056137e-05 2.71786537e+00] [ 1.96472863e-03 -5.65588213e-05 9.99998068e-01 5.81484603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.484391418 meters Centerline goodness : 0.999027 with order 1 Centerline is valid? [True, True] Translation: X:287.66, Y:2.71, Z:0.59 [[ 9.99858948e-01 -1.66800243e-02 -1.96511766e-03 2.87657337e+02] [ 1.66801368e-02 9.99860876e-01 4.08668235e-05 2.71444773e+00] [ 1.96416260e-03 -7.36394905e-05 9.99998068e-01 5.85738654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.544391418 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:287.72, Y:2.71, Z:0.59 [[ 9.99748875e-01 -2.23232171e-02 -1.96511600e-03 2.87719171e+02] [ 2.23233407e-02 9.99750802e-01 4.09463669e-05 2.71222420e+00] [ 1.96371224e-03 -8.48040381e-05 9.99998068e-01 5.88096909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.604391418 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:287.78, Y:2.71, Z:0.59 [[ 9.99749965e-01 -2.22743212e-02 -1.96511258e-03 2.87780221e+02] [ 2.22744450e-02 9.99751893e-01 4.11100457e-05 2.71066196e+00] [ 1.96370932e-03 -8.48715587e-05 9.99998068e-01 5.88885633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.664391418 meters Centerline goodness : 0.999027 with order 1 Centerline is valid? [True, True] Translation: X:287.84, Y:2.71, Z:0.59 [[ 9.99825314e-01 -1.85870944e-02 -1.96511004e-03 2.87841941e+02] [ 1.85872113e-02 9.99827242e-01 4.12307032e-05 2.71006396e+00] [ 1.96400420e-03 -7.77494164e-05 9.99998068e-01 5.88946052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.724391418 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:287.90, Y:2.71, Z:0.59 [[ 9.99880705e-01 -1.53203800e-02 -1.96510671e-03 2.87903727e+02] [ 1.53204909e-02 9.99882634e-01 4.13891650e-05 2.70992191e+00] [ 1.96424197e-03 -7.14906269e-05 9.99998068e-01 5.88780677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.784391418 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:287.97, Y:2.71, Z:0.59 [[ 9.99939733e-01 -1.08013086e-02 -1.96510340e-03 2.87966369e+02] [ 1.08014110e-02 9.99941662e-01 4.15455519e-05 2.71042284e+00] [ 1.96454001e-03 -6.27689377e-05 9.99998068e-01 5.86251024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.844391418 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:288.03, Y:2.71, Z:0.59 [[ 9.99970117e-01 -7.47691975e-03 -1.96510014e-03 2.88027656e+02] [ 7.47701612e-03 9.99972046e-01 4.16991372e-05 2.71010828e+00] [ 1.96473343e-03 -5.63909765e-05 9.99998068e-01 5.85031886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.904391418 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:288.09, Y:2.70, Z:0.58 [[ 9.99996965e-01 -1.48620902e-03 -1.96509854e-03 2.88089169e+02] [ 1.48629398e-03 9.99998895e-01 4.17742655e-05 2.70407866e+00] [ 1.96503429e-03 -4.46948529e-05 9.99998068e-01 5.80227116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.964391418 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:288.15, Y:2.71, Z:0.59 [[ 9.99977583e-01 -6.40100181e-03 -1.96509675e-03 2.88148812e+02] [ 6.40109642e-03 9.99979512e-01 4.18584543e-05 2.70965542e+00] [ 1.96478855e-03 -5.44362897e-05 9.99998068e-01 5.87078293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.024391418 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:288.21, Y:2.71, Z:0.59 [[ 9.99949125e-01 -9.89371630e-03 -1.96509763e-03 2.88208827e+02] [ 9.89381756e-03 9.99951054e-01 4.18170826e-05 2.70872150e+00] [ 1.96458772e-03 -6.12572726e-05 9.99998068e-01 5.86606078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.084391418 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:288.27, Y:2.71, Z:0.59 [[ 9.99845083e-01 -1.74913664e-02 -1.96509678e-03 2.88271483e+02] [ 1.74914824e-02 9.99847011e-01 4.18572192e-05 2.70715862e+00] [ 1.96406400e-03 -7.62231905e-05 9.99998068e-01 5.87866043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14439141799994 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:288.33, Y:2.71, Z:0.59 [[ 9.99718317e-01 -2.36521821e-02 -1.96508480e-03 2.88333137e+02] [ 2.36523110e-02 9.99720244e-01 4.24121182e-05 2.70606116e+00] [ 1.96353192e-03 -8.88789683e-05 9.99998068e-01 5.88174825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20439141799994 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:288.40, Y:2.71, Z:0.59 [[ 9.99508412e-01 -3.12901339e-02 -1.96508226e-03 2.88396417e+02] [ 3.12902778e-02 9.99510338e-01 4.25296498e-05 2.70550868e+00] [ 1.96278927e-03 -1.03996712e-04 9.99998068e-01 5.88779309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26439141799995 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:288.46, Y:2.71, Z:0.59 [[ 9.99358351e-01 -3.57634679e-02 -1.96507716e-03 2.88459293e+02] [ 3.57636209e-02 9.99360276e-01 4.27639953e-05 2.70579823e+00] [ 1.96229066e-03 -1.13014830e-04 9.99998068e-01 5.89824249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32439141799995 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:288.52, Y:2.71, Z:0.59 [[ 9.99341179e-01 -3.62401306e-02 -1.96507192e-03 2.88522684e+02] [ 3.62402850e-02 9.99343104e-01 4.30033485e-05 2.70573356e+00] [ 1.96222262e-03 -1.14189783e-04 9.99998068e-01 5.90383514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38439141799995 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:288.59, Y:2.71, Z:0.59 [[ 9.99416352e-01 -3.41041610e-02 -1.96506657e-03 2.88585967e+02] [ 3.41043118e-02 9.99418278e-01 4.32461728e-05 2.70715711e+00] [ 1.96244858e-03 -1.10238175e-04 9.99998068e-01 5.91388924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44439141799995 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:288.65, Y:2.71, Z:0.59 [[ 9.99541502e-01 -3.02146257e-02 -1.96506114e-03 2.88647386e+02] [ 3.02147694e-02 9.99543429e-01 4.34917004e-05 2.70773716e+00] [ 1.96284986e-03 -1.02845629e-04 9.99998068e-01 5.90259178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50439141799995 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:288.71, Y:2.71, Z:0.59 [[ 9.99652311e-01 -2.62944164e-02 -1.96505848e-03 2.88709926e+02] [ 2.62945528e-02 9.99654238e-01 4.36117189e-05 2.70833933e+00] [ 1.96323229e-03 -9.52668894e-05 9.99998068e-01 5.90156357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56439141799996 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:288.77, Y:2.71, Z:0.59 [[ 9.99836803e-01 -1.79584498e-02 -1.96505496e-03 2.88772662e+02] [ 1.79585705e-02 9.99838731e-01 4.37694670e-05 2.71099537e+00] [ 1.96395203e-03 -7.90519020e-05 9.99998068e-01 5.90504170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62439141799996 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:288.83, Y:2.71, Z:0.59 [[ 9.99968497e-01 -7.69052032e-03 -1.96505147e-03 2.88834815e+02] [ 7.69062148e-03 9.99970426e-01 4.39256125e-05 2.71389766e+00] [ 1.96465555e-03 -5.90366957e-05 9.99998068e-01 5.90855511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68439141799996 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:288.89, Y:2.72, Z:0.59 [[ 9.99995964e-01 2.05193592e-03 -1.96504801e-03 2.88894806e+02] [-2.05185326e-03 9.99997894e-01 4.40801875e-05 2.71648767e+00] [ 1.96513432e-03 -4.00480194e-05 9.99998068e-01 5.90871356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74439141799996 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:288.95, Y:2.72, Z:0.59 [[ 9.99944663e-01 1.03348379e-02 -1.96504520e-03 2.88953576e+02] [-1.03347710e-02 9.99946594e-01 4.42047936e-05 2.71872740e+00] [ 1.96539711e-03 -2.38940553e-05 9.99998068e-01 5.90763891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80439141799997 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:289.01, Y:2.72, Z:0.59 [[ 9.99879583e-01 1.53934500e-02 -1.96505674e-03 2.89012394e+02] [-1.53933939e-02 9.99881514e-01 4.36855861e-05 2.71904147e+00] [ 1.96549638e-03 -1.34314331e-05 9.99998068e-01 5.90982315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86439141799997 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:289.07, Y:2.72, Z:0.59 [[ 9.99811987e-01 1.92906659e-02 -1.96505997e-03 2.89070375e+02] [-1.92906175e-02 9.99813918e-01 4.35400131e-05 2.71885443e+00] [ 1.96553422e-03 -5.62460662e-06 9.99998068e-01 5.92661275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92439141799997 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:289.13, Y:2.72, Z:0.59 [[ 9.99777194e-01 2.10166728e-02 -1.96506512e-03 2.89129015e+02] [-2.10166282e-02 9.99779125e-01 4.33065490e-05 2.71670431e+00] [ 1.96554124e-03 -1.99785700e-06 9.99998068e-01 5.91322164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.984391418 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:289.19, Y:2.71, Z:0.59 [[ 9.99806968e-01 1.95490417e-02 -1.96506889e-03 2.89186974e+02] [-1.95489947e-02 9.99808899e-01 4.31347170e-05 2.71492063e+00] [ 1.96553660e-03 -4.71126932e-06 9.99998068e-01 5.92054616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.044391418 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:289.24, Y:2.71, Z:0.59 [[ 9.99892201e-01 1.45507583e-02 -1.96507501e-03 2.89244606e+02] [-1.45507022e-02 9.99894132e-01 4.28541738e-05 2.71064847e+00] [ 1.96549053e-03 -1.42563330e-05 9.99998068e-01 5.90662288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.104391418 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:289.30, Y:2.71, Z:0.59 [[ 9.99960452e-01 8.67365963e-03 -1.96508004e-03 2.89303764e+02] [-8.67359262e-03 9.99962383e-01 4.26221937e-05 2.70608667e+00] [ 1.96537581e-03 -2.55762044e-05 9.99998068e-01 5.91237579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.164391418 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:289.36, Y:2.70, Z:0.59 [[ 9.99987263e-01 4.64885639e-03 -1.96508391e-03 2.89362297e+02] [-4.64878196e-03 9.99989193e-01 4.24426568e-05 2.70190059e+00] [ 1.96525999e-03 -3.33068695e-05 9.99998068e-01 5.91564923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.224391418 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:289.42, Y:2.70, Z:0.59 [[ 9.99994948e-01 -2.49828586e-03 -1.96508789e-03 2.89420788e+02] [ 2.49837372e-03 9.99996878e-01 4.22576305e-05 2.69708763e+00] [ 1.96497619e-03 -4.71669410e-05 9.99998068e-01 5.90335640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.284391418 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:289.48, Y:2.69, Z:0.59 [[ 9.99977537e-01 -6.40812191e-03 -1.96509080e-03 2.89481638e+02] [ 6.40821705e-03 9.99979466e-01 4.21221878e-05 2.69257049e+00] [ 1.96478052e-03 -5.47139699e-05 9.99998068e-01 5.92347973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.344391418 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:289.54, Y:2.69, Z:0.59 [[ 9.99973667e-01 -6.98602078e-03 -1.96509080e-03 2.89543229e+02] [ 6.98611703e-03 9.99975596e-01 4.21221878e-05 2.68862004e+00] [ 1.96474857e-03 -5.58494328e-05 9.99998068e-01 5.92134922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.404391418 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:289.60, Y:2.68, Z:0.59 [[ 9.99945862e-01 -1.02181769e-02 -1.96508791e-03 2.89604712e+02] [ 1.02182797e-02 9.99947791e-01 4.22564198e-05 2.68441326e+00] [ 1.96455353e-03 -6.23339500e-05 9.99998068e-01 5.94402899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.464391418 meters Centerline goodness : 0.998027 with order 1 Centerline is valid? [True, True] Translation: X:289.67, Y:2.68, Z:0.59 [[ 9.99867933e-01 -1.61324398e-02 -1.96508499e-03 2.89665341e+02] [ 1.61325542e-02 9.99869861e-01 4.23915947e-05 2.68122511e+00] [ 1.96414538e-03 -7.40878363e-05 9.99998068e-01 5.90054274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.524391418 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:289.73, Y:2.68, Z:0.59 [[ 9.99768575e-01 -2.14227643e-02 -1.96508196e-03 2.89727149e+02] [ 2.14228892e-02 9.99770503e-01 4.25315782e-05 2.67537437e+00] [ 1.96371984e-03 -8.46194685e-05 9.99998068e-01 5.91871981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.584391418 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:289.79, Y:2.67, Z:0.59 [[ 9.99678071e-01 -2.52961107e-02 -1.96507781e-03 2.89789617e+02] [ 2.52962434e-02 9.99679998e-01 4.27224670e-05 2.67200947e+00] [ 1.96336827e-03 -9.24178001e-05 9.99998068e-01 5.91409414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64439141799994 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:289.85, Y:2.67, Z:0.59 [[ 9.99567597e-01 -2.93386639e-02 -1.96507433e-03 2.89850689e+02] [ 2.93388047e-02 9.99569524e-01 4.28821757e-05 2.66870749e+00] [ 1.96297031e-03 -1.00516565e-04 9.99998068e-01 5.90939331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70439141799994 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:289.91, Y:2.67, Z:0.59 [[ 9.99525818e-01 -3.07291164e-02 -1.96507174e-03 2.89913370e+02] [ 3.07292601e-02 9.99527744e-01 4.30003568e-05 2.66623934e+00] [ 1.96282236e-03 -1.03365168e-04 9.99998068e-01 5.89629216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76439141799995 meters Centerline goodness : 0.998176 with order 1 Centerline is valid? [True, True] Translation: X:289.97, Y:2.67, Z:0.58 [[ 9.99520769e-01 -3.08929032e-02 -1.96506740e-03 2.89974630e+02] [ 3.08930476e-02 9.99522695e-01 4.31981204e-05 2.66605635e+00] [ 1.96279494e-03 -1.03884339e-04 9.99998068e-01 5.83923333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82439141799995 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:290.04, Y:2.67, Z:0.59 [[ 9.99600323e-01 -2.82016503e-02 -1.96506343e-03 2.90036474e+02] [ 2.82017899e-02 9.99602249e-01 4.33778987e-05 2.66638064e+00] [ 1.96305849e-03 -9.87788675e-05 9.99998068e-01 5.90776600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88439141799995 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:290.10, Y:2.67, Z:0.59 [[ 9.99698999e-01 -2.44550689e-02 -1.96505941e-03 2.90098786e+02] [ 2.44552016e-02 9.99700926e-01 4.35589420e-05 2.66608339e+00] [ 1.96340648e-03 -9.16017549e-05 9.99998068e-01 5.91801853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94439141799995 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:290.16, Y:2.67, Z:0.59 [[ 9.99795798e-01 -2.01122131e-02 -1.96505588e-03 2.90161014e+02] [ 2.01123378e-02 9.99797726e-01 4.37179089e-05 2.66685434e+00] [ 1.96377913e-03 -8.32308492e-05 9.99998068e-01 5.94275511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00439141799995 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:290.22, Y:2.67, Z:0.59 [[ 9.99898689e-01 -1.40978529e-02 -1.96505225e-03 2.90222501e+02] [ 1.40979663e-02 9.99900618e-01 4.38802126e-05 2.66819967e+00] [ 1.96423834e-03 -7.15790075e-05 9.99998068e-01 5.92537570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06439141799996 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:290.28, Y:2.67, Z:0.59 [[ 9.99953936e-01 -9.39495293e-03 -1.96504974e-03 2.90284844e+02] [ 9.39505751e-03 9.99955865e-01 4.39924431e-05 2.66752544e+00] [ 1.96454971e-03 -6.24521720e-05 9.99998068e-01 5.91037933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12439141799996 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:290.35, Y:2.67, Z:0.59 [[ 9.99985413e-01 -5.03119143e-03 -1.96504623e-03 2.90345880e+02] [ 5.03128789e-03 9.99987342e-01 4.41486609e-05 2.66896819e+00] [ 1.96479924e-03 -5.40347302e-05 9.99998068e-01 5.89864825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18439141799996 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:290.41, Y:2.67, Z:0.59 [[ 9.99997610e-01 -9.58361599e-04 -1.96504445e-03 2.90407473e+02] [ 9.58450358e-04 9.99999540e-01 4.42279561e-05 2.67074600e+00] [ 1.96500116e-03 -4.61112480e-05 9.99998068e-01 5.89599093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24439141799996 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:290.47, Y:2.67, Z:0.59 [[ 9.99977939e-01 6.34504053e-03 -1.96504268e-03 2.90467531e+02] [-6.34496571e-03 9.99979870e-01 4.43063679e-05 2.67264846e+00] [ 1.96528425e-03 -3.18372621e-05 9.99998068e-01 5.90836962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30439141799997 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:290.53, Y:2.68, Z:0.59 [[ 9.99938252e-01 1.09375915e-02 -1.96504356e-03 2.90526105e+02] [-1.09375257e-02 9.99940183e-01 4.42670455e-05 2.67534312e+00] [ 1.96541019e-03 -2.27715977e-05 9.99998068e-01 5.94263106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36439141799997 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:290.59, Y:2.68, Z:0.59 [[ 9.99940988e-01 1.06845528e-02 -1.96505592e-03 2.90585323e+02] [-1.06844876e-02 9.99942918e-01 4.37113812e-05 2.67672021e+00] [ 1.96541079e-03 -2.27131861e-05 9.99998068e-01 5.94788471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42439141799997 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:290.64, Y:2.67, Z:0.60 [[ 9.99996264e-01 1.90022026e-03 -1.96505948e-03 2.90643929e+02] [-1.90013835e-03 9.99998194e-01 4.35508134e-05 2.67428539e+00] [ 1.96513869e-03 -3.98167658e-05 9.99998068e-01 5.95740526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.484391418 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:290.70, Y:2.67, Z:0.59 [[ 9.99993284e-01 -3.09357724e-03 -1.96506304e-03 2.90702517e+02] [ 3.09366848e-03 9.99995214e-01 4.33895867e-05 2.67138911e+00] [ 1.96491941e-03 -4.94685489e-05 9.99998068e-01 5.94588258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.544391418 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:290.76, Y:2.67, Z:0.59 [[ 9.99973277e-01 -7.04155044e-03 -1.96506657e-03 2.90762772e+02] [ 7.04164898e-03 9.99975206e-01 4.32294226e-05 2.66856968e+00] [ 1.96471344e-03 -5.70655764e-05 9.99998068e-01 5.93712936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.604391418 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:290.82, Y:2.67, Z:0.59 [[ 9.99976150e-01 -6.62107845e-03 -1.96506657e-03 2.90824327e+02] [ 6.62117617e-03 9.99978079e-01 4.32294226e-05 2.66550870e+00] [ 1.96473726e-03 -5.62394435e-05 9.99998068e-01 5.92072940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.664391418 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:290.89, Y:2.66, Z:0.58 [[ 9.99997996e-01 3.81673652e-04 -1.96506389e-03 2.90885953e+02] [-3.81589202e-04 9.99999926e-01 4.33506459e-05 2.65800157e+00] [ 1.96508029e-03 -4.26007118e-05 9.99998068e-01 5.83349161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.724391418 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:290.94, Y:2.66, Z:0.59 [[ 9.99998064e-01 1.06424706e-04 -1.96506203e-03 2.90944501e+02] [-1.06339559e-04 9.99999993e-01 4.34350241e-05 2.66272222e+00] [ 1.96506664e-03 -4.32259761e-05 9.99998068e-01 5.92500455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.784391418 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:291.00, Y:2.66, Z:0.59 [[ 9.99988105e-01 4.46416219e-03 -1.96506479e-03 2.91004300e+02] [-4.46408570e-03 9.99990035e-01 4.33097798e-05 2.66209840e+00] [ 1.96523855e-03 -3.45370471e-05 9.99998068e-01 5.93850294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.844391418 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:291.06, Y:2.66, Z:0.59 [[ 9.99982969e-01 5.49543700e-03 -1.96506654e-03 2.91062779e+02] [-5.49536266e-03 9.99984899e-01 4.32300449e-05 2.66078795e+00] [ 1.96527444e-03 -3.24305554e-05 9.99998068e-01 5.93596316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.904391418 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:291.12, Y:2.66, Z:0.59 [[ 9.99978312e-01 6.28600091e-03 -1.96507004e-03 2.91121549e+02] [-6.28592841e-03 9.99980242e-01 4.30703011e-05 2.65873264e+00] [ 1.96530196e-03 -3.07170774e-05 9.99998068e-01 5.91575342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.964391418 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:291.18, Y:2.66, Z:0.59 [[ 9.99986056e-01 4.90167029e-03 -1.96507355e-03 2.91180602e+02] [-4.90159543e-03 9.99987986e-01 4.29094812e-05 2.65617352e+00] [ 1.96526027e-03 -3.32768873e-05 9.99998068e-01 5.90424704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.024391418 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:291.24, Y:2.65, Z:0.59 [[ 9.99993037e-01 3.17247113e-03 -1.96507703e-03 2.91239014e+02] [-3.17239325e-03 9.99994967e-01 4.27495068e-05 2.65262451e+00] [ 1.96520277e-03 -3.65152121e-05 9.99998068e-01 5.89890128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.084391418 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:291.30, Y:2.65, Z:0.59 [[ 9.99984861e-01 5.13970046e-03 -1.96508046e-03 2.91297487e+02] [-5.13962668e-03 9.99986791e-01 4.25913298e-05 2.64983018e+00] [ 1.96527341e-03 -3.24909050e-05 9.99998068e-01 5.90924934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14439141799994 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:291.36, Y:2.65, Z:0.59 [[ 9.99958367e-01 8.91077664e-03 -1.96508298e-03 2.91355075e+02] [-8.91071037e-03 9.99960298e-01 4.24746641e-05 2.64798472e+00] [ 1.96538345e-03 -2.49626105e-05 9.99998068e-01 5.92294276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20439141799994 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:291.41, Y:2.64, Z:0.59 [[ 9.99786064e-01 2.05904127e-02 -1.96508709e-03 2.91413677e+02] [-2.05903693e-02 9.99787995e-01 4.22839622e-05 2.63948006e+00] [ 1.96554112e-03 -1.81304723e-06 9.99998068e-01 5.86679782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26439141799995 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:291.47, Y:2.64, Z:0.59 [[ 9.99799906e-01 1.99069382e-02 -1.96509057e-03 2.91471915e+02] [-1.99068939e-02 9.99801837e-01 4.21214410e-05 2.64002603e+00] [ 1.96553967e-03 -2.99416320e-06 9.99998068e-01 5.93616253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32439141799995 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:291.53, Y:2.63, Z:0.59 [[ 9.99838002e-01 1.78915824e-02 -1.96509482e-03 2.91529855e+02] [-1.78915346e-02 9.99839933e-01 4.19224610e-05 2.63407522e+00] [ 1.96553033e-03 -6.75710779e-06 9.99998068e-01 5.91585520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38439141799995 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:291.59, Y:2.63, Z:0.59 [[ 9.99936853e-01 1.10646980e-02 -1.96509994e-03 2.91588318e+02] [-1.10646374e-02 9.99938784e-01 4.16809830e-05 2.62681878e+00] [ 1.96544083e-03 -1.99352326e-05 9.99998068e-01 5.89419258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44439141799995 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:291.65, Y:2.62, Z:0.59 [[ 9.99983664e-01 5.36744504e-03 -1.96510331e-03 2.91647326e+02] [-5.36737380e-03 9.99985595e-01 4.15213313e-05 2.62129796e+00] [ 1.96529787e-03 -3.09732090e-05 9.99998068e-01 5.88057578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50439141799995 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:291.71, Y:2.61, Z:0.59 [[ 9.99997308e-01 -1.23400749e-03 -1.96510667e-03 2.91705901e+02] [ 1.23409115e-03 9.99999238e-01 4.13618322e-05 2.61456176e+00] [ 1.96505413e-03 -4.37868416e-05 9.99998068e-01 5.87905377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56439141799996 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:291.77, Y:2.61, Z:0.59 [[ 9.99994235e-01 -2.76905034e-03 -1.96511000e-03 2.91765571e+02] [ 2.76913665e-03 9.99996165e-01 4.12029955e-05 2.61070190e+00] [ 1.96498837e-03 -4.66444161e-05 9.99998068e-01 5.88898409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62439141799996 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:291.83, Y:2.61, Z:0.59 [[ 9.99996734e-01 -1.63441798e-03 -1.96511166e-03 2.91825332e+02] [ 1.63450194e-03 9.99998663e-01 4.11234202e-05 2.60580878e+00] [ 1.96504183e-03 -4.43352647e-05 9.99998068e-01 5.90997006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68439141799996 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:291.89, Y:2.60, Z:0.59 [[ 9.99998047e-01 -2.12902934e-04 -1.96511248e-03 2.91885233e+02] [ 2.12984080e-04 9.99999976e-01 4.10843354e-05 2.60083191e+00] [ 1.96510369e-03 -4.15027928e-05 9.99998068e-01 5.91296700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74439141799996 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:291.94, Y:2.60, Z:0.59 [[ 9.99997180e-01 -1.33355025e-03 -1.96511417e-03 2.91944823e+02] [ 1.33363340e-03 9.99999110e-01 4.10033731e-05 2.59609323e+00] [ 1.96505774e-03 -4.36239993e-05 9.99998068e-01 5.90281533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80439141799997 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:292.00, Y:2.59, Z:0.59 [[ 9.99994575e-01 -2.64340859e-03 -1.96511500e-03 2.92004166e+02] [ 2.64349419e-03 9.99996505e-01 4.09636238e-05 2.59288431e+00] [ 1.96499985e-03 -4.61581717e-05 9.99998068e-01 5.90192694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86439141799997 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:292.06, Y:2.59, Z:0.59 [[ 9.99992670e-01 -3.28612704e-03 -1.96511665e-03 2.92064585e+02] [ 3.28621372e-03 9.99994600e-01 4.08840862e-05 2.58849213e+00] [ 1.96497169e-03 -4.73415799e-05 9.99998068e-01 5.90003756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92439141799997 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:292.12, Y:2.59, Z:0.59 [[ 9.99997828e-01 -6.95125654e-04 -1.96511665e-03 2.92124806e+02] [ 6.95207338e-04 9.99999758e-01 4.08840862e-05 2.58708113e+00] [ 1.96508776e-03 -4.22501609e-05 9.99998068e-01 5.89266775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.984391418 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:292.18, Y:2.59, Z:0.59 [[ 9.99994643e-01 2.61777829e-03 -1.96511665e-03 2.92184322e+02] [-2.61770300e-03 9.99996573e-01 4.08840862e-05 2.58652186e+00] [ 1.96521695e-03 -3.57397755e-05 9.99998068e-01 5.88077939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.044391418 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:292.24, Y:2.59, Z:0.59 [[ 9.99970508e-01 7.42435988e-03 -1.96511828e-03 2.92242750e+02] [-7.42429403e-03 9.99972439e-01 4.08058332e-05 2.58598056e+00] [ 1.96536708e-03 -2.62150139e-05 9.99998068e-01 5.87686889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.104391418 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:292.30, Y:2.59, Z:0.59 [[ 9.99940623e-01 1.07186620e-02 -1.96512964e-03 2.92301065e+02] [-1.07186036e-02 9.99942553e-01 4.02512927e-05 2.58520510e+00] [ 1.96544819e-03 -1.91854571e-05 9.99998068e-01 5.89389563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.164391418 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:292.36, Y:2.58, Z:0.59 [[ 9.99937531e-01 1.10032658e-02 -1.96514262e-03 2.92359615e+02] [-1.10032093e-02 9.99939462e-01 3.96073641e-05 2.58363062e+00] [ 1.96545946e-03 -1.79820144e-05 9.99998068e-01 5.90222484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.224391418 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:292.42, Y:2.58, Z:0.59 [[ 9.99958117e-01 8.93879675e-03 -1.96514588e-03 2.92416924e+02] [-8.93873649e-03 9.99960048e-01 3.94449365e-05 2.58018969e+00] [ 1.96541996e-03 -2.18773632e-05 9.99998068e-01 5.90172642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.284391418 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:292.48, Y:2.58, Z:0.59 [[ 9.99979802e-01 6.04427965e-03 -1.96515047e-03 2.92475912e+02] [-6.04421426e-03 9.99981733e-01 3.92147843e-05 2.57628638e+00] [ 1.96535160e-03 -2.73362018e-05 9.99998068e-01 5.91895898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.344391418 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:292.53, Y:2.57, Z:0.59 [[ 9.99987377e-01 4.62424082e-03 -1.96515360e-03 2.92534854e+02] [-4.62417299e-03 9.99989308e-01 3.90573276e-05 2.57367663e+00] [ 1.96531320e-03 -2.99696244e-05 9.99998068e-01 5.91969440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.404391418 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:292.59, Y:2.57, Z:0.59 [[ 9.99992835e-01 3.23558652e-03 -1.96515668e-03 2.92594007e+02] [-3.23551632e-03 9.99994765e-01 3.89016850e-05 2.56994371e+00] [ 1.96527226e-03 -3.25431098e-05 9.99998068e-01 5.92768449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.464391418 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:292.65, Y:2.57, Z:0.59 [[ 9.99995706e-01 2.17384569e-03 -1.96515982e-03 2.92653212e+02] [-2.17377375e-03 9.99997637e-01 3.87424467e-05 2.56553669e+00] [ 1.96523939e-03 -3.44704676e-05 9.99998068e-01 5.92604677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.524391418 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:292.71, Y:2.56, Z:0.59 [[ 9.99997434e-01 1.12711333e-03 -1.96516299e-03 2.92712137e+02] [-1.12703969e-03 9.99999364e-01 3.85810182e-05 2.56119109e+00] [ 1.96520522e-03 -3.63661026e-05 9.99998068e-01 5.91068913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58439141799994 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:292.77, Y:2.56, Z:0.59 [[ 9.99997983e-01 4.14364840e-04 -1.96516609e-03 2.92771988e+02] [-4.14290133e-04 9.99999913e-01 3.84225907e-05 2.55769834e+00] [ 1.96518184e-03 -3.76083643e-05 9.99998068e-01 5.90935863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64439141799994 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:292.83, Y:2.55, Z:0.59 [[ 9.99998049e-01 2.01428759e-04 -1.96516765e-03 2.92830263e+02] [-2.01353798e-04 9.99999979e-01 3.83426329e-05 2.55382402e+00] [ 1.96517533e-03 -3.79468641e-05 9.99998068e-01 5.89284357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70439141799994 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:292.89, Y:2.55, Z:0.59 [[ 9.99998060e-01 1.34096904e-04 -1.96516994e-03 2.92889668e+02] [-1.34022045e-04 9.99999990e-01 3.82246585e-05 2.55115176e+00] [ 1.96517505e-03 -3.79612082e-05 9.99998068e-01 5.91345046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76439141799995 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:292.95, Y:2.55, Z:0.59 [[ 9.99998024e-01 -2.98511351e-04 -1.96517149e-03 2.92949273e+02] [ 2.98586888e-04 9.99999955e-01 3.81449574e-05 2.54778763e+00] [ 1.96516001e-03 -3.87316565e-05 9.99998068e-01 5.91820789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82439141799995 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:293.01, Y:2.54, Z:0.59 [[ 9.99996562e-01 -1.73600586e-03 -1.96517301e-03 2.93009262e+02] [ 1.73608402e-03 9.99998492e-01 3.80663434e-05 2.54313524e+00] [ 1.96510396e-03 -4.14779180e-05 9.99998068e-01 5.93071490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88439141799995 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:293.07, Y:2.54, Z:0.59 [[ 9.99992338e-01 -3.38544474e-03 -1.96517455e-03 2.93068790e+02] [ 3.38552593e-03 9.99994268e-01 3.79864712e-05 2.53863867e+00] [ 1.96503469e-03 -4.46393295e-05 9.99998068e-01 5.92688233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94439141799995 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:293.13, Y:2.54, Z:0.59 [[ 9.99990731e-01 -3.83086116e-03 -1.96517531e-03 2.93128829e+02] [ 3.83094312e-03 9.99992661e-01 3.79472615e-05 2.53599545e+00] [ 1.96501552e-03 -4.54753847e-05 9.99998068e-01 5.91928627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00439141799995 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:293.19, Y:2.53, Z:0.59 [[ 9.99994110e-01 -2.81405951e-03 -1.96517531e-03 2.93188906e+02] [ 2.81413951e-03 9.99996040e-01 3.79472615e-05 2.53327626e+00] [ 1.96506074e-03 -4.34773155e-05 9.99998068e-01 5.91872581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06439141799996 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:293.25, Y:2.53, Z:0.60 [[ 9.99996970e-01 -1.48249297e-03 -1.96517606e-03 2.93249240e+02] [ 1.48257033e-03 9.99998900e-01 3.79082642e-05 2.53355932e+00] [ 1.96511770e-03 -4.08216610e-05 9.99998068e-01 5.96644247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12439141799996 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:293.31, Y:2.53, Z:0.59 [[ 9.99992103e-01 3.45428171e-03 -1.96517606e-03 2.93308358e+02] [-3.45421388e-03 9.99994033e-01 3.79082642e-05 2.52886358e+00] [ 1.96529528e-03 -3.11198264e-05 9.99998068e-01 5.93719105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18439141799996 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:293.37, Y:2.53, Z:0.59 [[ 9.99984050e-01 5.29515495e-03 -1.96517648e-03 2.93366704e+02] [-5.29509072e-03 9.99985980e-01 3.78864336e-05 2.52661370e+00] [ 1.96534955e-03 -2.74800415e-05 9.99998068e-01 5.94853242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24439141799996 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:293.43, Y:2.52, Z:0.59 [[ 9.99995079e-01 2.44535109e-03 -1.96518711e-03 2.93425407e+02] [-2.44528246e-03 9.99997010e-01 3.73272808e-05 2.52313775e+00] [ 1.96527251e-03 -3.25216596e-05 9.99998068e-01 5.94414841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30439141799997 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:293.48, Y:2.52, Z:0.59 [[ 9.99997146e-01 -1.35864185e-03 -1.96519009e-03 2.93484919e+02] [ 1.35871752e-03 9.99999076e-01 3.71692449e-05 2.52039697e+00] [ 1.96513778e-03 -3.98392770e-05 9.99998068e-01 5.94954146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36439141799997 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:293.54, Y:2.52, Z:0.60 [[ 9.99964230e-01 -8.22661296e-03 -1.96519158e-03 2.93544373e+02] [ 8.22670173e-03 9.99966159e-01 3.70905931e-05 2.51716556e+00] [ 1.96481995e-03 -5.32563113e-05 9.99998068e-01 5.96788884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42439141799997 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:293.61, Y:2.51, Z:0.60 [[ 9.99903381e-01 -1.37610819e-02 -1.96519231e-03 2.93606100e+02] [ 1.37611813e-02 9.99905310e-01 3.70518958e-05 2.51294229e+00] [ 1.96449635e-03 -6.40916835e-05 9.99998068e-01 5.95716899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.484391418 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:293.67, Y:2.51, Z:0.60 [[ 9.99817900e-01 -1.89816802e-02 -1.96519077e-03 2.93667439e+02] [ 1.89817898e-02 9.99819829e-01 3.71334601e-05 2.51091589e+00] [ 1.96413184e-03 -7.44295361e-05 9.99998068e-01 5.97895000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.544391418 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:293.73, Y:2.51, Z:0.60 [[ 9.99735462e-01 -2.29160088e-02 -1.96518843e-03 2.93730091e+02] [ 2.29161262e-02 9.99737390e-01 3.72564896e-05 2.50958241e+00] [ 1.96381859e-03 -8.22811400e-05 9.99998068e-01 5.96620361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.604391418 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:293.79, Y:2.51, Z:0.60 [[ 9.99671842e-01 -2.55410701e-02 -1.96518488e-03 2.93792196e+02] [ 2.55411929e-02 9.99673770e-01 3.74431794e-05 2.50925579e+00] [ 1.96358744e-03 -8.76240583e-05 9.99998068e-01 5.99256044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.664391418 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:293.85, Y:2.51, Z:0.60 [[ 9.99586922e-01 -2.86726821e-02 -1.96518175e-03 2.93853295e+02] [ 2.86728113e-02 9.99588850e-01 3.76067045e-05 2.50981407e+00] [ 1.96329548e-03 -9.39384554e-05 9.99998068e-01 5.99646317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.724391418 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:293.92, Y:2.51, Z:0.60 [[ 9.99509630e-01 -3.12512112e-02 -1.96517664e-03 2.93915535e+02] [ 3.12513459e-02 9.99511557e-01 3.78718102e-05 2.51078070e+00] [ 1.96303322e-03 -9.92676539e-05 9.99998068e-01 6.00327655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.784391418 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:293.98, Y:2.51, Z:0.60 [[ 9.99361507e-01 -3.56751452e-02 -1.96517355e-03 2.93976597e+02] [ 3.56752887e-02 9.99363434e-01 3.80313553e-05 2.51300049e+00] [ 1.96256581e-03 -1.08115206e-04 9.99998068e-01 5.99393549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.844391418 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:294.04, Y:2.51, Z:0.60 [[ 9.99235042e-01 -3.90572521e-02 -1.96516822e-03 2.94039906e+02] [ 3.90574027e-02 9.99236968e-01 3.83046723e-05 2.51366004e+00] [ 1.96217266e-03 -1.15029738e-04 9.99998068e-01 6.00083459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.904391418 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:294.10, Y:2.52, Z:0.60 [[ 9.99008344e-01 -4.44799637e-02 -1.96516352e-03 2.94103198e+02] [ 4.44801252e-02 9.99010269e-01 3.85444900e-05 2.51711426e+00] [ 1.96150408e-03 -1.25916987e-04 9.99998068e-01 6.01282879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.964391418 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:294.17, Y:2.52, Z:0.60 [[ 9.98820195e-01 -4.85217092e-02 -1.96515867e-03 2.94165098e+02] [ 4.85218790e-02 9.98822119e-01 3.87901826e-05 2.52130225e+00] [ 1.96096178e-03 -1.34097609e-04 9.99998068e-01 6.03586680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.024391418 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:294.23, Y:2.52, Z:0.60 [[ 9.98889782e-01 -4.70674066e-02 -1.96515540e-03 2.94227467e+02] [ 4.70675739e-02 9.98891707e-01 3.89552798e-05 2.52476181e+00] [ 1.96114391e-03 -1.31407128e-04 9.99998068e-01 6.03701843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08439141799994 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:294.29, Y:2.53, Z:0.61 [[ 9.99053963e-01 -4.34432583e-02 -1.96515216e-03 2.94289615e+02] [ 4.34434189e-02 9.99055888e-01 3.91179270e-05 2.52795403e+00] [ 1.96159743e-03 -1.24453848e-04 9.99998068e-01 6.05393943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14439141799994 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:294.35, Y:2.53, Z:0.61 [[ 9.99436165e-01 -3.35185201e-02 -1.96514890e-03 2.94351053e+02] [ 3.35186620e-02 9.99438091e-01 3.92812693e-05 2.53334945e+00] [ 1.96272801e-03 -1.05128283e-04 9.99998068e-01 6.05996042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20439141799994 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:294.41, Y:2.54, Z:0.61 [[ 9.99778151e-01 -2.09710802e-02 -1.96514649e-03 2.94413152e+02] [ 2.09711981e-02 9.99780079e-01 3.94014954e-05 2.53896404e+00] [ 1.96388802e-03 -8.06042306e-05 9.99998068e-01 6.06762544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26439141799995 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:294.48, Y:2.54, Z:0.61 [[ 9.99943698e-01 -1.04278208e-02 -1.96514327e-03 2.94475263e+02] [ 1.04279187e-02 9.99945627e-01 3.95610381e-05 2.54268856e+00] [ 1.96462389e-03 -6.00511649e-05 9.99998068e-01 6.06623071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32439141799995 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:294.54, Y:2.54, Z:0.61 [[ 9.99981600e-01 -5.73911633e-03 -1.96514002e-03 2.94535520e+02] [ 5.73920546e-03 9.99983530e-01 3.97220015e-05 2.54355925e+00] [ 1.96487968e-03 -5.09996129e-05 9.99998068e-01 6.05273045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38439141799995 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:294.60, Y:2.55, Z:0.60 [[ 9.99995417e-01 -2.30317393e-03 -1.96513922e-03 2.94596869e+02] [ 2.30325651e-03 9.99997347e-01 3.97613224e-05 2.54522751e+00] [ 1.96504243e-03 -4.42873599e-05 9.99998068e-01 6.04309025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44439141799995 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:294.66, Y:2.55, Z:0.60 [[ 9.99995382e-01 -2.31815787e-03 -1.96513766e-03 2.94657373e+02] [ 2.31824064e-03 9.99997312e-01 3.98382938e-05 2.54509720e+00] [ 1.96504003e-03 -4.43937718e-05 9.99998068e-01 6.04700970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50439141799995 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:294.72, Y:2.54, Z:0.61 [[ 9.99983971e-01 -5.31005213e-03 -1.96513766e-03 2.94717656e+02] [ 5.31014067e-03 9.99985900e-01 3.98382938e-05 2.54457951e+00] [ 1.96489841e-03 -5.02728127e-05 9.99998068e-01 6.06195285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56439141799996 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:294.78, Y:2.54, Z:0.61 [[ 9.99952099e-01 -9.58842004e-03 -1.96513766e-03 2.94778730e+02] [ 9.58851683e-03 9.99954028e-01 3.98382938e-05 2.54354981e+00] [ 1.96466534e-03 -5.86791411e-05 9.99998068e-01 6.07483514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62439141799996 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:294.84, Y:2.54, Z:0.61 [[ 9.99903696e-01 -1.37381422e-02 -1.96513603e-03 2.94840573e+02] [ 1.37382472e-02 9.99905625e-01 3.99189606e-05 2.54196396e+00] [ 1.96440215e-03 -6.69126407e-05 9.99998068e-01 6.09210328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68439141799996 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:294.90, Y:2.54, Z:0.61 [[ 9.99880516e-01 -1.53326799e-02 -1.96512437e-03 2.94901604e+02] [ 1.53327891e-02 9.99882445e-01 4.04846197e-05 2.54051884e+00] [ 1.96427262e-03 -7.06106199e-05 9.99998068e-01 6.08987367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74439141799996 meters Centerline goodness : 0.999112 with order 1 Centerline is valid? [True, True] Translation: X:294.96, Y:2.54, Z:0.61 [[ 9.99794238e-01 -2.01895906e-02 -1.96512190e-03 2.94962471e+02] [ 2.01897093e-02 9.99796166e-01 4.06043987e-05 2.53815516e+00] [ 1.96390155e-03 -8.02712838e-05 9.99998068e-01 6.08194702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80439141799997 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:295.02, Y:2.54, Z:0.61 [[ 9.99740139e-01 -2.27110635e-02 -1.96511946e-03 2.95024253e+02] [ 2.27111873e-02 9.99742067e-01 4.07219873e-05 2.53678766e+00] [ 1.96368775e-03 -8.53416015e-05 9.99998068e-01 6.08267510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86439141799997 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:295.09, Y:2.54, Z:0.61 [[ 9.99708864e-01 -2.40483910e-02 -1.96511616e-03 2.95086148e+02] [ 2.40485177e-02 9.99710792e-01 4.08804499e-05 2.53616477e+00] [ 1.96356473e-03 -8.81266790e-05 9.99998068e-01 6.07685892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92439141799997 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:295.15, Y:2.54, Z:0.61 [[ 9.99738112e-01 -2.28001348e-02 -1.96511291e-03 2.95147033e+02] [ 2.28002594e-02 9.99740039e-01 4.10364361e-05 2.53566898e+00] [ 1.96366642e-03 -8.58307732e-05 9.99998068e-01 6.06607542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.984391418 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:295.21, Y:2.54, Z:0.61 [[ 9.99813322e-01 -1.92213461e-02 -1.96511050e-03 2.95208317e+02] [ 1.92214640e-02 9.99815250e-01 4.11514490e-05 2.53576502e+00] [ 1.96395646e-03 -7.89160677e-05 9.99998068e-01 6.05967217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.044391418 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:295.27, Y:2.54, Z:0.61 [[ 9.99947134e-01 -1.00929408e-02 -1.96510813e-03 2.95270596e+02] [ 1.00930413e-02 9.99949063e-01 4.12642891e-05 2.53749148e+00] [ 1.96459155e-03 -6.10960252e-05 9.99998068e-01 6.06887428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.104391418 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:295.33, Y:2.54, Z:0.61 [[ 9.99993165e-01 -3.13172299e-03 -1.96510489e-03 2.95331026e+02] [ 3.13181043e-03 9.99995095e-01 4.14178748e-05 2.53811418e+00] [ 1.96496554e-03 -4.75719277e-05 9.99998068e-01 6.06856689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.164391418 meters Centerline goodness : 0.999131 with order 1 Centerline is valid? [True, True] Translation: X:295.39, Y:2.54, Z:0.61 [[ 9.99982535e-01 5.57382521e-03 -1.96510410e-03 2.95391526e+02] [-5.57375450e-03 9.99984466e-01 4.14554329e-05 2.53866643e+00] [ 1.96530464e-03 -3.05017011e-05 9.99998068e-01 6.08618991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.224391418 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:295.45, Y:2.54, Z:0.61 [[ 9.99946969e-01 1.01092410e-02 -1.96510410e-03 2.95449272e+02] [-1.01091790e-02 9.99948900e-01 4.14554329e-05 2.53800553e+00] [ 1.96542276e-03 -2.15876453e-05 9.99998068e-01 6.07633841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.284391418 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:295.51, Y:2.54, Z:0.61 [[ 9.99940528e-01 1.07274359e-02 -1.96511014e-03 2.95508260e+02] [-1.07273758e-02 9.99942459e-01 4.11671141e-05 2.53645900e+00] [ 1.96543868e-03 -2.00841910e-05 9.99998068e-01 6.07865543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.344391418 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:295.57, Y:2.53, Z:0.61 [[ 9.99964527e-01 8.19046823e-03 -1.96511348e-03 2.95566006e+02] [-8.19040346e-03 9.99966457e-01 4.10068877e-05 2.53441319e+00] [ 1.96538343e-03 -2.49103608e-05 9.99998068e-01 6.07132629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.404391418 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:295.63, Y:2.53, Z:0.61 [[ 9.99989180e-01 4.21641435e-03 -1.96511756e-03 2.95625127e+02] [-4.21634230e-03 9.99991110e-01 4.08103542e-05 2.53235748e+00] [ 1.96527217e-03 -3.25243044e-05 9.99998068e-01 6.07127983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.464391418 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:295.68, Y:2.53, Z:0.61 [[ 9.99990070e-01 -3.99976692e-03 -1.96512085e-03 2.95683355e+02] [ 3.99985452e-03 9.99992000e-01 4.06513652e-05 2.52956626e+00] [ 1.96494254e-03 -4.85111591e-05 9.99998068e-01 6.07521761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.524391418 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:295.74, Y:2.53, Z:0.61 [[ 9.99942184e-01 -1.05719831e-02 -1.96512327e-03 2.95743882e+02] [ 1.05720831e-02 9.99944113e-01 4.05342753e-05 2.52733660e+00] [ 1.96458492e-03 -6.13073784e-05 9.99998068e-01 6.08792694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58439141799994 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:295.81, Y:2.52, Z:0.61 [[ 9.99794968e-01 -2.01534247e-02 -1.96512327e-03 2.95805727e+02] [ 2.01535433e-02 9.99796896e-01 4.05342753e-05 2.52454316e+00] [ 1.96390724e-03 -8.01301613e-05 9.99998068e-01 6.10178531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64439141799994 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:295.87, Y:2.52, Z:0.61 [[ 9.99563357e-01 -2.94827786e-02 -1.96511181e-03 2.95867372e+02] [ 2.94829162e-02 9.99565283e-01 4.10825628e-05 2.52221907e+00] [ 1.96304631e-03 -9.90018510e-05 9.99998068e-01 6.09951757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70439141799994 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:295.93, Y:2.52, Z:0.61 [[ 9.99379234e-01 -3.51750598e-02 -1.96509952e-03 2.95930020e+02] [ 3.51752096e-02 9.99381160e-01 4.16622359e-05 2.52100168e+00] [ 1.96241796e-03 -1.10759161e-04 9.99998068e-01 6.09708701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76439141799995 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:295.99, Y:2.52, Z:0.61 [[ 9.99180264e-01 -4.04343828e-02 -1.96509450e-03 2.95993430e+02] [ 4.04345431e-02 9.99182189e-01 4.18976866e-05 2.52132624e+00] [ 1.96179331e-03 -1.21321040e-04 9.99998068e-01 6.09808093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82439141799995 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:296.06, Y:2.52, Z:0.61 [[ 9.99156937e-01 -4.10067502e-02 -1.96508923e-03 2.96055259e+02] [ 4.10069120e-02 9.99158862e-01 4.21433705e-05 2.52302089e+00] [ 1.96170815e-03 -1.22690082e-04 9.99998068e-01 6.09167427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88439141799995 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:296.12, Y:2.53, Z:0.61 [[ 9.99239101e-01 -3.89532606e-02 -1.96508055e-03 2.96118310e+02] [ 3.89534193e-02 9.99241027e-01 4.25441951e-05 2.52670666e+00] [ 1.96193187e-03 -1.19058430e-04 9.99998068e-01 6.08586483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94439141799995 meters Centerline goodness : 0.999450 with order 1 Centerline is valid? [True, True] Translation: X:296.18, Y:2.53, Z:0.61 [[ 9.99346653e-01 -3.60888527e-02 -1.96507532e-03 2.96181074e+02] [ 3.60890064e-02 9.99348579e-01 4.27841477e-05 2.52917791e+00] [ 1.96225120e-03 -1.13673811e-04 9.99998068e-01 6.08135989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00439141799995 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:296.24, Y:2.53, Z:0.61 [[ 9.99545925e-01 -3.00679589e-02 -1.96507001e-03 2.96243025e+02] [ 3.00681014e-02 9.99547851e-01 4.30267399e-05 2.53384361e+00] [ 1.96288778e-03 -1.02093127e-04 9.99998068e-01 6.07101267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06439141799996 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:296.30, Y:2.54, Z:0.61 [[ 9.99770069e-01 -2.13529301e-02 -1.96506565e-03 2.96304994e+02] [ 2.13530563e-02 9.99771997e-01 4.32251292e-05 2.53961793e+00] [ 1.96369462e-03 -8.51753477e-05 9.99998068e-01 6.07754249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12439141799996 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:296.37, Y:2.54, Z:0.61 [[ 9.99903981e-01 -1.37174144e-02 -1.96506229e-03 2.96367733e+02] [ 1.37175261e-02 9.99905909e-01 4.33775044e-05 2.54314719e+00] [ 1.96428236e-03 -7.03291326e-05 9.99998068e-01 6.08901142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18439141799996 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:296.43, Y:2.55, Z:0.61 [[ 9.99996496e-01 -1.77396198e-03 -1.96505875e-03 2.96430211e+02] [ 1.77405096e-03 9.99998425e-01 4.35368689e-05 2.54884357e+00] [ 1.96497843e-03 -4.70228307e-05 9.99998068e-01 6.09494389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24439141799996 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:296.49, Y:2.55, Z:0.61 [[ 9.99956385e-01 9.13048463e-03 -1.96505520e-03 2.96489950e+02] [-9.13041639e-03 9.99958316e-01 4.36967283e-05 2.55343541e+00] [ 1.96537226e-03 -2.57530503e-05 9.99998068e-01 6.10011509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30439141799997 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:296.55, Y:2.56, Z:0.61 [[ 9.99896765e-01 1.42336615e-02 -1.96505502e-03 2.96547917e+02] [-1.42336031e-02 9.99898696e-01 4.37049889e-05 2.55538024e+00] [ 1.96547803e-03 -1.57306639e-05 9.99998068e-01 6.10183526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36439141799997 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:296.61, Y:2.56, Z:0.61 [[ 9.99806356e-01 1.95803305e-02 -1.96506907e-03 2.96606110e+02] [-1.95802837e-02 9.99808287e-01 4.30634596e-05 2.55739331e+00] [ 1.96553554e-03 -4.57851067e-06 9.99998068e-01 6.09154086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42439141799997 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:296.66, Y:2.56, Z:0.61 [[ 9.99755005e-01 2.20469695e-02 -1.96507426e-03 2.96664477e+02] [-2.20469279e-02 9.99756936e-01 4.28254243e-05 2.55773769e+00] [ 1.96554079e-03 5.08918252e-07 9.99998068e-01 6.09085399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.484391418 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:296.72, Y:2.56, Z:0.61 [[ 9.99703345e-01 2.42767597e-02 -1.96507937e-03 2.96722273e+02] [-2.42767228e-02 9.99705276e-01 4.25895977e-05 2.55746285e+00] [ 1.96553415e-03 5.12872405e-06 9.99998068e-01 6.08832251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.544391418 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:296.78, Y:2.55, Z:0.61 [[ 9.99765555e-01 2.15632249e-02 -1.96508454e-03 2.96781486e+02] [-2.15631833e-02 9.99767487e-01 4.23499685e-05 2.55490236e+00] [ 1.96554083e-03 3.34383470e-08 9.99998068e-01 6.08231280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.604391418 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:296.84, Y:2.55, Z:0.61 [[ 9.99812475e-01 1.92653591e-02 -1.96508805e-03 2.96838712e+02] [-1.92653134e-02 9.99814406e-01 4.21865135e-05 2.55277394e+00] [ 1.96553608e-03 -4.32056548e-06 9.99998068e-01 6.08233499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.664391418 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:296.90, Y:2.55, Z:0.61 [[ 9.99964868e-01 8.14866519e-03 -1.96509402e-03 2.96897321e+02] [-8.14859857e-03 9.99966799e-01 4.19064868e-05 2.54769711e+00] [ 1.96537026e-03 -2.58922522e-05 9.99998068e-01 6.06938219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.724391418 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:296.96, Y:2.54, Z:0.61 [[ 9.99985718e-01 -4.97009019e-03 -1.96509743e-03 2.96956339e+02] [ 4.97018182e-03 9.99987648e-01 4.17458199e-05 2.54096923e+00] [ 1.96486568e-03 -5.15121153e-05 9.99998068e-01 6.06606849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.784391418 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:297.02, Y:2.54, Z:0.61 [[ 9.99914540e-01 -1.29248542e-02 -1.96510079e-03 2.97017856e+02] [ 1.29249608e-02 9.99916468e-01 4.15871353e-05 2.53655636e+00] [ 1.96439913e-03 -6.69824320e-05 9.99998068e-01 6.06483189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.844391418 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:297.08, Y:2.53, Z:0.61 [[ 9.99789985e-01 -2.03991384e-02 -1.96509907e-03 2.97080777e+02] [ 2.03992596e-02 9.99791913e-01 4.16680637e-05 2.53121141e+00] [ 1.96384017e-03 -8.17458790e-05 9.99998068e-01 6.05920795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.904391418 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:297.14, Y:2.53, Z:0.61 [[ 9.99734910e-01 -2.29401088e-02 -1.96508515e-03 2.97142883e+02] [ 2.29402362e-02 9.99736837e-01 4.23144921e-05 2.52818081e+00] [ 1.96359732e-03 -8.73827925e-05 9.99998068e-01 6.06071725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.964391418 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:297.20, Y:2.52, Z:0.61 [[ 9.99724411e-01 -2.33931590e-02 -1.96508083e-03 2.97204743e+02] [ 2.33932876e-02 9.99726339e-01 4.25144249e-05 2.52496618e+00] [ 1.96354852e-03 -8.84724094e-05 9.99998068e-01 6.05698369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.024391418 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:297.27, Y:2.52, Z:0.60 [[ 9.99826467e-01 -1.85249798e-02 -1.96507730e-03 2.97266289e+02] [ 1.85250994e-02 9.99828395e-01 4.26769870e-05 2.52357386e+00] [ 1.96394949e-03 -7.90728334e-05 9.99998068e-01 6.03785246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08439141799994 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:297.33, Y:2.52, Z:0.60 [[ 9.99841647e-01 -1.76866736e-02 -1.96507297e-03 2.97328712e+02] [ 1.76867920e-02 9.99843576e-01 4.28753771e-05 2.52420518e+00] [ 1.96400726e-03 -7.76244245e-05 9.99998068e-01 6.03824368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14439141799994 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:297.39, Y:2.52, Z:0.60 [[ 9.99940905e-01 -1.06922984e-02 -1.96506942e-03 2.97390068e+02] [ 1.06924036e-02 9.99942834e-01 4.30375048e-05 2.52417381e+00] [ 1.96449691e-03 -6.40462768e-05 9.99998068e-01 6.00916230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20439141799994 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:297.45, Y:2.53, Z:0.60 [[ 9.99973674e-01 -6.98497785e-03 -1.96506564e-03 2.97451585e+02] [ 6.98507624e-03 9.99975603e-01 4.32094938e-05 2.52537503e+00] [ 1.96471588e-03 -5.69344896e-05 9.99998068e-01 6.04542707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26439141799995 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:297.51, Y:2.53, Z:0.60 [[ 9.99988963e-01 -4.26760116e-03 -1.96506371e-03 2.97512644e+02] [ 4.26769447e-03 9.99990892e-01 4.32969740e-05 2.52501254e+00] [ 1.96486104e-03 -5.16827876e-05 9.99998068e-01 6.04655331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32439141799995 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:297.57, Y:2.53, Z:0.60 [[ 9.99996973e-01 -1.48075181e-03 -1.96506196e-03 2.97572766e+02] [ 1.48083991e-03 9.99998903e-01 4.33760637e-05 2.52505612e+00] [ 1.96499558e-03 -4.62858746e-05 9.99998068e-01 6.04947941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38439141799995 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:297.63, Y:2.52, Z:0.61 [[ 9.99997795e-01 -7.40192664e-04 -1.96506196e-03 2.97632365e+02] [ 7.40279329e-04 9.99999725e-01 4.33760637e-05 2.52391368e+00] [ 1.96502932e-03 -4.48306628e-05 9.99998068e-01 6.05741834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44439141799995 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:297.69, Y:2.52, Z:0.61 [[ 9.99996672e-01 -1.67154630e-03 -1.96506198e-03 2.97691716e+02] [ 1.67163476e-03 9.99998602e-01 4.33753579e-05 2.52181019e+00] [ 1.96498673e-03 -4.66600794e-05 9.99998068e-01 6.06596164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50439141799995 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:297.75, Y:2.52, Z:0.61 [[ 9.99987736e-01 -4.54601686e-03 -1.96506101e-03 2.97751796e+02] [ 4.54611095e-03 9.99989665e-01 4.34191381e-05 2.51849028e+00] [ 1.96484332e-03 -5.23519910e-05 9.99998068e-01 6.07885851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56439141799996 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:297.81, Y:2.52, Z:0.61 [[ 9.99967168e-01 -7.86139852e-03 -1.96506101e-03 2.97812032e+02] [ 7.86149901e-03 9.99969097e-01 4.34191381e-05 2.51536057e+00] [ 1.96465895e-03 -5.88660378e-05 9.99998068e-01 6.08580423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62439141799996 meters Centerline goodness : 0.998847 with order 1 Centerline is valid? [True, True] Translation: X:297.87, Y:2.51, Z:0.61 [[ 9.99959149e-01 -8.82265916e-03 -1.96506017e-03 2.97873442e+02] [ 8.82276158e-03 9.99961078e-01 4.34572519e-05 2.51287946e+00] [ 1.96460028e-03 -6.07927340e-05 9.99998068e-01 6.07977186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68439141799996 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:297.94, Y:2.51, Z:0.61 [[ 9.99970499e-01 -7.42559328e-03 -1.96505851e-03 2.97935375e+02] [ 7.42569315e-03 9.99972428e-01 4.35319759e-05 2.51044984e+00] [ 1.96468108e-03 -5.81226132e-05 9.99998068e-01 6.08015646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74439141799996 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:298.00, Y:2.51, Z:0.61 [[ 9.99988570e-01 -4.35867603e-03 -1.96505509e-03 2.97996791e+02] [ 4.35877029e-03 9.99990500e-01 4.36861776e-05 2.50831351e+00] [ 1.96484600e-03 -5.22509020e-05 9.99998068e-01 6.09299850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80439141799997 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:298.06, Y:2.51, Z:0.61 [[ 9.99995163e-01 -2.41082173e-03 -1.96505334e-03 2.98057686e+02] [ 2.41091238e-03 9.99997093e-01 4.37647095e-05 2.50611843e+00] [ 1.96494211e-03 -4.85020692e-05 9.99998068e-01 6.09965600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86439141799997 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:298.12, Y:2.50, Z:0.61 [[ 9.99997821e-01 -7.04754996e-04 -1.96505334e-03 2.98117844e+02] [ 7.04842356e-04 9.99999751e-01 4.37647095e-05 2.50197780e+00] [ 1.96502200e-03 -4.51496669e-05 9.99998068e-01 6.10092803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92439141799997 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:298.18, Y:2.50, Z:0.61 [[ 9.99997740e-01 -8.11317730e-04 -1.96505334e-03 2.98177638e+02] [ 8.11405296e-04 9.99999670e-01 4.37647095e-05 2.49890421e+00] [ 1.96501718e-03 -4.53590653e-05 9.99998068e-01 6.09358263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.984391418 meters Centerline goodness : 0.998837 with order 1 Centerline is valid? [True, True] Translation: X:298.24, Y:2.50, Z:0.61 [[ 9.99994414e-01 -2.70372070e-03 -1.96505514e-03 2.98237204e+02] [ 2.70381176e-03 9.99996344e-01 4.36837983e-05 2.49538912e+00] [ 1.96492984e-03 -4.89966935e-05 9.99998068e-01 6.07301667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.044391418 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:298.30, Y:2.49, Z:0.61 [[ 9.99975656e-01 -6.69523853e-03 -1.96505602e-03 2.98297981e+02] [ 6.69533721e-03 9.99977585e-01 4.36440692e-05 2.49178709e+00] [ 1.96471976e-03 -5.67997194e-05 9.99998068e-01 6.08462141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.104391418 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:298.36, Y:2.49, Z:0.61 [[ 9.99950996e-01 -9.70280703e-03 -1.96505602e-03 2.98358885e+02] [ 9.70291151e-03 9.99952925e-01 4.36440692e-05 2.48900080e+00] [ 1.96454004e-03 -6.27086951e-05 9.99998068e-01 6.07704344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.164391418 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:298.42, Y:2.49, Z:0.61 [[ 9.99896859e-01 -1.42271153e-02 -1.96504448e-03 2.98421293e+02] [ 1.42272296e-02 9.99898787e-01 4.41573796e-05 2.48571630e+00] [ 1.96421736e-03 -7.21099641e-05 9.99998068e-01 6.08454801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.224391418 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:298.48, Y:2.48, Z:0.61 [[ 9.99834406e-01 -1.80914316e-02 -1.96504094e-03 2.98482766e+02] [ 1.80915535e-02 9.99836333e-01 4.43144779e-05 2.48463793e+00] [ 1.96391762e-03 -7.98577831e-05 9.99998068e-01 6.08856346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.284391418 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:298.55, Y:2.48, Z:0.61 [[ 9.99787544e-01 -2.05184399e-02 -1.96503832e-03 2.98545227e+02] [ 2.05185668e-02 9.99789471e-01 4.44305243e-05 2.48264960e+00] [ 1.96371297e-03 -8.47408547e-05 9.99998068e-01 6.09361606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.344391418 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:298.61, Y:2.48, Z:0.61 [[ 9.99684960e-01 -2.50223790e-02 -1.96503484e-03 2.98607170e+02] [ 2.50225148e-02 9.99686887e-01 4.45838756e-05 2.48195715e+00] [ 1.96330396e-03 -9.37399432e-05 9.99998068e-01 6.12576401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.404391418 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:298.67, Y:2.48, Z:0.61 [[ 9.99610050e-01 -2.78547447e-02 -1.96503124e-03 2.98669207e+02] [ 2.78548864e-02 9.99611976e-01 4.47420131e-05 2.48132153e+00] [ 1.96302248e-03 -9.94602877e-05 9.99998068e-01 6.13020263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.464391418 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:298.73, Y:2.48, Z:0.61 [[ 9.99507676e-01 -3.13136485e-02 -1.96502768e-03 2.98731107e+02] [ 3.13137971e-02 9.99509602e-01 4.48974302e-05 2.48096571e+00] [ 1.96265814e-03 -1.06407804e-04 9.99998068e-01 6.12904192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.524391418 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:298.79, Y:2.48, Z:0.61 [[ 9.99474968e-01 -3.23407845e-02 -1.96502328e-03 2.98793775e+02] [ 3.23409354e-02 9.99476894e-01 4.50893991e-05 2.48011352e+00] [ 1.96253714e-03 -1.08616417e-04 9.99998068e-01 6.11083841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58439141799994 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:298.86, Y:2.48, Z:0.61 [[ 9.99531199e-01 -3.05535720e-02 -1.96501783e-03 2.98856511e+02] [ 3.05537199e-02 9.99533125e-01 4.53258783e-05 2.48095944e+00] [ 1.96271554e-03 -1.05343234e-04 9.99998068e-01 6.10863984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64439141799994 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:298.92, Y:2.48, Z:0.61 [[ 9.99672080e-01 -2.55317714e-02 -1.96501224e-03 2.98918874e+02] [ 2.55319102e-02 9.99674007e-01 4.55667183e-05 2.48389561e+00] [ 1.96320826e-03 -9.57222922e-05 9.99998068e-01 6.11325084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70439141799994 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:298.98, Y:2.49, Z:0.61 [[ 9.99806991e-01 -1.95478929e-02 -1.96500863e-03 2.98981457e+02] [ 1.95480205e-02 9.99808918e-01 4.57219182e-05 2.48576510e+00] [ 1.96373938e-03 -8.41251224e-05 9.99998068e-01 6.13306622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76439141799995 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:299.04, Y:2.49, Z:0.61 [[ 9.99952641e-01 -9.53177797e-03 -1.96500484e-03 2.99042951e+02] [ 9.53188652e-03 9.99954569e-01 4.58841190e-05 2.49047655e+00] [ 1.96447821e-03 -6.46121491e-05 9.99998068e-01 6.14870611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82439141799995 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:299.10, Y:2.49, Z:0.62 [[ 9.99997566e-01 1.00310720e-03 -1.96500205e-03 2.99104445e+02] [-1.00301874e-03 9.99999496e-01 4.60035200e-05 2.49447279e+00] [ 1.96504720e-03 -4.40324742e-05 9.99998068e-01 6.18264137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88439141799995 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:299.16, Y:2.50, Z:0.62 [[ 9.99974260e-01 6.90059720e-03 -1.96500020e-03 2.99163022e+02] [-6.90051997e-03 9.99976190e-01 4.60823648e-05 2.49575229e+00] [ 1.96527141e-03 -3.25216556e-05 9.99998068e-01 6.16796686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94439141799995 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:299.22, Y:2.50, Z:0.62 [[ 9.99916598e-01 1.27646250e-02 -1.96501260e-03 2.99220828e+02] [-1.27645601e-02 9.99918529e-01 4.55470779e-05 2.49778130e+00] [ 1.96543390e-03 -2.04607576e-05 9.99998068e-01 6.16103963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00439141799995 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:299.28, Y:2.50, Z:0.61 [[ 9.99879952e-01 1.53694798e-02 -1.96502790e-03 2.99278571e+02] [-1.53694213e-02 9.99881882e-01 4.48773748e-05 2.49749007e+00] [ 1.96548554e-03 -1.46706457e-05 9.99998068e-01 6.14864828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06439141799996 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:299.34, Y:2.50, Z:0.62 [[ 9.99817706e-01 1.89919327e-02 -1.96503233e-03 2.99337144e+02] [-1.89918816e-02 9.99819637e-01 4.46827264e-05 2.49682183e+00] [ 1.96552652e-03 -7.35491981e-06 9.99998068e-01 6.16791579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12439141799996 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:299.39, Y:2.49, Z:0.62 [[ 9.99764798e-01 2.15982950e-02 -1.96503595e-03 2.99394943e+02] [-2.15982492e-02 9.99766730e-01 4.45228321e-05 2.49458351e+00] [ 1.96553918e-03 -2.07102421e-06 9.99998068e-01 6.17372338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18439141799996 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:299.45, Y:2.49, Z:0.62 [[ 9.99761256e-01 2.17616630e-02 -1.96504037e-03 2.99454116e+02] [-2.17616179e-02 9.99763187e-01 4.43267909e-05 2.49209501e+00] [ 1.96553965e-03 -1.55375032e-06 9.99998068e-01 6.18033601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24439141799996 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:299.51, Y:2.49, Z:0.62 [[ 9.99830144e-01 1.83254302e-02 -1.96504402e-03 2.99510833e+02] [-1.83253788e-02 9.99832075e-01 4.41643717e-05 2.48724425e+00] [ 1.96552337e-03 -8.14669409e-06 9.99998068e-01 6.16738564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30439141799997 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:299.57, Y:2.48, Z:0.62 [[ 9.99941129e-01 1.06713268e-02 -1.96505172e-03 2.99568280e+02] [-1.06712613e-02 9.99943060e-01 4.38193198e-05 2.48083832e+00] [ 1.96540743e-03 -2.28471597e-05 9.99998068e-01 6.16388662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36439141799997 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:299.63, Y:2.47, Z:0.62 [[ 9.99997640e-01 9.26323442e-04 -1.96505692e-03 2.99626554e+02] [-9.26239584e-04 9.99999570e-01 4.35846822e-05 2.47329556e+00] [ 1.96509645e-03 -4.17644658e-05 9.99998068e-01 6.16781654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42439141799997 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:299.69, Y:2.47, Z:0.62 [[ 9.99981590e-01 -5.74094707e-03 -1.96506033e-03 2.99686109e+02] [ 5.74104349e-03 9.99983519e-01 4.34302156e-05 2.46796735e+00] [ 1.96477862e-03 -5.47109128e-05 9.99998068e-01 6.16506827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.484391418 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:299.75, Y:2.45, Z:0.61 [[ 9.99992428e-01 -3.35888280e-03 -1.96506205e-03 2.99747144e+02] [ 3.35897447e-03 9.99994358e-01 4.33525554e-05 2.45312875e+00] [ 1.96490534e-03 -4.99528204e-05 9.99998068e-01 6.05811156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.544391418 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:299.81, Y:2.46, Z:0.61 [[ 9.99833884e-01 -1.81202221e-02 -1.96506025e-03 2.99807531e+02] [ 1.81203424e-02 9.99835812e-01 4.34340744e-05 2.45832161e+00] [ 1.96395057e-03 -7.90344239e-05 9.99998068e-01 6.14884145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.604391418 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:299.87, Y:2.45, Z:0.62 [[ 9.99708779e-01 -2.40519367e-02 -1.96505936e-03 2.99869679e+02] [ 2.40520685e-02 9.99710706e-01 4.34742730e-05 2.45442466e+00] [ 1.96344524e-03 -9.07253546e-05 9.99998068e-01 6.15535491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.664391418 meters Centerline goodness : 0.998962 with order 1 Centerline is valid? [True, True] Translation: X:299.93, Y:2.44, Z:0.61 [[ 9.99715785e-01 -2.37589478e-02 -1.96505581e-03 2.99931336e+02] [ 2.37590794e-02 9.99717712e-01 4.36340563e-05 2.44417549e+00] [ 1.96346440e-03 -9.03095719e-05 9.99998068e-01 6.09173558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.724391418 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:299.99, Y:2.45, Z:0.62 [[ 9.99489699e-01 -3.18822975e-02 -1.96505217e-03 2.99992819e+02] [ 3.18824451e-02 9.99491625e-01 4.37973906e-05 2.44981493e+00] [ 1.96265682e-03 -1.06425709e-04 9.99998068e-01 6.15833515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.784391418 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:300.06, Y:2.45, Z:0.61 [[ 9.99455488e-01 -3.29373195e-02 -1.96504571e-03 3.00055504e+02] [ 3.29374696e-02 9.99457413e-01 4.40853817e-05 2.44874903e+00] [ 1.96252744e-03 -1.08785010e-04 9.99998068e-01 6.13835601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.844391418 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:300.12, Y:2.45, Z:0.61 [[ 9.99423963e-01 -3.38803947e-02 -1.96504117e-03 3.00118078e+02] [ 3.38805471e-02 9.99425888e-01 4.42864488e-05 2.44835415e+00] [ 1.96241258e-03 -1.10837608e-04 9.99998068e-01 6.12308164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.904391418 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:300.18, Y:2.45, Z:0.61 [[ 9.99381402e-01 -3.51134057e-02 -1.96503748e-03 3.00179007e+02] [ 3.51135608e-02 9.99383328e-01 4.44499410e-05 2.44891988e+00] [ 1.96226490e-03 -1.13421907e-04 9.99998068e-01 6.11049231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.964391418 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:300.24, Y:2.45, Z:0.61 [[ 9.99332099e-01 -3.64896520e-02 -1.96503031e-03 3.00241039e+02] [ 3.64898103e-02 9.99334024e-01 4.47646603e-05 2.45020736e+00] [ 1.96208820e-03 -1.16438345e-04 9.99998068e-01 6.10415843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.024391418 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:300.30, Y:2.45, Z:0.61 [[ 9.99329128e-01 -3.65709385e-02 -1.96502668e-03 3.00303528e+02] [ 3.65710973e-02 9.99331053e-01 4.49231352e-05 2.45231772e+00] [ 1.96206930e-03 -1.16756180e-04 9.99998068e-01 6.13091802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08439141799994 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:300.36, Y:2.45, Z:0.62 [[ 9.99345139e-01 -3.61307677e-02 -1.96502309e-03 3.00364688e+02] [ 3.61309259e-02 9.99347064e-01 4.50799002e-05 2.45428282e+00] [ 1.96211128e-03 -1.16048483e-04 9.99998068e-01 6.15037146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14439141799994 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:300.43, Y:2.46, Z:0.62 [[ 9.99411440e-01 -3.42478196e-02 -1.96502043e-03 3.00427920e+02] [ 3.42479744e-02 9.99413365e-01 4.51954915e-05 2.45799081e+00] [ 1.96231983e-03 -1.12466861e-04 9.99998068e-01 6.17039344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20439141799994 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:300.49, Y:2.46, Z:0.62 [[ 9.99452566e-01 -3.30258391e-02 -1.96501489e-03 3.00490632e+02] [ 3.30259920e-02 9.99454492e-01 4.54351776e-05 2.46119500e+00] [ 1.96244242e-03 -1.10306871e-04 9.99998068e-01 6.16191816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26439141799995 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:300.55, Y:2.46, Z:0.61 [[ 9.99457005e-01 -3.28912435e-02 -1.96500935e-03 3.00553329e+02] [ 3.28913967e-02 9.99458931e-01 4.56732714e-05 2.46248571e+00] [ 1.96244390e-03 -1.10280373e-04 9.99998068e-01 6.14906525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32439141799995 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:300.62, Y:2.47, Z:0.61 [[ 9.99474108e-01 -3.23673684e-02 -1.96500388e-03 3.00615459e+02] [ 3.23675210e-02 9.99476033e-01 4.59076386e-05 2.46569504e+00] [ 1.96248837e-03 -1.09485800e-04 9.99998068e-01 6.13140160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38439141799995 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:300.68, Y:2.47, Z:0.62 [[ 9.99417241e-01 -3.40781150e-02 -1.96500028e-03 3.00678128e+02] [ 3.40782712e-02 9.99419166e-01 4.60610573e-05 2.46941571e+00] [ 1.96228927e-03 -1.12998027e-04 9.99998068e-01 6.15729137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44439141799995 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:300.74, Y:2.47, Z:0.61 [[ 9.99676318e-01 -2.53653056e-02 -1.96499643e-03 3.00739341e+02] [ 2.53654454e-02 9.99678244e-01 4.62249072e-05 2.47053006e+00] [ 1.96319167e-03 -9.60529545e-05 9.99998068e-01 6.13940749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50439141799995 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:300.80, Y:2.47, Z:0.62 [[ 9.99818296e-01 -1.89608481e-02 -1.96499360e-03 3.00801840e+02] [ 1.89609757e-02 9.99820223e-01 4.63449370e-05 2.47376710e+00] [ 1.96376160e-03 -8.35947118e-05 9.99998068e-01 6.16785695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56439141799996 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:300.86, Y:2.48, Z:0.62 [[ 9.99972803e-01 -7.10859782e-03 -1.96498988e-03 3.00863956e+02] [ 7.10870291e-03 9.99974732e-01 4.65019577e-05 2.47740064e+00] [ 1.96460966e-03 -6.04692223e-05 9.99998068e-01 6.18255434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62439141799996 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:300.92, Y:2.48, Z:0.62 [[ 9.99994478e-01 2.68004545e-03 -1.96498608e-03 3.00924129e+02] [-2.67995893e-03 9.99996408e-01 4.66619075e-05 2.48088991e+00] [ 1.96510408e-03 -4.13955679e-05 9.99998068e-01 6.19582186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68439141799996 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:300.98, Y:2.48, Z:0.62 [[ 9.99946810e-01 1.01249733e-02 -1.96498514e-03 3.00983077e+02] [-1.01249010e-02 9.99948741e-01 4.67016272e-05 2.48302550e+00] [ 1.96535727e-03 -2.68038631e-05 9.99998068e-01 6.19243326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74439141799996 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:301.04, Y:2.48, Z:0.62 [[ 9.99777727e-01 2.09912970e-02 -1.96499827e-03 3.01042164e+02] [-2.09912469e-02 9.99779658e-01 4.61422405e-05 2.48465308e+00] [ 1.96553389e-03 -4.88422047e-06 9.99998068e-01 6.17494874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80439141799997 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:301.10, Y:2.48, Z:0.62 [[ 9.99552986e-01 2.98322991e-02 -1.96501102e-03 3.01100540e+02] [-2.98322671e-02 9.99554918e-01 4.55928100e-05 2.48466968e+00] [ 1.96549657e-03 1.30483043e-05 9.99998068e-01 6.17168888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86439141799997 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:301.16, Y:2.48, Z:0.62 [[ 9.99465907e-01 3.26196146e-02 -1.96501470e-03 3.01158390e+02] [-3.26195883e-02 9.99467839e-01 4.54335652e-05 2.48263050e+00] [ 1.96545102e-03 1.86886711e-05 9.99998068e-01 6.17157607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92439141799997 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:301.22, Y:2.48, Z:0.62 [[ 9.99457237e-01 3.28841793e-02 -1.96502011e-03 3.01216092e+02] [-3.28841540e-02 9.99459169e-01 4.51985747e-05 2.47853952e+00] [ 1.96544368e-03 1.94439812e-05 9.99998068e-01 6.18465082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.984391418 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:301.27, Y:2.47, Z:0.62 [[ 9.99541525e-01 3.02138671e-02 -1.96502661e-03 3.01273362e+02] [-3.02138372e-02 9.99543457e-01 4.49140877e-05 2.47186069e+00] [ 1.96548652e-03 1.44774984e-05 9.99998068e-01 6.17544892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.044391418 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:301.33, Y:2.46, Z:0.62 [[ 9.99840817e-01 1.77335644e-02 -1.96503088e-03 3.01332353e+02] [-1.77335108e-02 9.99842748e-01 4.47266410e-05 2.46319564e+00] [ 1.96551504e-03 -9.87262497e-06 9.99998068e-01 6.19184043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.104391418 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:301.39, Y:2.46, Z:0.62 [[ 9.99986490e-01 4.81230585e-03 -1.96503453e-03 3.01391663e+02] [-4.81222756e-03 9.99988420e-01 4.45656502e-05 2.45946694e+00] [ 1.96522624e-03 -3.51088548e-05 9.99998068e-01 6.23995546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.164391418 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:301.45, Y:2.45, Z:0.62 [[ 9.99993680e-01 -2.96291902e-03 -1.96503745e-03 3.01449696e+02] [ 2.96301205e-03 9.99995609e-01 4.44363004e-05 2.44802052e+00] [ 1.96489716e-03 -5.02584492e-05 9.99998068e-01 6.15632642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.224391418 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:301.51, Y:2.44, Z:0.61 [[ 9.99873523e-01 -1.57821361e-02 -1.96504037e-03 3.01510280e+02] [ 1.57822536e-02 9.99875452e-01 4.43069226e-05 2.43891189e+00] [ 1.96409637e-03 -7.53140842e-05 9.99998068e-01 6.13656397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.284391418 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:301.57, Y:2.43, Z:0.61 [[ 9.99695504e-01 -2.45975360e-02 -1.96503950e-03 3.01572829e+02] [ 2.45976706e-02 9.99697431e-01 4.43453204e-05 2.43195645e+00] [ 1.96335416e-03 -9.26672118e-05 9.99998068e-01 6.14868692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.344391418 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:301.64, Y:2.43, Z:0.62 [[ 9.99536339e-01 -3.03849469e-02 -1.96503501e-03 3.01635153e+02] [ 3.03850930e-02 9.99538265e-01 4.45435969e-05 2.42643941e+00] [ 1.96277423e-03 -1.04230715e-04 9.99998068e-01 6.15455958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.404391418 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:301.70, Y:2.42, Z:0.62 [[ 9.99452562e-01 -3.30259846e-02 -1.96503053e-03 3.01698490e+02] [ 3.30261362e-02 9.99454487e-01 4.47402549e-05 2.42260951e+00] [ 1.96248099e-03 -1.09613128e-04 9.99998068e-01 6.16263403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.464391418 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:301.76, Y:2.42, Z:0.62 [[ 9.99345544e-01 -3.61195687e-02 -1.96502511e-03 3.01759822e+02] [ 3.61197267e-02 9.99347469e-01 4.49771116e-05 2.41791682e+00] [ 1.96211832e-03 -1.15923846e-04 9.99998068e-01 6.15672961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.524391418 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:301.82, Y:2.41, Z:0.62 [[ 9.99251234e-01 -3.86407762e-02 -1.96502244e-03 3.01821960e+02] [ 3.86409393e-02 9.99253159e-01 4.50932784e-05 2.41313686e+00] [ 1.96181245e-03 -1.20989827e-04 9.99998068e-01 6.16333239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58439141799994 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:301.88, Y:2.41, Z:0.61 [[ 9.99210036e-01 -3.96918451e-02 -1.96501873e-03 3.01882959e+02] [ 3.96920105e-02 9.99211961e-01 4.52547944e-05 2.41053122e+00] [ 1.96167397e-03 -1.23214589e-04 9.99998068e-01 6.14105138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64439141799994 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:301.94, Y:2.41, Z:0.61 [[ 9.99222785e-01 -3.93695833e-02 -1.96501598e-03 3.01944981e+02] [ 3.93697484e-02 9.99224710e-01 4.53738992e-05 2.40955227e+00] [ 1.96170617e-03 -1.22700818e-04 9.99998068e-01 6.13843348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70439141799994 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:302.01, Y:2.41, Z:0.61 [[ 9.99297404e-01 -3.74277557e-02 -1.96501225e-03 3.02007226e+02] [ 3.74279173e-02 9.99299329e-01 4.55345037e-05 2.40984583e+00] [ 1.96193117e-03 -1.19048828e-04 9.99998068e-01 6.12170050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76439141799995 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:302.07, Y:2.41, Z:0.62 [[ 9.99524225e-01 -3.07808736e-02 -1.96500858e-03 3.02070624e+02] [ 3.07810228e-02 9.99526151e-01 4.56925649e-05 2.41211334e+00] [ 1.96267100e-03 -1.06155799e-04 9.99998068e-01 6.15020723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82439141799995 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:302.13, Y:2.42, Z:0.62 [[ 9.99784148e-01 -2.06832313e-02 -1.96500277e-03 3.02131660e+02] [ 2.06833614e-02 9.99786075e-01 4.59410063e-05 2.41591385e+00] [ 1.96363220e-03 -8.65739524e-05 9.99998068e-01 6.17311957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88439141799995 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:302.19, Y:2.42, Z:0.62 [[ 9.99911851e-01 -1.31311878e-02 -1.96499992e-03 3.02194143e+02] [ 1.31313036e-02 9.99913780e-01 4.60624748e-05 2.41784371e+00] [ 1.96422564e-03 -7.18614251e-05 9.99998068e-01 6.20739481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94439141799995 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:302.26, Y:2.42, Z:0.62 [[ 9.99995122e-01 -2.42782286e-03 -1.96499621e-03 3.02255427e+02] [ 2.42791837e-03 9.99997052e-01 4.62201989e-05 2.41948984e+00] [ 1.96487820e-03 -5.09908239e-05 9.99998068e-01 6.21762468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00439141799995 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:302.32, Y:2.42, Z:0.62 [[ 9.99981832e-01 5.69864001e-03 -1.96499347e-03 3.02316126e+02] [-5.69855996e-03 9.99983762e-01 4.63363105e-05 2.41945701e+00] [ 1.96522562e-03 -3.51378355e-05 9.99998068e-01 6.23761965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06439141799996 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:302.37, Y:2.42, Z:0.62 [[ 9.99946860e-01 1.01201068e-02 -1.96499347e-03 3.02373949e+02] [-1.01200353e-02 9.99948790e-01 4.63363105e-05 2.41866509e+00] [ 1.96536178e-03 -2.64480448e-05 9.99998068e-01 6.22963417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12439141799996 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:302.43, Y:2.42, Z:0.62 [[ 9.99814772e-01 1.91457939e-02 -1.96500823e-03 3.02431345e+02] [-1.91457411e-02 9.99816702e-01 4.57019870e-05 2.41726720e+00] [ 1.96552305e-03 -8.07198298e-06 9.99998068e-01 6.20998352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18439141799996 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:302.49, Y:2.42, Z:0.62 [[ 9.99566929e-01 2.93614365e-02 -1.96501272e-03 3.02490277e+02] [-2.93614037e-02 9.99568860e-01 4.55080400e-05 2.41626596e+00] [ 1.96550170e-03 1.22072000e-05 9.99998068e-01 6.22634858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24439141799996 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:302.55, Y:2.41, Z:0.62 [[ 9.99357674e-01 3.57823747e-02 -1.96502529e-03 3.02549336e+02] [-3.57823555e-02 9.99359605e-01 4.49586055e-05 2.41434887e+00] [ 1.96537562e-03 2.53835060e-05 9.99998068e-01 6.23975813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30439141799997 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:302.61, Y:2.41, Z:0.62 [[ 9.99262108e-01 3.83585408e-02 -1.96502881e-03 3.02608009e+02] [-3.83585268e-02 9.99264040e-01 4.48043729e-05 2.41278450e+00] [ 1.96530125e-03 3.06042979e-05 9.99998068e-01 6.24582270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36439141799997 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:302.67, Y:2.41, Z:0.63 [[ 9.99106952e-01 4.22070716e-02 -1.96503227e-03 3.02666260e+02] [-4.22070654e-02 9.99108884e-01 4.46520542e-05 2.40859287e+00] [ 1.96516583e-03 3.83260676e-05 9.99998068e-01 6.25146733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42439141799997 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:302.72, Y:2.40, Z:0.63 [[ 9.99329793e-01 3.65527439e-02 -1.96503650e-03 3.02724710e+02] [-3.65527271e-02 9.99331725e-01 4.44648797e-05 2.40051036e+00] [ 1.96534863e-03 2.73923640e-05 9.99998068e-01 6.25292003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.484391418 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:302.78, Y:2.39, Z:0.63 [[ 9.99593508e-01 2.84421755e-02 -1.96504010e-03 3.02783402e+02] [-2.84421434e-02 9.99595439e-01 4.43052149e-05 2.39311657e+00] [ 1.96550526e-03 1.16027472e-05 9.99998068e-01 6.25011089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.544391418 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:302.84, Y:2.38, Z:0.62 [[ 9.99915282e-01 1.28672686e-02 -1.96504374e-03 3.02841802e+02] [-1.28672067e-02 9.99917213e-01 4.41432283e-05 2.38222828e+00] [ 1.96544906e-03 -1.88548645e-05 9.99998068e-01 6.24557374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.604391418 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:302.90, Y:2.37, Z:0.62 [[ 9.99994618e-01 2.62737405e-03 -1.96504738e-03 3.02898940e+02] [-2.62729269e-03 9.99996548e-01 4.39808088e-05 2.37403271e+00] [ 1.96515615e-03 -3.88178175e-05 9.99998068e-01 6.23524550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.664391418 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:302.96, Y:2.36, Z:0.62 [[ 9.99948326e-01 -9.97418920e-03 -1.96505039e-03 3.02958065e+02] [ 9.97429460e-03 9.99950255e-01 4.38457649e-05 2.36366450e+00] [ 1.96451531e-03 -6.34434907e-05 9.99998068e-01 6.23056779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.724391418 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:303.02, Y:2.36, Z:0.62 [[ 9.99809068e-01 -1.94413690e-02 -1.96505219e-03 3.03020374e+02] [ 1.94414925e-02 9.99810995e-01 4.37649026e-05 2.35519974e+00] [ 1.96382994e-03 -8.19600938e-05 9.99998068e-01 6.20265493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.784391418 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:303.08, Y:2.35, Z:0.62 [[ 9.99689054e-01 -2.48582936e-02 -1.96503963e-03 3.03081491e+02] [ 2.48584286e-02 9.99690981e-01 4.43216468e-05 2.34993057e+00] [ 1.96333064e-03 -9.31556626e-05 9.99998068e-01 6.18683185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.844391418 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:303.14, Y:2.34, Z:0.62 [[ 9.99555781e-01 -2.97385046e-02 -1.96503696e-03 3.03143396e+02] [ 2.97386493e-02 9.99557708e-01 4.44397152e-05 2.34461346e+00] [ 1.96284627e-03 -1.02857519e-04 9.99998068e-01 6.18699348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.904391418 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:303.21, Y:2.34, Z:0.62 [[ 9.99530089e-01 -3.05898507e-02 -1.96503343e-03 3.03205805e+02] [ 3.05899973e-02 9.99532016e-01 4.45952957e-05 2.34319528e+00] [ 1.96274966e-03 -1.04684707e-04 9.99998068e-01 6.19499485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.964391418 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:303.27, Y:2.34, Z:0.62 [[ 9.99563263e-01 -2.94859526e-02 -1.96502905e-03 3.03268049e+02] [ 2.94860975e-02 9.99565189e-01 4.47876317e-05 2.34211798e+00] [ 1.96285403e-03 -1.02709109e-04 9.99998068e-01 6.20227090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.024391418 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:303.33, Y:2.34, Z:0.62 [[ 9.99610726e-01 -2.78304703e-02 -1.96502560e-03 3.03331388e+02] [ 2.78306123e-02 9.99612652e-01 4.49382700e-05 2.34089956e+00] [ 1.96301380e-03 -9.96086423e-05 9.99998068e-01 6.20776304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08439141799994 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:303.39, Y:2.34, Z:0.62 [[ 9.99619603e-01 -2.75097898e-02 -1.96502008e-03 3.03393469e+02] [ 2.75099316e-02 9.99621529e-01 4.51787357e-05 2.34031813e+00] [ 1.96303351e-03 -9.92191176e-05 9.99998068e-01 6.20557996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14439141799994 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:303.46, Y:2.34, Z:0.62 [[ 9.99615356e-01 -2.76636546e-02 -1.96501635e-03 3.03456166e+02] [ 2.76637971e-02 9.99617283e-01 4.53399984e-05 2.34065190e+00] [ 1.96301004e-03 -9.96823723e-05 9.99998068e-01 6.19387671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20439141799994 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:303.52, Y:2.34, Z:0.62 [[ 9.99624302e-01 -2.73384868e-02 -1.96501265e-03 3.03518289e+02] [ 2.73386289e-02 9.99626229e-01 4.54999504e-05 2.34030526e+00] [ 1.96303429e-03 -9.92036079e-05 9.99998068e-01 6.19276507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26439141799995 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:303.58, Y:2.34, Z:0.62 [[ 9.99709731e-01 -2.40123197e-02 -1.96500900e-03 3.03580626e+02] [ 2.40124558e-02 9.99711658e-01 4.56570461e-05 2.34212855e+00] [ 1.96334607e-03 -9.28284850e-05 9.99998068e-01 6.20283051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32439141799995 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:303.64, Y:2.35, Z:0.62 [[ 9.99852112e-01 -1.70848941e-02 -1.96500539e-03 3.03642617e+02] [ 1.70850171e-02 9.99854039e-01 4.58118503e-05 2.34554959e+00] [ 1.96393589e-03 -7.93772259e-05 9.99998068e-01 6.22159154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38439141799995 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:303.71, Y:2.35, Z:0.62 [[ 9.99927928e-01 -1.18438442e-02 -1.96500181e-03 3.03705140e+02] [ 1.18439574e-02 9.99929857e-01 4.59649708e-05 2.34675335e+00] [ 1.96431958e-03 -6.92350557e-05 9.99998068e-01 6.22885003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44439141799995 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:303.77, Y:2.35, Z:0.62 [[ 9.99984270e-01 -5.25342773e-03 -1.96499828e-03 3.03766533e+02] [ 5.25352848e-03 9.99986199e-01 4.61152520e-05 2.34960908e+00] [ 1.96472890e-03 -5.64377010e-05 9.99998068e-01 6.24568606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50439141799995 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:303.83, Y:2.35, Z:0.63 [[ 9.99995294e-01 -2.35602691e-03 -1.96499654e-03 3.03827477e+02] [ 2.35612222e-03 9.99997223e-01 4.61895088e-05 2.35058523e+00] [ 1.96488226e-03 -5.08190634e-05 9.99998068e-01 6.26040290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56439141799996 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:303.89, Y:2.35, Z:0.63 [[ 9.99997138e-01 -1.36483616e-03 -1.96499482e-03 3.03887812e+02] [ 1.36492970e-03 9.99999067e-01 4.62626126e-05 2.35178818e+00] [ 1.96492984e-03 -4.89445599e-05 9.99998068e-01 6.26659704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62439141799996 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:303.95, Y:2.35, Z:0.63 [[ 9.99993059e-01 -3.16560571e-03 -1.96499482e-03 3.03947457e+02] [ 3.16570273e-03 9.99994988e-01 4.62626126e-05 2.35227339e+00] [ 1.96483852e-03 -5.24828809e-05 9.99998068e-01 6.26428833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68439141799996 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:304.01, Y:2.35, Z:0.63 [[ 9.99986115e-01 -4.88966569e-03 -1.96499667e-03 3.04008261e+02] [ 4.88976588e-03 9.99988044e-01 4.61835687e-05 2.35108632e+00] [ 1.96474736e-03 -5.57913011e-05 9.99998068e-01 6.26455751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74439141799996 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:304.07, Y:2.35, Z:0.63 [[ 9.99965012e-01 -8.13098966e-03 -1.96499667e-03 3.04068624e+02] [ 8.13109610e-03 9.99966941e-01 4.61835687e-05 2.34918730e+00] [ 1.96455620e-03 -6.21595296e-05 9.99998068e-01 6.26379798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80439141799997 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:304.13, Y:2.35, Z:0.63 [[ 9.99946788e-01 -1.01272170e-02 -1.96499576e-03 3.04130287e+02] [ 1.01273274e-02 9.99948716e-01 4.62224705e-05 2.34740439e+00] [ 1.96442688e-03 -6.61201663e-05 9.99998068e-01 6.26233693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86439141799997 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:304.19, Y:2.35, Z:0.63 [[ 9.99904189e-01 -1.37022834e-02 -1.96499387e-03 3.04191563e+02] [ 1.37024009e-02 9.99906117e-01 4.63028404e-05 2.34569152e+00] [ 1.96417493e-03 -7.32235377e-05 9.99998068e-01 6.26024222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92439141799997 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:304.25, Y:2.34, Z:0.63 [[ 9.99871821e-01 -1.58896352e-02 -1.96499106e-03 3.04254102e+02] [ 1.58897571e-02 9.99873749e-01 4.64217451e-05 2.34346415e+00] [ 1.96400535e-03 -7.76390253e-05 9.99998068e-01 6.25822095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.984391418 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:304.32, Y:2.34, Z:0.62 [[ 9.99860178e-01 -1.66061201e-02 -1.96498740e-03 3.04316486e+02] [ 1.66062436e-02 9.99862106e-01 4.65758523e-05 2.34195155e+00] [ 1.96394300e-03 -7.92003995e-05 9.99998068e-01 6.24940712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.044391418 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:304.38, Y:2.34, Z:0.62 [[ 9.99888649e-01 -1.47928814e-02 -1.96498371e-03 3.04377849e+02] [ 1.47930018e-02 9.99890576e-01 4.67311221e-05 2.34128954e+00] [ 1.96407741e-03 -7.57939260e-05 9.99998068e-01 6.23657107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.104391418 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:304.44, Y:2.34, Z:0.62 [[ 9.99964585e-01 -8.18340887e-03 -1.96497796e-03 3.04440058e+02] [ 8.18351695e-03 9.99966513e-01 4.69715082e-05 2.34092553e+00] [ 1.96452778e-03 -6.30502752e-05 9.99998068e-01 6.23115441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.164391418 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:304.50, Y:2.34, Z:0.62 [[ 9.99990561e-01 3.87511262e-03 -1.96497415e-03 3.04501013e+02] [-3.87502749e-03 9.99992491e-01 4.71305439e-05 2.34005687e+00] [ 1.96514203e-03 -3.95157702e-05 9.99998068e-01 6.22528609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.224391418 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:304.56, Y:2.34, Z:0.62 [[ 9.99986469e-01 4.81670760e-03 -1.96497211e-03 3.04559315e+02] [-4.81662412e-03 9.99988399e-01 4.72154218e-05 2.34272078e+00] [ 1.96517674e-03 -3.77502509e-05 9.99998068e-01 6.23960551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.284391418 meters Centerline goodness : 0.998239 with order 1 Centerline is valid? [True, True] Translation: X:304.62, Y:2.34, Z:0.62 [[ 9.99912369e-01 1.30917179e-02 -1.96497702e-03 3.04616881e+02] [-1.30916508e-02 9.99914300e-01 4.70101178e-05 2.34412339e+00] [ 1.96542407e-03 -2.12812053e-05 9.99998068e-01 6.21883588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.344391418 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:304.68, Y:2.34, Z:0.62 [[ 9.99893402e-01 1.44680379e-02 -1.96499348e-03 3.04675353e+02] [-1.44679749e-02 9.99895332e-01 4.63116471e-05 2.34360409e+00] [ 1.96545785e-03 -1.78772340e-05 9.99998068e-01 6.23260910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.404391418 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:304.73, Y:2.34, Z:0.62 [[ 9.99911464e-01 1.31606949e-02 -1.96499829e-03 3.04734039e+02] [-1.31606297e-02 9.99913394e-01 4.61068851e-05 2.34030062e+00] [ 1.96543491e-03 -2.02421882e-05 9.99998068e-01 6.23257145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.464391418 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:304.79, Y:2.34, Z:0.62 [[ 9.99990437e-01 3.90711967e-03 -1.96500262e-03 3.04791655e+02] [-3.90703697e-03 9.99992366e-01 4.59213272e-05 2.34080265e+00] [ 1.96516704e-03 -3.82435502e-05 9.99998068e-01 6.21050586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.524391418 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:304.85, Y:2.34, Z:0.62 [[ 9.99990364e-01 -3.92574938e-03 -1.96500648e-03 3.04850534e+02] [ 3.92584686e-03 9.99992293e-01 4.57557749e-05 2.33893990e+00] [ 1.96481171e-03 -5.34696485e-05 9.99998068e-01 6.24896934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58439141799994 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:304.91, Y:2.34, Z:0.62 [[ 9.99907614e-01 -1.34499881e-02 -1.96501299e-03 3.04911033e+02] [ 1.34501034e-02 9.99909542e-01 4.54746211e-05 2.33682222e+00] [ 1.96422360e-03 -7.19000477e-05 9.99998068e-01 6.23893132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64439141799994 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:304.97, Y:2.34, Z:0.63 [[ 9.99854720e-01 -1.69315546e-02 -1.96500815e-03 3.04972790e+02] [ 1.69316770e-02 9.99856648e-01 4.56827652e-05 2.33574587e+00] [ 1.96395298e-03 -7.89470116e-05 9.99998068e-01 6.25028775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70439141799994 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:305.03, Y:2.33, Z:0.63 [[ 9.99832896e-01 -1.81746810e-02 -1.96500437e-03 3.05034885e+02] [ 1.81748062e-02 9.99834824e-01 4.58447106e-05 2.33495883e+00] [ 1.96384658e-03 -8.15506233e-05 9.99998068e-01 6.25049757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76439141799995 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:305.10, Y:2.33, Z:0.63 [[ 9.99876127e-01 -1.56163219e-02 -1.96500063e-03 3.05097414e+02] [ 1.56164424e-02 9.99878055e-01 4.60043935e-05 2.33485266e+00] [ 1.96404259e-03 -7.66850141e-05 9.99998068e-01 6.25567934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82439141799995 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:305.16, Y:2.34, Z:0.63 [[ 9.99916066e-01 -1.28062595e-02 -1.96499678e-03 3.05158203e+02] [ 1.28063750e-02 9.99917994e-01 4.61681635e-05 2.33581082e+00] [ 1.96424440e-03 -7.13287740e-05 9.99998068e-01 6.25949802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88439141799995 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:305.22, Y:2.34, Z:0.63 [[ 9.99972603e-01 -7.13663561e-03 -1.96499394e-03 3.05220164e+02] [ 7.13674033e-03 9.99974532e-01 4.62888715e-05 2.33812694e+00] [ 1.96461355e-03 -6.03112548e-05 9.99998068e-01 6.25785766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94439141799995 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:305.28, Y:2.34, Z:0.63 [[ 9.99991921e-01 -3.50675742e-03 -1.96499021e-03 3.05281620e+02] [ 3.50685546e-03 9.99993850e-01 4.64467630e-05 2.33875682e+00] [ 1.96481524e-03 -5.33373244e-05 9.99998068e-01 6.25443460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00439141799995 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:305.34, Y:2.34, Z:0.62 [[ 9.99997553e-01 1.01605676e-03 -1.96498837e-03 3.05342444e+02] [-1.01596730e-03 9.99999483e-01 4.65243000e-05 2.34012924e+00] [ 1.96503463e-03 -4.45278223e-05 9.99998068e-01 6.24987387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06439141799996 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:305.40, Y:2.34, Z:0.62 [[ 9.99992549e-01 3.32278620e-03 -1.96498837e-03 3.05401821e+02] [-3.32270119e-03 9.99994479e-01 4.65243000e-05 2.34112931e+00] [ 1.96513211e-03 -3.99948842e-05 9.99998068e-01 6.24033874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12439141799996 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:305.46, Y:2.34, Z:0.62 [[ 9.99977126e-01 6.47203801e-03 -1.96499020e-03 3.05460944e+02] [-6.47195923e-03 9.99979056e-01 4.64469656e-05 2.34292519e+00] [ 1.96524965e-03 -3.37285667e-05 9.99998068e-01 6.24135457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18439141799996 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:305.52, Y:2.34, Z:0.63 [[ 9.99943599e-01 1.04373631e-02 -1.96500312e-03 3.05518915e+02] [-1.04372930e-02 9.99945529e-01 4.58937360e-05 2.34399956e+00] [ 1.96537509e-03 -2.53818342e-05 9.99998068e-01 6.25792342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24439141799996 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:305.58, Y:2.34, Z:0.63 [[ 9.99906134e-01 1.35595720e-02 -1.96501813e-03 3.05577510e+02] [-1.35595092e-02 9.99908065e-01 4.52418756e-05 2.34431194e+00] [ 1.96545093e-03 -1.85929475e-05 9.99998068e-01 6.26066181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30439141799997 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:305.64, Y:2.34, Z:0.63 [[ 9.99816015e-01 1.90807373e-02 -1.96502179e-03 3.05635036e+02] [-1.90806855e-02 9.99817946e-01 4.50821541e-05 2.34474519e+00] [ 1.96552425e-03 -7.57989682e-06 9.99998068e-01 6.25657703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36439141799997 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:305.69, Y:2.34, Z:0.63 [[ 9.99694704e-01 2.46300168e-02 -1.96502627e-03 3.05693720e+02] [-2.46299761e-02 9.99696635e-01 4.48861365e-05 2.34366786e+00] [ 1.96553570e-03 3.52611720e-06 9.99998068e-01 6.27230357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42439141799997 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:305.75, Y:2.34, Z:0.63 [[ 9.99623937e-01 2.73518527e-02 -1.96502984e-03 3.05751986e+02] [-2.73518176e-02 9.99625868e-01 4.47290962e-05 2.34236545e+00] [ 1.96551809e-03 9.03486266e-06 9.99998068e-01 6.27191645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.484391418 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:305.81, Y:2.34, Z:0.63 [[ 9.99542026e-01 3.01972870e-02 -1.96503509e-03 3.05810952e+02] [-3.01972579e-02 9.99543958e-01 4.44974141e-05 2.33989176e+00] [ 1.96548265e-03 1.48616359e-05 9.99998068e-01 6.26603201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.544391418 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:305.87, Y:2.34, Z:0.63 [[ 9.99522384e-01 3.08406041e-02 -1.96503852e-03 3.05869229e+02] [-3.08405765e-02 9.99524315e-01 4.43456137e-05 2.33681603e+00] [ 1.96547142e-03 1.62784873e-05 9.99998068e-01 6.26538120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.604391418 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:305.93, Y:2.33, Z:0.63 [[ 9.99575003e-01 2.90852590e-02 -1.96504192e-03 3.05928107e+02] [-2.90852283e-02 9.99576934e-01 4.41941910e-05 2.33357433e+00] [ 1.96549598e-03 1.29782843e-05 9.99998068e-01 6.28540947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.664391418 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:305.99, Y:2.32, Z:0.63 [[ 9.99673097e-01 2.54919178e-02 -1.96504584e-03 3.05985666e+02] [-2.54918806e-02 9.99675028e-01 4.40195340e-05 2.32446313e+00] [ 1.96552939e-03 6.08756985e-06 9.99998068e-01 6.26396235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.724391418 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:306.04, Y:2.32, Z:0.63 [[ 9.99781548e-01 2.08085179e-02 -1.96505070e-03 3.06044795e+02] [-2.08084720e-02 9.99783479e-01 4.38011914e-05 2.31726895e+00] [ 1.96553667e-03 -2.90192045e-06 9.99998068e-01 6.27401794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.784391418 meters Centerline goodness : 0.998890 with order 1 Centerline is valid? [True, True] Translation: X:306.10, Y:2.31, Z:0.63 [[ 9.99836443e-01 1.79784974e-02 -1.96505413e-03 3.06102847e+02] [-1.79784463e-02 9.99838374e-01 4.36467253e-05 2.31228479e+00] [ 1.96552123e-03 -8.31096630e-06 9.99998068e-01 6.27799366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.844391418 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:306.16, Y:2.31, Z:0.63 [[ 9.99882926e-01 1.51747425e-02 -1.96505936e-03 3.06161826e+02] [-1.51746865e-02 9.99884857e-01 4.34099272e-05 2.30637196e+00] [ 1.96549184e-03 -1.35856852e-05 9.99998068e-01 6.27862331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.904391418 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:306.22, Y:2.30, Z:0.63 [[ 9.99949217e-01 9.88441249e-03 -1.96506281e-03 3.06219082e+02] [-9.88434657e-03 9.99951148e-01 4.32534181e-05 2.29802939e+00] [ 1.96539435e-03 -2.38278597e-05 9.99998068e-01 6.27713854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.964391418 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:306.28, Y:2.29, Z:0.63 [[ 9.99976402e-01 6.58285184e-03 -1.96506703e-03 3.06277937e+02] [-6.58277993e-03 9.99978332e-01 4.30609173e-05 2.29014419e+00] [ 1.96530791e-03 -3.01242974e-05 9.99998068e-01 6.28354911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.024391418 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:306.34, Y:2.29, Z:0.63 [[ 9.99971002e-01 7.35759923e-03 -1.96507058e-03 3.06335704e+02] [-7.35752914e-03 9.99972932e-01 4.28981597e-05 2.28553557e+00] [ 1.96533302e-03 -2.84388517e-05 9.99998068e-01 6.27839466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08439141799994 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:306.39, Y:2.28, Z:0.63 [[ 9.99958495e-01 8.89642669e-03 -1.96507492e-03 3.06394069e+02] [-8.89635995e-03 9.99960426e-01 4.26983662e-05 2.28283699e+00] [ 1.96537702e-03 -2.52145802e-05 9.99998068e-01 6.28242983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14439141799994 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:306.45, Y:2.28, Z:0.63 [[ 9.99861865e-01 1.65041953e-02 -1.96507837e-03 3.06452265e+02] [-1.65041436e-02 9.99863796e-01 4.25388877e-05 2.27795504e+00] [ 1.96551279e-03 -1.01010760e-05 9.99998068e-01 6.28442019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20439141799994 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:306.51, Y:2.27, Z:0.63 [[ 9.99701358e-01 2.43584520e-02 -1.96509213e-03 3.06510805e+02] [-2.43584167e-02 9.99703289e-01 4.18937814e-05 2.27299114e+00] [ 1.96552953e-03 5.98526271e-06 9.99998068e-01 6.29533449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26439141799995 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:306.57, Y:2.27, Z:0.63 [[ 9.99623132e-01 2.73812316e-02 -1.96510410e-03 3.06568593e+02] [-2.73812032e-02 9.99625064e-01 4.13244898e-05 2.26835174e+00] [ 1.96549883e-03 1.24979987e-05 9.99998068e-01 6.28874588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32439141799995 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:306.63, Y:2.26, Z:0.63 [[ 9.99607407e-01 2.79494149e-02 -1.96510916e-03 3.06626919e+02] [-2.79493881e-02 9.99609339e-01 4.10826042e-05 2.26147145e+00] [ 1.96548970e-03 1.38571230e-05 9.99998068e-01 6.27564669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38439141799995 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:306.68, Y:2.25, Z:0.63 [[ 9.99712378e-01 2.39018935e-02 -1.96511246e-03 3.06684952e+02] [-2.39018592e-02 9.99714309e-01 4.09236916e-05 2.25361418e+00] [ 1.96552920e-03 6.05792051e-06 9.99998068e-01 6.27339298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44439141799995 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:306.74, Y:2.25, Z:0.63 [[ 9.99814745e-01 1.91471653e-02 -1.96511744e-03 3.06743811e+02] [-1.91471223e-02 9.99816676e-01 4.06833396e-05 2.24776184e+00] [ 1.96553616e-03 -3.04945886e-06 9.99998068e-01 6.28485058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50439141799995 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:306.80, Y:2.24, Z:0.63 [[ 9.99942685e-01 1.05244651e-02 -1.96512076e-03 3.06801069e+02] [-1.05244058e-02 9.99944616e-01 4.05224196e-05 2.23984025e+00] [ 1.96543840e-03 -1.98383688e-05 9.99998068e-01 6.29263088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56439141799996 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:306.86, Y:2.23, Z:0.63 [[ 9.99989661e-01 4.10082734e-03 -1.96512481e-03 3.06858694e+02] [-4.10075601e-03 9.99991591e-01 4.03248642e-05 2.23475101e+00] [ 1.96527365e-03 -3.22659499e-05 9.99998068e-01 6.29061105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62439141799996 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:306.92, Y:2.23, Z:0.63 [[ 9.99982981e-01 -5.49327819e-03 -1.96512860e-03 3.06918191e+02] [ 5.49336767e-03 9.99984911e-01 4.01392815e-05 2.22726397e+00] [ 1.96487845e-03 -5.09337723e-05 9.99998068e-01 6.29858012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68439141799996 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:306.98, Y:2.22, Z:0.63 [[ 9.99917112e-01 -1.27242656e-02 -1.96513025e-03 3.06978995e+02] [ 1.27243689e-02 9.99919041e-01 4.00584065e-05 2.22024826e+00] [ 1.96446144e-03 -6.50601284e-05 9.99998068e-01 6.29691152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74439141799996 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:307.04, Y:2.22, Z:0.63 [[ 9.99888084e-01 -1.48310009e-02 -1.96513025e-03 3.07040315e+02] [ 1.48311082e-02 9.99890012e-01 4.00584065e-05 2.21657603e+00] [ 1.96432001e-03 -6.91989827e-05 9.99998068e-01 6.29525859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80439141799997 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:307.10, Y:2.21, Z:0.63 [[ 9.99907839e-01 -1.34332505e-02 -1.96512782e-03 3.07102844e+02] [ 1.34333553e-02 9.99909768e-01 4.01772075e-05 2.21308122e+00] [ 1.96441079e-03 -6.65717650e-05 9.99998068e-01 6.29742079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86439141799997 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:307.16, Y:2.21, Z:0.63 [[ 9.99968086e-01 -7.74366861e-03 -1.96512454e-03 3.07163671e+02] [ 7.74376282e-03 9.99970016e-01 4.03373977e-05 2.21045768e+00] [ 1.96475325e-03 -5.55535687e-05 9.99998068e-01 6.30216646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92439141799997 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:307.23, Y:2.21, Z:0.63 [[ 9.99994266e-01 -2.75786669e-03 -1.96512289e-03 3.07225441e+02] [ 2.75795144e-03 9.99996196e-01 4.04176090e-05 2.20899965e+00] [ 1.96500394e-03 -4.58370907e-05 9.99998068e-01 6.30344009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.984391418 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:307.29, Y:2.21, Z:0.63 [[ 9.99989254e-01 4.19881646e-03 -1.96512125e-03 3.07286388e+02] [-4.19874498e-03 9.99991184e-01 4.04970676e-05 2.20783866e+00] [ 1.96527396e-03 -3.22455894e-05 9.99998068e-01 6.29185099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.044391418 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:307.34, Y:2.21, Z:0.63 [[ 9.99960510e-01 8.66703859e-03 -1.96512125e-03 3.07344654e+02] [-8.66697574e-03 9.99962440e-01 4.04970676e-05 2.20649927e+00] [ 1.96539843e-03 -2.34638101e-05 9.99998068e-01 6.28125302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.104391418 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:307.40, Y:2.20, Z:0.63 [[ 9.99946370e-01 1.01683811e-02 -1.96512360e-03 3.07403377e+02] [-1.01683214e-02 9.99948300e-01 4.03824134e-05 2.20472004e+00] [ 1.96543263e-03 -2.03982393e-05 9.99998068e-01 6.30671866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.164391418 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:307.46, Y:2.20, Z:0.63 [[ 9.99943584e-01 1.04386984e-02 -1.96512692e-03 3.07461645e+02] [-1.04386395e-02 9.99945515e-01 4.02202244e-05 2.20165260e+00] [ 1.96543970e-03 -1.97047039e-05 9.99998068e-01 6.32503952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.224391418 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:307.52, Y:2.20, Z:0.63 [[ 9.99949725e-01 9.83284067e-03 -1.96513103e-03 3.07519919e+02] [-9.83278101e-03 9.99951656e-01 4.00187638e-05 2.19907200e+00] [ 1.96542952e-03 -2.06940488e-05 9.99998068e-01 6.31269711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.284391418 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:307.58, Y:2.20, Z:0.63 [[ 9.99974780e-01 6.82481332e-03 -1.96513445e-03 3.07578117e+02] [-6.82474819e-03 9.99976710e-01 3.98500261e-05 2.19587758e+00] [ 1.96536065e-03 -2.64374733e-05 9.99998068e-01 6.30284504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.344391418 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:307.64, Y:2.19, Z:0.63 [[ 9.99985925e-01 4.92821961e-03 -1.96513870e-03 3.07636791e+02] [-4.92815122e-03 9.99987856e-01 3.96390841e-05 2.19251575e+00] [ 1.96531019e-03 -2.99540255e-05 9.99998068e-01 6.30153881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.404391418 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:307.70, Y:2.19, Z:0.63 [[ 9.99988859e-01 4.29182192e-03 -1.96514217e-03 3.07695282e+02] [-4.29175265e-03 9.99990790e-01 3.94665592e-05 2.18942440e+00] [ 1.96529345e-03 -3.10322154e-05 9.99998068e-01 6.31696472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.464391418 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:307.75, Y:2.19, Z:0.63 [[ 9.99960305e-01 8.69064287e-03 -1.96514471e-03 3.07754149e+02] [-8.69058234e-03 9.99962235e-01 3.93393729e-05 2.18785974e+00] [ 1.96541239e-03 -2.22595593e-05 9.99998068e-01 6.32819789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52439141799994 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:307.81, Y:2.19, Z:0.63 [[ 9.99902605e-01 1.38173091e-02 -1.96515557e-03 3.07812148e+02] [-1.38172596e-02 9.99904536e-01 3.87893500e-05 2.18636510e+00] [ 1.96550393e-03 -1.16325075e-05 9.99998068e-01 6.32000058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58439141799994 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:307.87, Y:2.18, Z:0.63 [[ 9.99759329e-01 2.18500005e-02 -1.96516875e-03 3.07870229e+02] [-2.18499678e-02 9.99761260e-01 3.81099439e-05 2.18426875e+00] [ 1.96553228e-03 4.83810177e-06 9.99998068e-01 6.30397255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64439141799994 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:307.93, Y:2.18, Z:0.63 [[ 9.99666462e-01 2.57507679e-02 -1.96517475e-03 3.07929044e+02] [-2.57507433e-02 9.99668394e-01 3.77977636e-05 2.18273196e+00] [ 1.96549641e-03 1.28195540e-05 9.99998068e-01 6.31108966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70439141799994 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:307.99, Y:2.18, Z:0.63 [[ 9.99613310e-01 2.77374870e-02 -1.96517815e-03 3.07987778e+02] [-2.77374667e-02 9.99615242e-01 3.76201012e-05 2.17991378e+00] [ 1.96546552e-03 1.69035096e-05 9.99998068e-01 6.31373895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76439141799995 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:308.05, Y:2.18, Z:0.63 [[ 9.99694871e-01 2.46232281e-02 -1.96518151e-03 3.08045890e+02] [-2.46232021e-02 9.99696802e-01 3.74437281e-05 2.17527375e+00] [ 1.96550766e-03 1.09567586e-05 9.99998068e-01 6.33342162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82439141799995 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:308.10, Y:2.17, Z:0.63 [[ 9.99802650e-01 1.97686168e-02 -1.96518658e-03 3.08104200e+02] [-1.97685819e-02 9.99804582e-01 3.71758310e-05 2.17162881e+00] [ 1.96553746e-03 1.68045751e-06 9.99998068e-01 6.34217277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88439141799995 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:308.16, Y:2.17, Z:0.63 [[ 9.99948468e-01 9.95989180e-03 -1.96518992e-03 3.08161664e+02] [-9.95983832e-03 9.99950399e-01 3.69986623e-05 2.16528866e+00] [ 1.96546094e-03 -1.74237818e-05 9.99998068e-01 6.34138878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94439141799995 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:308.22, Y:2.16, Z:0.63 [[ 9.99997476e-01 -1.08868284e-03 -1.96519395e-03 3.08220095e+02] [ 1.08875723e-03 9.99999407e-01 3.67828953e-05 2.15961813e+00] [ 1.96515274e-03 -3.89224215e-05 9.99998068e-01 6.34224212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00439141799995 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:308.28, Y:2.16, Z:0.63 [[ 9.99987472e-01 -4.60377733e-03 -1.96519712e-03 3.08279974e+02] [ 4.60385817e-03 9.99989402e-01 3.66129306e-05 2.15712809e+00] [ 1.96500773e-03 -4.56599607e-05 9.99998068e-01 6.33794250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06439141799996 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:308.34, Y:2.15, Z:0.63 [[ 9.99933857e-01 -1.13322103e-02 -1.96519789e-03 3.08340561e+02] [ 1.13323041e-02 9.99935787e-01 3.65715362e-05 2.15342216e+00] [ 1.96465726e-03 -5.88393373e-05 9.99998068e-01 6.34581802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12439141799996 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:308.40, Y:2.15, Z:0.64 [[ 9.99823472e-01 -1.86859254e-02 -1.96519789e-03 3.08402161e+02] [ 1.86860333e-02 9.99825400e-01 3.65715362e-05 2.14945408e+00] [ 1.96417139e-03 -7.32868336e-05 9.99998068e-01 6.35929805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18439141799996 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:308.46, Y:2.15, Z:0.64 [[ 9.99803272e-01 -1.97371742e-02 -1.96519628e-03 3.08464565e+02] [ 1.97372843e-02 9.99805200e-01 3.66580828e-05 2.14834852e+00] [ 1.96408993e-03 -7.54385088e-05 9.99998068e-01 6.36275731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24439141799996 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:308.53, Y:2.15, Z:0.64 [[ 9.99851796e-01 -1.71033286e-02 -1.96519304e-03 3.08527146e+02] [ 1.71034340e-02 9.99853725e-01 3.68310155e-05 2.14852593e+00] [ 1.96427564e-03 -7.04371064e-05 9.99998068e-01 6.36126642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30439141799997 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:308.59, Y:2.15, Z:0.64 [[ 9.99954040e-01 -9.38379573e-03 -1.96518985e-03 3.08588262e+02] [ 9.38388655e-03 9.99955970e-01 3.70001874e-05 2.14965044e+00] [ 1.96475612e-03 -5.54396055e-05 9.99998068e-01 6.37623762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36439141799997 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:308.65, Y:2.15, Z:0.64 [[ 9.99998060e-01 -1.37712407e-04 -1.96518826e-03 3.08649425e+02] [ 1.37785551e-04 9.99999990e-01 3.70846994e-05 2.15205003e+00] [ 1.96518313e-03 -3.73554020e-05 9.99998068e-01 6.38558077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42439141799997 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:308.71, Y:2.15, Z:0.64 [[ 9.99970551e-01 7.41853457e-03 -1.96518673e-03 3.08707780e+02] [-7.41847585e-03 9.99972482e-01 3.71653292e-05 2.15421871e+00] [ 1.96540836e-03 -2.25855444e-05 9.99998068e-01 6.35704299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.484391418 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:308.77, Y:2.15, Z:0.64 [[ 9.99947759e-01 1.00307701e-02 -1.96518831e-03 3.08766935e+02] [-1.00307166e-02 9.99949690e-01 3.70814700e-05 2.15477941e+00] [ 1.96546140e-03 -1.73672859e-05 9.99998068e-01 6.35474264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.544391418 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:308.83, Y:2.15, Z:0.64 [[ 9.99930048e-01 1.16634880e-02 -1.96519137e-03 3.08825642e+02] [-1.16634379e-02 9.99931979e-01 3.69189405e-05 2.15486978e+00] [ 1.96548830e-03 -1.39954704e-05 9.99998068e-01 6.37058241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.604391418 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:308.88, Y:2.16, Z:0.64 [[ 9.99945722e-01 1.02318563e-02 -1.96519459e-03 3.08883688e+02] [-1.02318039e-02 9.99947653e-01 3.67463431e-05 2.15611590e+00] [ 1.96546770e-03 -1.66368629e-05 9.99998068e-01 6.37227773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.664391418 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:308.94, Y:2.16, Z:0.64 [[ 9.99982352e-01 5.60661446e-03 -1.96519852e-03 3.08942657e+02] [-5.60655349e-03 9.99984282e-01 3.65351552e-05 2.15568179e+00] [ 1.96537247e-03 -2.55165198e-05 9.99998068e-01 6.39169233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.724391418 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:309.00, Y:2.15, Z:0.64 [[ 9.99997300e-01 1.24011678e-03 -1.96520150e-03 3.09001652e+02] [-1.24004769e-03 9.99999230e-01 3.63740729e-05 2.15459260e+00] [ 1.96524510e-03 -3.39370311e-05 9.99998068e-01 6.40551547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.784391418 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:309.06, Y:2.15, Z:0.64 [[ 9.99965664e-01 -8.05034266e-03 -1.96520464e-03 3.09060326e+02] [ 8.05042935e-03 9.99967594e-01 3.62039341e-05 2.15389321e+00] [ 1.96484950e-03 -5.20234320e-05 9.99998068e-01 6.40668546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.844391418 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:309.12, Y:2.15, Z:0.64 [[ 9.99864526e-01 -1.63422042e-02 -1.96520692e-03 3.09122135e+02] [ 1.63423067e-02 9.99866455e-01 3.60794887e-05 2.15302817e+00] [ 1.96435486e-03 -6.81906151e-05 9.99998068e-01 6.40549002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.904391418 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:309.18, Y:2.15, Z:0.64 [[ 9.99767634e-01 -2.14666472e-02 -1.96520543e-03 3.09184356e+02] [ 2.14667597e-02 9.99769562e-01 3.61602944e-05 2.15240045e+00] [ 1.96397634e-03 -7.83384847e-05 9.99998068e-01 6.41590996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.964391418 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:309.25, Y:2.15, Z:0.64 [[ 9.99670054e-01 -2.56109585e-02 -1.96520227e-03 3.09246808e+02] [ 2.56110793e-02 9.99671982e-01 3.63315244e-05 2.15281053e+00] [ 1.96362716e-03 -8.66504882e-05 9.99998068e-01 6.42802026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02439141799994 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:309.31, Y:2.16, Z:0.64 [[ 9.99575522e-01 -2.90673978e-02 -1.96519901e-03 3.09308167e+02] [ 2.90675257e-02 9.99577450e-01 3.65069303e-05 2.15663542e+00] [ 1.96330745e-03 -9.36149065e-05 9.99998068e-01 6.42240135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08439141799994 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:309.37, Y:2.16, Z:0.64 [[ 9.99571628e-01 -2.92009860e-02 -1.96519674e-03 3.09370907e+02] [ 2.92011144e-02 9.99573556e-01 3.66287357e-05 2.16124109e+00] [ 1.96328910e-03 -9.39989797e-05 9.99998068e-01 6.43451337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14439141799994 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:309.43, Y:2.17, Z:0.64 [[ 9.99611737e-01 -2.77941312e-02 -1.96519367e-03 3.09433011e+02] [ 2.77942572e-02 9.99613664e-01 3.67926021e-05 2.16808598e+00] [ 1.96341183e-03 -9.13994151e-05 9.99998068e-01 6.43300698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20439141799994 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:309.50, Y:2.17, Z:0.64 [[ 9.99637095e-01 -2.68666320e-02 -1.96519062e-03 3.09495261e+02] [ 2.68667565e-02 9.99639023e-01 3.69547398e-05 2.17293447e+00] [ 1.96348838e-03 -8.97396267e-05 9.99998068e-01 6.43260493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26439141799995 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:309.56, Y:2.18, Z:0.65 [[ 9.99666359e-01 -2.57547867e-02 -1.96518762e-03 3.09557228e+02] [ 2.57549093e-02 9.99668287e-01 3.71139634e-05 2.18079842e+00] [ 1.96357987e-03 -8.77148095e-05 9.99998068e-01 6.45069091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32439141799995 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:309.62, Y:2.19, Z:0.65 [[ 9.99700606e-01 -2.43892788e-02 -1.96518464e-03 3.09618972e+02] [ 2.43893991e-02 9.99702534e-01 3.72707603e-05 2.18825241e+00] [ 1.96369106e-03 -8.51892741e-05 9.99998068e-01 6.45491376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38439141799995 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:309.68, Y:2.19, Z:0.64 [[ 9.99738618e-01 -2.27779145e-02 -1.96518244e-03 3.09680961e+02] [ 2.27780319e-02 9.99740546e-01 3.73865878e-05 2.19324046e+00] [ 1.96382098e-03 -8.21398038e-05 9.99998068e-01 6.44461571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44439141799995 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:309.74, Y:2.20, Z:0.65 [[ 9.99780142e-01 -2.08759675e-02 -1.96517954e-03 3.09743543e+02] [ 2.08760815e-02 9.99782070e-01 3.75385221e-05 2.20151266e+00] [ 1.96396761e-03 -7.85555171e-05 9.99998068e-01 6.46296139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50439141799995 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:309.81, Y:2.21, Z:0.65 [[ 9.99839089e-01 -1.78307349e-02 -1.96517639e-03 3.09806191e+02] [ 1.78308434e-02 9.99841017e-01 3.77023870e-05 2.20652851e+00] [ 1.96419170e-03 -7.27370727e-05 9.99998068e-01 6.46931561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56439141799996 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:309.87, Y:2.22, Z:0.65 [[ 9.99937777e-01 -1.09809035e-02 -1.96517326e-03 3.09868445e+02] [ 1.09809991e-02 9.99939706e-01 3.78649571e-05 2.21602319e+00] [ 1.96463898e-03 -5.94421668e-05 9.99998068e-01 6.49323309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62439141799996 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:309.93, Y:2.22, Z:0.65 [[ 9.99995549e-01 -2.24507512e-03 -1.96517015e-03 3.09929832e+02] [ 2.24515418e-03 9.99997479e-01 3.80257284e-05 2.22418314e+00] [ 1.96507982e-03 -4.24376691e-05 9.99998068e-01 6.51104825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68439141799996 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:309.99, Y:2.23, Z:0.65 [[ 9.99981147e-01 5.81752057e-03 -1.96516857e-03 3.09989646e+02] [-5.81745691e-03 9.99983078e-01 3.81069452e-05 2.23122205e+00] [ 1.96535701e-03 -2.66739432e-05 9.99998068e-01 6.51242471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74439141799996 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:310.05, Y:2.24, Z:0.65 [[ 9.99947552e-01 1.00514629e-02 -1.96516934e-03 3.10047743e+02] [-1.00514075e-02 9.99949483e-01 3.80671333e-05 2.23556711e+00] [ 1.96545270e-03 -1.83124188e-05 9.99998068e-01 6.50692572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80439141799997 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:310.11, Y:2.24, Z:0.65 [[ 9.99898366e-01 1.41207555e-02 -1.96517309e-03 3.10106334e+02] [-1.41207083e-02 9.99900297e-01 3.78726744e-05 2.24172093e+00] [ 1.96551195e-03 -1.01191893e-05 9.99998068e-01 6.51397828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86439141799997 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:310.16, Y:2.24, Z:0.65 [[ 9.99880538e-01 1.53312847e-02 -1.96517616e-03 3.10164845e+02] [-1.53312401e-02 9.99882469e-01 3.77126736e-05 2.24440036e+00] [ 1.96552338e-03 -7.57958068e-06 9.99998068e-01 6.51475312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92439141799997 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:310.22, Y:2.25, Z:0.65 [[ 9.99881497e-01 1.52685659e-02 -1.96517920e-03 3.10224002e+02] [-1.52685216e-02 9.99883429e-01 3.75535857e-05 2.24587973e+00] [ 1.96552351e-03 -7.54375447e-06 9.99998068e-01 6.51435347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.984391418 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:310.28, Y:2.25, Z:0.65 [[ 9.99897935e-01 1.41512436e-02 -1.96518220e-03 3.10282935e+02] [-1.41511975e-02 9.99899866e-01 3.73960344e-05 2.24708838e+00] [ 1.96551462e-03 -9.58253619e-06 9.99998068e-01 6.52030361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.044391418 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:310.34, Y:2.25, Z:0.65 [[ 9.99924571e-01 1.21239620e-02 -1.96518515e-03 3.10340392e+02] [-1.21239122e-02 9.99926502e-01 3.72404622e-05 2.24742148e+00] [ 1.96549221e-03 -1.34119210e-05 9.99998068e-01 6.52446727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.104391418 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:310.40, Y:2.25, Z:0.65 [[ 9.99945031e-01 1.02991770e-02 -1.96518876e-03 3.10399643e+02] [-1.02991241e-02 9.99946962e-01 3.70491831e-05 2.24677486e+00] [ 1.96546610e-03 -1.68074237e-05 9.99998068e-01 6.52622411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.164391418 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:310.46, Y:2.25, Z:0.65 [[ 9.99968414e-01 7.70126135e-03 -1.96519160e-03 3.10458482e+02] [-7.70120371e-03 9.99970345e-01 3.68979028e-05 2.24520021e+00] [ 1.96541748e-03 -2.17623966e-05 9.99998068e-01 6.52478645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.224391418 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:310.52, Y:2.24, Z:0.65 [[ 9.99982738e-01 5.53733405e-03 -1.96519438e-03 3.10517232e+02] [-5.53727252e-03 9.99984669e-01 3.67489476e-05 2.24343107e+00] [ 1.96536774e-03 -2.58664964e-05 9.99998068e-01 6.53464952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.284391418 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:310.58, Y:2.24, Z:0.65 [[ 9.99985588e-01 4.99608572e-03 -1.96519733e-03 3.10575429e+02] [-4.99602346e-03 9.99987519e-01 3.65906860e-05 2.24185605e+00] [ 1.96535561e-03 -2.67719868e-05 9.99998068e-01 6.52139002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.344391418 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:310.63, Y:2.24, Z:0.65 [[ 9.99966178e-01 7.98630431e-03 -1.96520093e-03 3.10633062e+02] [-7.98624820e-03 9.99968109e-01 3.63959300e-05 2.23964392e+00] [ 1.96542893e-03 -2.07001165e-05 9.99998068e-01 6.53467761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.404391418 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:310.69, Y:2.24, Z:0.65 [[ 9.99899292e-01 1.40550611e-02 -1.96521267e-03 3.10691850e+02] [-1.40550180e-02 9.99901223e-01 3.57509693e-05 2.23812950e+00] [ 1.96552103e-03 -8.12626939e-06 9.99998068e-01 6.54338790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.464391418 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:310.75, Y:2.24, Z:0.65 [[ 9.99802129e-01 1.97949610e-02 -1.96522281e-03 3.10748807e+02] [-1.97949301e-02 9.99804061e-01 3.51847733e-05 2.23652628e+00] [ 1.96553422e-03 3.72363677e-06 9.99998068e-01 6.53884970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52439141799994 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:310.81, Y:2.23, Z:0.65 [[ 9.99608317e-01 2.79168524e-02 -1.96522983e-03 3.10807321e+02] [-2.79168379e-02 9.99610249e-01 3.47878455e-05 2.23261840e+00] [ 1.96543505e-03 2.00887830e-05 9.99998068e-01 6.54502561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58439141799994 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:310.87, Y:2.23, Z:0.65 [[ 9.99528921e-01 3.06279843e-02 -1.96523261e-03 3.10865436e+02] [-3.06279754e-02 9.99530853e-01 3.46300485e-05 2.22924435e+00] [ 1.96537128e-03 2.55773611e-05 9.99998068e-01 6.54853065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64439141799994 meters Centerline goodness : 0.998827 with order 1 Centerline is valid? [True, True] Translation: X:310.92, Y:2.22, Z:0.65 [[ 9.99566241e-01 2.93848327e-02 -1.96523680e-03 3.10922203e+02] [-2.93848218e-02 9.99568172e-01 3.43905279e-05 2.22208171e+00] [ 1.96539872e-03 2.33725226e-05 9.99998068e-01 6.54150064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70439141799994 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:310.98, Y:2.21, Z:0.65 [[ 9.99745352e-01 2.24804101e-02 -1.96524332e-03 3.10980679e+02] [-2.24803867e-02 9.99747284e-01 3.40138268e-05 2.21241157e+00] [ 1.96551132e-03 1.01742645e-05 9.99998068e-01 6.51395463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76439141799995 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:311.04, Y:2.21, Z:0.65 [[ 9.99887573e-01 1.48653750e-02 -1.96524601e-03 3.11039800e+02] [-1.48653371e-02 9.99889504e-01 3.38578684e-05 2.20552598e+00] [ 1.96553217e-03 -4.64001741e-06 9.99998068e-01 6.51675122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82439141799995 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:311.10, Y:2.20, Z:0.65 [[ 9.99997631e-01 9.36333320e-04 -1.96524870e-03 3.11098485e+02] [-9.36268897e-04 9.99999561e-01 3.37011974e-05 2.19615743e+00] [ 1.96527939e-03 -3.18611163e-05 9.99998068e-01 6.52967785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88439141799995 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:311.16, Y:2.19, Z:0.65 [[ 9.99895196e-01 -1.43434910e-02 -1.96525142e-03 3.11158051e+02] [ 1.43435846e-02 9.99897125e-01 3.35414388e-05 2.18664823e+00] [ 1.96456815e-03 -6.17266736e-05 9.99998068e-01 6.52076390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94439141799995 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:311.22, Y:2.18, Z:0.65 [[ 9.99732911e-01 -2.30270270e-02 -1.96525208e-03 3.11221420e+02] [ 2.30271373e-02 9.99734840e-01 3.35031437e-05 2.18035461e+00] [ 1.96395949e-03 -7.87483247e-05 9.99998068e-01 6.50819408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.00439141799995 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:311.28, Y:2.17, Z:0.65 [[ 9.99306261e-01 -3.71905038e-02 -1.96524081e-03 3.11284544e+02] [ 3.71906427e-02 9.99308188e-01 3.41516606e-05 2.17412132e+00] [ 1.96261111e-03 -1.07216537e-04 9.99998068e-01 6.52425899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06439141799996 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:311.35, Y:2.17, Z:0.65 [[ 9.99076063e-01 -4.29320201e-02 -1.96522868e-03 3.11345507e+02] [ 4.29321714e-02 9.99077989e-01 3.48357443e-05 2.16976221e+00] [ 1.96192115e-03 -1.19175093e-04 9.99998068e-01 6.50604213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12439141799996 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:311.41, Y:2.17, Z:0.65 [[ 9.99057711e-01 -4.33569934e-02 -1.96522661e-03 3.11408176e+02] [ 4.33571457e-02 9.99059636e-01 3.49521664e-05 2.16787178e+00] [ 1.96186316e-03 -1.20125848e-04 9.99998068e-01 6.50529225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18439141799996 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:311.47, Y:2.17, Z:0.65 [[ 9.99089494e-01 -4.26183058e-02 -1.96522246e-03 3.11469903e+02] [ 4.26184571e-02 9.99091420e-01 3.51839582e-05 2.16799464e+00] [ 1.96193742e-03 -1.18906672e-04 9.99998068e-01 6.50735226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24439141799996 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:311.53, Y:2.17, Z:0.65 [[ 9.99222762e-01 -3.93701723e-02 -1.96521972e-03 3.11532205e+02] [ 3.93703177e-02 9.99224688e-01 3.53363970e-05 2.16820596e+00] [ 1.96230486e-03 -1.12680257e-04 9.99998068e-01 6.50103734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30439141799997 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:311.59, Y:2.17, Z:0.65 [[ 9.99454051e-01 -3.29808631e-02 -1.96521686e-03 3.11594776e+02] [ 3.29809965e-02 9.99455978e-01 3.54946434e-05 2.17042859e+00] [ 1.96297710e-03 -1.00290076e-04 9.99998068e-01 6.49067175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36439141799997 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:311.66, Y:2.18, Z:0.65 [[ 9.99683481e-01 -2.50813787e-02 -1.96521395e-03 3.11656589e+02] [ 2.50814972e-02 9.99685409e-01 3.56551107e-05 2.17531623e+00] [ 1.96370143e-03 -8.49343334e-05 9.99998068e-01 6.49804896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42439141799997 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:311.72, Y:2.18, Z:0.65 [[ 9.99835506e-01 -1.80305224e-02 -1.96521106e-03 3.11719150e+02] [ 1.80306276e-02 9.99837434e-01 3.58137504e-05 2.17829206e+00] [ 1.96424584e-03 -7.12418479e-05 9.99998068e-01 6.50613288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.484391418 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:311.78, Y:2.18, Z:0.65 [[ 9.99985728e-01 -4.96803438e-03 -1.96520811e-03 3.11781905e+02] [ 4.96811467e-03 9.99987658e-01 3.59745449e-05 2.18351875e+00] [ 1.96500514e-03 -4.57374108e-05 9.99998068e-01 6.50231317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.544391418 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:311.84, Y:2.19, Z:0.65 [[ 9.99969143e-01 7.60601258e-03 -1.96520521e-03 3.11842760e+02] [-7.60595625e-03 9.99971074e-01 3.61325474e-05 2.18794520e+00] [ 1.96542319e-03 -2.11841676e-05 9.99998068e-01 6.52076946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.604391418 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:311.90, Y:2.19, Z:0.65 [[ 9.99882933e-01 1.51742821e-02 -1.96520521e-03 3.11900503e+02] [-1.51742404e-02 9.99884864e-01 3.61325474e-05 2.19020573e+00] [ 1.96552723e-03 -6.30782111e-06 9.99998068e-01 6.51986506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.664391418 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:311.96, Y:2.19, Z:0.65 [[ 9.99724955e-01 2.33698852e-02 -1.96521643e-03 3.11957839e+02] [-2.33698606e-02 9.99726887e-01 3.55115574e-05 2.19207893e+00] [ 1.96550961e-03 1.04250438e-05 9.99998068e-01 6.51272929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.724391418 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:312.01, Y:2.19, Z:0.65 [[ 9.99678030e-01 2.52977046e-02 -1.96522121e-03 3.12014640e+02] [-2.52976842e-02 9.99679962e-01 3.52453347e-05 2.19185968e+00] [ 1.96548389e-03 1.44815587e-05 9.99998068e-01 6.50663353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.784391418 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:312.07, Y:2.19, Z:0.65 [[ 9.99770734e-01 2.13217509e-02 -1.96522712e-03 3.12073795e+02] [-2.13217234e-02 9.99772666e-01 3.49124591e-05 2.19452241e+00] [ 1.96552475e-03 6.99757425e-06 9.99998068e-01 6.49469812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.844391418 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:312.13, Y:2.19, Z:0.65 [[ 9.99840825e-01 1.77330808e-02 -1.96522996e-03 3.12131133e+02] [-1.77330467e-02 9.99842757e-01 3.47518774e-05 2.18793562e+00] [ 1.96553720e-03 1.03168969e-07 9.99998068e-01 6.50740419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.904391418 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:2.18, Z:0.65 [[ 9.99939527e-01 1.08203307e-02 -1.96523349e-03 3.12189861e+02] [-1.08202837e-02 9.99941458e-01 3.45511322e-05 2.18456931e+00] [ 1.96549230e-03 -1.32846588e-05 9.99998068e-01 6.50927532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.964391418 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:312.25, Y:2.18, Z:0.65 [[ 9.99996570e-01 1.73152883e-03 -1.96523616e-03 3.12248117e+02] [-1.73146457e-03 9.99998500e-01 3.43982752e-05 2.17979798e+00] [ 1.96529278e-03 -3.09954204e-05 9.99998068e-01 6.51405216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02439141799994 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:312.31, Y:2.18, Z:0.65 [[ 9.99994776e-01 -2.56618180e-03 -1.96523879e-03 3.12307610e+02] [ 2.56625405e-03 9.99996707e-01 3.42473501e-05 2.17552385e+00] [ 1.96514444e-03 -3.92904732e-05 9.99998068e-01 6.50677511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08439141799994 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:312.37, Y:2.17, Z:0.65 [[ 9.99993686e-01 -2.96061739e-03 -1.96524014e-03 3.12368162e+02] [ 2.96069025e-03 9.99995617e-01 3.41700417e-05 2.17237452e+00] [ 1.96513036e-03 -3.99882933e-05 9.99998068e-01 6.50544360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14439141799994 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:312.43, Y:2.17, Z:0.65 [[ 9.99995854e-01 -2.10452553e-03 -1.96524014e-03 3.12428501e+02] [ 2.10459675e-03 9.99997785e-01 3.41700417e-05 2.16904140e+00] [ 1.96516387e-03 -3.83059381e-05 9.99998068e-01 6.51089613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20439141799994 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:312.49, Y:2.17, Z:0.65 [[ 9.99996508e-01 -1.76681316e-03 -1.96524014e-03 3.12489366e+02] [ 1.76688373e-03 9.99998438e-01 3.41700417e-05 2.16697133e+00] [ 1.96517670e-03 -3.76422732e-05 9.99998068e-01 6.50267431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26439141799995 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:312.55, Y:2.17, Z:0.65 [[ 9.99996723e-01 -1.64050694e-03 -1.96524014e-03 3.12549842e+02] [ 1.64057726e-03 9.99998654e-01 3.41700417e-05 2.16534850e+00] [ 1.96518144e-03 -3.73940580e-05 9.99998068e-01 6.49503779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32439141799995 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:312.61, Y:2.16, Z:0.65 [[ 9.99990302e-01 -3.94138253e-03 -1.96524014e-03 3.12610209e+02] [ 3.94145730e-03 9.99992232e-01 3.41700417e-05 2.16355716e+00] [ 1.96509019e-03 -4.19156204e-05 9.99998068e-01 6.48637148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38439141799995 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:312.67, Y:2.16, Z:0.65 [[ 9.99942942e-01 -1.05000631e-02 -1.96524014e-03 3.12670667e+02] [ 1.05001505e-02 9.99944871e-01 3.41700417e-05 2.16121453e+00] [ 1.96477301e-03 -5.48034093e-05 9.99998068e-01 6.48856947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44439141799995 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:312.73, Y:2.16, Z:0.65 [[ 9.99874651e-01 -1.57105052e-02 -1.96524014e-03 3.12732735e+02] [ 1.57106027e-02 9.99876580e-01 3.41700417e-05 2.16076226e+00] [ 1.96446076e-03 -6.50408655e-05 9.99998068e-01 6.46183628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.50439141799995 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:312.79, Y:2.16, Z:0.65 [[ 9.99694973e-01 -2.46190876e-02 -1.96523701e-03 3.12794458e+02] [ 2.46192026e-02 9.99696901e-01 3.43489936e-05 2.15738514e+00] [ 1.96379571e-03 -8.27210844e-05 9.99998068e-01 6.48288399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56439141799996 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:312.86, Y:2.16, Z:0.65 [[ 9.99551655e-01 -2.98768476e-02 -1.96522592e-03 3.12857087e+02] [ 2.98769740e-02 9.99553583e-01 3.49724643e-05 2.15619404e+00] [ 1.96330374e-03 -9.36717882e-05 9.99998068e-01 6.49680464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62439141799996 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:312.92, Y:2.16, Z:0.65 [[ 9.99324664e-01 -3.66927044e-02 -1.96522304e-03 3.12918309e+02] [ 3.66928443e-02 9.99326590e-01 3.51334144e-05 2.15576881e+00] [ 1.96261050e-03 -1.07219310e-04 9.99998068e-01 6.49970415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68439141799996 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:312.98, Y:2.16, Z:0.65 [[ 9.99149287e-01 -4.11927118e-02 -1.96522091e-03 3.12981621e+02] [ 4.11928605e-02 9.99151213e-01 3.52520383e-05 2.15604678e+00] [ 1.96210073e-03 -1.16175120e-04 9.99998068e-01 6.52278752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74439141799996 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:313.04, Y:2.16, Z:0.66 [[ 9.99043670e-01 -4.36793326e-02 -1.96521669e-03 3.13044056e+02] [ 4.36794866e-02 9.99045595e-01 3.54856909e-05 2.15812019e+00] [ 1.96179109e-03 -1.21291411e-04 9.99998068e-01 6.55086720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80439141799997 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:313.11, Y:2.16, Z:0.66 [[ 9.98996339e-01 -4.47487780e-02 -1.96521386e-03 3.13107424e+02] [ 4.47489344e-02 9.98998264e-01 3.56419220e-05 2.15916918e+00] [ 1.96165030e-03 -1.23547376e-04 9.99998068e-01 6.55189881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86439141799997 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:313.17, Y:2.16, Z:0.65 [[ 9.98973170e-01 -4.52630543e-02 -1.96520960e-03 3.13168364e+02] [ 4.52632121e-02 9.98975095e-01 3.58752205e-05 2.16158115e+00] [ 1.96157162e-03 -1.24790082e-04 9.99998068e-01 6.53765868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92439141799997 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:313.23, Y:2.16, Z:0.65 [[ 9.99065388e-01 -4.31797176e-02 -1.96520405e-03 3.13230630e+02] [ 4.31798719e-02 9.99067314e-01 3.61767686e-05 2.16483247e+00] [ 1.96180903e-03 -1.21000216e-04 9.99998068e-01 6.53530148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.984391418 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:313.29, Y:2.17, Z:0.65 [[ 9.99193330e-01 -4.01101795e-02 -1.96520117e-03 3.13292542e+02] [ 4.01103283e-02 9.99195256e-01 3.63323811e-05 2.16764668e+00] [ 1.96216239e-03 -1.15127937e-04 9.99998068e-01 6.53690889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.044391418 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:313.36, Y:2.17, Z:0.65 [[ 9.99503542e-01 -3.14453064e-02 -1.96519831e-03 3.13355539e+02] [ 3.14454388e-02 9.99505469e-01 3.64866466e-05 2.17160988e+00] [ 1.96307912e-03 -9.82650555e-05 9.99998068e-01 6.53384426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.104391418 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:313.42, Y:2.18, Z:0.66 [[ 9.99808964e-01 -1.94467076e-02 -1.96519403e-03 3.13417319e+02] [ 1.94468173e-02 9.99810892e-01 3.67154764e-05 2.17698491e+00] [ 1.96410840e-03 -7.49252316e-05 9.99998068e-01 6.55072077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.164391418 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:313.48, Y:2.18, Z:0.66 [[ 9.99945019e-01 -1.03003876e-02 -1.96518937e-03 3.13479868e+02] [ 1.03004801e-02 9.99946948e-01 3.69632732e-05 2.18049948e+00] [ 1.96470438e-03 -5.72036350e-05 9.99998068e-01 6.57092867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.224391418 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:313.54, Y:2.19, Z:0.66 [[ 9.99996875e-01 1.54560077e-03 -1.96518635e-03 3.13541220e+02] [-1.54553080e-03 9.99998805e-01 3.71229910e-05 2.18640490e+00] [ 1.96524138e-03 -3.40856189e-05 9.99998068e-01 6.57945017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.284391418 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:313.60, Y:2.19, Z:0.66 [[ 9.99947377e-01 1.00688064e-02 -1.96518412e-03 3.13600877e+02] [-1.00687527e-02 9.99949308e-01 3.72406384e-05 2.19088345e+00] [ 1.96545947e-03 -1.74517257e-05 9.99998068e-01 6.59893387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.344391418 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:313.66, Y:2.19, Z:0.66 [[ 9.99894136e-01 1.44171716e-02 -1.96518563e-03 3.13659503e+02] [-1.44171265e-02 9.99896067e-01 3.71610600e-05 2.19461171e+00] [ 1.96551714e-03 -8.82479631e-06 9.99998068e-01 6.60683244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.404391418 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:313.72, Y:2.20, Z:0.66 [[ 9.99890342e-01 1.46779428e-02 -1.96518864e-03 3.13717236e+02] [-1.46778985e-02 9.99892273e-01 3.70010582e-05 2.19583312e+00] [ 1.96552004e-03 -8.15216139e-06 9.99998068e-01 6.60350189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.464391418 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:313.78, Y:2.20, Z:0.66 [[ 9.99898367e-01 1.41206834e-02 -1.96519305e-03 3.13775482e+02] [-1.41206384e-02 9.99900298e-01 3.67652179e-05 2.19739446e+00] [ 1.96551627e-03 -9.01170078e-06 9.99998068e-01 6.60859052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52439141799994 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:313.83, Y:2.20, Z:0.66 [[ 9.99907494e-01 1.34588988e-02 -1.96519665e-03 3.13833844e+02] [-1.34588529e-02 9.99909425e-01 3.65722158e-05 2.19661789e+00] [ 1.96551087e-03 -1.01195401e-05 9.99998068e-01 6.60841339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58439141799994 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:313.89, Y:2.20, Z:0.66 [[ 9.99960643e-01 8.65162028e-03 -1.96519949e-03 3.13893101e+02] [-8.65156542e-03 9.99962574e-01 3.64189598e-05 2.19809443e+00] [ 1.96544102e-03 -1.94154745e-05 9.99998068e-01 6.62326634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64439141799994 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:313.95, Y:2.19, Z:0.66 [[ 9.99991022e-01 3.75407912e-03 -1.96520249e-03 3.13950792e+02] [-3.75401512e-03 9.99992953e-01 3.62558344e-05 2.19172517e+00] [ 1.96532475e-03 -2.88781090e-05 9.99998068e-01 6.62453431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70439141799994 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:314.01, Y:2.19, Z:0.66 [[ 9.99997582e-01 9.86709239e-04 -1.96520646e-03 3.14009135e+02] [-9.86640318e-04 9.99999513e-01 3.60397659e-05 2.18913900e+00] [ 1.96524106e-03 -3.41007268e-05 9.99998068e-01 6.62032098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76439141799995 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:314.07, Y:2.18, Z:0.66 [[ 9.99971011e-01 -7.35624704e-03 -1.96520936e-03 3.14068915e+02] [ 7.35633175e-03 9.99972941e-01 3.58807696e-05 2.18401191e+00] [ 1.96489224e-03 -5.03364615e-05 9.99998068e-01 6.61011657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82439141799995 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:314.13, Y:2.18, Z:0.66 [[ 9.99883995e-01 -1.51041168e-02 -1.96521081e-03 3.14130488e+02] [ 1.51042163e-02 9.99885924e-01 3.58013889e-05 2.18028385e+00] [ 1.96444587e-03 -6.54802049e-05 9.99998068e-01 6.57933153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88439141799995 meters Centerline goodness : 0.998827 with order 1 Centerline is valid? [True, True] Translation: X:314.19, Y:2.18, Z:0.66 [[ 9.99863034e-01 -1.64332235e-02 -1.96520827e-03 3.14192796e+02] [ 1.64333258e-02 9.99864963e-01 3.59399500e-05 2.17712559e+00] [ 1.96435229e-03 -6.82299353e-05 9.99998068e-01 6.59664179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94439141799995 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:314.25, Y:2.17, Z:0.66 [[ 9.99861208e-01 -1.65439536e-02 -1.96520466e-03 3.14253914e+02] [ 1.65440565e-02 9.99863137e-01 3.61365763e-05 2.17493952e+00] [ 1.96433785e-03 -6.86440177e-05 9.99998068e-01 6.59566296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.00439141799995 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:314.32, Y:2.18, Z:0.66 [[ 9.99864222e-01 -1.63607691e-02 -1.96520243e-03 3.14315666e+02] [ 1.63608719e-02 9.99866151e-01 3.62573705e-05 2.17626557e+00] [ 1.96434619e-03 -6.84048727e-05 9.99998068e-01 6.61446555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06439141799996 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:314.38, Y:2.18, Z:0.66 [[ 9.99893872e-01 -1.44354739e-02 -1.96519948e-03 3.14377543e+02] [ 1.44355733e-02 9.99895801e-01 3.64164047e-05 2.17508206e+00] [ 1.96446902e-03 -6.47813211e-05 9.99998068e-01 6.62062928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12439141799996 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:314.44, Y:2.17, Z:0.66 [[ 9.99956640e-01 -9.10256263e-03 -1.96519645e-03 3.14439056e+02] [ 9.10265209e-03 9.99958569e-01 3.65794714e-05 2.17205082e+00] [ 1.96478206e-03 -5.44663848e-05 9.99998068e-01 6.59225538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18439141799996 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:314.50, Y:2.17, Z:0.66 [[ 9.99993491e-01 -3.02592493e-03 -1.96519148e-03 3.14500770e+02] [ 3.02600318e-03 9.99995421e-01 3.68442524e-05 2.17245117e+00] [ 1.96507099e-03 -4.27906882e-05 9.99998068e-01 6.60513317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24439141799996 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:314.56, Y:2.17, Z:0.66 [[ 9.99997872e-01 6.27686941e-04 -1.96519001e-03 3.14561780e+02] [-6.27615594e-04 9.99999802e-01 3.69223131e-05 2.17156072e+00] [ 1.96521280e-03 -3.56888506e-05 9.99998068e-01 6.58402394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30439141799997 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:314.62, Y:2.17, Z:0.66 [[ 9.99971528e-01 7.28571731e-03 -1.96519063e-03 3.14621071e+02] [-7.28565888e-03 9.99973459e-01 3.68892904e-05 2.17097736e+00] [ 1.96540724e-03 -2.25705315e-05 9.99998068e-01 6.57094764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36439141799997 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:314.68, Y:2.17, Z:0.66 [[ 9.99889660e-01 1.47243019e-02 -1.96519211e-03 3.14678499e+02] [-1.47242580e-02 9.99891592e-01 3.68105181e-05 2.17132242e+00] [ 1.96552108e-03 -7.87046078e-06 9.99998068e-01 6.55598253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42439141799997 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:314.74, Y:2.17, Z:0.66 [[ 9.99807255e-01 1.95343699e-02 -1.96519569e-03 3.14737704e+02] [-1.95343356e-02 9.99809186e-01 3.66185794e-05 2.17074409e+00] [ 1.96553602e-03 1.77727078e-06 9.99998068e-01 6.59339804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.484391418 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:314.80, Y:2.17, Z:0.66 [[ 9.99766168e-01 2.15348111e-02 -1.96519861e-03 3.14796144e+02] [-2.15347810e-02 9.99768099e-01 3.64607851e-05 2.16957264e+00] [ 1.96552806e-03 5.86786236e-06 9.99998068e-01 6.60309855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.544391418 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:314.85, Y:2.17, Z:0.66 [[ 9.99753141e-01 2.21312976e-02 -1.96520153e-03 3.14853627e+02] [-2.21312690e-02 9.99755073e-01 3.63031578e-05 2.16754978e+00] [ 1.96552363e-03 7.19820759e-06 9.99998068e-01 6.61136161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.604391418 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:314.91, Y:2.16, Z:0.66 [[ 9.99854715e-01 1.69318468e-02 -1.96520508e-03 3.14910974e+02] [-1.69318085e-02 9.99856646e-01 3.61095739e-05 2.16282002e+00] [ 1.96553476e-03 -2.82985153e-06 9.99998068e-01 6.60019393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.664391418 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:314.97, Y:2.16, Z:0.66 [[ 9.99944106e-01 1.03885571e-02 -1.96520853e-03 3.14970208e+02] [-1.03885065e-02 9.99946037e-01 3.59210960e-05 2.15850855e+00] [ 1.96547565e-03 -1.55035066e-05 9.99998068e-01 6.59721558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.724391418 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:315.03, Y:2.15, Z:0.66 [[ 9.99992046e-01 -3.47082402e-03 -1.96521141e-03 3.15028381e+02] [ 3.47090100e-03 9.99993976e-01 3.57625895e-05 2.15184768e+00] [ 1.96507545e-03 -4.25833593e-05 9.99998068e-01 6.57567514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.784391418 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:315.09, Y:2.15, Z:0.66 [[ 9.99895132e-01 -1.43479582e-02 -1.96521494e-03 3.15088587e+02] [ 1.43480558e-02 9.99897061e-01 3.55674234e-05 2.14700157e+00] [ 1.96450233e-03 -6.37607072e-05 9.99998068e-01 6.57879488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.844391418 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:315.15, Y:2.14, Z:0.66 [[ 9.99585358e-01 -2.87271665e-02 -1.96521494e-03 3.15151922e+02] [ 2.87272918e-02 9.99587286e-01 3.55674234e-05 2.14037220e+00] [ 1.96338212e-03 -9.20079788e-05 9.99998068e-01 6.56879306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.904391418 meters Centerline goodness : 0.998875 with order 1 Centerline is valid? [True, True] Translation: X:315.22, Y:2.14, Z:0.66 [[ 9.99296318e-01 -3.74567264e-02 -1.96520362e-03 3.15215243e+02] [ 3.74568698e-02 9.99298245e-01 3.61826150e-05 2.13602853e+00] [ 1.96246924e-03 -1.09767530e-04 9.99998068e-01 6.56691368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.964391418 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:315.28, Y:2.13, Z:0.66 [[ 9.99231083e-01 -3.91584084e-02 -1.96519924e-03 3.15277954e+02] [ 3.91585555e-02 9.99233009e-01 3.64190194e-05 2.13392493e+00] [ 1.96226584e-03 -1.13345380e-04 9.99998068e-01 6.56926551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02439141799994 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:315.34, Y:2.13, Z:0.66 [[ 9.99315042e-01 -3.69538200e-02 -1.96519481e-03 3.15339956e+02] [ 3.69539633e-02 9.99316968e-01 3.66565457e-05 2.13320848e+00] [ 1.96249792e-03 -1.09253174e-04 9.99998068e-01 6.56843760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08439141799994 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:315.40, Y:2.14, Z:0.66 [[ 9.99542257e-01 -3.01896401e-02 -1.96518750e-03 3.15401867e+02] [ 3.01897711e-02 9.99544184e-01 3.70441055e-05 2.13505507e+00] [ 1.96317339e-03 -9.63557096e-05 9.99998068e-01 6.56826262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14439141799994 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:315.46, Y:2.14, Z:0.66 [[ 9.99702585e-01 -2.43080314e-02 -1.96518458e-03 3.15463944e+02] [ 2.43081514e-02 9.99704513e-01 3.71983883e-05 2.13648335e+00] [ 1.96369967e-03 -8.49573292e-05 9.99998068e-01 6.57135006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20439141799994 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:315.53, Y:2.14, Z:0.66 [[ 9.99866231e-01 -1.62375814e-02 -1.96518168e-03 3.15525848e+02] [ 1.62376862e-02 9.99868159e-01 3.73507549e-05 2.13951717e+00] [ 1.96431611e-03 -6.92557619e-05 9.99998068e-01 6.57961032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26439141799995 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:315.59, Y:2.14, Z:0.66 [[ 9.99934892e-01 -1.12405006e-02 -1.96517866e-03 3.15587933e+02] [ 1.12405960e-02 9.99936822e-01 3.75094865e-05 2.14147325e+00] [ 1.96463287e-03 -5.95968236e-05 9.99998068e-01 6.57331250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32439141799995 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:315.65, Y:2.14, Z:0.66 [[ 9.99987376e-01 -4.62447911e-03 -1.96517565e-03 3.15649774e+02] [ 4.62456205e-03 9.99989306e-01 3.76660981e-05 2.14461859e+00] [ 1.96498045e-03 -4.67536994e-05 9.99998068e-01 6.55951694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38439141799995 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:315.71, Y:2.15, Z:0.66 [[ 9.99996332e-01 1.86384406e-03 -1.96517257e-03 3.15710222e+02] [-1.86377332e-03 9.99998262e-01 3.78262923e-05 2.14797491e+00] [ 1.96523966e-03 -3.41635174e-05 9.99998068e-01 6.55669434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44439141799995 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:315.77, Y:2.15, Z:0.66 [[ 9.99964988e-01 8.13391966e-03 -1.96516999e-03 3.15769203e+02] [-8.13386077e-03 9.99966919e-01 3.79599273e-05 2.15015879e+00] [ 1.96541374e-03 -2.19741792e-05 9.99998068e-01 6.57481218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.50439141799995 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:2.15, Z:0.66 [[ 9.99895866e-01 1.42966817e-02 -1.96518046e-03 3.15826245e+02] [-1.42966358e-02 9.99897797e-01 3.74098881e-05 2.15064984e+00] [ 1.96551445e-03 -9.31052322e-06 9.99998068e-01 6.58150316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56439141799996 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:315.88, Y:2.15, Z:0.66 [[ 9.99854268e-01 1.69582193e-02 -1.96518555e-03 3.15884015e+02] [-1.69581790e-02 9.99856199e-01 3.71404837e-05 2.14981986e+00] [ 1.96553279e-03 -3.80910279e-06 9.99998068e-01 6.58096182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62439141799996 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:315.94, Y:2.15, Z:0.66 [[ 9.99846062e-01 1.74353262e-02 -1.96518995e-03 3.15942197e+02] [-1.74352874e-02 9.99847993e-01 3.69064059e-05 2.14896077e+00] [ 1.96553470e-03 -2.63707313e-06 9.99998068e-01 6.57848296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68439141799996 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:316.00, Y:2.15, Z:0.66 [[ 9.99880638e-01 1.53247242e-02 -1.96519432e-03 3.15999922e+02] [-1.53246817e-02 9.99882570e-01 3.66721081e-05 2.14566026e+00] [ 1.96552554e-03 -6.55175350e-06 9.99998068e-01 6.56673318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74439141799996 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:316.06, Y:2.14, Z:0.66 [[ 9.99930548e-01 1.16205262e-02 -1.96519823e-03 3.16058240e+02] [-1.16204770e-02 9.99932479e-01 3.64611355e-05 2.14131593e+00] [ 1.96548924e-03 -1.36220623e-05 9.99998068e-01 6.55985210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80439141799997 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:316.12, Y:2.14, Z:0.66 [[ 9.99986533e-01 4.80334049e-03 -1.96520101e-03 3.16116052e+02] [-4.80327840e-03 9.99988464e-01 3.63105868e-05 2.13670475e+00] [ 1.96535276e-03 -2.68706902e-05 9.99998068e-01 6.55230316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86439141799997 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:316.17, Y:2.13, Z:0.65 [[ 9.99997344e-01 -1.20434593e-03 -1.96520442e-03 3.16174839e+02] [ 1.20441924e-03 9.99999274e-01 3.61255311e-05 2.13142640e+00] [ 1.96515948e-03 -3.84923651e-05 9.99998068e-01 6.54388029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92439141799997 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:316.23, Y:2.13, Z:0.65 [[ 9.99974924e-01 -6.80356644e-03 -1.96520717e-03 3.16234193e+02] [ 6.80365027e-03 9.99976854e-01 3.59749657e-05 2.12638499e+00] [ 1.96491693e-03 -4.93446459e-05 9.99998068e-01 6.54427074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.984391418 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:316.30, Y:2.12, Z:0.65 [[ 9.99962033e-01 -8.48945921e-03 -1.96520856e-03 3.16295871e+02] [ 8.48954614e-03 9.99963963e-01 3.58990278e-05 2.12325508e+00] [ 1.96483298e-03 -5.25813936e-05 9.99998068e-01 6.53200226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.044391418 meters Centerline goodness : 0.998747 with order 1 Centerline is valid? [True, True] Translation: X:316.36, Y:2.12, Z:0.65 [[ 9.99874215e-01 -1.57382495e-02 -1.96520640e-03 3.16357725e+02] [ 1.57383506e-02 9.99876144e-01 3.60169797e-05 2.12084802e+00] [ 1.96439615e-03 -6.69415567e-05 9.99998068e-01 6.53824243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.104391418 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:316.42, Y:2.12, Z:0.65 [[ 9.99752540e-01 -2.21584388e-02 -1.96519576e-03 3.16420520e+02] [ 2.21585535e-02 9.99754468e-01 3.65884972e-05 2.11792594e+00] [ 1.96390250e-03 -8.01253384e-05 9.99998068e-01 6.52803085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.164391418 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:316.48, Y:2.12, Z:0.65 [[ 9.99637859e-01 -2.68382112e-02 -1.96519149e-03 3.16482197e+02] [ 2.68383353e-02 9.99639786e-01 3.68165474e-05 2.11616129e+00] [ 1.96349551e-03 -8.95456827e-05 9.99998068e-01 6.52250334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.224391418 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:316.54, Y:2.12, Z:0.65 [[ 9.99401869e-01 -3.45259678e-02 -1.96518854e-03 3.16544338e+02] [ 3.45261071e-02 9.99403796e-01 3.69732524e-05 2.11527739e+00] [ 1.96274035e-03 -1.04801447e-04 9.99998068e-01 6.50492982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.284391418 meters Centerline goodness : 0.998875 with order 1 Centerline is valid? [True, True] Translation: X:316.61, Y:2.11, Z:0.65 [[ 9.99255226e-01 -3.85373988e-02 -1.96518562e-03 3.16607450e+02] [ 3.85375461e-02 9.99257152e-01 3.71277670e-05 2.11499417e+00] [ 1.96229498e-03 -1.12833547e-04 9.99998068e-01 6.49336408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.344391418 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:316.67, Y:2.12, Z:0.65 [[ 9.99070984e-01 -4.30500544e-02 -1.96518124e-03 3.16669264e+02] [ 4.30502108e-02 9.99072909e-01 3.73581700e-05 2.11699260e+00] [ 1.96175107e-03 -1.21924930e-04 9.99998068e-01 6.48370445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.404391418 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:316.73, Y:2.12, Z:0.65 [[ 9.98965465e-01 -4.54327794e-02 -1.96517834e-03 3.16730971e+02] [ 4.54329407e-02 9.98967390e-01 3.75101042e-05 2.11877433e+00] [ 1.96144489e-03 -1.26755130e-04 9.99998068e-01 6.48488712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.464391418 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:316.79, Y:2.12, Z:0.65 [[ 9.98794111e-01 -4.90557015e-02 -1.96517619e-03 3.16793829e+02] [ 4.90558700e-02 9.98796035e-01 3.76222787e-05 2.12181477e+00] [ 1.96096460e-03 -1.33980338e-04 9.99998068e-01 6.50193087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52439141799994 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:316.86, Y:2.12, Z:0.65 [[ 9.98624688e-01 -5.23915038e-02 -1.96517184e-03 3.16856933e+02] [ 5.23916792e-02 9.98626612e-01 3.78483745e-05 2.12440550e+00] [ 1.96048996e-03 -1.40754973e-04 9.99998068e-01 6.50576337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58439141799994 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:316.92, Y:2.13, Z:0.65 [[ 9.98549100e-01 -5.38129503e-02 -1.96516730e-03 3.16918896e+02] [ 5.38131289e-02 9.98551023e-01 3.80826223e-05 2.12829674e+00] [ 1.96027048e-03 -1.43779169e-04 9.99998068e-01 6.51099387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64439141799994 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:316.98, Y:2.13, Z:0.65 [[ 9.98634003e-01 -5.22136644e-02 -1.96516423e-03 3.16981653e+02] [ 5.22138403e-02 9.98635926e-01 3.82399707e-05 2.13045074e+00] [ 1.96048696e-03 -1.40796506e-04 9.99998068e-01 6.52151676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70439141799994 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:317.04, Y:2.13, Z:0.65 [[ 9.98939087e-01 -4.60091114e-02 -1.96515964e-03 3.17043797e+02] [ 4.60092757e-02 9.98941012e-01 3.84748219e-05 2.13425376e+00] [ 1.96130836e-03 -1.28849575e-04 9.99998068e-01 6.53627679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76439141799995 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:317.11, Y:2.14, Z:0.65 [[ 9.99193962e-01 -4.00944444e-02 -1.96515657e-03 3.17106753e+02] [ 4.00945977e-02 9.99195888e-01 3.86310484e-05 2.13725893e+00] [ 1.96202747e-03 -1.17392072e-04 9.99998068e-01 6.54186742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82439141799995 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:317.17, Y:2.14, Z:0.65 [[ 9.99566975e-01 -2.93598323e-02 -1.96515189e-03 3.17168848e+02] [ 2.93599653e-02 9.99568903e-01 3.88672265e-05 2.14246835e+00] [ 1.96316359e-03 -9.65471874e-05 9.99998068e-01 6.53840969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88439141799995 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:317.23, Y:2.15, Z:0.65 [[ 9.99842540e-01 -1.76361671e-02 -1.96514868e-03 3.17229711e+02] [ 1.76362779e-02 9.99844468e-01 3.90291057e-05 2.14705415e+00] [ 1.96415471e-03 -7.36808683e-05 9.99998068e-01 6.52902685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94439141799995 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:317.29, Y:2.15, Z:0.65 [[ 9.99938410e-01 -1.09231524e-02 -1.96514287e-03 3.17291740e+02] [ 1.09232508e-02 9.99940339e-01 3.93194584e-05 2.14906937e+00] [ 1.96459613e-03 -6.07827851e-05 9.99998068e-01 6.53543705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.00439141799995 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:317.35, Y:2.15, Z:0.65 [[ 9.99995333e-01 -2.33920362e-03 -1.96513966e-03 3.17354214e+02] [ 2.33928572e-03 9.99997263e-01 3.94790007e-05 2.15264620e+00] [ 1.96504194e-03 -4.40758396e-05 9.99998068e-01 6.54593701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06439141799996 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:317.42, Y:2.15, Z:0.65 [[ 9.99982616e-01 5.55932091e-03 -1.96513646e-03 3.17415093e+02] [-5.55925375e-03 9.99984546e-01 3.96379545e-05 2.15415473e+00] [ 1.96532645e-03 -2.87125732e-05 9.99998068e-01 6.54934974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12439141799996 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:317.47, Y:2.15, Z:0.65 [[ 9.99933690e-01 1.13469798e-02 -1.96513646e-03 3.17472477e+02] [-1.13469238e-02 9.99935621e-01 3.96379545e-05 2.15411044e+00] [ 1.96545972e-03 -1.73370725e-05 9.99998068e-01 6.54525877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18439141799996 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:317.53, Y:2.15, Z:0.66 [[ 9.99828284e-01 1.84266513e-02 -1.96514903e-03 3.17530223e+02] [-1.84266103e-02 9.99830215e-01 3.90045620e-05 2.15496164e+00] [ 1.96553410e-03 -2.78682895e-06 9.99998068e-01 6.56037421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24439141799996 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:317.59, Y:2.15, Z:0.66 [[ 9.99778456e-01 2.09565435e-02 -1.96515286e-03 3.17588196e+02] [-2.09565077e-02 9.99780388e-01 3.88106012e-05 2.15383319e+00] [ 1.96553462e-03 2.38073824e-06 9.99998068e-01 6.56288982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30439141799997 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:317.65, Y:2.15, Z:0.66 [[ 9.99822890e-01 1.87170165e-02 -1.96515744e-03 3.17645712e+02] [-1.87169769e-02 9.99824821e-01 3.85771522e-05 2.15004233e+00] [ 1.96553524e-03 -1.78851344e-06 9.99998068e-01 6.55276847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36439141799997 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:317.70, Y:2.14, Z:0.65 [[ 9.99962367e-01 8.44999405e-03 -1.96516205e-03 3.17703242e+02] [-8.44993502e-03 9.99964298e-01 3.83408164e-05 2.14461271e+00] [ 1.96541587e-03 -2.17338818e-05 9.99998068e-01 6.53630812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42439141799997 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:317.76, Y:2.14, Z:0.65 [[ 9.99978264e-01 -6.29354152e-03 -1.96516581e-03 3.17761765e+02] [ 6.29362863e-03 9.99980194e-01 3.81472363e-05 2.13830445e+00] [ 1.96488681e-03 -5.05144310e-05 9.99998068e-01 6.54158130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.484391418 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:317.82, Y:2.13, Z:0.66 [[ 9.99893472e-01 -1.44631794e-02 -1.96516883e-03 3.17823023e+02] [ 1.44632819e-02 9.99895401e-01 3.79911204e-05 2.13309493e+00] [ 1.96441380e-03 -6.64098641e-05 9.99998068e-01 6.55592975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.544391418 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:317.88, Y:2.13, Z:0.66 [[ 9.99802421e-01 -1.97802022e-02 -1.96516732e-03 3.17884719e+02] [ 1.97803152e-02 9.99804350e-01 3.80688265e-05 2.12860375e+00] [ 1.96402983e-03 -7.69329339e-05 9.99998068e-01 6.56777068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.604391418 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:317.95, Y:2.12, Z:0.66 [[ 9.99748299e-01 -2.23489930e-02 -1.96516427e-03 3.17948102e+02] [ 2.23491112e-02 9.99750227e-01 3.82257685e-05 2.12498616e+00] [ 1.96381912e-03 -8.21358219e-05 9.99998068e-01 6.57316719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.664391418 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:318.01, Y:2.12, Z:0.66 [[ 9.99719025e-01 -2.36222362e-02 -1.96515967e-03 3.18010494e+02] [ 2.36223573e-02 9.99720952e-01 3.84607286e-05 2.12101947e+00] [ 1.96370277e-03 -8.48716261e-05 9.99998068e-01 6.55935149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.724391418 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:318.07, Y:2.12, Z:0.65 [[ 9.99738664e-01 -2.27759024e-02 -1.96515664e-03 3.18072041e+02] [ 2.27760222e-02 9.99740592e-01 3.86152224e-05 2.11835912e+00] [ 1.96376736e-03 -8.33635821e-05 9.99998068e-01 6.54370432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.784391418 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:318.13, Y:2.12, Z:0.65 [[ 9.99788930e-01 -2.04507441e-02 -1.96515147e-03 3.18134388e+02] [ 2.04508600e-02 9.99790859e-01 3.88764865e-05 2.11724633e+00] [ 1.96394542e-03 -7.90573184e-05 9.99998068e-01 6.52163211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.844391418 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:318.20, Y:2.12, Z:0.65 [[ 9.99801794e-01 -1.98118984e-02 -1.96514833e-03 3.18195957e+02] [ 1.98120133e-02 9.99803722e-01 3.90344844e-05 2.11758549e+00] [ 1.96398927e-03 -7.79602925e-05 9.99998068e-01 6.49930346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.904391418 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:318.26, Y:2.12, Z:0.65 [[ 9.99796205e-01 -2.00919456e-02 -1.96514280e-03 3.18258587e+02] [ 2.00920616e-02 9.99798133e-01 3.93111316e-05 2.11700292e+00] [ 1.96395626e-03 -7.87868903e-05 9.99998068e-01 6.49663767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.964391418 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:318.32, Y:2.12, Z:0.65 [[ 9.99799042e-01 -1.99502807e-02 -1.96513970e-03 3.18320524e+02] [ 1.99503968e-02 9.99800970e-01 3.94651615e-05 2.11955821e+00] [ 1.96396124e-03 -7.86625475e-05 9.99998068e-01 6.52459020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02439141799994 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:318.38, Y:2.12, Z:0.66 [[ 9.99827354e-01 -1.84770507e-02 -1.96513660e-03 3.18381655e+02] [ 1.84771642e-02 9.99829282e-01 3.96191389e-05 2.12240904e+00] [ 1.96406907e-03 -7.59224504e-05 9.99998068e-01 6.55445902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08439141799994 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:318.44, Y:2.12, Z:0.66 [[ 9.99830742e-01 -1.82927810e-02 -1.96513430e-03 3.18443943e+02] [ 1.82928944e-02 9.99832670e-01 3.97328116e-05 2.12369962e+00] [ 1.96407865e-03 -7.56740807e-05 9.99998068e-01 6.58027006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14439141799994 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:318.50, Y:2.13, Z:0.66 [[ 9.99816611e-01 -1.90494668e-02 -1.96513110e-03 3.18504725e+02] [ 1.90495820e-02 9.99818539e-01 3.98903244e-05 2.12547109e+00] [ 1.96401462e-03 -7.73179350e-05 9.99998068e-01 6.59949657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20439141799994 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:318.57, Y:2.13, Z:0.66 [[ 9.99802829e-01 -1.97595841e-02 -1.96512874e-03 3.18566957e+02] [ 1.97597008e-02 9.99804757e-01 4.00066189e-05 2.12653002e+00] [ 1.96395454e-03 -7.88290867e-05 9.99998068e-01 6.59040477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26439141799995 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:318.63, Y:2.13, Z:0.66 [[ 9.99838688e-01 -1.78531723e-02 -1.96512563e-03 3.18629410e+02] [ 1.78532857e-02 9.99840617e-01 4.01586000e-05 2.12703641e+00] [ 1.96409546e-03 -7.52360712e-05 9.99998068e-01 6.58390839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32439141799995 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:318.69, Y:2.13, Z:0.66 [[ 9.99952519e-01 -9.54449871e-03 -1.96512256e-03 3.18691459e+02] [ 9.54459634e-03 9.99954448e-01 4.03083190e-05 2.13095694e+00] [ 1.96464832e-03 -5.90627067e-05 9.99998068e-01 6.58787403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38439141799995 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:318.75, Y:2.14, Z:0.66 [[ 9.99989351e-01 4.17560555e-03 -1.96511952e-03 3.18753307e+02] [-4.17553411e-03 9.99991282e-01 4.04558904e-05 2.13528998e+00] [ 1.96527132e-03 -3.22500360e-05 9.99998068e-01 6.60080676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44439141799995 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:318.81, Y:2.14, Z:0.66 [[ 9.99881587e-01 1.52627304e-02 -1.96511796e-03 3.18811757e+02] [-1.52626803e-02 9.99883518e-01 4.05314610e-05 2.13735827e+00] [ 1.96550768e-03 -1.05336944e-05 9.99998068e-01 6.59410096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.50439141799995 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:318.87, Y:2.14, Z:0.66 [[ 9.99671512e-01 2.55540011e-02 -1.96512897e-03 3.18870574e+02] [-2.55539718e-02 9.99673443e-01 3.99906592e-05 2.14009435e+00] [ 1.96550916e-03 1.02393276e-05 9.99998068e-01 6.60382535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56439141799996 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:318.93, Y:2.14, Z:0.66 [[ 9.99473436e-01 3.23881047e-02 -1.96513991e-03 3.18928436e+02] [-3.23880898e-02 9.99475367e-01 3.94453529e-05 2.14108021e+00] [ 1.96538650e-03 2.42225455e-05 9.99998068e-01 6.60115972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62439141799996 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:318.99, Y:2.14, Z:0.66 [[ 9.99465295e-01 3.26383670e-02 -1.96514452e-03 3.18987546e+02] [-3.26383530e-02 9.99467226e-01 3.92145411e-05 2.14026643e+00] [ 1.96537744e-03 2.49455077e-05 9.99998068e-01 6.59698336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68439141799996 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:319.05, Y:2.14, Z:0.66 [[ 9.99623129e-01 2.73813614e-02 -1.96514755e-03 3.19045719e+02] [-2.73813375e-02 9.99625060e-01 3.90618310e-05 2.13769423e+00] [ 1.96548031e-03 1.47612587e-05 9.99998068e-01 6.59914814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74439141799996 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:319.10, Y:2.13, Z:0.66 [[ 9.99863272e-01 1.64187361e-02 -1.96515211e-03 3.19103795e+02] [-1.64186915e-02 9.99865203e-01 3.88314927e-05 2.13375180e+00] [ 1.96552477e-03 -6.56095715e-06 9.99998068e-01 6.60285180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80439141799997 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:319.16, Y:2.13, Z:0.66 [[ 9.99968702e-01 7.66376033e-03 -1.96515666e-03 3.19161878e+02] [-7.66369927e-03 9.99970633e-01 3.85996630e-05 2.12963394e+00] [ 1.96539477e-03 -2.35380853e-05 9.99998068e-01 6.60220452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86439141799997 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:319.22, Y:2.12, Z:0.66 [[ 9.99982432e-01 -5.59230601e-03 -1.96516052e-03 3.19219239e+02] [ 5.59239227e-03 9.99984362e-01 3.84019134e-05 2.12422127e+00] [ 1.96491504e-03 -4.93911872e-05 9.99998068e-01 6.61138626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92439141799997 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:319.28, Y:2.12, Z:0.66 [[ 9.99849636e-01 -1.72291546e-02 -1.96516416e-03 3.19280437e+02] [ 1.72292630e-02 9.99851565e-01 3.82148947e-05 2.11888752e+00] [ 1.96421405e-03 -7.20674787e-05 9.99998068e-01 6.61939055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.984391418 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:319.34, Y:2.12, Z:0.66 [[ 9.99724003e-01 -2.34105797e-02 -1.96516263e-03 3.19343325e+02] [ 2.34107001e-02 9.99725931e-01 3.82936343e-05 2.11501824e+00] [ 1.96372756e-03 -8.42888982e-05 9.99998068e-01 6.61598301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.044391418 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:319.41, Y:2.11, Z:0.66 [[ 9.99553146e-01 -2.98269369e-02 -1.96515798e-03 3.19406200e+02] [ 2.98270702e-02 9.99555073e-01 3.85308711e-05 2.11120103e+00] [ 1.96313437e-03 -9.71285583e-05 9.99998068e-01 6.61668284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.104391418 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:319.47, Y:2.11, Z:0.66 [[ 9.99506911e-01 -3.13380399e-02 -1.96515325e-03 3.19468460e+02] [ 3.13381766e-02 9.99508838e-01 3.87702343e-05 2.10944566e+00] [ 1.96297306e-03 -1.00335437e-04 9.99998068e-01 6.62172461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.164391418 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:319.53, Y:2.11, Z:0.66 [[ 9.99541615e-01 -3.02109057e-02 -1.96515014e-03 3.19531284e+02] [ 3.02110404e-02 9.99543542e-01 3.89274149e-05 2.10950929e+00] [ 1.96307710e-03 -9.82788015e-05 9.99998068e-01 6.63106885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.224391418 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:319.59, Y:2.11, Z:0.66 [[ 9.99653598e-01 -2.62454222e-02 -1.96514530e-03 3.19594046e+02] [ 2.62455498e-02 9.99655525e-01 3.91701653e-05 2.11126152e+00] [ 1.96344032e-03 -9.07329155e-05 9.99998068e-01 6.61642266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.284391418 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:319.66, Y:2.11, Z:0.66 [[ 9.99750601e-01 -2.22457512e-02 -1.96514134e-03 3.19656113e+02] [ 2.22458715e-02 9.99752529e-01 3.93679364e-05 2.11277484e+00] [ 1.96377925e-03 -8.30743997e-05 9.99998068e-01 6.60389694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.344391418 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:319.72, Y:2.12, Z:0.66 [[ 9.99897700e-01 -1.41678616e-02 -1.96513820e-03 3.19718639e+02] [ 1.41679666e-02 9.99899629e-01 3.95237608e-05 2.11733349e+00] [ 1.96438099e-03 -6.73617299e-05 9.99998068e-01 6.61915240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.404391418 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:319.78, Y:2.12, Z:0.67 [[ 9.99992192e-01 -3.42840680e-03 -1.96513501e-03 3.19781109e+02] [ 3.42849140e-03 9.99994122e-01 3.96817577e-05 2.12282566e+00] [ 1.96498742e-03 -4.64188963e-05 9.99998068e-01 6.65701744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.464391418 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:319.84, Y:2.12, Z:0.67 [[ 9.99997778e-01 7.62874605e-04 -1.96513178e-03 3.19841481e+02] [-7.62797784e-04 9.99999708e-01 3.98410524e-05 2.12377772e+00] [ 1.96516161e-03 -3.83419657e-05 9.99998068e-01 6.66911979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52439141799994 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:319.90, Y:2.13, Z:0.67 [[ 9.99954602e-01 9.32373837e-03 -1.96513100e-03 3.19901562e+02] [-9.32367800e-03 9.99956533e-01 3.98799568e-05 2.12701716e+00] [ 1.96541741e-03 -2.15558977e-05 9.99998068e-01 6.68939399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58439141799994 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:319.96, Y:2.13, Z:0.67 [[ 9.99794457e-01 2.01787484e-02 -1.96513260e-03 3.19958381e+02] [-2.01787091e-02 9.99796388e-01 3.98005792e-05 2.13124800e+00] [ 1.96553560e-03 -1.38559272e-07 9.99998068e-01 6.71952306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64439141799994 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:320.02, Y:2.13, Z:0.67 [[ 9.99665631e-01 2.57830340e-02 -1.96513809e-03 3.20017302e+02] [-2.57830061e-02 9.99667562e-01 3.95277902e-05 2.13244575e+00] [ 1.96550395e-03 1.11525942e-05 9.99998068e-01 6.73257237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70439141799994 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:320.08, Y:2.13, Z:0.67 [[ 9.99681693e-01 2.51525436e-02 -1.96514130e-03 3.20075196e+02] [-2.51525148e-02 9.99683625e-01 3.93676200e-05 2.13116501e+00] [ 1.96550977e-03 1.00731566e-05 9.99998068e-01 6.72499715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76439141799995 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:320.13, Y:2.13, Z:0.67 [[ 9.99759358e-01 2.18486869e-02 -1.96514605e-03 3.20133353e+02] [-2.18486522e-02 9.99761289e-01 3.91287526e-05 2.12905018e+00] [ 1.96553186e-03 3.81645614e-06 9.99998068e-01 6.71587212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82439141799995 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:320.19, Y:2.13, Z:0.67 [[ 9.99869954e-01 1.60066858e-02 -1.96515081e-03 3.20191936e+02] [-1.60066403e-02 9.99871885e-01 3.88885120e-05 2.12504806e+00] [ 1.96552152e-03 -7.42799263e-06 9.99998068e-01 6.71472759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88439141799995 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:320.25, Y:2.12, Z:0.67 [[ 9.99932704e-01 1.14335635e-02 -1.96515395e-03 3.20249501e+02] [-1.14335094e-02 9.99934635e-01 3.87290091e-05 2.11997575e+00] [ 1.96546831e-03 -1.62577965e-05 9.99998068e-01 6.70807229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94439141799995 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:320.31, Y:2.12, Z:0.67 [[ 9.99957848e-01 8.96890480e-03 -1.96515859e-03 3.20308667e+02] [-8.96884647e-03 9.99959778e-01 3.84924500e-05 2.11603715e+00] [ 1.96542478e-03 -2.08656218e-05 9.99998068e-01 6.69636461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.00439141799995 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:320.37, Y:2.11, Z:0.67 [[ 9.99983334e-01 5.42863236e-03 -1.96516164e-03 3.20367399e+02] [-5.42856750e-03 9.99985264e-01 3.83357859e-05 2.11028688e+00] [ 1.96534080e-03 -2.76671343e-05 9.99998068e-01 6.66921751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06439141799996 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:320.43, Y:2.10, Z:0.66 [[ 9.99996981e-01 1.47519028e-03 -1.96516472e-03 3.20426340e+02] [-1.47511810e-03 9.99998911e-01 3.81770960e-05 2.10361534e+00] [ 1.96521890e-03 -3.52781307e-05 9.99998068e-01 6.64070979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12439141799996 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:320.48, Y:2.10, Z:0.66 [[ 9.99998006e-01 -3.54630500e-04 -1.96516778e-03 3.20484902e+02] [ 3.54705898e-04 9.99999936e-01 3.80191547e-05 2.09848814e+00] [ 1.96515417e-03 -3.87161355e-05 9.99998068e-01 6.62333158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18439141799996 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:320.54, Y:2.09, Z:0.66 [[ 9.99993425e-01 -3.04755085e-03 -1.96517002e-03 3.20544504e+02] [ 3.04763121e-03 9.99995355e-01 3.79027815e-05 2.09129457e+00] [ 1.96504539e-03 -4.38916459e-05 9.99998068e-01 6.58615312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24439141799996 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:320.60, Y:2.08, Z:0.65 [[ 9.99981357e-01 -5.78133190e-03 -1.96517150e-03 3.20604700e+02] [ 5.78141739e-03 9.99983287e-01 3.78260439e-05 2.08295445e+00] [ 1.96491997e-03 -4.91868154e-05 9.99998068e-01 6.53678393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30439141799997 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:320.67, Y:2.08, Z:0.65 [[ 9.99971360e-01 -7.30871416e-03 -1.96517150e-03 3.20665818e+02] [ 7.30880260e-03 9.99973290e-01 3.78260439e-05 2.07678858e+00] [ 1.96484255e-03 -5.21880111e-05 9.99998068e-01 6.50901990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36439141799997 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:320.73, Y:2.07, Z:0.65 [[ 9.99961981e-01 -8.49560008e-03 -1.96516995e-03 3.20727084e+02] [ 8.49569097e-03 9.99963910e-01 3.79063823e-05 2.06899636e+00] [ 1.96477699e-03 -5.46004177e-05 9.99998068e-01 6.45502536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42439141799997 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:320.79, Y:2.06, Z:0.64 [[ 9.99972830e-01 -7.10476543e-03 -1.96516765e-03 3.20788134e+02] [ 7.10485387e-03 9.99974759e-01 3.80253688e-05 2.06194283e+00] [ 1.96484789e-03 -5.19865647e-05 9.99998068e-01 6.42383550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.484391418 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:320.85, Y:2.06, Z:0.64 [[ 9.99985826e-01 -4.94838459e-03 -1.96516611e-03 3.20849321e+02] [ 4.94846902e-03 9.99987756e-01 3.81050466e-05 2.05734229e+00] [ 1.96495348e-03 -4.78290700e-05 9.99998068e-01 6.40418061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.544391418 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:320.91, Y:2.05, Z:0.64 [[ 9.99997067e-01 1.41589191e-03 -1.96516381e-03 3.20910626e+02] [-1.41581953e-03 9.99998997e-01 3.82230525e-05 2.05283016e+00] [ 1.96521596e-03 -3.54406231e-05 9.99998068e-01 6.41514456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.604391418 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:320.97, Y:2.05, Z:0.64 [[ 9.99955040e-01 9.27660348e-03 -1.96516225e-03 3.20970254e+02] [-9.27654612e-03 9.99956971e-01 3.83030160e-05 2.04867100e+00] [ 1.96543301e-03 -2.00713757e-05 9.99998068e-01 6.43341814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.664391418 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:321.03, Y:2.05, Z:0.64 [[ 9.99918155e-01 1.26420818e-02 -1.96516381e-03 3.21029152e+02] [-1.26420311e-02 9.99920086e-01 3.82227704e-05 2.04558317e+00] [ 1.96548998e-03 -1.33759801e-05 9.99998068e-01 6.44445970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.724391418 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:321.09, Y:2.04, Z:0.65 [[ 9.99886947e-01 1.49073962e-02 -1.96516688e-03 3.21087410e+02] [-1.49073502e-02 9.99888879e-01 3.80644180e-05 2.04094794e+00] [ 1.96551595e-03 -8.76468384e-06 9.99998068e-01 6.46540486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.784391418 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:321.15, Y:2.04, Z:0.65 [[ 9.99879086e-01 1.54256994e-02 -1.96516991e-03 3.21145943e+02] [-1.54256547e-02 9.99881017e-01 3.79071086e-05 2.03723927e+00] [ 1.96552084e-03 -7.58849255e-06 9.99998068e-01 6.46475608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.844391418 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:321.21, Y:2.03, Z:0.65 [[ 9.99884124e-01 1.50955659e-02 -1.96517289e-03 3.21205011e+02] [-1.50955209e-02 9.99886055e-01 3.77520064e-05 2.03176142e+00] [ 1.96551886e-03 -8.08232344e-06 9.99998068e-01 6.47132208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.904391418 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:321.26, Y:2.03, Z:0.65 [[ 9.99907040e-01 1.34925904e-02 -1.96517583e-03 3.21262612e+02] [-1.34925426e-02 9.99908971e-01 3.75983821e-05 2.02619890e+00] [ 1.96550424e-03 -1.10796683e-05 9.99998068e-01 6.47922355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.964391418 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:321.32, Y:2.02, Z:0.65 [[ 9.99946830e-01 1.01229787e-02 -1.96517942e-03 3.21321391e+02] [-1.01229247e-02 9.99948761e-01 3.74099070e-05 2.01976522e+00] [ 1.96545743e-03 -1.75145546e-05 9.99998068e-01 6.49580522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02439141799994 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:321.38, Y:2.02, Z:0.65 [[ 9.99973088e-01 7.06826367e-03 -1.96518245e-03 3.21379710e+02] [-7.06820411e-03 9.99975019e-01 3.72500775e-05 2.01555653e+00] [ 1.96539665e-03 -2.33587644e-05 9.99998068e-01 6.51077132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08439141799994 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:321.44, Y:2.01, Z:0.65 [[ 9.99991520e-01 3.61921615e-03 -1.96518546e-03 3.21438773e+02] [-3.61915025e-03 9.99993450e-01 3.70905720e-05 2.01030665e+00] [ 1.96530683e-03 -2.99779560e-05 9.99998068e-01 6.53189068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14439141799994 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:321.50, Y:2.01, Z:0.65 [[ 9.99996689e-01 1.66124138e-03 -1.96518848e-03 3.21497463e+02] [-1.66117201e-03 9.99998620e-01 3.69301482e-05 2.00741338e+00] [ 1.96524711e-03 -3.36655098e-05 9.99998068e-01 6.54238627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20439141799994 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:321.56, Y:2.00, Z:0.66 [[ 9.99996292e-01 -1.88537705e-03 -1.96519148e-03 3.21557127e+02] [ 1.88545295e-03 9.99998222e-01 3.67694148e-05 2.00368749e+00] [ 1.96511866e-03 -4.04745545e-05 9.99998068e-01 6.55616161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26439141799995 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:321.62, Y:2.00, Z:0.66 [[ 9.99981457e-01 -5.76394436e-03 -1.96519300e-03 3.21617761e+02] [ 5.76402758e-03 9.99983387e-01 3.66881539e-05 2.00019993e+00] [ 1.96494888e-03 -4.80149003e-05 9.99998068e-01 6.56845672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32439141799995 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:321.68, Y:2.00, Z:0.66 [[ 9.99975400e-01 -6.73326652e-03 -1.96519300e-03 3.21678112e+02] [ 6.73335162e-03 9.99977330e-01 3.66881539e-05 1.99841424e+00] [ 1.96490142e-03 -4.99195869e-05 9.99998068e-01 6.56973753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38439141799995 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:321.74, Y:2.00, Z:0.66 [[ 9.99966018e-01 -8.00633997e-03 -1.96519225e-03 3.21739664e+02] [ 8.00642760e-03 9.99967947e-01 3.67280199e-05 1.99674320e+00] [ 1.96483521e-03 -5.24609413e-05 9.99998068e-01 6.57980195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44439141799995 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:321.80, Y:2.00, Z:0.66 [[ 9.99980468e-01 -5.93302916e-03 -1.96519077e-03 3.21801282e+02] [ 5.93311294e-03 9.99982398e-01 3.68072080e-05 1.99563822e+00] [ 1.96493780e-03 -4.84661879e-05 9.99998068e-01 6.58799361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.50439141799995 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:321.86, Y:1.99, Z:0.66 [[ 9.99997642e-01 9.24138914e-04 -1.96518929e-03 3.21862667e+02] [-9.24068210e-04 9.99999572e-01 3.68859486e-05 1.99444671e+00] [ 1.96522254e-03 -3.50698927e-05 9.99998068e-01 6.60316274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56439141799996 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:321.92, Y:1.99, Z:0.66 [[ 9.99970756e-01 7.39088503e-03 -1.96518784e-03 3.21921614e+02] [-7.39082665e-03 9.99972687e-01 3.69633495e-05 1.99384681e+00] [ 1.96540735e-03 -2.24379059e-05 9.99998068e-01 6.62006811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62439141799996 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:321.98, Y:1.99, Z:0.66 [[ 9.99949663e-01 9.83919297e-03 -1.96518998e-03 3.21980345e+02] [-9.83913955e-03 9.99951594e-01 3.68492128e-05 1.99331326e+00] [ 1.96545742e-03 -1.75115795e-05 9.99998068e-01 6.62830847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68439141799996 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:322.04, Y:1.99, Z:0.66 [[ 9.99955410e-01 9.23666552e-03 -1.96519294e-03 3.22038159e+02] [-9.23661124e-03 9.99957341e-01 3.66907831e-05 1.99017587e+00] [ 1.96544800e-03 -1.85374239e-05 9.99998068e-01 6.60013799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74439141799996 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:322.10, Y:1.99, Z:0.66 [[ 9.99981556e-01 5.74675276e-03 -1.96519655e-03 3.22096861e+02] [-5.74669213e-03 9.99983487e-01 3.64963219e-05 1.98749333e+00] [ 1.96537383e-03 -2.52022692e-05 9.99998068e-01 6.60369649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80439141799997 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:322.16, Y:1.98, Z:0.66 [[ 9.99997428e-01 -1.13223846e-03 -1.96519952e-03 3.22155376e+02] [ 1.13231205e-03 9.99999358e-01 3.63353954e-05 1.98467792e+00] [ 1.96515712e-03 -3.85605211e-05 9.99998068e-01 6.62144798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86439141799997 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:322.21, Y:1.98, Z:0.66 [[ 9.99968995e-01 -7.62547740e-03 -1.96520247e-03 3.22214856e+02] [ 7.62556320e-03 9.99970924e-01 3.61753156e-05 1.98062179e+00] [ 1.96486948e-03 -5.11599696e-05 9.99998068e-01 6.64073442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92439141799997 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:322.28, Y:1.98, Z:0.66 [[ 9.99897207e-01 -1.42025845e-02 -1.96520395e-03 3.22275779e+02] [ 1.42026828e-02 9.99899136e-01 3.60949429e-05 1.97660849e+00] [ 1.96449309e-03 -6.40024010e-05 9.99998068e-01 6.64232598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.984391418 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:322.34, Y:1.97, Z:0.66 [[ 9.99826949e-01 -1.84989180e-02 -1.96520248e-03 3.22337490e+02] [ 1.84990248e-02 9.99828878e-01 3.61746602e-05 1.97370510e+00] [ 1.96419700e-03 -7.25227296e-05 9.99998068e-01 6.64559019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.044391418 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:322.40, Y:1.97, Z:0.66 [[ 9.99676746e-01 -2.53483964e-02 -1.96519945e-03 3.22400378e+02] [ 2.53485167e-02 9.99678674e-01 3.63381868e-05 1.96952856e+00] [ 1.96364687e-03 -8.61413315e-05 9.99998068e-01 6.63710742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.104391418 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:322.46, Y:1.97, Z:0.66 [[ 9.99499140e-01 -3.15849237e-02 -1.96519485e-03 3.22462567e+02] [ 3.15850565e-02 9.99501067e-01 3.65854583e-05 1.96706687e+00] [ 1.96305880e-03 -9.86379245e-05 9.99998068e-01 6.63614418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.164391418 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:322.53, Y:1.97, Z:0.66 [[ 9.99414905e-01 -3.41465304e-02 -1.96519179e-03 3.22525123e+02] [ 3.41466685e-02 9.99416832e-01 3.67492236e-05 1.96580736e+00] [ 1.96279089e-03 -1.03832474e-04 9.99998068e-01 6.63088633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.224391418 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:322.59, Y:1.96, Z:0.66 [[ 9.99350771e-01 -3.59746285e-02 -1.96518875e-03 3.22587897e+02] [ 3.59747704e-02 9.99352698e-01 3.69111061e-05 1.96401661e+00] [ 1.96258881e-03 -1.07584356e-04 9.99998068e-01 6.62639064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.284391418 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:322.65, Y:1.96, Z:0.66 [[ 9.99325568e-01 -3.66680691e-02 -1.96518419e-03 3.22650537e+02] [ 3.66682129e-02 9.99327494e-01 3.71520495e-05 1.96398533e+00] [ 1.96250030e-03 -1.09186785e-04 9.99998068e-01 6.62150944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.344391418 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:322.71, Y:1.97, Z:0.66 [[ 9.99314930e-01 -3.69568571e-02 -1.96518120e-03 3.22712169e+02] [ 3.69570017e-02 9.99316856e-01 3.73094732e-05 1.96525189e+00] [ 1.96245986e-03 -1.09911119e-04 9.99998068e-01 6.60978911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.404391418 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:322.77, Y:1.97, Z:0.66 [[ 9.99290193e-01 -3.76197782e-02 -1.96517899e-03 3.22774098e+02] [ 3.76199243e-02 9.99292119e-01 3.74255956e-05 1.96822202e+00] [ 1.96237994e-03 -1.11328916e-04 9.99998068e-01 6.61720709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46439141799993 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:322.84, Y:1.97, Z:0.66 [[ 9.99301617e-01 -3.73150844e-02 -1.96517592e-03 3.22836096e+02] [ 3.73152303e-02 9.99303544e-01 3.75863876e-05 1.97177426e+00] [ 1.96240472e-03 -1.10891130e-04 9.99998068e-01 6.63679106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52439141799994 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:322.90, Y:1.97, Z:0.67 [[ 9.99369302e-01 -3.54561285e-02 -1.96517288e-03 3.22898353e+02] [ 3.54562710e-02 9.99371228e-01 3.77442937e-05 1.97479323e+00] [ 1.96259897e-03 -1.07398191e-04 9.99998068e-01 6.65523734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58439141799994 meters Centerline goodness : 0.999194 with order 1 Centerline is valid? [True, True] Translation: X:322.96, Y:1.98, Z:0.67 [[ 9.99503131e-01 -3.14583841e-02 -1.96516978e-03 3.22960384e+02] [ 3.14585192e-02 9.99505058e-01 3.79053368e-05 1.97955767e+00] [ 1.96300469e-03 -9.97078341e-05 9.99998068e-01 6.67274966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64439141799994 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:323.02, Y:1.98, Z:0.67 [[ 9.99604252e-01 -2.80620224e-02 -1.96516669e-03 3.23022228e+02] [ 2.80621513e-02 9.99606180e-01 3.80647858e-05 1.98368941e+00] [ 1.96332459e-03 -9.31965267e-05 9.99998068e-01 6.67603941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70439141799994 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:323.08, Y:1.99, Z:0.67 [[ 9.99644535e-01 -2.65883852e-02 -1.96516360e-03 3.23084573e+02] [ 2.65885116e-02 9.99646462e-01 3.82235162e-05 1.98724550e+00] [ 1.96345254e-03 -9.04607042e-05 9.99998068e-01 6.68337397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76439141799995 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:323.15, Y:1.99, Z:0.67 [[ 9.99651707e-01 -2.63173661e-02 -1.96515594e-03 3.23146327e+02] [ 2.63174927e-02 9.99653634e-01 3.86134195e-05 1.98834293e+00] [ 1.96345907e-03 -9.03179479e-05 9.99998068e-01 6.68395909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82439141799995 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:323.21, Y:1.99, Z:0.67 [[ 9.99651432e-01 -2.63277881e-02 -1.96515287e-03 3.23207366e+02] [ 2.63279151e-02 9.99653360e-01 3.87693364e-05 1.98973323e+00] [ 1.96345095e-03 -9.04942005e-05 9.99998068e-01 6.67650391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88439141799995 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:323.27, Y:1.99, Z:0.67 [[ 9.99699508e-01 -2.44342179e-02 -1.96515059e-03 3.23269539e+02] [ 2.44343415e-02 9.99701436e-01 3.88843656e-05 1.99286117e+00] [ 1.96361376e-03 -8.68898418e-05 9.99998068e-01 6.68085014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94439141799995 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:323.33, Y:2.00, Z:0.67 [[ 9.99835050e-01 -1.80557760e-02 -1.96514736e-03 3.23331836e+02] [ 1.80558876e-02 9.99836978e-01 3.90468549e-05 1.99679618e+00] [ 1.96412198e-03 -7.45228939e-05 9.99998068e-01 6.68567599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.00439141799995 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:323.39, Y:2.00, Z:0.67 [[ 9.99956464e-01 -9.12181153e-03 -1.96514414e-03 3.23394000e+02] [ 9.12190618e-03 9.99958394e-01 3.92084015e-05 2.00188118e+00] [ 1.96470472e-03 -5.71325550e-05 9.99998068e-01 6.69574240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06439141799996 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:323.46, Y:2.00, Z:0.67 [[ 9.99992277e-01 -3.40357637e-03 -1.96514093e-03 3.23455054e+02] [ 3.40366030e-03 9.99994207e-01 3.93682679e-05 2.00440619e+00] [ 1.96499556e-03 -4.60566361e-05 9.99998068e-01 6.70778743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12439141799996 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:323.51, Y:2.01, Z:0.67 [[ 9.99989289e-01 4.19057978e-03 -1.96513934e-03 3.23514965e+02] [-4.19051035e-03 9.99991219e-01 3.94476516e-05 2.00659221e+00] [ 1.96528739e-03 -3.12122923e-05 9.99998068e-01 6.71572639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18439141799996 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:323.57, Y:2.01, Z:0.67 [[ 9.99940287e-01 1.07498738e-02 -1.96513934e-03 3.23574143e+02] [-1.07498170e-02 9.99942218e-01 3.94476516e-05 2.00892399e+00] [ 1.96544985e-03 -1.83204078e-05 9.99998068e-01 6.71989046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24439141799996 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:323.63, Y:2.01, Z:0.67 [[ 9.99919093e-01 1.25676277e-02 -1.96514982e-03 3.23632865e+02] [-1.25675755e-02 9.99921024e-01 3.89185010e-05 2.00886356e+00] [ 1.96548373e-03 -1.42181836e-05 9.99998068e-01 6.72183063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30439141799997 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:323.69, Y:2.01, Z:0.67 [[ 9.99865498e-01 1.62826553e-02 -1.96515286e-03 3.23691522e+02] [-1.62826106e-02 9.99867429e-01 3.87645607e-05 2.00986706e+00] [ 1.96552352e-03 -6.76152805e-06 9.99998068e-01 6.71867278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36439141799997 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:323.75, Y:2.01, Z:0.67 [[ 9.99875121e-01 1.56805958e-02 -1.96515592e-03 3.23749143e+02] [-1.56805502e-02 9.99877052e-01 3.86084634e-05 2.00947726e+00] [ 1.96551972e-03 -7.78891594e-06 9.99998068e-01 6.70218090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42439141799997 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:323.81, Y:2.01, Z:0.67 [[ 9.99911829e-01 1.31328610e-02 -1.96515967e-03 3.23806798e+02] [-1.31328109e-02 9.99913760e-01 3.84168141e-05 2.00846580e+00] [ 1.96549472e-03 -1.26053567e-05 9.99998068e-01 6.68924570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.484391418 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:323.87, Y:2.01, Z:0.67 [[ 9.99968622e-01 7.67416309e-03 -1.96516327e-03 3.23865533e+02] [-7.67410277e-03 9.99970553e-01 3.82317820e-05 2.00614479e+00] [ 1.96539880e-03 -2.31497175e-05 9.99998068e-01 6.68102452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.544391418 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:323.92, Y:2.00, Z:0.67 [[ 9.99989471e-01 4.14682727e-03 -1.96516623e-03 3.23924366e+02] [-4.14676044e-03 9.99991401e-01 3.80789837e-05 2.00413754e+00] [ 1.96530724e-03 -2.99295092e-05 9.99998068e-01 6.67307312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.604391418 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:323.98, Y:2.00, Z:0.67 [[ 9.99997264e-01 -1.26928068e-03 -1.96516920e-03 3.23982379e+02] [ 1.26935766e-03 9.99999194e-01 3.79252182e-05 2.00294528e+00] [ 1.96511948e-03 -4.04196170e-05 9.99998068e-01 6.65888175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.664391418 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:324.04, Y:2.00, Z:0.67 [[ 9.99973191e-01 -7.05381262e-03 -1.96517282e-03 3.24041694e+02] [ 7.05390039e-03 9.99975120e-01 3.77363611e-05 2.00177423e+00] [ 1.96485775e-03 -5.15974828e-05 9.99998068e-01 6.66101466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.724391418 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:324.10, Y:2.00, Z:0.67 [[ 9.99930463e-01 -1.16278465e-02 -1.96517429e-03 3.24102719e+02] [ 1.16279429e-02 9.99932392e-01 3.76600436e-05 1.99991147e+00] [ 1.96460352e-03 -6.05083592e-05 9.99998068e-01 6.66029265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.784391418 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:324.17, Y:2.00, Z:0.67 [[ 9.99819225e-01 -1.89118035e-02 -1.96517282e-03 3.24165343e+02] [ 1.89119142e-02 9.99821153e-01 3.77363231e-05 1.99719507e+00] [ 1.96410770e-03 -7.48946811e-05 9.99998068e-01 6.66557862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.844391418 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:324.23, Y:1.99, Z:0.67 [[ 9.99669671e-01 -2.56258904e-02 -1.96516045e-03 3.24226006e+02] [ 2.56260153e-02 9.99671599e-01 3.83701974e-05 1.99484215e+00] [ 1.96353182e-03 -8.87167542e-05 9.99998068e-01 6.67720939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.904391418 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:324.29, Y:1.99, Z:0.67 [[ 9.99582062e-01 -2.88416339e-02 -1.96515891e-03 3.24288749e+02] [ 2.88417651e-02 9.99583989e-01 3.84486626e-05 1.99296231e+00] [ 1.96323246e-03 -9.51112452e-05 9.99998068e-01 6.67422774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96439141799993 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:324.35, Y:1.99, Z:0.67 [[ 9.99490513e-01 -3.18567533e-02 -1.96515433e-03 3.24350884e+02] [ 3.18568907e-02 9.99492440e-01 3.86816025e-05 1.99126581e+00] [ 1.96292462e-03 -1.01265601e-04 9.99998068e-01 6.67079614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02439141799994 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:324.41, Y:1.99, Z:0.67 [[ 9.99481692e-01 -3.21323256e-02 -1.96515121e-03 3.24412905e+02] [ 3.21324639e-02 9.99483618e-01 3.88390237e-05 1.99028963e+00] [ 1.96288846e-03 -1.01964044e-04 9.99998068e-01 6.66129798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08439141799994 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:324.47, Y:1.99, Z:0.67 [[ 9.99567601e-01 -2.93385301e-02 -1.96514814e-03 3.24474784e+02] [ 2.93386633e-02 9.99569528e-01 3.89942159e-05 1.99096431e+00] [ 1.96315816e-03 -9.66321744e-05 9.99998068e-01 6.65971593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14439141799994 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:324.54, Y:1.99, Z:0.67 [[ 9.99700052e-01 -2.44119612e-02 -1.96514500e-03 3.24537727e+02] [ 2.44120853e-02 9.99701980e-01 3.91515436e-05 1.99247756e+00] [ 1.96360358e-03 -8.71130875e-05 9.99998068e-01 6.66467323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20439141799994 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:324.60, Y:2.00, Z:0.67 [[ 9.99883968e-01 -1.51058863e-02 -1.96514022e-03 3.24600119e+02] [ 1.51059929e-02 9.99885897e-01 3.93899088e-05 1.99625550e+00] [ 1.96432098e-03 -6.90707326e-05 9.99998068e-01 6.68320565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26439141799995 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:324.66, Y:2.00, Z:0.67 [[ 9.99975285e-01 -6.75037888e-03 -1.96513706e-03 3.24660980e+02] [ 6.75046962e-03 9.99977215e-01 3.95470148e-05 1.99865849e+00] [ 1.96482533e-03 -5.28116355e-05 9.99998068e-01 6.68806943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32439141799995 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:324.72, Y:2.00, Z:0.67 [[ 9.99983976e-01 5.30898317e-03 -1.96513185e-03 3.24722843e+02] [-5.30891519e-03 9.99985907e-01 3.98041215e-05 2.00277061e+00] [ 1.96531548e-03 -2.93707653e-05 9.99998068e-01 6.72195518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38439141799995 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:324.78, Y:2.01, Z:0.67 [[ 9.99898239e-01 1.41297433e-02 -1.96513023e-03 3.24781178e+02] [-1.41296922e-02 9.99900170e-01 3.98840453e-05 2.00501876e+00] [ 1.96549760e-03 -1.21133013e-05 9.99998068e-01 6.72410608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44439141799995 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:324.84, Y:2.01, Z:0.67 [[ 9.99846450e-01 1.74130705e-02 -1.96514134e-03 3.24839058e+02] [-1.74130269e-02 9.99848381e-01 3.93292130e-05 2.00538210e+00] [ 1.96552823e-03 -5.10411516e-06 9.99998068e-01 6.71103077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.50439141799995 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:324.90, Y:2.01, Z:0.67 [[ 9.99769079e-01 2.13992488e-02 -1.96514520e-03 3.24896782e+02] [-2.13992132e-02 9.99771010e-01 3.91352313e-05 2.00620469e+00] [ 1.96553266e-03 2.92636700e-06 9.99998068e-01 6.69615996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56439141799996 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:324.95, Y:2.01, Z:0.67 [[ 9.99686048e-01 2.49788690e-02 -1.96514893e-03 3.24954819e+02] [-2.49788407e-02 9.99687979e-01 3.89467591e-05 2.00541357e+00] [ 1.96550861e-03 1.01526104e-05 9.99998068e-01 6.68440097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62439141799996 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:325.01, Y:2.00, Z:0.67 [[ 9.99633801e-01 2.69889301e-02 -1.96515258e-03 3.25014088e+02] [-2.69889061e-02 9.99635732e-01 3.87621575e-05 2.00444589e+00] [ 1.96548288e-03 1.42893555e-05 9.99998068e-01 6.71517211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68439141799996 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:325.07, Y:2.00, Z:0.67 [[ 9.99592619e-01 2.84733859e-02 -1.96515571e-03 3.25071677e+02] [-2.84733651e-02 9.99594551e-01 3.86025016e-05 2.00227007e+00] [ 1.96545808e-03 1.73678203e-05 9.99998068e-01 6.73245770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74439141799996 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:325.13, Y:2.00, Z:0.67 [[ 9.99645184e-01 2.65639808e-02 -1.96515954e-03 3.25129875e+02] [-2.65639566e-02 9.99647115e-01 3.84065628e-05 1.99843924e+00] [ 1.96548630e-03 1.38094773e-05 9.99998068e-01 6.73870285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80439141799997 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:325.19, Y:1.99, Z:0.67 [[ 9.99774870e-01 2.11269473e-02 -1.96516328e-03 3.25187987e+02] [-2.11269130e-02 9.99776801e-01 3.82143403e-05 1.99309890e+00] [ 1.96553201e-03 3.31209652e-06 9.99998068e-01 6.72745199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86439141799997 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:325.25, Y:1.99, Z:0.67 [[ 9.99859400e-01 1.66528822e-02 -1.96516766e-03 3.25246061e+02] [-1.66528397e-02 9.99861331e-01 3.79878234e-05 1.98855325e+00] [ 1.96552776e-03 -5.25686037e-06 9.99998068e-01 6.71329499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92439141799997 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:325.30, Y:1.98, Z:0.67 [[ 9.99938370e-01 1.09267538e-02 -1.96517123e-03 3.25304826e+02] [-1.09267006e-02 9.99940301e-01 3.78019685e-05 1.98155031e+00] [ 1.96546697e-03 -1.63268011e-05 9.99998068e-01 6.70662106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.984391418 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:325.36, Y:1.98, Z:0.67 [[ 9.99959307e-01 8.80472381e-03 -1.96517418e-03 3.25363416e+02] [-8.80466682e-03 9.99961237e-01 3.76483443e-05 1.97667088e+00] [ 1.96542948e-03 -2.03441084e-05 9.99998068e-01 6.71048637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.044391418 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:325.42, Y:1.97, Z:0.67 [[ 9.99961668e-01 8.53230718e-03 -1.96517721e-03 3.25420783e+02] [-8.53224998e-03 9.99963599e-01 3.74895022e-05 1.97128251e+00] [ 1.96542554e-03 -2.07206820e-05 9.99998068e-01 6.71830148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.104391418 meters Centerline goodness : 0.998987 with order 1 Centerline is valid? [True, True] Translation: X:325.48, Y:1.97, Z:0.67 [[ 9.99934934e-01 1.12368448e-02 -1.96518124e-03 3.25479168e+02] [-1.12367932e-02 9.99936865e-01 3.72766972e-05 1.96613012e+00] [ 1.96547604e-03 -1.51919365e-05 9.99998068e-01 6.72915862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.164391418 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:325.54, Y:1.96, Z:0.67 [[ 9.99915532e-01 1.28478190e-02 -1.96518424e-03 3.25536986e+02] [-1.28477709e-02 9.99917463e-01 3.71182502e-05 1.96371516e+00] [ 1.96549892e-03 -1.18668781e-05 9.99998068e-01 6.72321607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.224391418 meters Centerline goodness : 0.998901 with order 1 Centerline is valid? [True, True] Translation: X:325.60, Y:1.96, Z:0.67 [[ 9.99834850e-01 1.80668206e-02 -1.96518789e-03 3.25595678e+02] [-1.80667829e-02 9.99836782e-01 3.69236772e-05 1.95845977e+00] [ 1.96553423e-03 -1.41295632e-06 9.99998068e-01 6.72096301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.284391418 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:325.65, Y:1.95, Z:0.67 [[ 9.99762490e-01 2.17048665e-02 -1.96519082e-03 3.25654195e+02] [-2.17048361e-02 9.99764422e-01 3.67671756e-05 1.95243298e+00] [ 1.96552589e-03 5.89570171e-06 9.99998068e-01 6.71381578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.344391418 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:325.71, Y:1.95, Z:0.67 [[ 9.99741929e-01 2.26321368e-02 -1.96519375e-03 3.25712329e+02] [-2.26321085e-02 9.99743860e-01 3.66097156e-05 1.94771823e+00] [ 1.96551894e-03 7.87621061e-06 9.99998068e-01 6.71419388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.404391418 meters Centerline goodness : 0.998736 with order 1 Centerline is valid? [True, True] Translation: X:325.77, Y:1.94, Z:0.67 [[ 9.99748688e-01 2.23315468e-02 -1.96519812e-03 3.25770563e+02] [-2.23315184e-02 9.99750620e-01 3.63735138e-05 1.94132193e+00] [ 1.96552032e-03 7.52148540e-06 9.99998068e-01 6.72198296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46439141799993 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:325.83, Y:1.93, Z:0.67 [[ 9.99793642e-01 2.02190706e-02 -1.96520100e-03 3.25829184e+02] [-2.02190384e-02 9.99795574e-01 3.62173954e-05 1.93464123e+00] [ 1.96553154e-03 3.52455297e-06 9.99998068e-01 6.73138022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52439141799994 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:325.89, Y:1.93, Z:0.67 [[ 9.99834024e-01 1.81124974e-02 -1.96520390e-03 3.25887451e+02] [-1.81124616e-02 9.99835955e-01 3.60592834e-05 1.93115007e+00] [ 1.96553464e-03 -4.58618254e-07 9.99998068e-01 6.73382800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58439141799994 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:325.95, Y:1.93, Z:0.67 [[ 9.99905630e-01 1.35966760e-02 -1.96520818e-03 3.25945447e+02] [-1.35966319e-02 9.99907561e-01 3.58244911e-05 1.92609575e+00] [ 1.96551361e-03 -9.10089815e-06 9.99998068e-01 6.72346288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64439141799994 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:326.00, Y:1.92, Z:0.67 [[ 9.99975027e-01 6.78852609e-03 -1.96521171e-03 3.26003740e+02] [-6.78846918e-03 9.99976957e-01 3.56297340e-05 1.92226715e+00] [ 1.96540830e-03 -2.22880651e-05 9.99998068e-01 6.74741795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70439141799994 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:326.06, Y:1.92, Z:0.67 [[ 9.99984336e-01 -5.24079303e-03 -1.96521463e-03 3.26062615e+02] [ 5.24087285e-03 9.99986266e-01 3.54683013e-05 1.91667229e+00] [ 1.96500175e-03 -4.57671857e-05 9.99998068e-01 6.73106630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76439141799995 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:326.12, Y:1.91, Z:0.67 [[ 9.99823640e-01 -1.86768942e-02 -1.96521671e-03 3.26123852e+02] [ 1.86769998e-02 9.99825569e-01 3.53526103e-05 1.90995878e+00] [ 1.96421364e-03 -7.20507275e-05 9.99998068e-01 6.72172236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82439141799995 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:326.19, Y:1.91, Z:0.67 [[ 9.99620144e-01 -2.74901044e-02 -1.96521535e-03 3.26187048e+02] [ 2.74902271e-02 9.99622072e-01 3.54278529e-05 1.90595508e+00] [ 1.96349873e-03 -8.94386117e-05 9.99998068e-01 6.72757905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88439141799995 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:326.25, Y:1.90, Z:0.67 [[ 9.99270493e-01 -3.81394827e-02 -1.96521122e-03 3.26248314e+02] [ 3.81396264e-02 9.99272419e-01 3.56556428e-05 1.90169601e+00] [ 1.96242148e-03 -1.10582053e-04 9.99998068e-01 6.72980580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94439141799995 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:326.31, Y:1.90, Z:0.67 [[ 9.99006242e-01 -4.45271479e-02 -1.96520918e-03 3.26311447e+02] [ 4.45273041e-02 9.99008167e-01 3.57674444e-05 1.90012306e+00] [ 1.96166740e-03 -1.23237367e-04 9.99998068e-01 6.73677392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.00439141799995 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:326.37, Y:1.90, Z:0.67 [[ 9.98972849e-01 -4.52701379e-02 -1.96520472e-03 3.26373187e+02] [ 4.52702959e-02 9.98974774e-01 3.60110523e-05 1.90103564e+00] [ 1.96155972e-03 -1.24939463e-04 9.99998068e-01 6.74353008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06439141799996 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:326.44, Y:1.90, Z:0.67 [[ 9.99057040e-01 -4.33724438e-02 -1.96519736e-03 3.26435911e+02] [ 4.33725990e-02 9.99058965e-01 3.64081876e-05 1.90185485e+00] [ 1.96176893e-03 -1.21609573e-04 9.99998068e-01 6.74857454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12439141799996 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:326.50, Y:1.90, Z:0.68 [[ 9.99265212e-01 -3.82776040e-02 -1.96519293e-03 3.26499475e+02] [ 3.82777498e-02 9.99267138e-01 3.66457137e-05 1.90461290e+00] [ 1.96235001e-03 -1.11841950e-04 9.99998068e-01 6.75709559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18439141799996 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:326.56, Y:1.91, Z:0.68 [[ 9.99411434e-01 -3.42479791e-02 -1.96518834e-03 3.26563041e+02] [ 3.42481176e-02 9.99413360e-01 3.68903936e-05 1.90628580e+00] [ 1.96277206e-03 -1.04172683e-04 9.99998068e-01 6.75594793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24439141799996 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:326.63, Y:1.91, Z:0.68 [[ 9.99636635e-01 -2.68837359e-02 -1.96518368e-03 3.26626547e+02] [ 2.68838607e-02 9.99638563e-01 3.71367542e-05 1.91174795e+00] [ 1.96347502e-03 -8.99549845e-05 9.99998068e-01 6.76134579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30439141799997 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:326.69, Y:1.92, Z:0.68 [[ 9.99825479e-01 -1.85782023e-02 -1.96517906e-03 3.26688740e+02] [ 1.85783116e-02 9.99827408e-01 3.73801249e-05 1.91671031e+00] [ 1.96414542e-03 -7.38833101e-05 9.99998068e-01 6.77412554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36439141799997 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:326.75, Y:1.92, Z:0.68 [[ 9.99962093e-01 -8.48239314e-03 -1.96517594e-03 3.26750215e+02] [ 8.48248329e-03 9.99964022e-01 3.75432899e-05 1.92154167e+00] [ 1.96478678e-03 -5.42114388e-05 9.99998068e-01 6.76568981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42439141799997 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:326.81, Y:1.92, Z:0.68 [[ 9.99996169e-01 -1.94923566e-03 -1.96517364e-03 3.26811191e+02] [ 1.94931343e-03 9.99998099e-01 3.76634450e-05 1.92444302e+00] [ 1.96509649e-03 -4.14940401e-05 9.99998068e-01 6.77607314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.484391418 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:326.87, Y:1.93, Z:0.68 [[ 9.99968498e-01 7.69034637e-03 -1.96517206e-03 3.26872072e+02] [-7.69028704e-03 9.99970429e-01 3.77456603e-05 1.92859046e+00] [ 1.96540422e-03 -2.26317340e-05 9.99998068e-01 6.79139821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.544391418 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:326.93, Y:1.93, Z:0.68 [[ 9.99903131e-01 1.37792181e-02 -1.96517206e-03 3.26930295e+02] [-1.37791706e-02 9.99905062e-01 3.77456603e-05 1.93000268e+00] [ 1.96550559e-03 -1.06635630e-05 9.99998068e-01 6.80296405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.604391418 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:326.99, Y:1.93, Z:0.68 [[ 9.99804948e-01 1.96520979e-02 -1.96518438e-03 3.26988382e+02] [-1.96520630e-02 9.99806879e-01 3.70927105e-05 1.93127060e+00] [ 1.96553381e-03 1.53445169e-06 9.99998068e-01 6.81277614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.664391418 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:327.05, Y:1.93, Z:0.68 [[ 9.99804825e-01 1.96583421e-02 -1.96518812e-03 3.27047131e+02] [-1.96583076e-02 9.99806756e-01 3.68933110e-05 1.92991313e+00] [ 1.96553362e-03 1.74616227e-06 9.99998068e-01 6.81709760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.724391418 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:327.10, Y:1.93, Z:0.68 [[ 9.99860288e-01 1.65994640e-02 -1.96519109e-03 3.27104647e+02] [-1.65994238e-02 9.99862219e-01 3.67344677e-05 1.92726968e+00] [ 1.96553010e-03 -4.10829561e-06 9.99998068e-01 6.81813010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.784391418 meters Centerline goodness : 0.998949 with order 1 Centerline is valid? [True, True] Translation: X:327.16, Y:1.92, Z:0.68 [[ 9.99963326e-01 8.33578744e-03 -1.96519472e-03 3.27163512e+02] [-8.33573173e-03 9.99965257e-01 3.65393256e-05 1.92249707e+00] [ 1.96543103e-03 -2.01566495e-05 9.99998068e-01 6.81910068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.844391418 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:327.22, Y:1.92, Z:0.68 [[ 9.99995484e-01 -2.27361625e-03 -1.96519768e-03 3.27222050e+02] [ 2.27369213e-03 9.99997415e-01 3.63793230e-05 1.91622652e+00] [ 1.96510989e-03 -4.08474132e-05 9.99998068e-01 6.81401622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.904391418 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:327.28, Y:1.91, Z:0.68 [[ 9.99963171e-01 -8.35428961e-03 -1.96520063e-03 3.27281321e+02] [ 8.35437692e-03 9.99965101e-01 3.62195685e-05 1.91179385e+00] [ 1.96482946e-03 -5.26362614e-05 9.99998068e-01 6.80539123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96439141799993 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:327.34, Y:1.91, Z:0.68 [[ 9.99901916e-01 -1.38671187e-02 -1.96520135e-03 3.27343646e+02] [ 1.38672165e-02 9.99903845e-01 3.61802013e-05 1.90568462e+00] [ 1.96451067e-03 -6.34285253e-05 9.99998068e-01 6.80172139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02439141799994 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:327.41, Y:1.90, Z:0.68 [[ 9.99883422e-01 -1.51419871e-02 -1.96519096e-03 3.27405863e+02] [ 1.51420885e-02 9.99885351e-01 3.67362712e-05 1.90146113e+00] [ 1.96440939e-03 -6.64890840e-05 9.99998068e-01 6.80521371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08439141799994 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:327.47, Y:1.90, Z:0.68 [[ 9.99891720e-01 -1.45837642e-02 -1.96518799e-03 3.27467935e+02] [ 1.45838649e-02 9.99893649e-01 3.68942723e-05 1.89994020e+00] [ 1.96444093e-03 -6.55503135e-05 9.99998068e-01 6.80867764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14439141799994 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:327.53, Y:1.90, Z:0.68 [[ 9.99916283e-01 -1.27892406e-02 -1.96518504e-03 3.27530392e+02] [ 1.27893381e-02 9.99918212e-01 3.70508117e-05 1.89917735e+00] [ 1.96455046e-03 -6.21811258e-05 9.99998068e-01 6.80914801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20439141799994 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:327.59, Y:1.90, Z:0.68 [[ 9.99944198e-01 -1.03797082e-02 -1.96518203e-03 3.27591597e+02] [ 1.03798014e-02 9.99946128e-01 3.72099397e-05 1.89698244e+00] [ 1.96468993e-03 -5.76060625e-05 9.99998068e-01 6.78418116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26439141799995 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:327.65, Y:1.90, Z:0.68 [[ 9.99958254e-01 -8.92343557e-03 -1.96517980e-03 3.27654142e+02] [ 8.92352614e-03 9.99960184e-01 3.73274224e-05 1.89531848e+00] [ 1.96476846e-03 -5.48621974e-05 9.99998068e-01 6.78097232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32439141799995 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:327.72, Y:1.90, Z:0.68 [[ 9.99964816e-01 -8.15506046e-03 -1.96517669e-03 3.27716585e+02] [ 8.15514987e-03 9.99966746e-01 3.74901504e-05 1.89546716e+00] [ 1.96480561e-03 -5.35151418e-05 9.99998068e-01 6.78365677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38439141799995 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:327.78, Y:1.90, Z:0.68 [[ 9.99979467e-01 -6.09940492e-03 -1.96517359e-03 3.27779134e+02] [ 6.09949068e-03 9.99981397e-01 3.76519332e-05 1.89558476e+00] [ 1.96490738e-03 -4.96377181e-05 9.99998068e-01 6.78386009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44439141799995 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:327.84, Y:1.90, Z:0.68 [[ 9.99989532e-01 -4.13218962e-03 -1.96517048e-03 3.27839676e+02] [ 4.13227191e-03 9.99991461e-01 3.78138142e-05 1.89629632e+00] [ 1.96499744e-03 -4.59340371e-05 9.99998068e-01 6.78964881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.50439141799995 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:327.90, Y:1.90, Z:0.68 [[ 9.99994974e-01 -2.48812745e-03 -1.96516971e-03 3.27899833e+02] [ 2.48820664e-03 9.99996904e-01 3.78533731e-05 1.89675372e+00] [ 1.96506945e-03 -4.27429312e-05 9.99998068e-01 6.80964794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56439141799996 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:327.96, Y:1.90, Z:0.68 [[ 9.99997897e-01 5.86039222e-04 -1.96516971e-03 3.27960395e+02] [-5.85965965e-04 9.99999828e-01 3.78533731e-05 1.89703547e+00] [ 1.96519156e-03 -3.67017710e-05 9.99998068e-01 6.83864879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62439141799996 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:328.02, Y:1.90, Z:0.69 [[ 9.99992052e-01 3.46896856e-03 -1.96516971e-03 3.28019765e+02] [-3.46890086e-03 9.99993983e-01 3.78533731e-05 1.89671099e+00] [ 1.96528920e-03 -3.10360933e-05 9.99998068e-01 6.85195522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68439141799996 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:328.08, Y:1.90, Z:0.69 [[ 9.99969175e-01 7.60177985e-03 -1.96517125e-03 3.28078066e+02] [-7.60172029e-03 9.99971106e-01 3.77732999e-05 1.89770073e+00] [ 1.96540162e-03 -2.28334534e-05 9.99998068e-01 6.85340972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74439141799996 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:328.14, Y:1.90, Z:0.69 [[ 9.99947676e-01 1.00390719e-02 -1.96518186e-03 3.28136547e+02] [-1.00390182e-02 9.99949607e-01 3.72129905e-05 1.89667990e+00] [ 1.96545642e-03 -1.74825470e-05 9.99998068e-01 6.85056368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80439141799997 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:328.20, Y:1.89, Z:0.69 [[ 9.99949272e-01 9.87884101e-03 -1.96518488e-03 3.28195721e+02] [-9.87878726e-03 9.99951203e-01 3.70530074e-05 1.89345240e+00] [ 1.96545503e-03 -1.76374844e-05 9.99998068e-01 6.85627459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86439141799997 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:328.25, Y:1.89, Z:0.69 [[ 9.99958933e-01 8.84703267e-03 -1.96518788e-03 3.28254254e+02] [-8.84697725e-03 9.99960864e-01 3.68930824e-05 1.89064090e+00] [ 1.96543737e-03 -1.95055948e-05 9.99998068e-01 6.86068805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92439141799997 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:328.31, Y:1.89, Z:0.69 [[ 9.99972890e-01 7.09631163e-03 -1.96519094e-03 3.28312533e+02] [-7.09625315e-03 9.99974821e-01 3.67295996e-05 1.88666886e+00] [ 1.96540210e-03 -2.27831115e-05 9.99998068e-01 6.85518759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.984391418 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:328.37, Y:1.88, Z:0.69 [[ 9.99987027e-01 4.69932650e-03 -1.96519394e-03 3.28370973e+02] [-4.69926371e-03 9.99988958e-01 3.65683622e-05 1.88252258e+00] [ 1.96534408e-03 -2.73329233e-05 9.99998068e-01 6.85218432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.044391418 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:328.43, Y:1.88, Z:0.68 [[ 9.99996373e-01 -1.84159992e-03 -1.96519690e-03 3.28429430e+02] [ 1.84167502e-03 9.99998303e-01 3.64083781e-05 1.87616671e+00] [ 1.96512652e-03 -4.00275001e-05 9.99998068e-01 6.84728347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.104391418 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:328.49, Y:1.87, Z:0.68 [[ 9.99935922e-01 -1.11485688e-02 -1.96519981e-03 3.28488664e+02] [ 1.11486616e-02 9.99937851e-01 3.62506018e-05 1.86976202e+00] [ 1.96467354e-03 -5.81576265e-05 9.99998068e-01 6.84477155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.164391418 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:328.55, Y:1.86, Z:0.68 [[ 9.99833213e-01 -1.81572314e-02 -1.96519916e-03 3.28550454e+02] [ 1.81573378e-02 9.99835141e-01 3.62859704e-05 1.86408106e+00] [ 1.96421633e-03 -7.19627033e-05 9.99998068e-01 6.84314273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.224391418 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:328.61, Y:1.86, Z:0.68 [[ 9.99619021e-01 -2.75309019e-02 -1.96518918e-03 3.28613557e+02] [ 2.75310273e-02 9.99620949e-01 3.68188632e-05 1.85667360e+00] [ 1.96343061e-03 -9.09085129e-05 9.99998068e-01 6.82577249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.284391418 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:328.68, Y:1.85, Z:0.69 [[ 9.99447608e-01 -3.31755605e-02 -1.96517764e-03 3.28677006e+02] [ 3.31756981e-02 9.99449534e-01 3.74247480e-05 1.85311267e+00] [ 1.96285429e-03 -1.02600215e-04 9.99998068e-01 6.85881092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.344391418 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:328.74, Y:1.85, Z:0.68 [[ 9.99311755e-01 -3.70425961e-02 -1.96517298e-03 3.28738510e+02] [ 3.70427416e-02 9.99313681e-01 3.76675018e-05 1.84904959e+00] [ 1.96242895e-03 -1.10436972e-04 9.99998068e-01 6.84079100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.404391418 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:328.80, Y:1.85, Z:0.68 [[ 9.99295033e-01 -3.74909875e-02 -1.96516914e-03 3.28799568e+02] [ 3.74911342e-02 9.99296960e-01 3.78667967e-05 1.84639851e+00] [ 1.96236789e-03 -1.11516522e-04 9.99998068e-01 6.82554407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46439141799993 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:328.86, Y:1.85, Z:0.68 [[ 9.99354463e-01 -3.58719257e-02 -1.96516690e-03 3.28862074e+02] [ 3.58720695e-02 9.99356389e-01 3.79830255e-05 1.84556120e+00] [ 1.96253957e-03 -1.08453110e-04 9.99998068e-01 6.81679777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52439141799994 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:328.92, Y:1.84, Z:0.68 [[ 9.99439286e-01 -3.34253036e-02 -1.96516387e-03 3.28924255e+02] [ 3.34254430e-02 9.99441213e-01 3.81390158e-05 1.84434455e+00] [ 1.96279095e-03 -1.03804104e-04 9.99998068e-01 6.80649439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58439141799994 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:328.99, Y:1.85, Z:0.68 [[ 9.99601076e-01 -2.81749498e-02 -1.96516067e-03 3.28986600e+02] [ 2.81750794e-02 9.99603003e-01 3.83030605e-05 1.84520378e+00] [ 1.96330132e-03 -9.36563385e-05 9.99998068e-01 6.79625997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64439141799994 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:329.05, Y:1.85, Z:0.68 [[ 9.99724777e-01 -2.33775122e-02 -1.96515751e-03 3.29048405e+02] [ 2.33776329e-02 9.99726705e-01 3.84647640e-05 1.84621627e+00] [ 1.96372123e-03 -8.43949084e-05 9.99998068e-01 6.80126439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70439141799994 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:329.11, Y:1.85, Z:0.68 [[ 9.99891816e-01 -1.45771762e-02 -1.96515438e-03 3.29110353e+02] [ 1.45772803e-02 9.99893745e-01 3.86241362e-05 1.84872957e+00] [ 1.96438254e-03 -6.72665638e-05 9.99998068e-01 6.81676531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76439141799995 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:329.17, Y:1.85, Z:0.68 [[ 9.99966589e-01 -7.93468882e-03 -1.96515124e-03 3.29172530e+02] [ 7.93478035e-03 9.99968518e-01 3.87831862e-05 1.85067430e+00] [ 1.96478164e-03 -5.43749339e-05 9.99998068e-01 6.82437302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82439141799995 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:329.23, Y:1.85, Z:0.68 [[ 9.99996623e-01 1.70072982e-03 -1.96514806e-03 3.29234333e+02] [-1.70065658e-03 9.99998553e-01 3.89434549e-05 1.85394149e+00] [ 1.96521145e-03 -3.56012814e-05 9.99998068e-01 6.82919348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88439141799995 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:329.29, Y:1.86, Z:0.68 [[ 9.99947245e-01 1.00819395e-02 -1.96514649e-03 3.29294200e+02] [-1.00818822e-02 9.99949176e-01 3.90227543e-05 1.85727731e+00] [ 1.96544003e-03 -1.92083202e-05 9.99998068e-01 6.84149593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94439141799995 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:329.35, Y:1.86, Z:0.68 [[ 9.99924032e-01 1.21683434e-02 -1.96514806e-03 3.29352699e+02] [-1.21682904e-02 9.99925963e-01 3.89431774e-05 1.85728270e+00] [ 1.96547644e-03 -1.50277267e-05 9.99998068e-01 6.84445076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.00439141799995 meters Centerline goodness : 0.999277 with order 1 Centerline is valid? [True, True] Translation: X:329.41, Y:1.86, Z:0.68 [[ 9.99862078e-01 1.64913136e-02 -1.96515122e-03 3.29410713e+02] [-1.64912692e-02 9.99864009e-01 3.87832738e-05 1.85927452e+00] [ 1.96552356e-03 -6.37008692e-06 9.99998068e-01 6.84835658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06439141799996 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:329.47, Y:1.86, Z:0.69 [[ 9.99853576e-01 1.69989367e-02 -1.96515606e-03 3.29468160e+02] [-1.69988937e-02 9.99855508e-01 3.85362291e-05 1.85924153e+00] [ 1.96552719e-03 -5.12510743e-06 9.99998068e-01 6.85036536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12439141799996 meters Centerline goodness : 0.999277 with order 1 Centerline is valid? [True, True] Translation: X:329.53, Y:1.86, Z:0.69 [[ 9.99883085e-01 1.51642279e-02 -1.96516000e-03 3.29527150e+02] [-1.51641819e-02 9.99885016e-01 3.83343517e-05 1.85803391e+00] [ 1.96551535e-03 -8.52982619e-06 9.99998068e-01 6.85932700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18439141799996 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:329.58, Y:1.86, Z:0.69 [[ 9.99945727e-01 1.02314123e-02 -1.96516314e-03 3.29584517e+02] [-1.02313570e-02 9.99947658e-01 3.81725911e-05 1.85612351e+00] [ 1.96545084e-03 -1.80642336e-05 9.99998068e-01 6.86014283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24439141799996 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:329.64, Y:1.85, Z:0.69 [[ 9.99985922e-01 4.92888888e-03 -1.96516730e-03 3.29642889e+02] [-4.92882380e-03 9.99987853e-01 3.79573478e-05 1.85366410e+00] [ 1.96533052e-03 -2.82708501e-05 9.99998068e-01 6.85147238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30439141799997 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:329.70, Y:1.85, Z:0.68 [[ 9.99984735e-01 -5.16404872e-03 -1.96517039e-03 3.29701533e+02] [ 5.16413297e-03 9.99986665e-01 3.77966935e-05 1.84969929e+00] [ 1.96494900e-03 -4.79445178e-05 9.99998068e-01 6.83445533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36439141799997 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:329.76, Y:1.85, Z:0.68 [[ 9.99923441e-01 -1.22167722e-02 -1.96517190e-03 3.29762902e+02] [ 1.22168699e-02 9.99925371e-01 3.77181903e-05 1.84652788e+00] [ 1.96456444e-03 -6.17235522e-05 9.99998068e-01 6.83355482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42439141799997 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:329.82, Y:1.84, Z:0.68 [[ 9.99781064e-01 -2.08317798e-02 -1.96517040e-03 3.29824838e+02] [ 2.08318943e-02 9.99782992e-01 3.77960141e-05 1.84408726e+00] [ 1.96395658e-03 -7.87259612e-05 9.99998068e-01 6.83156971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.484391418 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:329.89, Y:1.84, Z:0.68 [[ 9.99632298e-01 -2.70445250e-02 -1.96515916e-03 3.29887317e+02] [ 2.70446526e-02 9.99634226e-01 3.83714489e-05 1.84266836e+00] [ 1.96340262e-03 -9.15043866e-05 9.99998068e-01 6.83514033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.544391418 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:329.95, Y:1.84, Z:0.68 [[ 9.99554643e-01 -2.97767215e-02 -1.96515618e-03 3.29949412e+02] [ 2.97768546e-02 9.99556570e-01 3.85236061e-05 1.84174695e+00] [ 1.96313767e-03 -9.70226193e-05 9.99998068e-01 6.83640453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.604391418 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:330.01, Y:1.84, Z:0.68 [[ 9.99438361e-01 -3.34529537e-02 -1.96514880e-03 3.30011530e+02] [ 3.34530946e-02 9.99440288e-01 3.88965569e-05 1.84306103e+00] [ 1.96274768e-03 -1.04615020e-04 9.99998068e-01 6.84590636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.664391418 meters Centerline goodness : 0.999027 with order 1 Centerline is valid? [True, True] Translation: X:330.07, Y:1.84, Z:0.68 [[ 9.99335801e-01 -3.63881158e-02 -1.96514158e-03 3.30073680e+02] [ 3.63882632e-02 9.99337727e-01 3.92579216e-05 1.84444343e+00] [ 1.96241160e-03 -1.10739936e-04 9.99998068e-01 6.84281135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.724391418 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:330.14, Y:1.84, Z:0.68 [[ 9.99273418e-01 -3.80627811e-02 -1.96513795e-03 3.30135557e+02] [ 3.80629320e-02 9.99275343e-01 3.94387462e-05 1.84491271e+00] [ 1.96221275e-03 -1.14209003e-04 9.99998068e-01 6.83392259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.784391418 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:330.20, Y:1.85, Z:0.68 [[ 9.99206904e-01 -3.97706039e-02 -1.96513510e-03 3.30197416e+02] [ 3.97707583e-02 9.99208830e-01 3.95802906e-05 1.84762327e+00] [ 1.96200621e-03 -1.17703813e-04 9.99998068e-01 6.81754296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.844391418 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:330.26, Y:1.85, Z:0.68 [[ 9.99274341e-01 -3.80385344e-02 -1.96513228e-03 3.30259283e+02] [ 3.80386858e-02 9.99276267e-01 3.97196668e-05 1.84982880e+00] [ 1.96219917e-03 -1.14441893e-04 9.99998068e-01 6.83305852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.904391418 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:330.32, Y:1.86, Z:0.69 [[ 9.99525279e-01 -3.07466335e-02 -1.96512916e-03 3.30321467e+02] [ 3.07467712e-02 9.99527205e-01 3.98735545e-05 1.85556373e+00] [ 1.96297408e-03 -1.00276002e-04 9.99998068e-01 6.86248595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96439141799993 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:330.38, Y:1.86, Z:0.69 [[ 9.99813117e-01 -1.92319696e-02 -1.96512586e-03 3.30382403e+02] [ 1.92320854e-02 9.99815046e-01 4.00356869e-05 1.86367776e+00] [ 1.96399243e-03 -7.78216733e-05 9.99998068e-01 6.89730673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02439141799994 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:330.44, Y:1.87, Z:0.69 [[ 9.99933004e-01 -1.14073047e-02 -1.96512013e-03 3.30444256e+02] [ 1.14074059e-02 9.99934933e-01 4.03146708e-05 1.86779385e+00] [ 1.96453239e-03 -6.27288930e-05 9.99998068e-01 6.90934445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08439141799994 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:330.51, Y:1.87, Z:0.69 [[ 9.99997224e-01 -1.30027933e-03 -1.96511691e-03 3.30505514e+02] [ 1.30036137e-03 9.99999154e-01 4.04714433e-05 1.87335958e+00] [ 1.96506262e-03 -4.30266931e-05 9.99998068e-01 6.90642612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14439141799994 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:330.57, Y:1.88, Z:0.69 [[ 9.99989687e-01 4.09429997e-03 -1.96511452e-03 3.30565973e+02] [-4.09422811e-03 9.99991618e-01 4.05869201e-05 1.87606431e+00] [ 1.96526422e-03 -3.25408744e-05 9.99998068e-01 6.90948802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20439141799994 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:330.62, Y:1.88, Z:0.69 [[ 9.99938859e-01 1.08819720e-02 -1.96511452e-03 3.30624527e+02] [-1.08819132e-02 9.99940789e-01 4.05869201e-05 1.88005989e+00] [ 1.96543983e-03 -1.92002328e-05 9.99998068e-01 6.91247271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26439141799995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:330.68, Y:1.88, Z:0.69 [[ 9.99859178e-01 1.66662011e-02 -1.96512612e-03 3.30682841e+02] [-1.66661546e-02 9.99861109e-01 4.00174730e-05 1.88180501e+00] [ 1.96552012e-03 -7.26074197e-06 9.99998068e-01 6.89697247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32439141799995 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:330.74, Y:1.88, Z:0.69 [[ 9.99773589e-01 2.11874794e-02 -1.96513900e-03 3.30740483e+02] [-2.11874429e-02 9.99775520e-01 3.93747355e-05 1.88337283e+00] [ 1.96553211e-03 2.27044966e-06 9.99998068e-01 6.88817055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38439141799995 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:330.80, Y:1.88, Z:0.69 [[ 9.99739709e-01 2.27299804e-02 -1.96514375e-03 3.30797629e+02] [-2.27299474e-02 9.99741641e-01 3.91359551e-05 1.88373897e+00] [ 1.96552560e-03 5.54184560e-06 9.99998068e-01 6.89356168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44439141799995 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:330.86, Y:1.88, Z:0.69 [[ 9.99775818e-01 2.10820445e-02 -1.96514916e-03 3.30856801e+02] [-2.10820089e-02 9.99777749e-01 3.88623354e-05 1.88373454e+00] [ 1.96553170e-03 2.57566887e-06 9.99998068e-01 6.90790098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.50439141799995 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:330.91, Y:1.88, Z:0.69 [[ 9.99848511e-01 1.72943000e-02 -1.96515237e-03 3.30914439e+02] [-1.72942573e-02 9.99850442e-01 3.86993132e-05 1.88213328e+00] [ 1.96552775e-03 -4.70759983e-06 9.99998068e-01 6.90949829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56439141799996 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:330.97, Y:1.88, Z:0.69 [[ 9.99972196e-01 7.19343805e-03 -1.96515708e-03 3.30972803e+02] [-7.19337636e-03 9.99974127e-01 3.84586696e-05 1.87808207e+00] [ 1.96538289e-03 -2.43214858e-05 9.99998068e-01 6.89430058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62439141799996 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:331.03, Y:1.87, Z:0.69 [[ 9.99997294e-01 -1.24541978e-03 -1.96516016e-03 3.31030928e+02] [ 1.24549745e-03 9.99999224e-01 3.83007110e-05 1.87422230e+00] [ 1.96511093e-03 -4.07482093e-05 9.99998068e-01 6.88861128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68439141799996 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:331.09, Y:1.87, Z:0.69 [[ 9.99914754e-01 -1.29082349e-02 -1.96516393e-03 3.31091663e+02] [ 1.29083347e-02 9.99916683e-01 3.81064343e-05 1.86823924e+00] [ 1.96450831e-03 -6.34701796e-05 9.99998068e-01 6.88825611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74439141799996 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:331.15, Y:1.86, Z:0.69 [[ 9.99758305e-01 -2.18967891e-02 -1.96516393e-03 3.31154941e+02] [ 2.18969062e-02 9.99760233e-01 3.81064343e-05 1.86297459e+00] [ 1.96385834e-03 -8.11282344e-05 9.99998068e-01 6.88430718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80439141799997 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:331.22, Y:1.86, Z:0.69 [[ 9.99639564e-01 -2.67746249e-02 -1.96515194e-03 3.31218415e+02] [ 2.67747527e-02 9.99641491e-01 3.87148341e-05 1.85888405e+00] [ 1.96341084e-03 -9.13173370e-05 9.99998068e-01 6.87244141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86439141799997 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:331.28, Y:1.86, Z:0.69 [[ 9.99529125e-01 -3.06213367e-02 -1.96514743e-03 3.31281487e+02] [ 3.06214723e-02 9.99531052e-01 3.89425141e-05 1.85593965e+00] [ 1.96303341e-03 -9.90998846e-05 9.99998068e-01 6.87413778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92439141799997 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:331.34, Y:1.85, Z:0.69 [[ 9.99455035e-01 -3.29510443e-02 -1.96514253e-03 3.31343272e+02] [ 3.29511848e-02 9.99456962e-01 3.91883239e-05 1.85351859e+00] [ 1.96278408e-03 -1.03920742e-04 9.99998068e-01 6.86795039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.984391418 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:331.41, Y:1.85, Z:0.68 [[ 9.99399880e-01 -3.45835061e-02 -1.96513849e-03 3.31405620e+02] [ 3.45836502e-02 9.99401806e-01 3.93899247e-05 1.85121597e+00] [ 1.96260071e-03 -1.07327948e-04 9.99998068e-01 6.84663323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.044391418 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:331.47, Y:1.85, Z:0.69 [[ 9.99370578e-01 -3.54201509e-02 -1.96513070e-03 3.31468944e+02] [ 3.54202974e-02 9.99372504e-01 3.97745756e-05 1.84938172e+00] [ 1.96248877e-03 -1.09355054e-04 9.99998068e-01 6.85238210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.104391418 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:331.53, Y:1.85, Z:0.69 [[ 9.99367837e-01 -3.54973920e-02 -1.96512592e-03 3.31531769e+02] [ 3.54975391e-02 9.99369763e-01 4.00094227e-05 1.84805534e+00] [ 1.96246719e-03 -1.09741264e-04 9.99998068e-01 6.85377988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.164391418 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:331.60, Y:1.85, Z:0.68 [[ 9.99398466e-01 -3.46243357e-02 -1.96512104e-03 3.31595127e+02] [ 3.46244816e-02 9.99400392e-01 4.02477856e-05 1.84776237e+00] [ 1.96254918e-03 -1.08264872e-04 9.99998068e-01 6.84754678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.224391418 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:331.66, Y:1.85, Z:0.69 [[ 9.99438133e-01 -3.34597635e-02 -1.96511605e-03 3.31656704e+02] [ 3.34599076e-02 9.99440060e-01 4.04897387e-05 1.84818742e+00] [ 1.96266093e-03 -1.06219590e-04 9.99998068e-01 6.85402720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.284391418 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:331.72, Y:1.85, Z:0.69 [[ 9.99496130e-01 -3.16800365e-02 -1.96511195e-03 3.31719585e+02] [ 3.16801775e-02 9.99498056e-01 4.06879200e-05 1.84899946e+00] [ 1.96283658e-03 -1.02922514e-04 9.99998068e-01 6.86500192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.344391418 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:331.78, Y:1.85, Z:0.69 [[ 9.99512348e-01 -3.11641596e-02 -1.96510710e-03 3.31782345e+02] [ 3.11643001e-02 9.99514274e-01 4.09209916e-05 1.84975809e+00] [ 1.96287732e-03 -1.02142224e-04 9.99998068e-01 6.87135359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.404391418 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:331.85, Y:1.85, Z:0.69 [[ 9.99512084e-01 -3.11726142e-02 -1.96510221e-03 3.31845202e+02] [ 3.11727552e-02 9.99514011e-01 4.11544152e-05 1.84912093e+00] [ 1.96286430e-03 -1.02391985e-04 9.99998068e-01 6.87412626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46439141799993 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:331.91, Y:1.85, Z:0.69 [[ 9.99559627e-01 -2.96089591e-02 -1.96509721e-03 3.31907047e+02] [ 2.96090976e-02 9.99561554e-01 4.13916759e-05 1.85087227e+00] [ 1.96301006e-03 -9.95582032e-05 9.99998068e-01 6.87614468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52439141799994 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:331.97, Y:1.85, Z:0.69 [[ 9.99618516e-01 -2.75492372e-02 -1.96509309e-03 3.31970471e+02] [ 2.75493721e-02 9.99620443e-01 4.15863470e-05 1.85177462e+00] [ 1.96320155e-03 -9.57075632e-05 9.99998068e-01 6.88503328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58439141799994 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:332.03, Y:1.85, Z:0.69 [[ 9.99705410e-01 -2.41915556e-02 -1.96508786e-03 3.32032084e+02] [ 2.41916845e-02 9.99707338e-01 4.18320307e-05 1.85320476e+00] [ 1.96350077e-03 -8.93584930e-05 9.99998068e-01 6.86662048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64439141799994 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:332.09, Y:1.85, Z:0.69 [[ 9.99750820e-01 -2.22359420e-02 -1.96508355e-03 3.32094901e+02] [ 2.22360675e-02 9.99752747e-01 4.20335021e-05 1.85463767e+00] [ 1.96366302e-03 -8.57187586e-05 9.99998068e-01 6.87183484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70439141799994 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:332.16, Y:1.86, Z:0.69 [[ 9.99794596e-01 -2.01718893e-02 -1.96507857e-03 3.32157300e+02] [ 2.01720112e-02 9.99796523e-01 4.22653067e-05 1.85551166e+00] [ 1.96382615e-03 -8.18962121e-05 9.99998068e-01 6.86694012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76439141799995 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:332.22, Y:1.86, Z:0.69 [[ 9.99814234e-01 -1.91738099e-02 -1.96507446e-03 3.32219823e+02] [ 1.91739303e-02 9.99816162e-01 4.24554832e-05 1.85617472e+00] [ 1.96389917e-03 -8.01257971e-05 9.99998068e-01 6.87100581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82439141799995 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:332.28, Y:1.86, Z:0.69 [[ 9.99810676e-01 -1.93584658e-02 -1.96507109e-03 3.32280961e+02] [ 1.93585868e-02 9.99812604e-01 4.26106694e-05 1.85614933e+00] [ 1.96387797e-03 -8.06436015e-05 9.99998068e-01 6.87589993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88439141799995 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:332.34, Y:1.86, Z:0.69 [[ 9.99779175e-01 -2.09222103e-02 -1.96506860e-03 3.32342809e+02] [ 2.09223346e-02 9.99781103e-01 4.27250639e-05 1.85534051e+00] [ 1.96374455e-03 -8.38294520e-05 9.99998068e-01 6.87576268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94439141799995 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:332.41, Y:1.86, Z:0.69 [[ 9.99695075e-01 -2.46149442e-02 -1.96506513e-03 3.32405669e+02] [ 2.46150760e-02 9.99697002e-01 4.28843335e-05 1.85516090e+00] [ 1.96341412e-03 -9.12414844e-05 9.99998068e-01 6.86298781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.00439141799995 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:332.47, Y:1.85, Z:0.69 [[ 9.99616886e-01 -2.76083384e-02 -1.96505975e-03 3.32467614e+02] [ 2.76084764e-02 9.99618812e-01 4.31294710e-05 1.85448782e+00] [ 1.96311996e-03 -9.73652531e-05 9.99998068e-01 6.85414914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06439141799996 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:332.53, Y:1.85, Z:0.68 [[ 9.99585835e-01 -2.87105875e-02 -1.96505532e-03 3.32531024e+02] [ 2.87107280e-02 9.99587761e-01 4.33304333e-05 1.85368907e+00] [ 1.96300120e-03 -9.97306561e-05 9.99998068e-01 6.83994174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12439141799996 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:332.59, Y:1.86, Z:0.68 [[ 9.99591957e-01 -2.84966268e-02 -1.96505007e-03 3.32594448e+02] [ 2.84967674e-02 9.99593884e-01 4.35671823e-05 1.85526054e+00] [ 1.96301051e-03 -9.95469797e-05 9.99998068e-01 6.83720645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18439141799996 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:332.66, Y:1.86, Z:0.68 [[ 9.99633015e-01 -2.70180235e-02 -1.96504485e-03 3.32657754e+02] [ 2.70181617e-02 9.99634942e-01 4.38013073e-05 1.85572924e+00] [ 1.96314407e-03 -9.68771323e-05 9.99998068e-01 6.83485144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24439141799996 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:332.72, Y:1.86, Z:0.68 [[ 9.99652508e-01 -2.62869268e-02 -1.96503969e-03 3.32721212e+02] [ 2.62870640e-02 9.99654434e-01 4.40315889e-05 1.85518687e+00] [ 1.96320318e-03 -9.56714123e-05 9.99998068e-01 6.82904905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30439141799997 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:332.78, Y:1.86, Z:0.68 [[ 9.99678636e-01 -2.52737781e-02 -1.96503459e-03 3.32782771e+02] [ 2.52739138e-02 9.99680563e-01 4.42580499e-05 1.85564895e+00] [ 1.96328831e-03 -9.39079417e-05 9.99998068e-01 6.83275186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36439141799997 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:332.85, Y:1.86, Z:0.68 [[ 9.99712811e-01 -2.38837456e-02 -1.96503092e-03 3.32845940e+02] [ 2.38838789e-02 9.99714738e-01 4.44202961e-05 1.85625598e+00] [ 1.96340945e-03 -9.13400997e-05 9.99998068e-01 6.83675225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42439141799997 meters Centerline goodness : 0.999585 with order 1 Centerline is valid? [True, True] Translation: X:332.91, Y:1.86, Z:0.68 [[ 9.99722840e-01 -2.34602214e-02 -1.96502562e-03 3.32909245e+02] [ 2.34603544e-02 9.99724767e-01 4.46536030e-05 1.85669312e+00] [ 1.96343720e-03 -9.07414243e-05 9.99998068e-01 6.83874265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.484391418 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:332.97, Y:1.86, Z:0.68 [[ 9.99764559e-01 -2.16094019e-02 -1.96502024e-03 3.32972394e+02] [ 2.16095318e-02 9.99766486e-01 4.48889353e-05 1.85615593e+00] [ 1.96359136e-03 -8.73415339e-05 9.99998068e-01 6.83882141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.544391418 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:333.04, Y:1.85, Z:0.68 [[ 9.99797530e-01 -2.00259478e-02 -1.96501494e-03 3.33035511e+02] [ 2.00260751e-02 9.99799457e-01 4.51200381e-05 1.85498056e+00] [ 1.96371730e-03 -8.44624394e-05 9.99998068e-01 6.84242401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.604391418 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:333.10, Y:1.85, Z:0.69 [[ 9.99830401e-01 -1.83114031e-02 -1.96500948e-03 3.33097670e+02] [ 1.83115276e-02 9.99832329e-01 4.53563094e-05 1.85458663e+00] [ 1.96384947e-03 -8.13309423e-05 9.99998068e-01 6.85902188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.664391418 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:333.16, Y:1.85, Z:0.68 [[ 9.99837742e-01 -1.79061113e-02 -1.96500578e-03 3.33158727e+02] [ 1.79062353e-02 9.99839669e-01 4.55161648e-05 1.85299952e+00] [ 1.96387571e-03 -8.06946352e-05 9.99998068e-01 6.84685570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.724391418 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:333.22, Y:1.85, Z:0.68 [[ 9.99813629e-01 -1.92053835e-02 -1.96500304e-03 3.33220906e+02] [ 1.92055103e-02 9.99815556e-01 4.56339956e-05 1.85019934e+00] [ 1.96376419e-03 -8.33643769e-05 9.99998068e-01 6.84405005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.784391418 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:333.28, Y:1.85, Z:0.68 [[ 9.99801530e-01 -1.98252370e-02 -1.96499945e-03 3.33283369e+02] [ 1.98253652e-02 9.99803457e-01 4.57884060e-05 1.84843311e+00] [ 1.96370547e-03 -8.47361500e-05 9.99998068e-01 6.84649089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.844391418 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:333.34, Y:1.85, Z:0.69 [[ 9.99799937e-01 -1.99053988e-02 -1.96499582e-03 3.33344946e+02] [ 1.99055275e-02 9.99801864e-01 4.59434427e-05 1.84609483e+00] [ 1.96369196e-03 -8.50485294e-05 9.99998068e-01 6.85091149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.904391418 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:333.41, Y:1.84, Z:0.69 [[ 9.99773348e-01 -2.11988786e-02 -1.96498683e-03 3.33407469e+02] [ 2.11990105e-02 9.99775275e-01 4.63246452e-05 1.84348249e+00] [ 1.96356322e-03 -8.79699220e-05 9.99998068e-01 6.86551386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96439141799993 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:333.47, Y:1.84, Z:0.69 [[ 9.99749202e-01 -2.23085440e-02 -1.96498332e-03 3.33470830e+02] [ 2.23086783e-02 9.99751129e-01 4.64732722e-05 1.83939158e+00] [ 1.96345754e-03 -9.02977976e-05 9.99998068e-01 6.87864696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02439141799994 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:333.53, Y:1.84, Z:0.69 [[ 9.99682223e-01 -2.51314886e-02 -1.96497760e-03 3.33532654e+02] [ 2.51316288e-02 9.99684150e-01 4.67139613e-05 1.83537081e+00] [ 1.96318297e-03 -9.60822043e-05 9.99998068e-01 6.88079892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08439141799994 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:333.60, Y:1.83, Z:0.69 [[ 9.99641042e-01 -2.67194118e-02 -1.96496845e-03 3.33595447e+02] [ 2.67195558e-02 9.99642968e-01 4.70955155e-05 1.83188920e+00] [ 1.96300853e-03 -9.95816944e-05 9.99998068e-01 6.87429986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14439141799994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:333.66, Y:1.83, Z:0.69 [[ 9.99636982e-01 -2.68708485e-02 -1.96496269e-03 3.33658091e+02] [ 2.68709933e-02 9.99638909e-01 4.73348237e-05 1.82794175e+00] [ 1.96298123e-03 -1.00118140e-04 9.99998068e-01 6.87924832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20439141799994 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:333.72, Y:1.83, Z:0.69 [[ 9.99662615e-01 -2.58997159e-02 -1.96495681e-03 3.33720376e+02] [ 2.58998593e-02 9.99664541e-01 4.75775181e-05 1.82528343e+00] [ 1.96306540e-03 -9.84535710e-05 9.99998068e-01 6.87679721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26439141799995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:333.78, Y:1.82, Z:0.69 [[ 9.99730069e-01 -2.31501240e-02 -1.96495198e-03 3.33783439e+02] [ 2.31502625e-02 9.99731996e-01 4.77763892e-05 1.82311414e+00] [ 1.96331933e-03 -9.32526468e-05 9.99998068e-01 6.88556711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32439141799995 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:333.85, Y:1.82, Z:0.69 [[ 9.99826393e-01 -1.85289465e-02 -1.96494616e-03 3.33845841e+02] [ 1.85290766e-02 9.99828321e-01 4.80143319e-05 1.82030294e+00] [ 1.96371917e-03 -8.44146341e-05 9.99998068e-01 6.88973285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38439141799995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:333.91, Y:1.82, Z:0.69 [[ 9.99896940e-01 -1.42214228e-02 -1.96494236e-03 3.33908125e+02] [ 1.42215449e-02 9.99898868e-01 4.81693644e-05 1.81777547e+00] [ 1.96405860e-03 -7.61089160e-05 9.99998068e-01 6.89775881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44439141799995 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:333.97, Y:1.82, Z:0.69 [[ 9.99976583e-01 -6.55531084e-03 -1.96493856e-03 3.33970172e+02] [ 6.55541844e-03 9.99978512e-01 4.83240206e-05 1.81650852e+00] [ 1.96457956e-03 -6.12038834e-05 9.99998068e-01 6.90345807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.50439141799995 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:334.03, Y:1.82, Z:0.69 [[ 9.99997729e-01 8.25163790e-04 -1.96493462e-03 3.34031076e+02] [-8.25070115e-04 9.99999658e-01 4.84834507e-05 1.81506824e+00] [ 1.96497396e-03 -4.68621317e-05 9.99998068e-01 6.89047057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56439141799996 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:334.09, Y:1.81, Z:0.69 [[ 9.99986607e-01 4.78792666e-03 -1.96493268e-03 3.34089940e+02] [-4.78784048e-03 9.99988537e-01 4.85620237e-05 1.81391668e+00] [ 1.96514267e-03 -3.91535891e-05 9.99998068e-01 6.89445952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62439141799996 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:334.15, Y:1.81, Z:0.69 [[ 9.99953358e-01 9.45627291e-03 -1.96493553e-03 3.34147513e+02] [-9.45619597e-03 9.99955288e-01 4.84463621e-05 1.81272736e+00] [ 1.96530580e-03 -2.98632870e-05 9.99998068e-01 6.91621895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68439141799996 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:334.21, Y:1.81, Z:0.69 [[ 9.99927711e-01 1.18621996e-02 -1.96495113e-03 3.34206399e+02] [-1.18621286e-02 9.99929641e-01 4.78053214e-05 1.81243598e+00] [ 1.96537995e-03 -2.44933627e-05 9.99998068e-01 6.94118547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74439141799996 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:334.27, Y:1.81, Z:0.70 [[ 9.99898395e-01 1.41186983e-02 -1.96495500e-03 3.34265102e+02] [-1.41186319e-02 9.99900326e-01 4.76457583e-05 1.81157946e+00] [ 1.96543184e-03 -1.98984409e-05 9.99998068e-01 6.96807352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80439141799997 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:334.32, Y:1.81, Z:0.70 [[ 9.99923757e-01 1.21909244e-02 -1.96495890e-03 3.34322995e+02] [-1.21908546e-02 9.99925688e-01 4.74843653e-05 1.80902079e+00] [ 1.96539176e-03 -2.35262166e-05 9.99998068e-01 6.98046800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86439141799997 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:334.38, Y:1.81, Z:0.70 [[ 9.99959015e-01 8.83782964e-03 -1.96496366e-03 3.34381407e+02] [-8.83775378e-03 9.99960945e-01 4.72863341e-05 1.80629968e+00] [ 1.96530483e-03 -2.99185310e-05 9.99998068e-01 6.97995724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92439141799997 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:334.44, Y:1.80, Z:0.70 [[ 9.99997067e-01 1.41611031e-03 -1.96496740e-03 3.34439225e+02] [-1.41602043e-03 9.99998996e-01 4.71307239e-05 1.80188369e+00] [ 1.96503217e-03 -4.43481517e-05 9.99998068e-01 6.95341369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.984391418 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:334.50, Y:1.80, Z:0.69 [[ 9.99988927e-01 -4.27607230e-03 -1.96497226e-03 3.34498513e+02] [ 4.27617276e-03 9.99990856e-01 4.69272607e-05 1.79626769e+00] [ 1.96475362e-03 -5.53293019e-05 9.99998068e-01 6.91221934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.044391418 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:334.56, Y:1.79, Z:0.69 [[ 9.99984982e-01 -5.11619890e-03 -1.96497410e-03 3.34559566e+02] [ 5.11630083e-03 9.99986911e-01 4.68497211e-05 1.79211499e+00] [ 1.96470869e-03 -5.69024162e-05 9.99998068e-01 6.88543430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.104391418 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:334.62, Y:1.79, Z:0.69 [[ 9.99992570e-01 -3.31640067e-03 -1.96497217e-03 3.34619915e+02] [ 3.31649928e-03 9.99994499e-01 4.69306742e-05 1.79095416e+00] [ 1.96480572e-03 -5.34471543e-05 9.99998068e-01 6.87585219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.164391418 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:334.68, Y:1.79, Z:0.69 [[ 9.99997855e-01 6.54910648e-04 -1.96497122e-03 3.34680279e+02] [-6.54819616e-04 9.99999785e-01 4.69704550e-05 1.78902351e+00] [ 1.96500156e-03 -4.56836525e-05 9.99998068e-01 6.86704992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.224391418 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:334.74, Y:1.79, Z:0.69 [[ 9.99991443e-01 3.64031701e-03 -1.96497122e-03 3.34739397e+02] [-3.64023173e-03 9.99993373e-01 4.69704550e-05 1.78745963e+00] [ 1.96512919e-03 -3.98171025e-05 9.99998068e-01 6.87493570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.284391418 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:334.80, Y:1.79, Z:0.69 [[ 9.99986946e-01 4.71657629e-03 -1.96497407e-03 3.34798303e+02] [-4.71649333e-03 9.99988876e-01 4.68510317e-05 1.78659454e+00] [ 1.96517319e-03 -3.75826331e-05 9.99998068e-01 6.88521540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.344391418 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:334.86, Y:1.79, Z:0.69 [[ 9.99987484e-01 4.60108220e-03 -1.96497784e-03 3.34857304e+02] [-4.60099933e-03 9.99989414e-01 4.66922814e-05 1.78619288e+00] [ 1.96517187e-03 -3.76508353e-05 9.99998068e-01 6.90140682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.404391418 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:334.92, Y:1.78, Z:0.69 [[ 9.99986740e-01 4.76017385e-03 -1.96498155e-03 3.34915880e+02] [-4.76009159e-03 9.99988670e-01 4.65357229e-05 1.78491475e+00] [ 1.96518080e-03 -3.71816136e-05 9.99998068e-01 6.89762423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46439141799993 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:334.97, Y:1.78, Z:0.69 [[ 9.99997618e-01 9.50048915e-04 -1.96498519e-03 3.34974276e+02] [-9.49959609e-04 9.99999548e-01 4.63815650e-05 1.78481876e+00] [ 1.96502836e-03 -4.45147980e-05 9.99998068e-01 6.93351407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52439141799994 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:335.03, Y:1.78, Z:0.69 [[ 9.99997036e-01 -1.43782307e-03 -1.96498896e-03 3.35034393e+02] [ 1.43791666e-03 9.99998965e-01 4.62209071e-05 1.78438647e+00] [ 1.96492047e-03 -4.90462604e-05 9.99998068e-01 6.93597869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58439141799994 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:335.09, Y:1.78, Z:0.69 [[ 9.99983938e-01 -5.31633215e-03 -1.96499079e-03 3.35094987e+02] [ 5.31643308e-03 9.99985867e-01 4.61430960e-05 1.78323692e+00] [ 1.96471771e-03 -5.65890969e-05 9.99998068e-01 6.92979101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64439141799994 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:335.16, Y:1.78, Z:0.69 [[ 9.99966838e-01 -7.90321940e-03 -1.96499079e-03 3.35156581e+02] [ 7.90332532e-03 9.99968767e-01 4.61430960e-05 1.78349335e+00] [ 1.96456474e-03 -6.16715273e-05 9.99998068e-01 6.90538573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70439141799994 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:335.22, Y:1.78, Z:0.69 [[ 9.99960652e-01 -8.65060533e-03 -1.96498886e-03 3.35218022e+02] [ 8.65071285e-03 9.99962581e-01 4.62253133e-05 1.78281319e+00] [ 1.96451545e-03 -6.32220488e-05 9.99998068e-01 6.90813392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76439141799995 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:335.28, Y:1.78, Z:0.69 [[ 9.99951949e-01 -9.60410300e-03 -1.96498233e-03 3.35279108e+02] [ 9.60421290e-03 9.99953877e-01 4.65010006e-05 1.78445545e+00] [ 1.96444510e-03 -6.53708749e-05 9.99998068e-01 6.90210420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82439141799995 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:335.34, Y:1.78, Z:0.69 [[ 9.99949853e-01 -9.81992750e-03 -1.96497957e-03 3.35341202e+02] [ 9.82003805e-03 9.99951781e-01 4.66175695e-05 1.78484082e+00] [ 1.96442704e-03 -6.59114058e-05 9.99998068e-01 6.90495936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88439141799995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:335.40, Y:1.78, Z:0.69 [[ 9.99948494e-01 -9.95735474e-03 -1.96497574e-03 3.35403183e+02] [ 9.95746586e-03 9.99950422e-01 4.67784992e-05 1.78494124e+00] [ 1.96441253e-03 -6.63422687e-05 9.99998068e-01 6.91025332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94439141799995 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:335.47, Y:1.79, Z:0.69 [[ 9.99960993e-01 -8.61112302e-03 -1.96497196e-03 3.35465346e+02] [ 8.61123186e-03 9.99962922e-01 4.69365380e-05 1.78631736e+00] [ 1.96449493e-03 -6.38555363e-05 9.99998068e-01 6.92803716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.00439141799995 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:335.53, Y:1.79, Z:0.69 [[ 9.99979474e-01 -6.09841590e-03 -1.96496812e-03 3.35526917e+02] [ 6.09852021e-03 9.99981403e-01 4.70969653e-05 1.78779285e+00] [ 1.96464436e-03 -5.90793963e-05 9.99998068e-01 6.94245524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06439141799996 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:335.59, Y:1.79, Z:0.70 [[ 9.99998049e-01 -1.99996754e-04 -1.96496185e-03 3.35587910e+02] [ 2.00090195e-04 9.99999979e-01 4.73569749e-05 1.79029435e+00] [ 1.96495234e-03 -4.77500522e-05 9.99998068e-01 6.95942816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12439141799996 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:335.65, Y:1.79, Z:0.70 [[ 9.99976611e-01 6.55100933e-03 -1.96495995e-03 3.35647628e+02] [-6.55092877e-03 9.99978541e-01 4.74355490e-05 1.79173717e+00] [ 1.96522854e-03 -3.45621269e-05 9.99998068e-01 6.96108365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18439141799996 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:335.71, Y:1.79, Z:0.69 [[ 9.99950303e-01 9.77399147e-03 -1.96496189e-03 3.35705817e+02] [-9.77391729e-03 9.99952233e-01 4.73553117e-05 1.79219148e+00] [ 1.96533088e-03 -2.81475833e-05 9.99998068e-01 6.94433560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.76, Y:1.79, Z:0.69 [[ 9.99919269e-01 1.25536978e-02 -1.96496661e-03 3.35764842e+02] [-1.25536294e-02 9.99921199e-01 4.71587006e-05 1.79187945e+00] [ 1.96540378e-03 -2.24874309e-05 9.99998068e-01 6.91581398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.82, Y:1.79, Z:0.69 [[ 9.99919714e-01 1.25181701e-02 -1.96497046e-03 3.35822326e+02] [-1.25181019e-02 9.99921644e-01 4.69976373e-05 1.79029222e+00] [ 1.96540482e-03 -2.23961637e-05 9.99998068e-01 6.89141010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36439141799997 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:335.88, Y:1.79, Z:0.69 [[ 9.99926579e-01 1.19572210e-02 -1.96497552e-03 3.35881355e+02] [-1.19571521e-02 9.99928510e-01 4.67850491e-05 1.78878249e+00] [ 1.96539446e-03 -2.32861030e-05 9.99998068e-01 6.89651475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42439141799997 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:335.94, Y:1.79, Z:0.69 [[ 9.99914502e-01 1.29278156e-02 -1.96497923e-03 3.35940115e+02] [-1.29277489e-02 9.99916432e-01 4.66285643e-05 1.78758724e+00] [ 1.96541783e-03 -2.12218194e-05 9.99998068e-01 6.90726322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.484391418 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:336.00, Y:1.79, Z:0.69 [[ 9.99923007e-01 1.22523143e-02 -1.96498290e-03 3.35999215e+02] [-1.22522466e-02 9.99924937e-01 4.64737278e-05 1.78501032e+00] [ 1.96540481e-03 -2.23946947e-05 9.99998068e-01 6.91469654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.544391418 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:336.06, Y:1.78, Z:0.69 [[ 9.99938637e-01 1.09023497e-02 -1.96498663e-03 3.36058070e+02] [-1.09022797e-02 9.99940567e-01 4.63153900e-05 1.78252489e+00] [ 1.96537479e-03 -2.48897140e-05 9.99998068e-01 6.92456084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.604391418 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:336.12, Y:1.78, Z:0.69 [[ 9.99927691e-01 1.18638544e-02 -1.96499037e-03 3.36117210e+02] [-1.18637866e-02 9.99929622e-01 4.61559003e-05 1.78095558e+00] [ 1.96539967e-03 -2.28403364e-05 9.99998068e-01 6.93212549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.664391418 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:336.18, Y:1.78, Z:0.70 [[ 9.99881811e-01 1.52480214e-02 -1.96499410e-03 3.36176221e+02] [-1.52479604e-02 9.99883742e-01 4.59968274e-05 1.78268652e+00] [ 1.96546701e-03 -1.60292388e-05 9.99998068e-01 6.96223368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.724391418 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:336.24, Y:1.78, Z:0.70 [[ 9.99832388e-01 1.82025774e-02 -1.96499797e-03 3.36235350e+02] [-1.82025225e-02 9.99834319e-01 4.58309264e-05 1.78201793e+00] [ 1.96550665e-03 -1.00553249e-05 9.99998068e-01 6.97201033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.784391418 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:336.29, Y:1.78, Z:0.69 [[ 9.99745410e-01 2.24778517e-02 -1.96500184e-03 3.36293605e+02] [-2.24778054e-02 9.99747341e-01 4.56643852e-05 1.77665357e+00] [ 1.96553180e-03 -1.48383064e-06 9.99998068e-01 6.94665498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.844391418 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:336.35, Y:1.77, Z:0.69 [[ 9.99732543e-01 2.30430450e-02 -1.96500556e-03 3.36352566e+02] [-2.30430000e-02 9.99734474e-01 4.55034155e-05 1.77368384e+00] [ 1.96553234e-03 -2.11621967e-07 9.99998068e-01 6.92198882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.904391418 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:336.41, Y:1.77, Z:0.69 [[ 9.99750536e-01 2.22487185e-02 -1.96500913e-03 3.36411480e+02] [-2.22486723e-02 9.99752467e-01 4.53488812e-05 1.77177941e+00] [ 1.96553168e-03 -1.61872405e-06 9.99998068e-01 6.91836434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96439141799993 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:336.47, Y:1.77, Z:0.69 [[ 9.99784401e-01 2.06710134e-02 -1.96501268e-03 3.36469718e+02] [-2.06709645e-02 9.99786332e-01 4.51947213e-05 1.77004804e+00] [ 1.96552704e-03 -4.56626997e-06 9.99998068e-01 6.93303909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02439141799994 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:336.53, Y:1.77, Z:0.69 [[ 9.99826242e-01 1.85370874e-02 -1.96501814e-03 3.36527372e+02] [-1.85370349e-02 9.99828173e-01 4.49559835e-05 1.76785320e+00] [ 1.96551385e-03 -8.52256224e-06 9.99998068e-01 6.94389792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08439141799994 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:336.59, Y:1.77, Z:0.70 [[ 9.99880370e-01 1.53422275e-02 -1.96502353e-03 3.36586288e+02] [-1.53421692e-02 9.99882301e-01 4.47190506e-05 1.76564935e+00] [ 1.96547834e-03 -1.45659774e-05 9.99998068e-01 6.95966042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14439141799994 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:336.64, Y:1.76, Z:0.70 [[ 9.99901998e-01 1.38612103e-02 -1.96502711e-03 3.36644091e+02] [-1.38611495e-02 9.99903929e-01 4.45612881e-05 1.76400187e+00] [ 1.96545600e-03 -1.73193865e-05 9.99998068e-01 6.97222225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20439141799994 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:336.70, Y:1.76, Z:0.70 [[ 9.99896333e-01 1.42640178e-02 -1.96503148e-03 3.36703015e+02] [-1.42639581e-02 9.99898264e-01 4.43676097e-05 1.76204095e+00] [ 1.96546443e-03 -1.63338835e-05 9.99998068e-01 6.98730893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26439141799995 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:336.76, Y:1.76, Z:0.70 [[ 9.99797867e-01 2.00091142e-02 -1.96503503e-03 3.36760343e+02] [-2.00090660e-02 9.99799798e-01 4.42100702e-05 1.76031301e+00] [ 1.96552622e-03 -4.88261836e-06 9.99998068e-01 7.01415344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32439141799995 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:336.82, Y:1.76, Z:0.70 [[ 9.99680506e-01 2.51996767e-02 -1.96503936e-03 3.36819008e+02] [-2.51996388e-02 9.99682438e-01 4.40163910e-05 1.75975778e+00] [ 1.96552454e-03 5.51595421e-06 9.99998068e-01 7.04594815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38439141799995 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:336.88, Y:1.76, Z:0.71 [[ 9.99541827e-01 3.02038965e-02 -1.96504279e-03 3.36878225e+02] [-3.02038687e-02 9.99543758e-01 4.38626893e-05 1.75762988e+00] [ 1.96547108e-03 1.55093019e-05 9.99998068e-01 7.06669375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44439141799995 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:336.94, Y:1.75, Z:0.70 [[ 9.99600988e-01 2.81780551e-02 -1.96504637e-03 3.36937324e+02] [-2.81780237e-02 9.99602920e-01 4.37019678e-05 1.75033765e+00] [ 1.96549752e-03 1.16865929e-05 9.99998068e-01 7.03913652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.50439141799995 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:337.00, Y:1.74, Z:0.70 [[ 9.99773502e-01 2.11915842e-02 -1.96505310e-03 3.36996454e+02] [-2.11915398e-02 9.99775433e-01 4.33971210e-05 1.74366213e+00] [ 1.96553147e-03 -1.74479058e-06 9.99998068e-01 7.02853169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56439141799996 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:337.05, Y:1.74, Z:0.70 [[ 9.99823645e-01 1.86766492e-02 -1.96505958e-03 3.37054067e+02] [-1.86766006e-02 9.99825576e-01 4.31015911e-05 1.74145932e+00] [ 1.96552182e-03 -6.39335692e-06 9.99998068e-01 7.02390108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62439141799996 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:337.11, Y:1.74, Z:0.70 [[ 9.99921218e-01 1.23974474e-02 -1.96506385e-03 3.37112740e+02] [-1.23973870e-02 9.99923149e-01 4.29062570e-05 1.73636630e+00] [ 1.96544476e-03 -1.85412197e-05 9.99998068e-01 7.03657233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68439141799996 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:337.17, Y:1.73, Z:0.70 [[ 9.99959837e-01 8.74436097e-03 -1.96506732e-03 3.37171409e+02] [-8.74429384e-03 9.99961767e-01 4.27467794e-05 1.73237193e+00] [ 1.96536598e-03 -2.55619365e-05 9.99998068e-01 7.03662004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74439141799996 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:337.23, Y:1.73, Z:0.71 [[ 9.99988220e-01 4.43817311e-03 -1.96507071e-03 3.37229815e+02] [-4.43809798e-03 9.99990151e-01 4.25900312e-05 1.72703223e+00] [ 1.96524038e-03 -3.38683532e-05 9.99998068e-01 7.06760185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80439141799997 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:337.29, Y:1.72, Z:0.71 [[ 9.99993625e-01 2.98140521e-03 -1.96507408e-03 3.37288088e+02] [-2.98132758e-03 9.99995555e-01 4.24340865e-05 1.72279219e+00] [ 1.96519186e-03 -3.65752864e-05 9.99998068e-01 7.09348789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86439141799997 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:337.35, Y:1.72, Z:0.71 [[ 9.99994484e-01 2.67773745e-03 -1.96507756e-03 3.37346437e+02] [-2.67765955e-03 9.99996414e-01 4.22722543e-05 1.71961220e+00] [ 1.96518371e-03 -3.70102124e-05 9.99998068e-01 7.09166532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92439141799997 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:337.41, Y:1.71, Z:0.71 [[ 9.99998053e-01 -1.82168717e-04 -1.96508099e-03 3.37405479e+02] [ 1.82251822e-04 9.99999983e-01 4.21123380e-05 1.71359894e+00] [ 1.96507328e-03 -4.24703956e-05 9.99998068e-01 7.09104829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.984391418 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:337.47, Y:1.71, Z:0.71 [[ 9.99993518e-01 -3.01701325e-03 -1.96508438e-03 3.37465072e+02] [ 3.01710151e-03 9.99995448e-01 4.19535034e-05 1.70998724e+00] [ 1.96494886e-03 -4.78820905e-05 9.99998068e-01 7.09443201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.044391418 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:337.53, Y:1.71, Z:0.71 [[ 9.99969958e-01 -7.49808003e-03 -1.96508521e-03 3.37525520e+02] [ 7.49817686e-03 9.99971887e-01 4.19144784e-05 1.70602564e+00] [ 1.96471569e-03 -5.66477757e-05 9.99998068e-01 7.08330504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.104391418 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:337.59, Y:1.70, Z:0.71 [[ 9.99945306e-01 -1.02724946e-02 -1.96508521e-03 3.37587107e+02] [ 1.02725968e-02 9.99947235e-01 4.19144784e-05 1.70290493e+00] [ 1.96455096e-03 -6.20987141e-05 9.99998068e-01 7.08189305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.164391418 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:337.65, Y:1.70, Z:0.71 [[ 9.99907488e-01 -1.34593068e-02 -1.96508350e-03 3.37647920e+02] [ 1.34594153e-02 9.99909417e-01 4.19947746e-05 1.70062459e+00] [ 1.96434027e-03 -6.84397646e-05 9.99998068e-01 7.06104446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.224391418 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:337.71, Y:1.70, Z:0.71 [[ 9.99900925e-01 -1.39384186e-02 -1.96508095e-03 3.37710502e+02] [ 1.39385282e-02 9.99902853e-01 4.21136848e-05 1.69998210e+00] [ 1.96430305e-03 -6.94998486e-05 9.99998068e-01 7.06308652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.284391418 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:337.77, Y:1.70, Z:0.71 [[ 9.99885061e-01 -1.50333818e-02 -1.96507755e-03 3.37772537e+02] [ 1.50334939e-02 9.99886990e-01 4.22715090e-05 1.69919420e+00] [ 1.96422000e-03 -7.18086317e-05 9.99998068e-01 7.07706452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.344391418 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:337.83, Y:1.70, Z:0.71 [[ 9.99861535e-01 -1.65242287e-02 -1.96507416e-03 3.37834184e+02] [ 1.65243439e-02 9.99863463e-01 4.24287572e-05 1.69842003e+00] [ 1.96410475e-03 -7.48944436e-05 9.99998068e-01 7.08934968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40439141799993 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:337.90, Y:1.70, Z:0.71 [[ 9.99833319e-01 -1.81514098e-02 -1.96506883e-03 3.37895864e+02] [ 1.81515286e-02 9.99835247e-01 4.26741007e-05 1.69820265e+00] [ 1.96397048e-03 -7.83359909e-05 9.99998068e-01 7.11760459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46439141799993 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:337.96, Y:1.70, Z:0.71 [[ 9.99844123e-01 -1.75461619e-02 -1.96506635e-03 3.37958500e+02] [ 1.75462798e-02 9.99846051e-01 4.27882603e-05 1.70075777e+00] [ 1.96401306e-03 -7.72611945e-05 9.99998068e-01 7.12424823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52439141799994 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:338.02, Y:1.70, Z:0.71 [[ 9.99865004e-01 -1.63129686e-02 -1.96506307e-03 3.38020181e+02] [ 1.63130845e-02 9.99866932e-01 4.29380243e-05 1.70217251e+00] [ 1.96410114e-03 -7.49884678e-05 9.99998068e-01 7.11930548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58439141799994 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:338.08, Y:1.70, Z:0.71 [[ 9.99882454e-01 -1.52058367e-02 -1.96506065e-03 3.38082694e+02] [ 1.52059507e-02 9.99884382e-01 4.30485852e-05 1.70485254e+00] [ 1.96417887e-03 -7.29241403e-05 9.99998068e-01 7.12778387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64439141799994 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:338.15, Y:1.71, Z:0.71 [[ 9.99896141e-01 -1.42774309e-02 -1.96505730e-03 3.38145045e+02] [ 1.42775434e-02 9.99898070e-01 4.32010986e-05 1.70702885e+00] [ 1.96424020e-03 -7.12528026e-05 9.99998068e-01 7.11944352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70439141799994 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:338.21, Y:1.71, Z:0.71 [[ 9.99922381e-01 -1.23032697e-02 -1.96505398e-03 3.38207795e+02] [ 1.23033786e-02 9.99924310e-01 4.33515364e-05 1.70805835e+00] [ 1.96437188e-03 -6.75249746e-05 9.99998068e-01 7.11465431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76439141799995 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:338.27, Y:1.71, Z:0.71 [[ 9.99967073e-01 -7.87352437e-03 -1.96504986e-03 3.38268850e+02] [ 7.87362511e-03 9.99969002e-01 4.35374040e-05 1.71092684e+00] [ 1.96464616e-03 -5.90080364e-05 9.99998068e-01 7.11416962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82439141799995 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:338.33, Y:1.71, Z:0.71 [[ 9.99993678e-01 -2.96358631e-03 -1.96504742e-03 3.38329518e+02] [ 2.96367780e-03 9.99995607e-01 4.36473341e-05 1.71401252e+00] [ 1.96490944e-03 -4.94708255e-05 9.99998068e-01 7.13406891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88439141799995 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:338.39, Y:1.72, Z:0.72 [[ 9.99997672e-01 -8.91561741e-04 -1.96504500e-03 3.38390417e+02] [ 8.91649444e-04 9.99999602e-01 4.37560536e-05 1.71514966e+00] [ 1.96500520e-03 -4.55080830e-05 9.99998068e-01 7.17402027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94439141799995 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:338.45, Y:1.72, Z:0.72 [[ 9.99997888e-01 -6.01533055e-04 -1.96504411e-03 3.38450125e+02] [ 6.01620277e-04 9.99999818e-01 4.37960451e-05 1.71593924e+00] [ 1.96501741e-03 -4.49781630e-05 9.99998068e-01 7.16077252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.00439141799995 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:338.51, Y:1.72, Z:0.72 [[ 9.99997001e-01 1.46181627e-03 -1.96504498e-03 3.38509379e+02] [-1.46173311e-03 9.99998931e-01 4.37567783e-05 1.71619452e+00] [ 1.96510685e-03 -4.08842757e-05 9.99998068e-01 7.15465389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06439141799996 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:338.57, Y:1.72, Z:0.72 [[ 9.99976398e-01 6.58347694e-03 -1.96504670e-03 3.38568650e+02] [-6.58340382e-03 9.99978328e-01 4.36793525e-05 1.71809225e+00] [ 1.96529168e-03 -3.07416256e-05 9.99998068e-01 7.16012555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12439141799996 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:338.63, Y:1.72, Z:0.72 [[ 9.99941319e-01 1.06535094e-02 -1.96504844e-03 3.38627571e+02] [-1.06534443e-02 9.99943250e-01 4.36011110e-05 1.71934817e+00] [ 1.96540143e-03 -2.26640183e-05 9.99998068e-01 7.15829606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18439141799996 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:338.69, Y:1.72, Z:0.72 [[ 9.99903773e-01 1.37325830e-02 -1.96506042e-03 3.38685053e+02] [-1.37325249e-02 9.99905704e-01 4.30543079e-05 1.71987035e+00] [ 1.96546637e-03 -1.60649237e-05 9.99998068e-01 7.16043827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24439141799996 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:338.74, Y:1.72, Z:0.72 [[ 9.99877379e-01 1.55359734e-02 -1.96506459e-03 3.38743320e+02] [-1.55359191e-02 9.99879309e-01 4.28629320e-05 1.72033425e+00] [ 1.96549335e-03 -1.23285914e-05 9.99998068e-01 7.17422214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30439141799997 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:338.80, Y:1.72, Z:0.72 [[ 9.99863080e-01 1.64304528e-02 -1.96506981e-03 3.38801927e+02] [-1.64304008e-02 9.99865011e-01 4.26225581e-05 1.71967210e+00] [ 1.96550485e-03 -1.03298378e-05 9.99998068e-01 7.15901428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36439141799997 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:338.86, Y:1.72, Z:0.71 [[ 9.99870249e-01 1.59882299e-02 -1.96507325e-03 3.38860250e+02] [-1.59881773e-02 9.99872180e-01 4.24633269e-05 1.71869596e+00] [ 1.96550099e-03 -1.10398777e-05 9.99998068e-01 7.14838159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42439141799997 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:338.92, Y:1.72, Z:0.71 [[ 9.99882777e-01 1.51845332e-02 -1.96507664e-03 3.38918712e+02] [-1.51844793e-02 9.99884708e-01 4.23059507e-05 1.71787637e+00] [ 1.96549248e-03 -1.24623259e-05 9.99998068e-01 7.13835863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.484391418 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:338.98, Y:1.72, Z:0.71 [[ 9.99886792e-01 1.49178434e-02 -1.96508004e-03 3.38976587e+02] [-1.49177894e-02 9.99888723e-01 4.21471164e-05 1.71723508e+00] [ 1.96549012e-03 -1.28276948e-05 9.99998068e-01 7.13261920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.544391418 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:339.04, Y:1.72, Z:0.71 [[ 9.99897814e-01 1.41598347e-02 -1.96508485e-03 3.39035600e+02] [-1.41597797e-02 9.99899744e-01 4.19219083e-05 1.71689556e+00] [ 1.96548144e-03 -1.40924560e-05 9.99998068e-01 7.14533412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.604391418 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:339.09, Y:1.72, Z:0.72 [[ 9.99837832e-01 1.79010747e-02 -1.96508823e-03 3.39094501e+02] [-1.79010272e-02 9.99839763e-01 4.17626759e-05 1.71700430e+00] [ 1.96552095e-03 -6.57880546e-06 9.99998068e-01 7.16860664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.664391418 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:339.15, Y:1.72, Z:0.72 [[ 9.99752551e-01 2.21579708e-02 -1.96509160e-03 3.39153334e+02] [-2.21579318e-02 9.99754482e-01 4.16037468e-05 1.71775957e+00] [ 1.96553099e-03 1.94891363e-06 9.99998068e-01 7.20738194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.724391418 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:339.21, Y:1.72, Z:0.72 [[ 9.99713685e-01 2.38471637e-02 -1.96509492e-03 3.39212070e+02] [-2.38471283e-02 9.99715616e-01 4.14460356e-05 1.71641802e+00] [ 1.96552445e-03 5.42770180e-06 9.99998068e-01 7.22583604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.784391418 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:339.27, Y:1.71, Z:0.72 [[ 9.99735249e-01 2.29253224e-02 -1.96509822e-03 3.39270816e+02] [-2.29252855e-02 9.99737180e-01 4.12891376e-05 1.71341968e+00] [ 1.96552832e-03 3.77223147e-06 9.99998068e-01 7.21727561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.844391418 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:339.33, Y:1.71, Z:0.72 [[ 9.99804538e-01 1.96729083e-02 -1.96510144e-03 3.39329434e+02] [-1.96728654e-02 9.99806470e-01 4.11352013e-05 1.71003607e+00] [ 1.96553038e-03 -2.46798473e-06 9.99998068e-01 7.20318772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90439141799993 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:339.39, Y:1.70, Z:0.72 [[ 9.99910476e-01 1.32355105e-02 -1.96510478e-03 3.39388087e+02] [-1.32354555e-02 9.99912407e-01 4.09749571e-05 1.70424085e+00] [ 1.96547498e-03 -1.49622319e-05 9.99998068e-01 7.17466876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96439141799993 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:339.45, Y:1.70, Z:0.72 [[ 9.99966658e-01 7.92597386e-03 -1.96510811e-03 3.39446853e+02] [-7.92590896e-03 9.99968589e-01 4.08148849e-05 1.69912180e+00] [ 1.96536988e-03 -2.52382562e-05 9.99998068e-01 7.16001088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02439141799994 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:339.51, Y:1.70, Z:0.72 [[ 9.99981508e-01 5.75521508e-03 -1.96511138e-03 3.39505422e+02] [-5.75514629e-03 9.99983438e-01 4.06569303e-05 1.69674412e+00] [ 1.96531282e-03 -2.93466750e-05 9.99998068e-01 7.16628110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08439141799994 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:339.56, Y:1.69, Z:0.72 [[ 9.99989414e-01 4.16055829e-03 -1.96511463e-03 3.39564183e+02] [-4.16048674e-03 9.99991344e-01 4.04991428e-05 1.69376220e+00] [ 1.96526612e-03 -3.23228807e-05 9.99998068e-01 7.18519942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14439141799994 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:339.62, Y:1.69, Z:0.72 [[ 9.99989356e-01 4.17441783e-03 -1.96511782e-03 3.39622791e+02] [-4.17434661e-03 9.99991287e-01 4.03438108e-05 1.69022575e+00] [ 1.96526911e-03 -3.21402985e-05 9.99998068e-01 7.20840070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20439141799994 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:339.68, Y:1.69, Z:0.72 [[ 9.99987984e-01 4.49113181e-03 -1.96512095e-03 3.39681951e+02] [-4.49106150e-03 9.99989914e-01 4.01905777e-05 1.68830272e+00] [ 1.96528163e-03 -3.13646158e-05 9.99998068e-01 7.21529107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26439141799995 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:339.74, Y:1.69, Z:0.72 [[ 9.99994892e-01 2.52072977e-03 -1.96512402e-03 3.39741004e+02] [-2.52065595e-03 9.99996822e-01 4.00400187e-05 1.68541437e+00] [ 1.96521870e-03 -3.50864126e-05 9.99998068e-01 7.22449916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32439141799995 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:339.80, Y:1.68, Z:0.72 [[ 9.99998069e-01 1.05652847e-06 -1.96512722e-03 3.39799708e+02] [-9.78156666e-07 9.99999999e-01 3.98823973e-05 1.68107216e+00] [ 1.96512726e-03 -3.98803981e-05 9.99998068e-01 7.20331975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38439141799995 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:339.86, Y:1.68, Z:0.72 [[ 9.99986242e-01 -4.86357432e-03 -1.96512957e-03 3.39859359e+02] [ 4.86366185e-03 9.99988172e-01 3.97661347e-05 1.67586304e+00] [ 1.96491292e-03 -4.93233133e-05 9.99998068e-01 7.21509478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44439141799995 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:339.92, Y:1.67, Z:0.72 [[ 9.99955850e-01 -9.18887567e-03 -1.96513113e-03 3.39920929e+02] [ 9.18897140e-03 9.99957780e-01 3.96890978e-05 1.67099571e+00] [ 1.96468346e-03 -5.77448793e-05 9.99998068e-01 7.20879359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.50439141799995 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:339.98, Y:1.67, Z:0.72 [[ 9.99949596e-01 -9.84602041e-03 -1.96512958e-03 3.39982732e+02] [ 9.84611755e-03 9.99951525e-01 3.97654190e-05 1.66722499e+00] [ 1.96464279e-03 -5.91123115e-05 9.99998068e-01 7.20756065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56439141799996 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:340.05, Y:1.66, Z:0.72 [[ 9.99955527e-01 -9.22401900e-03 -1.96512634e-03 3.40045155e+02] [ 9.22411526e-03 9.99957456e-01 3.99251320e-05 1.66363816e+00] [ 1.96467446e-03 -5.80499082e-05 9.99998068e-01 7.21262653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62439141799996 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:340.11, Y:1.66, Z:0.72 [[ 9.99963931e-01 -8.26292299e-03 -1.96512301e-03 3.40106255e+02] [ 8.26301771e-03 9.99965860e-01 4.00881340e-05 1.66134908e+00] [ 1.96472468e-03 -5.63245343e-05 9.99998068e-01 7.21458100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68439141799996 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:340.17, Y:1.66, Z:0.72 [[ 9.99976720e-01 -6.53433139e-03 -1.96511763e-03 3.40167974e+02] [ 6.53442329e-03 9.99978650e-01 4.03501127e-05 1.65756173e+00] [ 1.96481201e-03 -5.31900837e-05 9.99998068e-01 7.22561311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74439141799996 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:340.23, Y:1.65, Z:0.72 [[ 9.99993472e-01 -3.03204702e-03 -1.96511435e-03 3.40229399e+02] [ 3.03213248e-03 9.99995402e-01 4.05091597e-05 1.65492654e+00] [ 1.96498249e-03 -4.64673823e-05 9.99998068e-01 7.24143005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80439141799997 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:340.29, Y:1.65, Z:0.73 [[ 9.99994930e-01 2.50579936e-03 -1.96511271e-03 3.40289831e+02] [-2.50572444e-03 9.99996860e-01 4.05888734e-05 1.65272102e+00] [ 1.96520824e-03 -3.56646366e-05 9.99998068e-01 7.26009411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86439141799997 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:340.35, Y:1.65, Z:0.73 [[ 9.99985141e-01 5.08489291e-03 -1.96511271e-03 3.40348170e+02] [-5.08482296e-03 9.99987071e-01 4.05888734e-05 1.64930237e+00] [ 1.96529369e-03 -3.05960200e-05 9.99998068e-01 7.25968596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92439141799997 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:340.41, Y:1.65, Z:0.72 [[ 9.99975265e-01 6.75340787e-03 -1.96512437e-03 3.40405544e+02] [-6.75334227e-03 9.99977195e-01 4.00159529e-05 1.64578502e+00] [ 1.96534980e-03 -2.67438056e-05 9.99998068e-01 7.24808956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.984391418 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:340.46, Y:1.64, Z:0.72 [[ 9.99982169e-01 5.63908507e-03 -1.96512843e-03 3.40464264e+02] [-5.63901772e-03 9.99984100e-01 3.98156277e-05 1.64064245e+00] [ 1.96532171e-03 -2.87335237e-05 9.99998068e-01 7.23672747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.044391418 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:340.52, Y:1.64, Z:0.72 [[ 9.99990039e-01 4.00750993e-03 -1.96513167e-03 3.40523315e+02] [-4.00743974e-03 9.99991969e-01 3.96549580e-05 1.63626691e+00] [ 1.96527481e-03 -3.17794163e-05 9.99998068e-01 7.22512060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.104391418 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:340.58, Y:1.63, Z:0.72 [[ 9.99993829e-01 2.91202276e-03 -1.96513488e-03 3.40581957e+02] [-2.91195077e-03 9.99995759e-01 3.94952089e-05 1.63217005e+00] [ 1.96524156e-03 -3.37725892e-05 9.99998068e-01 7.22777843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.164391418 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:340.64, Y:1.63, Z:0.72 [[ 9.99996327e-01 1.86655050e-03 -1.96513805e-03 3.40640402e+02] [-1.86647680e-03 9.99998257e-01 3.93369341e-05 1.62914640e+00] [ 1.96520805e-03 -3.56689050e-05 9.99998068e-01 7.23589591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.224391418 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:340.70, Y:1.63, Z:0.72 [[ 9.99997290e-01 1.24826142e-03 -1.96514038e-03 3.40700260e+02] [-1.24818675e-03 9.99999220e-01 3.92204412e-05 1.62647266e+00] [ 1.96518780e-03 -3.67674727e-05 9.99998068e-01 7.23778831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.284391418 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:340.76, Y:1.62, Z:0.73 [[ 9.99997892e-01 -5.94384841e-04 -1.96514190e-03 3.40760238e+02] [ 5.94462912e-04 9.99999823e-01 3.91440465e-05 1.62347685e+00] [ 1.96511828e-03 -4.03121680e-05 9.99998068e-01 7.25813450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.344391418 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:340.82, Y:1.62, Z:0.72 [[ 9.99989291e-01 -4.19003092e-03 -1.96514343e-03 3.40819490e+02] [ 4.19011577e-03 9.99991221e-01 3.90669379e-05 1.62040145e+00] [ 1.96496249e-03 -4.73006981e-05 9.99998068e-01 7.24483214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40439141799993 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:340.88, Y:1.62, Z:0.72 [[ 9.99982190e-01 -5.63532541e-03 -1.96514495e-03 3.40879994e+02] [ 5.63541290e-03 9.99984120e-01 3.89904028e-05 1.61848836e+00] [ 1.96489402e-03 -5.00641117e-05 9.99998068e-01 7.23917549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46439141799993 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:340.94, Y:1.62, Z:0.72 [[ 9.99941820e-01 -1.06063280e-02 -1.96514495e-03 3.40940854e+02] [ 1.06064251e-02 9.99943750e-01 3.89904028e-05 1.61526257e+00] [ 1.96462087e-03 -5.98312972e-05 9.99998068e-01 7.22707561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52439141799994 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:341.00, Y:1.61, Z:0.72 [[ 9.99902053e-01 -1.38572114e-02 -1.96514346e-03 3.41002862e+02] [ 1.38573149e-02 9.99903982e-01 3.90652804e-05 1.61268351e+00] [ 1.96441344e-03 -6.62930659e-05 9.99998068e-01 7.22064677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58439141799994 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:341.07, Y:1.61, Z:0.72 [[ 9.99820919e-01 -1.88220341e-02 -1.96514047e-03 3.41065112e+02] [ 1.88221475e-02 9.99822847e-01 3.92150677e-05 1.60939775e+00] [ 1.96405424e-03 -7.61962088e-05 9.99998068e-01 7.22782277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64439141799994 meters Centerline goodness : 0.999131 with order 1 Centerline is valid? [True, True] Translation: X:341.13, Y:1.61, Z:0.72 [[ 9.99780896e-01 -2.08398077e-02 -1.96513722e-03 3.41127513e+02] [ 2.08399253e-02 9.99782824e-01 3.93776142e-05 1.60664943e+00] [ 1.96388981e-03 -8.03222992e-05 9.99998068e-01 7.23352627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70439141799994 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:341.19, Y:1.61, Z:0.72 [[ 9.99799644e-01 -1.99200730e-02 -1.96513396e-03 3.41189723e+02] [ 1.99201891e-02 9.99801573e-01 3.95393361e-05 1.60536378e+00] [ 1.96395640e-03 -7.86772543e-05 9.99998068e-01 7.23048884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76439141799995 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:341.25, Y:1.60, Z:0.72 [[ 9.99841252e-01 -1.77089831e-02 -1.96513069e-03 3.41251090e+02] [ 1.77090953e-02 9.99843181e-01 3.97015473e-05 1.60469986e+00] [ 1.96411944e-03 -7.44959314e-05 9.99998068e-01 7.23553278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82439141799995 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:341.31, Y:1.60, Z:0.73 [[ 9.99869664e-01 -1.60247888e-02 -1.96512826e-03 3.41313217e+02] [ 1.60248980e-02 9.99871592e-01 3.98211411e-05 1.60331383e+00] [ 1.96423780e-03 -7.13069309e-05 9.99998068e-01 7.25499827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88439141799995 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:341.37, Y:1.60, Z:0.73 [[ 9.99899759e-01 -1.40217642e-02 -1.96512505e-03 3.41374064e+02] [ 1.40218698e-02 9.99901688e-01 3.99791178e-05 1.60193348e+00] [ 1.96437127e-03 -6.75298378e-05 9.99998068e-01 7.27383037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94439141799995 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:341.44, Y:1.60, Z:0.73 [[ 9.99924065e-01 -1.21656551e-02 -1.96512267e-03 3.41436237e+02] [ 1.21657573e-02 9.99925994e-01 4.00956412e-05 1.59981571e+00] [ 1.96448945e-03 -6.39998021e-05 9.99998068e-01 7.27831061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.00439141799995 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:341.50, Y:1.60, Z:0.73 [[ 9.99924563e-01 -1.21246053e-02 -1.96511933e-03 3.41497198e+02] [ 1.21247078e-02 9.99926492e-01 4.02586223e-05 1.59773242e+00] [ 1.96448676e-03 -6.40820830e-05 9.99998068e-01 7.26841307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06439141799996 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:341.56, Y:1.60, Z:0.72 [[ 9.99892878e-01 -1.45041570e-02 -1.96511377e-03 3.41559583e+02] [ 1.45042646e-02 9.99894807e-01 4.05282739e-05 1.59580380e+00] [ 1.96431923e-03 -6.90264625e-05 9.99998068e-01 7.24139157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12439141799996 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:341.62, Y:1.59, Z:0.72 [[ 9.99837776e-01 -1.79041675e-02 -1.96511059e-03 3.41621935e+02] [ 1.79042820e-02 9.99839705e-01 4.06820712e-05 1.59416738e+00] [ 1.96406721e-03 -7.58593658e-05 9.99998068e-01 7.23893469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18439141799996 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:341.68, Y:1.59, Z:0.72 [[ 9.99756646e-01 -2.19723955e-02 -1.96510726e-03 3.41682731e+02] [ 2.19725181e-02 9.99758574e-01 4.08421837e-05 1.59238210e+00] [ 1.96373543e-03 -8.40105994e-05 9.99998068e-01 7.23311285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24439141799996 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:341.75, Y:1.59, Z:0.72 [[ 9.99699940e-01 -2.44165518e-02 -1.96510480e-03 3.41745165e+02] [ 2.44166794e-02 9.99701868e-01 4.09602009e-05 1.59233527e+00] [ 1.96351883e-03 -8.89292442e-05 9.99998068e-01 7.24399881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30439141799997 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:341.81, Y:1.59, Z:0.73 [[ 9.99618812e-01 -2.75384908e-02 -1.96510157e-03 3.41807389e+02] [ 2.75386247e-02 9.99620739e-01 4.11143878e-05 1.59249769e+00] [ 1.96322406e-03 -9.52149102e-05 9.99998068e-01 7.26956341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36439141799997 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:341.87, Y:1.59, Z:0.73 [[ 9.99513543e-01 -3.11258172e-02 -1.96509816e-03 3.41870532e+02] [ 3.11259583e-02 9.99515469e-01 4.12766747e-05 1.59260584e+00] [ 1.96286124e-03 -1.02422159e-04 9.99998068e-01 7.27922735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42439141799997 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:341.93, Y:1.59, Z:0.73 [[ 9.99410093e-01 -3.42870775e-02 -1.96509303e-03 3.41933157e+02] [ 3.42872252e-02 9.99412019e-01 4.15197682e-05 1.59306897e+00] [ 1.96251400e-03 -1.08872863e-04 9.99998068e-01 7.28105447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.484391418 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:341.99, Y:1.59, Z:0.73 [[ 9.99249249e-01 -3.86920776e-02 -1.96508953e-03 3.41994056e+02] [ 3.86922341e-02 9.99251174e-01 4.16846552e-05 1.59252065e+00] [ 1.96200515e-03 -1.17687065e-04 9.99998068e-01 7.25819095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.544391418 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:342.06, Y:1.59, Z:0.72 [[ 9.99128808e-01 -4.16865000e-02 -1.96508694e-03 3.42055719e+02] [ 4.16866625e-02 9.99130732e-01 4.18062619e-05 1.59306549e+00] [ 1.96163600e-03 -1.23687757e-04 9.99998068e-01 7.24954380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.604391418 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:342.12, Y:1.59, Z:0.73 [[ 9.99088401e-01 -4.26439407e-02 -1.96507843e-03 3.42118451e+02] [ 4.26441058e-02 9.99090325e-01 4.22027610e-05 1.59373039e+00] [ 1.96149115e-03 -1.25963301e-04 9.99998068e-01 7.26639380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.664391418 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:342.18, Y:1.60, Z:0.73 [[ 9.99017256e-01 -4.42793514e-02 -1.96507319e-03 3.42180438e+02] [ 4.42795201e-02 9.99019180e-01 4.24453535e-05 1.59742967e+00] [ 1.96126635e-03 -1.29416138e-04 9.99998068e-01 7.27299464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.724391418 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:342.24, Y:1.60, Z:0.73 [[ 9.99103113e-01 -4.22978446e-02 -1.96506954e-03 3.42241207e+02] [ 4.22980099e-02 9.99105038e-01 4.26136627e-05 1.59815498e+00] [ 1.96150841e-03 -1.25693974e-04 9.99998068e-01 7.26898957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.784391418 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:342.30, Y:1.60, Z:0.73 [[ 9.99211561e-01 -3.96534365e-02 -1.96506684e-03 3.42304332e+02] [ 3.96535969e-02 9.99213486e-01 4.27375512e-05 1.60221116e+00] [ 1.96182660e-03 -1.20625824e-04 9.99998068e-01 7.28220778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.844391418 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:342.37, Y:1.60, Z:0.73 [[ 9.99301595e-01 -3.73156954e-02 -1.96506151e-03 3.42367476e+02] [ 3.73158518e-02 9.99303520e-01 4.29814090e-05 1.60393396e+00] [ 1.96208900e-03 -1.16279335e-04 9.99998068e-01 7.27869412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90439141799993 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:342.43, Y:1.61, Z:0.73 [[ 9.99393336e-01 -3.47720864e-02 -1.96505622e-03 3.42430369e+02] [ 3.47722383e-02 9.99395262e-01 4.32219934e-05 1.60637608e+00] [ 1.96236495e-03 -1.11525175e-04 9.99998068e-01 7.27489460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96439141799993 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:342.49, Y:1.61, Z:0.73 [[ 9.99401103e-01 -3.45481434e-02 -1.96505092e-03 3.42493392e+02] [ 3.45482954e-02 9.99403029e-01 4.34613441e-05 1.60891317e+00] [ 1.96237634e-03 -1.11324475e-04 9.99998068e-01 7.28241756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02439141799994 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:342.56, Y:1.61, Z:0.73 [[ 9.99376905e-01 -3.52411672e-02 -1.96504553e-03 3.42556942e+02] [ 3.52413210e-02 9.99378831e-01 4.37040494e-05 1.61004951e+00] [ 1.96228472e-03 -1.12927618e-04 9.99998068e-01 7.29194627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08439141799994 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:342.62, Y:1.61, Z:0.73 [[ 9.99352768e-01 -3.59191341e-02 -1.96504013e-03 3.42618154e+02] [ 3.59192897e-02 9.99354693e-01 4.39453519e-05 1.61205334e+00] [ 1.96219360e-03 -1.14499755e-04 9.99998068e-01 7.30558738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14439141799994 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:342.68, Y:1.61, Z:0.73 [[ 9.99359318e-01 -3.57364368e-02 -1.96503748e-03 3.42680244e+02] [ 3.57365923e-02 9.99361243e-01 4.40636012e-05 1.61457695e+00] [ 1.96220762e-03 -1.14259114e-04 9.99998068e-01 7.32324823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20439141799994 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:342.74, Y:1.62, Z:0.73 [[ 9.99332736e-01 -3.64722138e-02 -1.96503403e-03 3.42743044e+02] [ 3.64723710e-02 9.99334661e-01 4.42169342e-05 1.61642826e+00] [ 1.96211392e-03 -1.15856880e-04 9.99998068e-01 7.33374062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26439141799995 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:342.81, Y:1.62, Z:0.73 [[ 9.99256770e-01 -3.84973470e-02 -1.96502851e-03 3.42805208e+02] [ 3.84975085e-02 9.99258695e-01 4.44606706e-05 1.61790354e+00] [ 1.96186021e-03 -1.20076328e-04 9.99998068e-01 7.31756739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32439141799995 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:342.87, Y:1.62, Z:0.73 [[ 9.99271755e-01 -3.81064086e-02 -1.96502482e-03 3.42866260e+02] [ 3.81065698e-02 9.99273680e-01 4.46233072e-05 1.61528579e+00] [ 1.96189715e-03 -1.19471166e-04 9.99998068e-01 7.33612363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38439141799995 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:342.93, Y:1.62, Z:0.73 [[ 9.99250260e-01 -3.86659634e-02 -1.96502209e-03 3.42928901e+02] [ 3.86661259e-02 9.99252185e-01 4.47433234e-05 1.61604210e+00] [ 1.96182257e-03 -1.20689569e-04 9.99998068e-01 7.34770869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44439141799995 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:342.99, Y:1.62, Z:0.73 [[ 9.99282349e-01 -3.78275915e-02 -1.96501848e-03 3.42990029e+02] [ 3.78277527e-02 9.99284273e-01 4.49012915e-05 1.61569375e+00] [ 1.96191355e-03 -1.19201301e-04 9.99998068e-01 7.33126397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.50439141799995 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:343.05, Y:1.62, Z:0.73 [[ 9.99386565e-01 -3.49661679e-02 -1.96501581e-03 3.43052373e+02] [ 3.49663238e-02 9.99388490e-01 4.50178625e-05 1.61632404e+00] [ 1.96224008e-03 -1.13699626e-04 9.99998068e-01 7.32481265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56439141799996 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:343.12, Y:1.62, Z:0.73 [[ 9.99567505e-01 -2.93418238e-02 -1.96501224e-03 3.43115353e+02] [ 2.93419691e-02 9.99569431e-01 4.51731345e-05 1.61808827e+00] [ 1.96284070e-03 -1.02810926e-04 9.99998068e-01 7.34592649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62439141799996 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:343.18, Y:1.62, Z:0.73 [[ 9.99707892e-01 -2.40888007e-02 -1.96500672e-03 3.43176718e+02] [ 2.40889364e-02 9.99709818e-01 4.54118206e-05 1.61870984e+00] [ 1.96334260e-03 -9.27334773e-05 9.99998068e-01 7.34553425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68439141799996 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:343.24, Y:1.62, Z:0.74 [[ 9.99871735e-01 -1.58950411e-02 -1.96500401e-03 3.43239454e+02] [ 1.58951613e-02 9.99873663e-01 4.55286358e-05 1.62123452e+00] [ 1.96403208e-03 -7.67568518e-05 9.99998068e-01 7.37033133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74439141799996 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:343.30, Y:1.63, Z:0.74 [[ 9.99924892e-01 -1.20974609e-02 -1.96500051e-03 3.43301939e+02] [ 1.20975740e-02 9.99926821e-01 4.56793575e-05 1.62519278e+00] [ 1.96430411e-03 -6.94476657e-05 9.99998068e-01 7.39908858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80439141799997 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:343.36, Y:1.62, Z:0.74 [[ 9.99969116e-01 -7.60956992e-03 -1.96499660e-03 3.43363155e+02] [ 7.60967469e-03 9.99971045e-01 4.58470277e-05 1.62134540e+00] [ 1.96459083e-03 -6.07985967e-05 9.99998068e-01 7.40000192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86439141799997 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:343.42, Y:1.62, Z:0.74 [[ 9.99993810e-01 -2.91864597e-03 -1.96499370e-03 3.43424050e+02] [ 2.91874193e-03 9.99995739e-01 4.59707738e-05 1.62150567e+00] [ 1.96485116e-03 -5.17057988e-05 9.99998068e-01 7.41079318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92439141799997 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:343.48, Y:1.62, Z:0.74 [[ 9.99994788e-01 2.56164880e-03 -1.96499180e-03 3.43484863e+02] [-2.56156325e-03 9.99996718e-01 4.60518159e-05 1.62154508e+00] [ 1.96510332e-03 -4.10181251e-05 9.99998068e-01 7.41432179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.984391418 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:343.54, Y:1.62, Z:0.74 [[ 9.99967344e-01 7.83893749e-03 -1.96499180e-03 3.43543188e+02] [-7.83886212e-03 9.99969275e-01 4.60518159e-05 1.61970855e+00] [ 1.96529243e-03 -3.06470122e-05 9.99998068e-01 7.41330147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.044391418 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:343.60, Y:1.62, Z:0.74 [[ 9.99943682e-01 1.04293506e-02 -1.96500489e-03 3.43601103e+02] [-1.04292814e-02 9.99945613e-01 4.54865714e-05 1.61863212e+00] [ 1.96537241e-03 -2.49904208e-05 9.99998068e-01 7.41287479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.104391418 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:343.66, Y:1.62, Z:0.74 [[ 9.99927711e-01 1.18621626e-02 -1.96500944e-03 3.43660282e+02] [-1.18620965e-02 9.99929642e-01 4.52890275e-05 1.61560321e+00] [ 1.96540841e-03 -2.19766221e-05 9.99998068e-01 7.41376932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.164391418 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:343.72, Y:1.61, Z:0.74 [[ 9.99960361e-01 8.68417714e-03 -1.96501305e-03 3.43718881e+02] [-8.68410522e-03 9.99962291e-01 4.51318227e-05 1.61068376e+00] [ 1.96533089e-03 -2.80656536e-05 9.99998068e-01 7.41499500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.224391418 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:343.78, Y:1.61, Z:0.74 [[ 9.99987019e-01 4.70114571e-03 -1.96501659e-03 3.43777218e+02] [-4.70106640e-03 9.99988949e-01 4.49771272e-05 1.60675584e+00] [ 1.96520632e-03 -3.57388699e-05 9.99998068e-01 7.43260895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.284391418 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:343.83, Y:1.60, Z:0.74 [[ 9.99995939e-01 -2.06405856e-03 -1.96502029e-03 3.43834447e+02] [ 2.06415060e-03 9.99997869e-01 4.48149471e-05 1.60134118e+00] [ 1.96492360e-03 -4.88708629e-05 9.99998068e-01 7.43349595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.344391418 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:343.89, Y:1.60, Z:0.74 [[ 9.99961462e-01 -8.55651430e-03 -1.96502481e-03 3.43894521e+02] [ 8.55661848e-03 9.99963390e-01 4.46158727e-05 1.59559547e+00] [ 1.96457112e-03 -6.14281209e-05 9.99998068e-01 7.44599069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40439141799993 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:343.96, Y:1.59, Z:0.74 [[ 9.99896199e-01 -1.42733920e-02 -1.96502481e-03 3.43956261e+02] [ 1.42735073e-02 9.99898127e-01 4.46158727e-05 1.58918881e+00] [ 1.96418781e-03 -7.26590375e-05 9.99998068e-01 7.44202861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46439141799993 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:344.02, Y:1.58, Z:0.74 [[ 9.99776846e-01 -2.10332316e-02 -1.96501205e-03 3.44017094e+02] [ 2.10333609e-02 9.99778773e-01 4.51710347e-05 1.58325828e+00] [ 1.96362724e-03 -8.64917623e-05 9.99998068e-01 7.41763524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52439141799994 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:344.08, Y:1.58, Z:0.74 [[ 9.99609565e-01 -2.78721284e-02 -1.96500025e-03 3.44079576e+02] [ 2.78722719e-02 9.99611492e-01 4.56786375e-05 1.57719877e+00] [ 1.96296367e-03 -1.00429824e-04 9.99998068e-01 7.39658203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58439141799994 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:344.14, Y:1.57, Z:0.74 [[ 9.99482488e-01 -3.21075608e-02 -1.96499665e-03 3.44142134e+02] [ 3.21077128e-02 9.99484413e-01 4.58332085e-05 1.57347514e+00] [ 1.96251193e-03 -1.08901037e-04 9.99998068e-01 7.39269193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64439141799994 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:344.20, Y:1.57, Z:0.74 [[ 9.99443996e-01 -3.32841903e-02 -1.96499304e-03 3.44203897e+02] [ 3.32843448e-02 9.99445922e-01 4.59873869e-05 1.57108601e+00] [ 1.96237362e-03 -1.11365323e-04 9.99998068e-01 7.39820790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70439141799994 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:344.26, Y:1.57, Z:0.74 [[ 9.99473131e-01 -3.23975039e-02 -1.96498944e-03 3.44264821e+02] [ 3.23976570e-02 9.99475057e-01 4.61406464e-05 1.56907330e+00] [ 1.96246309e-03 -1.09777390e-04 9.99998068e-01 7.39862984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76439141799995 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:344.33, Y:1.57, Z:0.74 [[ 9.99544190e-01 -3.01255816e-02 -1.96498677e-03 3.44326990e+02] [ 3.01257305e-02 9.99546116e-01 4.62538105e-05 1.56849580e+00] [ 1.96270148e-03 -1.05429390e-04 9.99998068e-01 7.43114651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82439141799995 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:344.39, Y:1.57, Z:0.75 [[ 9.99650415e-01 -2.63663762e-02 -1.96498295e-03 3.44389400e+02] [ 2.63665182e-02 9.99652342e-01 4.64155979e-05 1.56852187e+00] [ 1.96307600e-03 -9.82091306e-05 9.99998068e-01 7.46008579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88439141799995 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:344.45, Y:1.57, Z:0.75 [[ 9.99699668e-01 -2.44276908e-02 -1.96497909e-03 3.44451636e+02] [ 2.44278294e-02 9.99701595e-01 4.65783886e-05 1.56705788e+00] [ 1.96325493e-03 -9.45645737e-05 9.99998068e-01 7.47576615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94439141799995 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:344.51, Y:1.57, Z:0.75 [[ 9.99779639e-01 -2.09000587e-02 -1.96497522e-03 3.44514170e+02] [ 2.09001909e-02 9.99781566e-01 4.67413783e-05 1.56624964e+00] [ 1.96356910e-03 -8.77994355e-05 9.99998068e-01 7.47637485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.00439141799995 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:344.58, Y:1.57, Z:0.75 [[ 9.99877162e-01 -1.55498894e-02 -1.96497140e-03 3.44575648e+02] [ 1.55500115e-02 9.99879090e-01 4.69014797e-05 1.56648050e+00] [ 1.96400450e-03 -7.74510463e-05 9.99998068e-01 7.45849634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06439141799996 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:344.64, Y:1.57, Z:0.75 [[ 9.99965339e-01 -8.09070577e-03 -1.96496458e-03 3.44637996e+02] [ 8.09081410e-03 9.99967268e-01 4.71852270e-05 1.56649530e+00] [ 1.96451850e-03 -6.30817546e-05 9.99998068e-01 7.46156810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12439141799996 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:344.70, Y:1.57, Z:0.75 [[ 9.99997681e-01 -8.81741872e-04 -1.96496067e-03 3.44699481e+02] [ 8.81836609e-04 9.99999610e-01 4.73475230e-05 1.56580351e+00] [ 1.96491816e-03 -4.90801875e-05 9.99998068e-01 7.46542584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18439141799996 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:344.76, Y:1.56, Z:0.75 [[ 9.99996862e-01 1.55411928e-03 -1.96495876e-03 3.44759315e+02] [-1.55402908e-03 9.99998791e-01 4.74266928e-05 1.56450552e+00] [ 1.96503009e-03 -4.43729409e-05 9.99998068e-01 7.47099147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24439141799996 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:344.82, Y:1.56, Z:0.75 [[ 9.99975621e-01 6.70051374e-03 -1.96495876e-03 3.44818998e+02] [-6.70043348e-03 9.99977551e-01 4.74267982e-05 1.56280739e+00] [ 1.96523243e-03 -3.42595665e-05 9.99998068e-01 7.48574482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30439141799997 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:344.88, Y:1.56, Z:0.75 [[ 9.99891378e-01 1.46072366e-02 -1.96496065e-03 3.44877240e+02] [-1.46071717e-02 9.99893308e-01 4.73484322e-05 1.55864630e+00] [ 1.96544263e-03 -1.86407715e-05 9.99998068e-01 7.49821404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36439141799997 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:344.93, Y:1.55, Z:0.75 [[ 9.99763833e-01 2.16429264e-02 -1.96497396e-03 3.44934825e+02] [-2.16428762e-02 9.99765764e-01 4.67893401e-05 1.55443195e+00] [ 1.96552635e-03 -4.25060184e-06 9.99998068e-01 7.47479591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42439141799997 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:344.99, Y:1.55, Z:0.75 [[ 9.99630548e-01 2.71091388e-02 -1.96497860e-03 3.44993390e+02] [-2.71090996e-02 9.99632480e-01 4.65936255e-05 1.54895846e+00] [ 1.96551954e-03 6.69238919e-06 9.99998068e-01 7.47590573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.484391418 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:345.05, Y:1.54, Z:0.75 [[ 9.99492636e-01 3.17900688e-02 -1.96498235e-03 3.45052140e+02] [-3.17900389e-02 9.99494568e-01 4.64347991e-05 1.54301941e+00] [ 1.96546535e-03 1.60556256e-05 9.99998068e-01 7.49508181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.544391418 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:345.11, Y:1.54, Z:0.75 [[ 9.99426704e-01 3.37994349e-02 -1.96498624e-03 3.45110537e+02] [-3.37994093e-02 9.99428636e-01 4.62697796e-05 1.53845648e+00] [ 1.96542741e-03 2.01721208e-05 9.99998068e-01 7.50338391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.604391418 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:345.17, Y:1.53, Z:0.75 [[ 9.99363367e-01 3.56230275e-02 -1.96499004e-03 3.45168894e+02] [-3.56230057e-02 9.99365298e-01 4.61076208e-05 1.53049747e+00] [ 1.96538535e-03 2.39205843e-05 9.99998068e-01 7.52048981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.664391418 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:345.23, Y:1.52, Z:0.75 [[ 9.99409160e-01 3.43142712e-02 -1.96499379e-03 3.45227676e+02] [-3.43142472e-02 9.99411092e-01 4.59475580e-05 1.52286238e+00] [ 1.96541324e-03 2.15068722e-05 9.99998068e-01 7.54067423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.724391418 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:345.29, Y:1.51, Z:0.75 [[ 9.99561238e-01 2.95545438e-02 -1.96499754e-03 3.45285036e+02] [-2.95545109e-02 9.99563169e-01 4.57866666e-05 1.51346782e+00] [ 1.96549237e-03 1.23079640e-05 9.99998068e-01 7.54112899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.784391418 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:345.34, Y:1.50, Z:0.75 [[ 9.99732725e-01 2.30351344e-02 -1.96500310e-03 3.45343537e+02] [-2.30350894e-02 9.99734656e-01 4.55467900e-05 1.50343306e+00] [ 1.96553087e-03 -2.70594552e-07 9.99998068e-01 7.52048267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.844391418 meters Centerline goodness : 0.999366 with order 1 Centerline is valid? [True, True] Translation: X:345.40, Y:1.50, Z:0.75 [[ 9.99818596e-01 1.89450460e-02 -1.96500673e-03 3.45402727e+02] [-1.89449933e-02 9.99820526e-01 4.53894936e-05 1.49740972e+00] [ 1.96551397e-03 -8.15422035e-06 9.99998068e-01 7.50880414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90439141799993 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:345.46, Y:1.49, Z:0.75 [[ 9.99891737e-01 1.45826027e-02 -1.96500943e-03 3.45460211e+02] [-1.45825418e-02 9.99893668e-01 4.52723104e-05 1.48853423e+00] [ 1.96546067e-03 -1.66125769e-05 9.99998068e-01 7.51366323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96439141799993 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:345.52, Y:1.48, Z:0.75 [[ 9.99930174e-01 1.16527606e-02 -1.96501384e-03 3.45519001e+02] [-1.16526946e-02 9.99932104e-01 4.50801912e-05 1.48039779e+00] [ 1.96540573e-03 -2.21793374e-05 9.99998068e-01 7.52330829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02439141799994 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:345.58, Y:1.48, Z:0.75 [[ 9.99953108e-01 9.48260206e-03 -1.96501729e-03 3.45577678e+02] [-9.48253208e-03 9.99955039e-01 4.49289243e-05 1.47586334e+00] [ 1.96535499e-03 -2.62934780e-05 9.99998068e-01 7.54454090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08439141799994 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:345.64, Y:1.47, Z:0.76 [[ 9.99988973e-01 4.26526764e-03 -1.96502072e-03 3.45636542e+02] [-4.26518788e-03 9.99990903e-01 4.47784574e-05 1.46898617e+00] [ 1.96519384e-03 -3.63967810e-05 9.99998068e-01 7.55788388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14439141799994 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:345.70, Y:1.46, Z:0.76 [[ 9.99993238e-01 -3.10863017e-03 -1.96502419e-03 3.45695971e+02] [ 3.10872386e-03 9.99995167e-01 4.46258967e-05 1.46248556e+00] [ 1.96487597e-03 -5.07343125e-05 9.99998068e-01 7.56421710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20439141799994 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:345.76, Y:1.46, Z:0.76 [[ 9.99918651e-01 -1.26027935e-02 -1.96502602e-03 3.45756386e+02] [ 1.26029054e-02 9.99920579e-01 4.45452014e-05 1.45581995e+00] [ 1.96430856e-03 -6.93066147e-05 9.99998068e-01 7.56403269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26439141799995 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:345.82, Y:1.45, Z:0.76 [[ 9.99774038e-01 -2.11663057e-02 -1.96502602e-03 3.45818717e+02] [ 2.11664341e-02 9.99775965e-01 4.45452014e-05 1.45156499e+00] [ 1.96364293e-03 -8.61277295e-05 9.99998068e-01 7.56897472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32439141799995 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:345.88, Y:1.45, Z:0.76 [[ 9.99675428e-01 -2.54003502e-02 -1.96501225e-03 3.45881098e+02] [ 2.54004879e-02 9.99677355e-01 4.51442922e-05 1.44886781e+00] [ 1.96323157e-03 -9.50419095e-05 9.99998068e-01 7.59352342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38439141799995 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:345.94, Y:1.45, Z:0.76 [[ 9.99523917e-01 -3.07908606e-02 -1.96500848e-03 3.45943008e+02] [ 3.07910090e-02 9.99525843e-01 4.53079623e-05 1.44566679e+00] [ 1.96268169e-03 -1.05790986e-04 9.99998068e-01 7.62459840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44439141799995 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:346.00, Y:1.44, Z:0.76 [[ 9.99427346e-01 -3.37804545e-02 -1.96500472e-03 3.46004861e+02] [ 3.37806090e-02 9.99429271e-01 4.54702620e-05 1.44314889e+00] [ 1.96234723e-03 -1.11823280e-04 9.99998068e-01 7.62882803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.50439141799995 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:346.07, Y:1.44, Z:0.76 [[ 9.99381289e-01 -3.51166410e-02 -1.96500091e-03 3.46066621e+02] [ 3.51167984e-02 9.99383214e-01 4.56343527e-05 1.44180968e+00] [ 1.96218640e-03 -1.14610659e-04 9.99998068e-01 7.62022499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56439141799996 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:346.13, Y:1.44, Z:0.76 [[ 9.99352197e-01 -3.59350250e-02 -1.96499708e-03 3.46128124e+02] [ 3.59351842e-02 9.99354122e-01 4.57989681e-05 1.44085106e+00] [ 1.96208214e-03 -1.16381831e-04 9.99998068e-01 7.60420451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62439141799996 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:346.19, Y:1.44, Z:0.76 [[ 9.99360166e-01 -3.57126980e-02 -1.96499082e-03 3.46190374e+02] [ 3.57128574e-02 9.99362091e-01 4.60659913e-05 1.43999074e+00] [ 1.96209219e-03 -1.16211954e-04 9.99998068e-01 7.61849674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68439141799996 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:346.25, Y:1.44, Z:0.76 [[ 9.99386252e-01 -3.49751022e-02 -1.96498704e-03 3.46252409e+02] [ 3.49752605e-02 9.99388177e-01 4.62263434e-05 1.44158228e+00] [ 1.96216805e-03 -1.14923906e-04 9.99998068e-01 7.64221191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74439141799996 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:346.31, Y:1.44, Z:0.76 [[ 9.99435318e-01 -3.35437725e-02 -1.96498313e-03 3.46313722e+02] [ 3.35439283e-02 9.99437243e-01 4.63922852e-05 1.44254910e+00] [ 1.96232115e-03 -1.12279341e-04 9.99998068e-01 7.63406727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80439141799997 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:346.38, Y:1.44, Z:0.76 [[ 9.99498100e-01 -3.16178421e-02 -1.96498023e-03 3.46375607e+02] [ 3.16179945e-02 9.99500025e-01 4.65145222e-05 1.44321989e+00] [ 1.96252710e-03 -1.08619911e-04 9.99998068e-01 7.61391409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86439141799997 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:346.44, Y:1.45, Z:0.76 [[ 9.99616617e-01 -2.76180669e-02 -1.96497656e-03 3.46437403e+02] [ 2.76182119e-02 9.99618543e-01 4.66692341e-05 1.44613118e+00] [ 1.96293809e-03 -1.00920481e-04 9.99998068e-01 7.63941400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92439141799997 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:346.50, Y:1.45, Z:0.77 [[ 9.99764574e-01 -2.16086746e-02 -1.96497265e-03 3.46499349e+02] [ 2.16088082e-02 9.99766501e-01 4.68333224e-05 1.44984389e+00] [ 1.96350182e-03 -8.92830137e-05 9.99998068e-01 7.66075031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.984391418 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:346.56, Y:1.45, Z:0.77 [[ 9.99879797e-01 -1.53795335e-02 -1.96496877e-03 3.46561157e+02] [ 1.53796555e-02 9.99881725e-01 4.69954418e-05 1.45145662e+00] [ 1.96401360e-03 -7.72103356e-05 9.99998068e-01 7.68138638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.044391418 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:346.62, Y:1.45, Z:0.77 [[ 9.99936018e-01 -1.11399632e-02 -1.96496479e-03 3.46622078e+02] [ 1.11400773e-02 9.99937946e-01 4.71613820e-05 1.45272769e+00] [ 1.96431748e-03 -6.90482242e-05 9.99998068e-01 7.69008233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.104391418 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:346.68, Y:1.45, Z:0.77 [[ 9.99971858e-01 -7.24026527e-03 -1.96496185e-03 3.46683951e+02] [ 7.24037215e-03 9.99973787e-01 4.72835586e-05 1.45392875e+00] [ 1.96456799e-03 -6.15092830e-05 9.99998068e-01 7.69896921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.164391418 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:346.75, Y:1.45, Z:0.77 [[ 9.99992115e-01 -3.45099643e-03 -1.96495989e-03 3.46745406e+02] [ 3.45109616e-03 9.99994044e-01 4.73647668e-05 1.45440729e+00] [ 1.96478473e-03 -5.41456588e-05 9.99998068e-01 7.70248126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.224391418 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:346.81, Y:1.46, Z:0.77 [[ 9.99997780e-01 7.60317216e-04 -1.96495795e-03 3.46806098e+02] [-7.60225455e-04 9.99999710e-01 4.74451833e-05 1.45520992e+00] [ 1.96499345e-03 -4.59512670e-05 9.99998068e-01 7.70331656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.284391418 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:346.87, Y:1.45, Z:0.77 [[ 9.99993825e-01 2.91356459e-03 -1.96495795e-03 3.46865998e+02] [-2.91347698e-03 9.99995755e-01 4.74451833e-05 1.45392236e+00] [ 1.96508784e-03 -4.17200306e-05 9.99998068e-01 7.71765496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.344391418 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:346.93, Y:1.45, Z:0.77 [[ 9.99993886e-01 2.89247271e-03 -1.96495989e-03 3.46925251e+02] [-2.89238522e-03 9.99995816e-01 4.73648207e-05 1.45267065e+00] [ 1.96508867e-03 -4.16811102e-05 9.99998068e-01 7.72737189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40439141799993 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:346.98, Y:1.45, Z:0.77 [[ 9.99997839e-01 6.78190276e-04 -1.96496381e-03 3.46984173e+02] [-6.78098835e-04 9.99999769e-01 4.72016353e-05 1.44917347e+00] [ 1.96499536e-03 -4.58690936e-05 9.99998068e-01 7.71349909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46439141799993 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:347.04, Y:1.45, Z:0.77 [[ 9.99992835e-01 -3.23554413e-03 -1.96496776e-03 3.47042509e+02] [ 3.23564280e-03 9.99994764e-01 4.70365356e-05 1.44506435e+00] [ 1.96480528e-03 -5.33941323e-05 9.99998068e-01 7.71354898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52439141799994 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:347.10, Y:1.44, Z:0.77 [[ 9.99958979e-01 -8.84185382e-03 -1.96496988e-03 3.47102572e+02] [ 8.84196312e-03 9.99960908e-01 4.69475477e-05 1.44057312e+00] [ 1.96447797e-03 -6.43198132e-05 9.99998068e-01 7.73090068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58439141799994 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:347.16, Y:1.43, Z:0.77 [[ 9.99874387e-01 -1.57273381e-02 -1.96496988e-03 3.47164142e+02] [ 1.57274607e-02 9.99876315e-01 4.69475477e-05 1.43471589e+00] [ 1.96398849e-03 -7.78456371e-05 9.99998068e-01 7.73368777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64439141799994 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:347.23, Y:1.43, Z:0.77 [[ 9.99799317e-01 -1.99365158e-02 -1.96496793e-03 3.47225976e+02] [ 1.99366466e-02 9.99801244e-01 4.70293221e-05 1.43101865e+00] [ 1.96363978e-03 -8.61947553e-05 9.99998068e-01 7.73142214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70439141799994 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:347.29, Y:1.43, Z:0.77 [[ 9.99677914e-01 -2.53023069e-02 -1.96496400e-03 3.47288544e+02] [ 2.53024484e-02 9.99679841e-01 4.71927286e-05 1.42637417e+00] [ 1.96314082e-03 -9.68959288e-05 9.99998068e-01 7.71149132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76439141799995 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:347.35, Y:1.42, Z:0.77 [[ 9.99531325e-01 -3.05494625e-02 -1.96496013e-03 3.47351037e+02] [ 3.05496144e-02 9.99533250e-01 4.73532520e-05 1.42114040e+00] [ 1.96259637e-03 -1.07359833e-04 9.99998068e-01 7.69984697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82439141799995 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:347.41, Y:1.42, Z:0.77 [[ 9.99455651e-01 -3.29323495e-02 -1.96495627e-03 3.47413518e+02] [ 3.29325063e-02 9.99457577e-01 4.75131033e-05 1.41813354e+00] [ 1.96232571e-03 -1.12198174e-04 9.99998068e-01 7.71621863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88439141799995 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:347.47, Y:1.41, Z:0.77 [[ 9.99329180e-01 -3.65695024e-02 -1.96495244e-03 3.47474488e+02] [ 3.65696665e-02 9.99331105e-01 4.76709918e-05 1.41496994e+00] [ 1.96189479e-03 -1.19496669e-04 9.99998068e-01 7.73565188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94439141799995 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:347.54, Y:1.41, Z:0.77 [[ 9.99248245e-01 -3.87179986e-02 -1.96494961e-03 3.47536785e+02] [ 3.87181671e-02 9.99250170e-01 4.77874512e-05 1.41256893e+00] [ 1.96162599e-03 -1.23830774e-04 9.99998068e-01 7.74093725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.00439141799995 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:347.60, Y:1.41, Z:0.77 [[ 9.99202271e-01 -3.98868491e-02 -1.96494064e-03 3.47599234e+02] [ 3.98870206e-02 9.99204195e-01 4.81531571e-05 1.41088049e+00] [ 1.96145626e-03 -1.26490372e-04 9.99998068e-01 7.73306811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06439141799996 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:347.66, Y:1.41, Z:0.77 [[ 9.99114806e-01 -4.20207492e-02 -1.96493696e-03 3.47660600e+02] [ 4.20209251e-02 9.99116730e-01 4.83029289e-05 1.40996249e+00] [ 1.96117167e-03 -1.30828640e-04 9.99998068e-01 7.71977000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12439141799996 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:347.72, Y:1.41, Z:0.77 [[ 9.99114386e-01 -4.20307288e-02 -1.96493424e-03 3.47723037e+02] [ 4.20309049e-02 9.99116310e-01 4.84134341e-05 1.40824768e+00] [ 1.96116299e-03 -1.30958523e-04 9.99998068e-01 7.73473326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18439141799996 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:347.78, Y:1.41, Z:0.78 [[ 9.98945142e-01 -4.58774611e-02 -1.96492830e-03 3.47784927e+02] [ 4.58776452e-02 9.98947065e-01 4.86533915e-05 1.40861797e+00] [ 1.96062726e-03 -1.38748352e-04 9.99998068e-01 7.76718303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24439141799996 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:347.85, Y:1.41, Z:0.78 [[ 9.98942405e-01 -4.59370239e-02 -1.96492227e-03 3.47845713e+02] [ 4.59372085e-02 9.98944328e-01 4.88954495e-05 1.40931321e+00] [ 1.96060185e-03 -1.39106782e-04 9.99998068e-01 7.75436896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30439141799997 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:347.91, Y:1.42, Z:0.78 [[ 9.98942786e-01 -4.59287329e-02 -1.96491930e-03 3.47908340e+02] [ 4.59289177e-02 9.98944709e-01 4.90148455e-05 1.41638340e+00] [ 1.96059454e-03 -1.39209643e-04 9.99998068e-01 7.80313181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36439141799997 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:347.97, Y:1.42, Z:0.78 [[ 9.99148941e-01 -4.12011370e-02 -1.96491500e-03 3.47971126e+02] [ 4.12013130e-02 9.99150864e-01 4.91865113e-05 1.41749260e+00] [ 1.96121998e-03 -1.30101729e-04 9.99998068e-01 7.81621654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42439141799997 meters Centerline goodness : 0.998637 with order 1 Centerline is valid? [True, True] Translation: X:348.03, Y:1.42, Z:0.78 [[ 9.99546010e-01 -3.00651541e-02 -1.96490746e-03 3.48032083e+02] [ 3.00653093e-02 9.99547935e-01 4.94859317e-05 1.41574266e+00] [ 1.96253139e-03 -1.08539016e-04 9.99998068e-01 7.78515646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.484391418 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:348.09, Y:1.42, Z:0.78 [[ 9.99739425e-01 -2.27425099e-02 -1.96490427e-03 3.48094013e+02] [ 2.27426513e-02 9.99741351e-01 4.96122265e-05 1.41798672e+00] [ 1.96326774e-03 -9.42864313e-05 9.99998068e-01 7.81738912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.544391418 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:348.16, Y:1.42, Z:0.78 [[ 9.99887638e-01 -1.48610323e-02 -1.96490031e-03 3.48155736e+02] [ 1.48611588e-02 9.99889566e-01 4.97686702e-05 1.42073403e+00] [ 1.96394370e-03 -7.89637735e-05 9.99998068e-01 7.81643366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.604391418 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:348.22, Y:1.42, Z:0.78 [[ 9.99945507e-01 -1.02528988e-02 -1.96489391e-03 3.48217507e+02] [ 1.02530168e-02 9.99947435e-01 5.00200162e-05 1.42088907e+00] [ 1.96427777e-03 -7.01633808e-05 9.99998068e-01 7.80214176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.664391418 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:348.28, Y:1.42, Z:0.78 [[ 9.99985003e-01 -5.11195779e-03 -1.96488986e-03 3.48278968e+02] [ 5.11206625e-03 9.99986932e-01 5.01784800e-05 1.42016114e+00] [ 1.96460767e-03 -6.02223747e-05 9.99998068e-01 7.79133858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.724391418 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:348.34, Y:1.43, Z:0.79 [[ 9.99969514e-01 -7.55713604e-03 -1.96488778e-03 3.48340298e+02] [ 7.55724937e-03 9.99971442e-01 5.02596551e-05 1.42886268e+00] [ 1.96445185e-03 -6.51072699e-05 9.99998068e-01 7.87621923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.784391418 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:348.40, Y:1.42, Z:0.78 [[ 9.99998012e-01 -3.40326133e-04 -1.96488560e-03 3.48400243e+02] [ 3.40425711e-04 9.99999941e-01 5.03448104e-05 1.42019140e+00] [ 1.96486835e-03 -5.10136079e-05 9.99998068e-01 7.79483960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.844391418 meters Centerline goodness : 0.998807 with order 1 Centerline is valid? [True, True] Translation: X:348.46, Y:1.42, Z:0.78 [[ 9.99997924e-01 -5.38931550e-04 -1.96488453e-03 3.48460235e+02] [ 5.39031594e-04 9.99999853e-01 5.03866608e-05 1.42230358e+00] [ 1.96485709e-03 -5.14456911e-05 9.99998068e-01 7.83485789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90439141799993 meters Centerline goodness : 0.998805 with order 1 Centerline is valid? [True, True] Translation: X:348.52, Y:1.42, Z:0.79 [[ 9.99997759e-01 -7.87781947e-04 -1.96488662e-03 3.48519708e+02] [ 7.87882310e-04 9.99999688e-01 5.03048559e-05 1.42238420e+00] [ 1.96484638e-03 -5.18528426e-05 9.99998068e-01 7.86996163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96439141799993 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:348.58, Y:1.42, Z:0.78 [[ 9.99990332e-01 3.93396282e-03 -1.96488878e-03 3.48578993e+02] [-3.93387173e-03 9.99992261e-01 5.02204592e-05 1.41604488e+00] [ 1.96507114e-03 -4.24903532e-05 9.99998068e-01 7.78097503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02439141799994 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:348.64, Y:1.41, Z:0.78 [[ 9.99991415e-01 3.64804784e-03 -1.96488985e-03 3.48637511e+02] [-3.64795628e-03 9.99993345e-01 5.01787565e-05 1.41445173e+00] [ 1.96505982e-03 -4.30104934e-05 9.99998068e-01 7.77516921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08439141799994 meters Centerline goodness : 0.998765 with order 1 Centerline is valid? [True, True] Translation: X:348.70, Y:1.42, Z:0.78 [[ 9.99995089e-01 2.44141117e-03 -1.96489381e-03 3.48696193e+02] [-2.44131759e-03 9.99997019e-01 5.00230620e-05 1.41522147e+00] [ 1.96501008e-03 -4.52258865e-05 9.99998068e-01 7.81350691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14439141799994 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:348.76, Y:1.41, Z:0.78 [[ 9.99996755e-01 1.62155898e-03 -1.96489718e-03 3.48755590e+02] [-1.62146408e-03 9.99998684e-01 4.98902978e-05 1.41451856e+00] [ 1.96497550e-03 -4.67041257e-05 9.99998068e-01 7.81902169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20439141799994 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:348.81, Y:1.41, Z:0.78 [[ 9.99992093e-01 3.45743246e-03 -1.96489953e-03 3.48814569e+02] [-3.45734128e-03 9.99994022e-01 4.97976836e-05 1.41223118e+00] [ 1.96505995e-03 -4.30039615e-05 9.99998068e-01 7.77669145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26439141799995 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:348.87, Y:1.41, Z:0.78 [[ 9.99994010e-01 2.84950966e-03 -1.96489704e-03 3.48873028e+02] [-2.84941712e-03 9.99995939e-01 4.98955791e-05 1.41130963e+00] [ 1.96503124e-03 -4.42964689e-05 9.99998068e-01 7.81134527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32439141799995 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:348.93, Y:1.41, Z:0.78 [[ 9.99998010e-01 -3.44259426e-04 -1.96490161e-03 3.48931707e+02] [ 3.44357775e-04 9.99999939e-01 4.97148949e-05 1.40929900e+00] [ 1.96488438e-03 -5.03914251e-05 9.99998068e-01 7.81316311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38439141799995 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:348.99, Y:1.41, Z:0.78 [[ 9.99990217e-01 -3.96300370e-03 -1.96490402e-03 3.48990852e+02] [ 3.96310884e-03 9.99992146e-01 4.96197878e-05 1.40674059e+00] [ 1.96469194e-03 -5.74064308e-05 9.99998068e-01 7.81203848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44439141799995 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:349.05, Y:1.40, Z:0.78 [[ 9.99930991e-01 -1.15823954e-02 -1.96490606e-03 3.49051338e+02] [ 1.15825151e-02 9.99932919e-01 4.95387553e-05 1.40198301e+00] [ 1.96420047e-03 -7.22938908e-05 9.99998068e-01 7.79323498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.50439141799995 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:349.11, Y:1.40, Z:0.78 [[ 9.99826543e-01 -1.85208732e-02 -1.96490606e-03 3.49112447e+02] [ 1.85210062e-02 9.99828470e-01 4.95387553e-05 1.39989615e+00] [ 1.96365152e-03 -8.59221998e-05 9.99998068e-01 7.79975923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56439141799996 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:349.17, Y:1.40, Z:0.78 [[ 9.99740507e-01 -2.26948837e-02 -1.96489803e-03 3.49174924e+02] [ 2.26950254e-02 9.99742434e-01 4.98550974e-05 1.39690413e+00] [ 1.96326048e-03 -9.44355712e-05 9.99998068e-01 7.81114775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62439141799996 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:349.24, Y:1.39, Z:0.78 [[ 9.99584311e-01 -2.87635797e-02 -1.96489395e-03 3.49236437e+02] [ 2.87637335e-02 9.99586237e-01 5.00153654e-05 1.39383563e+00] [ 1.96264233e-03 -1.06512260e-04 9.99998068e-01 7.80936915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68439141799996 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:349.30, Y:1.39, Z:0.78 [[ 9.99416691e-01 -3.40942441e-02 -1.96488890e-03 3.49298754e+02] [ 3.40944085e-02 9.99418615e-01 5.02130076e-05 1.39139056e+00] [ 1.96203457e-03 -1.17175443e-04 9.99998068e-01 7.82696604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74439141799996 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:349.36, Y:1.39, Z:0.78 [[ 9.99267394e-01 -3.82205997e-02 -1.96488490e-03 3.49361745e+02] [ 3.82207723e-02 9.99269318e-01 5.03691398e-05 1.38990952e+00] [ 1.96152405e-03 -1.25431658e-04 9.99998068e-01 7.83910155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80439141799997 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:349.42, Y:1.39, Z:0.79 [[ 9.99037652e-01 -4.38167731e-02 -1.96487890e-03 3.49423082e+02] [ 4.38169569e-02 9.99039575e-01 5.06019400e-05 1.39239931e+00] [ 1.96077457e-03 -1.36648258e-04 9.99998068e-01 7.88663725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86439141799997 meters Centerline goodness : 0.998829 with order 1 Centerline is valid? [True, True] Translation: X:349.48, Y:1.39, Z:0.79 [[ 9.99126144e-01 -4.17503116e-02 -1.96487679e-03 3.49483896e+02] [ 4.17504917e-02 9.99128067e-01 5.06837809e-05 1.38772020e+00] [ 1.96104749e-03 -1.32674063e-04 9.99998068e-01 7.85186287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92439141799997 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:349.55, Y:1.39, Z:0.78 [[ 9.99124136e-01 -4.17983225e-02 -1.96487369e-03 3.49546510e+02] [ 4.17985029e-02 9.99126059e-01 5.08036169e-05 1.38777449e+00] [ 1.96103301e-03 -1.32887899e-04 9.99998068e-01 7.84475672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.984391418 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:349.61, Y:1.39, Z:0.79 [[ 9.98982667e-01 -4.50529621e-02 -1.96486958e-03 3.49609158e+02] [ 4.50531491e-02 9.98984590e-01 5.09622290e-05 1.39169360e+00] [ 1.96057843e-03 -1.39433946e-04 9.99998068e-01 7.87157799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.044391418 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:349.67, Y:1.39, Z:0.78 [[ 9.99129918e-01 -4.16598940e-02 -1.96486552e-03 3.49669784e+02] [ 4.16600747e-02 9.99131841e-01 5.11183597e-05 1.38934821e+00] [ 1.96103012e-03 -1.32930327e-04 9.99998068e-01 7.83013296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.104391418 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:349.73, Y:1.39, Z:0.79 [[ 9.99080828e-01 -4.28209956e-02 -1.96485851e-03 3.49732381e+02] [ 4.28211791e-02 9.99082751e-01 5.13863076e-05 1.38997531e+00] [ 1.96085583e-03 -1.35476633e-04 9.99998068e-01 7.87720278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.164391418 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:349.79, Y:1.39, Z:0.79 [[ 9.99075026e-01 -4.29561630e-02 -1.96484810e-03 3.49794131e+02] [ 4.29563475e-02 9.99076949e-01 5.17815417e-05 1.38901530e+00] [ 1.96081010e-03 -1.36136343e-04 9.99998068e-01 7.86787509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.224391418 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:349.86, Y:1.39, Z:0.79 [[ 9.99054518e-01 -4.34305143e-02 -1.96484391e-03 3.49855942e+02] [ 4.34307000e-02 9.99056441e-01 5.19399075e-05 1.39195719e+00] [ 1.96073418e-03 -1.37225346e-04 9.99998068e-01 7.91240603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.284391418 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:349.92, Y:1.39, Z:0.79 [[ 9.99126395e-01 -4.17442960e-02 -1.96483964e-03 3.49918774e+02] [ 4.17444788e-02 9.99128318e-01 5.21007490e-05 1.39283280e+00] [ 1.96095202e-03 -1.34076440e-04 9.99998068e-01 7.91572629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.344391418 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:349.98, Y:1.40, Z:0.79 [[ 9.99239829e-01 -3.89346177e-02 -1.96483323e-03 3.49980203e+02] [ 3.89347956e-02 9.99241752e-01 5.23415349e-05 1.39518447e+00] [ 1.96130550e-03 -1.28802126e-04 9.99998068e-01 7.92380696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40439141799993 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:350.04, Y:1.39, Z:0.79 [[ 9.99363195e-01 -3.56278402e-02 -1.96483008e-03 3.50042877e+02] [ 3.56280120e-02 9.99365119e-01 5.24595208e-05 1.39491039e+00] [ 1.96171363e-03 -1.22429104e-04 9.99998068e-01 7.93604955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46439141799993 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:350.11, Y:1.40, Z:0.79 [[ 9.99566098e-01 -2.93897269e-02 -1.96482574e-03 3.50105570e+02] [ 2.93898870e-02 9.99568023e-01 5.26216284e-05 1.39647446e+00] [ 1.96243044e-03 -1.10344802e-04 9.99998068e-01 7.94983777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52439141799994 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:350.17, Y:1.40, Z:0.80 [[ 9.99790859e-01 -2.03562576e-02 -1.96482144e-03 3.50168022e+02] [ 2.03564006e-02 9.99792786e-01 5.27816212e-05 1.39856585e+00] [ 1.96333986e-03 -9.27672747e-05 9.99998068e-01 7.98368386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58439141799994 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:350.23, Y:1.40, Z:0.80 [[ 9.99907548e-01 -1.34548896e-02 -1.96481699e-03 3.50229805e+02] [ 1.34550195e-02 9.99909476e-01 5.29468526e-05 1.39991855e+00] [ 1.96392673e-03 -7.93786085e-05 9.99998068e-01 7.99183897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64439141799994 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:350.29, Y:1.40, Z:0.80 [[ 9.99991482e-01 -3.62987165e-03 -1.96481260e-03 3.50291770e+02] [ 3.62998300e-03 9.99993410e-01 5.31093141e-05 1.40188075e+00] [ 1.96460687e-03 -6.02410980e-05 9.99998068e-01 8.01232156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70439141799994 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:350.35, Y:1.40, Z:0.80 [[ 9.99990518e-01 3.88623435e-03 -1.96480821e-03 3.50351941e+02] [-3.88613718e-03 9.99992448e-01 5.32712433e-05 1.40414062e+00] [ 1.96500039e-03 -4.56352240e-05 9.99998068e-01 8.04096177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76439141799995 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:350.41, Y:1.40, Z:0.80 [[ 9.99978437e-01 6.26621388e-03 -1.96480821e-03 3.50410520e+02] [-6.26612130e-03 9.99980366e-01 5.32712433e-05 1.40361938e+00] [ 1.96510344e-03 -4.09583681e-05 9.99998068e-01 8.02160638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82439141799995 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:350.47, Y:1.40, Z:0.80 [[ 9.99986685e-01 4.77172068e-03 -1.96482323e-03 3.50468530e+02] [-4.77162632e-03 9.99988614e-01 5.27110362e-05 1.40175983e+00] [ 1.96505239e-03 -4.33349321e-05 9.99998068e-01 8.00009712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88439141799995 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:350.53, Y:1.40, Z:0.80 [[ 9.99994560e-01 2.64930197e-03 -1.96482848e-03 3.50527190e+02] [-2.64920390e-03 9.99996489e-01 5.25148315e-05 1.39971913e+00] [ 1.96496071e-03 -4.73093146e-05 9.99998068e-01 8.00082329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94439141799995 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:350.59, Y:1.40, Z:0.80 [[ 9.99997358e-01 1.19279237e-03 -1.96483262e-03 3.50585515e+02] [-1.19269180e-03 9.99999287e-01 5.23593046e-05 1.39768809e+00] [ 1.96489368e-03 -5.00157265e-05 9.99998068e-01 7.99860488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.00439141799995 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:350.64, Y:1.39, Z:0.80 [[ 9.99984784e-01 -5.15477368e-03 -1.96483673e-03 3.50644547e+02] [ 5.15488620e-03 9.99986712e-01 5.22045515e-05 1.39431377e+00] [ 1.96454152e-03 -6.23322669e-05 9.99998068e-01 7.99373827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06439141799996 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:350.71, Y:1.39, Z:0.80 [[ 9.99927459e-01 -1.18834601e-02 -1.96483976e-03 3.50705736e+02] [ 1.18835854e-02 9.99929386e-01 5.20904872e-05 1.39065452e+00] [ 1.96408200e-03 -7.54360495e-05 9.99998068e-01 7.98448965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12439141799996 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:350.77, Y:1.39, Z:0.80 [[ 9.99837917e-01 -1.78963481e-02 -1.96483778e-03 3.50768354e+02] [ 1.78964851e-02 9.99839844e-01 5.21650276e-05 1.38823448e+00] [ 1.96358954e-03 -8.73202627e-05 9.99998068e-01 7.98318556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18439141799996 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:350.83, Y:1.39, Z:0.80 [[ 9.99755714e-01 -2.20148302e-02 -1.96482173e-03 3.50830387e+02] [ 2.20149763e-02 9.99757640e-01 5.27625634e-05 1.38538712e+00] [ 1.96318398e-03 -9.60051781e-05 9.99998068e-01 7.98519981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24439141799996 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:350.89, Y:1.38, Z:0.80 [[ 9.99635126e-01 -2.69398365e-02 -1.96481759e-03 3.50891935e+02] [ 2.69399924e-02 9.99637051e-01 5.29165680e-05 1.38268779e+00] [ 1.96267889e-03 -1.05829431e-04 9.99998068e-01 7.97437732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30439141799997 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:350.95, Y:1.38, Z:0.80 [[ 9.99454586e-01 -3.29646757e-02 -1.96481451e-03 3.50954561e+02] [ 3.29648434e-02 9.99456510e-01 5.30303762e-05 1.38114992e+00] [ 1.96199853e-03 -1.17771255e-04 9.99998068e-01 7.99822751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36439141799997 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:351.02, Y:1.38, Z:0.80 [[ 9.99302196e-01 -3.72995979e-02 -1.96480805e-03 3.51016275e+02] [ 3.72997745e-02 9.99304120e-01 5.32689258e-05 1.37812207e+00] [ 1.96145387e-03 -1.26518652e-04 9.99998068e-01 7.99917106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42439141799997 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:351.08, Y:1.38, Z:0.80 [[ 9.99052480e-01 -4.34773743e-02 -1.96480358e-03 3.51078700e+02] [ 4.34775630e-02 9.99054402e-01 5.34331816e-05 1.37562453e+00] [ 1.96062253e-03 -1.38807424e-04 9.99998068e-01 7.99558510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.484391418 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:351.14, Y:1.37, Z:0.80 [[ 9.98841117e-01 -4.80891173e-02 -1.96479904e-03 3.51141500e+02] [ 4.80893152e-02 9.98843038e-01 5.35997491e-05 1.37446402e+00] [ 1.95994827e-03 -1.48023473e-04 9.99998068e-01 7.99255183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.544391418 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:351.20, Y:1.37, Z:0.80 [[ 9.98715371e-01 -5.06334549e-02 -1.96479222e-03 3.51202882e+02] [ 5.06336582e-02 9.98717292e-01 5.38483203e-05 1.37185761e+00] [ 1.95954544e-03 -1.53263763e-04 9.99998068e-01 7.99444757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.604391418 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:351.26, Y:1.37, Z:0.80 [[ 9.98744713e-01 -5.00513496e-02 -1.96478888e-03 3.51264407e+02] [ 5.00515520e-02 9.98746634e-01 5.39701004e-05 1.37251817e+00] [ 1.95962500e-03 -1.52243085e-04 9.99998068e-01 8.02859380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.664391418 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:351.33, Y:1.37, Z:0.80 [[ 9.98815629e-01 -4.86156314e-02 -1.96478562e-03 3.51327524e+02] [ 4.86158313e-02 9.98817550e-01 5.40884456e-05 1.37095500e+00] [ 1.95983282e-03 -1.49544071e-04 9.99998068e-01 8.03657249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.724391418 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:351.39, Y:1.37, Z:0.80 [[ 9.98882070e-01 -4.72308181e-02 -1.96477916e-03 3.51388369e+02] [ 4.72310158e-02 9.98883991e-01 5.43219385e-05 1.36823034e+00] [ 1.96002078e-03 -1.47059726e-04 9.99998068e-01 8.01578037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.784391418 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:351.45, Y:1.37, Z:0.80 [[ 9.99027753e-01 -4.40418921e-02 -1.96477599e-03 3.51451859e+02] [ 4.40420839e-02 9.99029675e-01 5.44364199e-05 1.36763939e+00] [ 1.96047204e-03 -1.40916323e-04 9.99998068e-01 8.04706763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.844391418 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:351.51, Y:1.37, Z:0.80 [[ 9.99140862e-01 -4.13965827e-02 -1.96476901e-03 3.51513632e+02] [ 4.13967699e-02 9.99142785e-01 5.46873787e-05 1.36653112e+00] [ 1.96082091e-03 -1.35975485e-04 9.99998068e-01 8.04418513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90439141799993 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:351.58, Y:1.36, Z:0.81 [[ 9.99252136e-01 -3.86174537e-02 -1.96476441e-03 3.51575474e+02] [ 3.86176358e-02 9.99254059e-01 5.48520766e-05 1.36400582e+00] [ 1.96118056e-03 -1.30685611e-04 9.99998068e-01 8.07239178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96439141799993 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:351.64, Y:1.36, Z:0.81 [[ 9.99362453e-01 -3.56486764e-02 -1.96475985e-03 3.51637678e+02] [ 3.56488532e-02 9.99364376e-01 5.50147907e-05 1.36097376e+00] [ 1.96154980e-03 -1.25021152e-04 9.99998068e-01 8.08459289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02439141799994 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:351.70, Y:1.36, Z:0.81 [[ 9.99444020e-01 -3.32834864e-02 -1.96475536e-03 3.51699952e+02] [ 3.32836590e-02 9.99445944e-01 5.51747218e-05 1.35811512e+00] [ 1.96183037e-03 -1.20538293e-04 9.99998068e-01 8.08457790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08439141799994 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:351.76, Y:1.35, Z:0.81 [[ 9.99536850e-01 -3.03681473e-02 -1.96475065e-03 3.51761844e+02] [ 3.03683146e-02 9.99538775e-01 5.53419929e-05 1.35423010e+00] [ 1.96216382e-03 -1.14982527e-04 9.99998068e-01 8.07945876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14439141799994 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:351.82, Y:1.35, Z:0.81 [[ 9.99697608e-01 -2.45118770e-02 -1.96474483e-03 3.51823090e+02] [ 2.45120334e-02 9.99699533e-01 5.55480250e-05 1.34976033e+00] [ 1.96279290e-03 -1.03691118e-04 9.99998068e-01 8.09291687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20439141799994 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:351.89, Y:1.35, Z:0.81 [[ 9.99899848e-01 -1.40154757e-02 -1.96474147e-03 3.51885108e+02] [ 1.40156121e-02 9.99901775e-01 5.56665493e-05 1.34691893e+00] [ 1.96376829e-03 -8.31980285e-05 9.99998068e-01 8.11795403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26439141799995 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:351.95, Y:1.34, Z:0.81 [[ 9.99998019e-01 3.20337425e-04 -1.96473709e-03 3.51947468e+02] [-3.20228370e-04 9.99999947e-01 5.58207077e-05 1.34307704e+00] [ 1.96475487e-03 -5.51914325e-05 9.99998068e-01 8.14105056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32439141799995 meters Centerline goodness : 0.999346 with order 1 Centerline is valid? [True, True] Translation: X:352.01, Y:1.34, Z:0.81 [[ 9.99949605e-01 9.84514944e-03 -1.96473238e-03 3.52006982e+02] [-9.84505844e-03 9.99951535e-01 5.59857481e-05 1.34018451e+00] [ 1.96518835e-03 -3.66400216e-05 9.99998068e-01 8.13780656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38439141799995 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:352.06, Y:1.34, Z:0.81 [[ 9.99785485e-01 2.06185066e-02 -1.96473469e-03 3.52064666e+02] [-2.06184365e-02 9.99787416e-01 5.59048894e-05 1.33749365e+00] [ 1.96546969e-03 -1.53831395e-05 9.99998068e-01 8.13943031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44439141799995 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:352.12, Y:1.33, Z:0.81 [[ 9.99686860e-01 2.49463796e-02 -1.96475323e-03 3.52123159e+02] [-2.49463192e-02 9.99688791e-01 5.52454221e-05 1.33099281e+00] [ 1.96551995e-03 -6.21476131e-06 9.99998068e-01 8.13077907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.50439141799995 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:352.18, Y:1.33, Z:0.81 [[ 9.99687952e-01 2.49025902e-02 -1.96475775e-03 3.52182249e+02] [-2.49025300e-02 9.99689882e-01 5.50840456e-05 1.32713511e+00] [ 1.96552018e-03 -6.13941772e-06 9.99998068e-01 8.13692381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56439141799996 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:352.24, Y:1.32, Z:0.82 [[ 9.99773251e-01 2.12034557e-02 -1.96476221e-03 3.52241025e+02] [-2.12033887e-02 9.99775181e-01 5.49246690e-05 1.32120936e+00] [ 1.96548509e-03 -1.32525980e-05 9.99998068e-01 8.15427887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62439141799996 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:352.30, Y:1.31, Z:0.81 [[ 9.99909343e-01 1.33209034e-02 -1.96476667e-03 3.52298487e+02] [-1.33208215e-02 9.99911272e-01 5.47645293e-05 1.31382854e+00] [ 1.96532186e-03 -2.85872584e-05 9.99998068e-01 8.14792368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68439141799996 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:352.36, Y:1.31, Z:0.81 [[ 9.99979548e-01 6.08634599e-03 -1.96477345e-03 3.52356675e+02] [-6.08625061e-03 9.99981477e-01 5.45202697e-05 1.30880019e+00] [ 1.96506889e-03 -4.25610511e-05 9.99998068e-01 8.13406252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74439141799996 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:352.42, Y:1.30, Z:0.81 [[ 9.99982654e-01 -5.55259561e-03 -1.96477788e-03 3.52415643e+02] [ 5.55271312e-03 9.99984582e-01 5.43603198e-05 1.30124856e+00] [ 1.96444574e-03 -6.52692247e-05 9.99998068e-01 8.10856251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80439141799997 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:352.48, Y:1.30, Z:0.81 [[ 9.99916429e-01 -1.27779191e-02 -1.96478238e-03 3.52475761e+02] [ 1.27780503e-02 9.99918356e-01 5.41968902e-05 1.29522812e+00] [ 1.96392945e-03 -7.92984489e-05 9.99998068e-01 8.08369596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86439141799997 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:352.54, Y:1.29, Z:0.81 [[ 9.99830660e-01 -1.82972889e-02 -1.96477714e-03 3.52538406e+02] [ 1.82974310e-02 9.99832587e-01 5.43862135e-05 1.28997577e+00] [ 1.96345309e-03 -9.03273780e-05 9.99998068e-01 8.08694714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92439141799997 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:352.60, Y:1.28, Z:0.81 [[ 9.99746977e-01 -2.24080719e-02 -1.96477037e-03 3.52600295e+02] [ 2.24082224e-02 9.99748903e-01 5.46296835e-05 1.28427265e+00] [ 1.96305288e-03 -9.86428724e-05 9.99998068e-01 8.10312896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.984391418 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:352.66, Y:1.28, Z:0.81 [[ 9.99715148e-01 -2.37857779e-02 -1.96476580e-03 3.52662198e+02] [ 2.37859314e-02 9.99717073e-01 5.47936952e-05 1.27880304e+00] [ 1.96290660e-03 -1.01511872e-04 9.99998068e-01 8.08407033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.044391418 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:352.72, Y:1.28, Z:0.81 [[ 9.99805293e-01 -1.96345631e-02 -1.96476124e-03 3.52724652e+02] [ 1.96347090e-02 9.99807219e-01 5.49568258e-05 1.27748787e+00] [ 1.96330341e-03 -9.35236404e-05 9.99998068e-01 8.05900888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.104391418 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:352.79, Y:1.28, Z:0.81 [[ 9.99883273e-01 -1.51519027e-02 -1.96475513e-03 3.52786534e+02] [ 1.51520403e-02 9.99885200e-01 5.51744006e-05 1.27547868e+00] [ 1.96369357e-03 -8.49380091e-05 9.99998068e-01 8.07517956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.164391418 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:352.85, Y:1.27, Z:0.81 [[ 9.99976402e-01 -6.58298273e-03 -1.96475005e-03 3.52847373e+02] [ 6.58310419e-03 9.99978330e-01 5.53544903e-05 1.27479013e+00] [ 1.96434308e-03 -6.82873383e-05 9.99998068e-01 8.06249988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.224391418 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:352.91, Y:1.28, Z:0.81 [[ 9.99990905e-01 3.78551455e-03 -1.96474228e-03 3.52908395e+02] [-3.78541255e-03 9.99992834e-01 5.56288918e-05 1.27620362e+00] [ 1.96493879e-03 -4.81910257e-05 9.99998068e-01 8.05632206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.284391418 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:352.97, Y:1.28, Z:0.81 [[ 9.99952127e-01 9.58557463e-03 -1.96473991e-03 3.52967322e+02] [-9.58548366e-03 9.99954057e-01 5.57127484e-05 1.27781488e+00] [ 1.96518368e-03 -3.68770990e-05 9.99998068e-01 8.06940037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34439141799993 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:353.02, Y:1.28, Z:0.81 [[ 9.99937075e-01 1.10446877e-02 -1.96475654e-03 3.53024771e+02] [-1.10446008e-02 9.99939005e-01 5.51196443e-05 1.27692511e+00] [ 1.96524548e-03 -3.34162243e-05 9.99998068e-01 8.07745545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40439141799993 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:353.08, Y:1.28, Z:0.81 [[ 9.99960766e-01 8.63753437e-03 -1.96476195e-03 3.53083652e+02] [-8.63744312e-03 9.99962695e-01 5.49261939e-05 1.27824521e+00] [ 1.96516308e-03 -3.79535193e-05 9.99998068e-01 8.10213553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46439141799993 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:353.14, Y:1.28, Z:0.81 [[ 9.99997383e-01 1.17207192e-03 -1.96476622e-03 3.53142692e+02] [-1.17196656e-03 9.99999312e-01 5.47731293e-05 1.27932221e+00] [ 1.96482907e-03 -5.24703456e-05 9.99998068e-01 8.10885531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52439141799994 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:353.20, Y:1.28, Z:0.81 [[ 9.99995777e-01 -2.14120491e-03 -1.96477049e-03 3.53201678e+02] [ 2.14131635e-03 9.99997706e-01 5.46194658e-05 1.27831430e+00] [ 1.96464903e-03 -5.88264304e-05 9.99998068e-01 8.08557520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58439141799994 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:353.26, Y:1.28, Z:0.81 [[ 9.99963435e-01 -8.32272817e-03 -1.96477365e-03 3.53261777e+02] [ 8.32285131e-03 9.99965363e-01 5.45054573e-05 1.27739965e+00] [ 1.96425197e-03 -7.08559833e-05 9.99998068e-01 8.11102338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64439141799994 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:353.32, Y:1.28, Z:0.81 [[ 9.99891150e-01 -1.46228443e-02 -1.96477365e-03 3.53323087e+02] [ 1.46229796e-02 9.99893077e-01 5.45054573e-05 1.27926575e+00] [ 1.96376655e-03 -8.32303695e-05 9.99998068e-01 8.13603111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70439141799994 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:353.39, Y:1.28, Z:0.82 [[ 9.99854079e-01 -1.69693894e-02 -1.96475767e-03 3.53385785e+02] [ 1.69695303e-02 9.99856006e-01 5.50755831e-05 1.28025353e+00] [ 1.96354016e-03 -8.84085613e-05 9.99998068e-01 8.15236357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76439141799995 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:353.45, Y:1.28, Z:0.81 [[ 9.99886409e-01 -1.49435344e-02 -1.96475312e-03 3.53447343e+02] [ 1.49436717e-02 9.99888336e-01 5.52376065e-05 1.28047448e+00] [ 1.96370828e-03 -8.45919576e-05 9.99998068e-01 8.12851214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82439141799995 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:353.51, Y:1.28, Z:0.82 [[ 9.99903677e-01 -1.37395905e-02 -1.96474840e-03 3.53509659e+02] [ 1.37397258e-02 9.99905604e-01 5.54048159e-05 1.28368063e+00] [ 1.96380170e-03 -8.23945835e-05 9.99998068e-01 8.16917028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88439141799995 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:353.57, Y:1.29, Z:0.82 [[ 9.99946504e-01 -1.01551960e-02 -1.96474341e-03 3.53570547e+02] [ 1.01553248e-02 9.99948432e-01 5.55813851e-05 1.28788353e+00] [ 1.96407765e-03 -7.55310192e-05 9.99998068e-01 8.16893542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94439141799995 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:353.63, Y:1.29, Z:0.82 [[ 9.99976345e-01 -6.59166330e-03 -1.96473997e-03 3.53632269e+02] [ 6.59178546e-03 9.99978272e-01 5.57024563e-05 1.28996901e+00] [ 1.96433011e-03 -6.86522830e-05 9.99998068e-01 8.18604112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.00439141799995 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:353.69, Y:1.29, Z:0.82 [[ 9.99982684e-01 -5.54728193e-03 -1.96473625e-03 3.53693361e+02] [ 5.54740232e-03 9.99984611e-01 5.58336111e-05 1.29330954e+00] [ 1.96439629e-03 -6.67318266e-05 9.99998068e-01 8.22910172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06439141799996 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:353.75, Y:1.30, Z:0.82 [[ 9.99984285e-01 -5.25072316e-03 -1.96473371e-03 3.53754357e+02] [ 5.25084316e-03 9.99986213e-01 5.59226486e-05 1.29560168e+00] [ 1.96441299e-03 -6.62382784e-05 9.99998068e-01 8.23642080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12439141799996 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:353.82, Y:1.30, Z:0.82 [[ 9.99975405e-01 -6.73274675e-03 -1.96473142e-03 3.53815316e+02] [ 6.73286976e-03 9.99977332e-01 5.60029691e-05 1.29790161e+00] [ 1.96430983e-03 -6.92298725e-05 9.99998068e-01 8.23537283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18439141799996 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:353.88, Y:1.30, Z:0.83 [[ 9.99971375e-01 -7.30675064e-03 -1.96472917e-03 3.53876645e+02] [ 7.30687492e-03 9.99973303e-01 5.60818120e-05 1.30064233e+00] [ 1.96426694e-03 -7.04362370e-05 9.99998068e-01 8.25672113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24439141799996 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:353.94, Y:1.30, Z:0.83 [[ 9.99987694e-01 -4.55550842e-03 -1.96472682e-03 3.53938179e+02] [ 4.55562755e-03 9.99989622e-01 5.61640184e-05 1.30320988e+00] [ 1.96445058e-03 -6.51138908e-05 9.99998068e-01 8.25916112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30439141799997 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:354.00, Y:1.30, Z:0.83 [[ 9.99997548e-01 -1.02192774e-03 -1.96472333e-03 3.53999946e+02] [ 1.02204030e-03 9.99999476e-01 5.62857945e-05 1.30495924e+00] [ 1.96466479e-03 -5.82936829e-05 9.99998068e-01 8.27182590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36439141799997 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:354.06, Y:1.31, Z:0.83 [[ 9.99987347e-01 4.63095950e-03 -1.96472106e-03 3.54060682e+02] [-4.63085769e-03 9.99989276e-01 5.63652081e-05 1.30869841e+00] [ 1.96496101e-03 -4.72661514e-05 9.99998068e-01 8.30136970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42439141799997 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:354.12, Y:1.31, Z:0.83 [[ 9.99951768e-01 9.62294845e-03 -1.96472106e-03 3.54119945e+02] [-9.62285627e-03 9.99953698e-01 5.63652081e-05 1.31169946e+00] [ 1.96517248e-03 -3.74562612e-05 9.99998068e-01 8.30719092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.484391418 meters Centerline goodness : 0.999194 with order 1 Centerline is valid? [True, True] Translation: X:354.18, Y:1.31, Z:0.83 [[ 9.99895168e-01 1.43454851e-02 -1.96473719e-03 3.54177973e+02] [-1.43454031e-02 9.99897098e-01 5.57970698e-05 1.31477778e+00] [ 1.96533545e-03 -2.76062734e-05 9.99998068e-01 8.32217915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.544391418 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:354.24, Y:1.32, Z:0.83 [[ 9.99861129e-01 1.65487783e-02 -1.96474281e-03 3.54235770e+02] [-1.65487010e-02 9.99863059e-01 5.55983544e-05 1.31647545e+00] [ 1.96539385e-03 -2.30766920e-05 9.99998068e-01 8.32767549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.604391418 meters Centerline goodness : 0.999447 with order 1 Centerline is valid? [True, True] Translation: X:354.29, Y:1.32, Z:0.83 [[ 9.99820955e-01 1.88201501e-02 -1.96474943e-03 3.54293915e+02] [-1.88200776e-02 9.99822885e-01 5.53636434e-05 1.31933221e+00] [ 1.96544339e-03 -1.83769941e-05 9.99998068e-01 8.32492119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.664391418 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:354.35, Y:1.32, Z:0.83 [[ 9.99807942e-01 1.94991832e-02 -1.96475481e-03 3.54352566e+02] [-1.94991124e-02 9.99809873e-01 5.51718360e-05 1.32162187e+00] [ 1.96545707e-03 -1.68502648e-05 9.99998068e-01 8.33548597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.724391418 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:354.41, Y:1.32, Z:0.84 [[ 9.99826625e-01 1.85164845e-02 -1.96475903e-03 3.54411019e+02] [-1.85164121e-02 9.99828555e-01 5.50211688e-05 1.32166126e+00] [ 1.96544098e-03 -1.86313415e-05 9.99998068e-01 8.35436911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.784391418 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:354.47, Y:1.32, Z:0.84 [[ 9.99856831e-01 1.68064451e-02 -1.96476323e-03 3.54469904e+02] [-1.68063697e-02 9.99858761e-01 5.48708058e-05 1.32396497e+00] [ 1.96540792e-03 -2.18424127e-05 9.99998068e-01 8.38330287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84439141799993 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:354.53, Y:1.32, Z:0.84 [[ 9.99872500e-01 1.58468464e-02 -1.96476749e-03 3.54528681e+02] [-1.58467694e-02 9.99874431e-01 5.47179853e-05 1.32475866e+00] [ 1.96538788e-03 -2.35757913e-05 9.99998068e-01 8.38097525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90439141799993 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:354.59, Y:1.33, Z:0.84 [[ 9.99856873e-01 1.68039913e-02 -1.96477183e-03 3.54586111e+02] [-1.68039165e-02 9.99858803e-01 5.45614993e-05 1.32683239e+00] [ 1.96541126e-03 -2.15378282e-05 9.99998068e-01 8.36044305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96439141799993 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:354.65, Y:1.33, Z:0.84 [[ 9.99792425e-01 2.02791959e-02 -1.96477716e-03 3.54645068e+02] [-2.02791282e-02 9.99794356e-01 5.43692046e-05 1.33027699e+00] [ 1.96547567e-03 -1.45139511e-05 9.99998068e-01 8.36844651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02439141799994 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:354.70, Y:1.33, Z:0.84 [[ 9.99684909e-01 2.50244295e-02 -1.96478140e-03 3.54704293e+02] [-2.50243712e-02 9.99686840e-01 5.42155403e-05 1.33363318e+00] [ 1.96552282e-03 -5.03103849e-06 9.99998068e-01 8.38201295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08439141799994 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:354.76, Y:1.33, Z:0.84 [[ 9.99607314e-01 2.79527706e-02 -1.96478561e-03 3.54763316e+02] [-2.79527184e-02 9.99609245e-01 5.40624910e-05 1.33492104e+00] [ 1.96552905e-03 8.79837250e-07 9.99998068e-01 8.40303827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14439141799994 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:354.82, Y:1.34, Z:0.84 [[ 9.99534696e-01 3.04389689e-02 -1.96478993e-03 3.54821426e+02] [-3.04389218e-02 9.99536627e-01 5.39050635e-05 1.33777076e+00] [ 1.96552031e-03 5.92610564e-06 9.99998068e-01 8.39754956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20439141799994 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:354.88, Y:1.34, Z:0.84 [[ 9.99584657e-01 2.87515869e-02 -1.96479759e-03 3.54880362e+02] [-2.87515370e-02 9.99586588e-01 5.36241458e-05 1.33958830e+00] [ 1.96552710e-03 2.88907737e-06 9.99998068e-01 8.41756722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26439141799995 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:354.94, Y:1.34, Z:0.84 [[ 9.99670667e-01 2.55870576e-02 -1.96480184e-03 3.54939097e+02] [-2.55870019e-02 9.99672598e-01 5.34679859e-05 1.34072334e+00] [ 1.96552665e-03 -3.17698862e-06 9.99998068e-01 8.42599673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32439141799995 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:355.00, Y:1.34, Z:0.84 [[ 9.99734772e-01 2.29461336e-02 -1.96480605e-03 3.54997288e+02] [-2.29460731e-02 9.99736703e-01 5.33129299e-05 1.34116508e+00] [ 1.96551205e-03 -8.21420654e-06 9.99998068e-01 8.43119201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38439141799995 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:355.06, Y:1.34, Z:0.84 [[ 9.99816582e-01 1.90510163e-02 -1.96481226e-03 3.55056212e+02] [-1.90509487e-02 9.99818513e-01 5.30831057e-05 1.34143207e+00] [ 1.96546696e-03 -1.56418317e-05 9.99998068e-01 8.43069008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44439141799995 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:355.12, Y:1.34, Z:0.84 [[ 9.99881222e-01 1.52866386e-02 -1.96481645e-03 3.55115186e+02] [-1.52865641e-02 9.99883152e-01 5.29275627e-05 1.34154288e+00] [ 1.96539595e-03 -2.28859835e-05 9.99998068e-01 8.43658035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.50439141799995 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:355.17, Y:1.34, Z:0.84 [[ 9.99930121e-01 1.16572692e-02 -1.96482068e-03 3.55173801e+02] [-1.16571880e-02 9.99932051e-01 5.27698735e-05 1.34091600e+00] [ 1.96530233e-03 -2.98619018e-05 9.99998068e-01 8.41127742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56439141799996 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:355.23, Y:1.34, Z:0.84 [[ 9.99962113e-01 8.48014566e-03 -1.96482495e-03 3.55231704e+02] [-8.48005865e-03 9.99964042e-01 5.26104735e-05 1.34032686e+00] [ 1.96520045e-03 -3.59466494e-05 9.99998068e-01 8.38778084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62439141799996 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:355.29, Y:1.34, Z:0.84 [[ 9.99972419e-01 7.16249873e-03 -1.96483018e-03 3.55290759e+02] [-7.16240956e-03 9.99974348e-01 5.24146596e-05 1.33947566e+00] [ 1.96515519e-03 -3.83402955e-05 9.99998068e-01 8.39804283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68439141799996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:355.35, Y:1.34, Z:0.84 [[ 9.99980930e-01 5.85480206e-03 -1.96483436e-03 3.55349924e+02] [-5.85471068e-03 9.99982860e-01 5.22573949e-05 1.33842535e+00] [ 1.96510664e-03 -4.07528616e-05 9.99998068e-01 8.41199828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74439141799996 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:355.41, Y:1.34, Z:0.84 [[ 9.99981888e-01 5.68888969e-03 -1.96483847e-03 3.55408854e+02] [-5.68879830e-03 9.99983817e-01 5.21023191e-05 1.33901744e+00] [ 1.96510308e-03 -4.09238057e-05 9.99998068e-01 8.43763163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80439141799997 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:355.47, Y:1.34, Z:0.84 [[ 9.99977049e-01 6.48389408e-03 -1.96484255e-03 3.55467461e+02] [-6.48380452e-03 9.99978979e-01 5.19480297e-05 1.33890025e+00] [ 1.96513807e-03 -3.92071824e-05 9.99998068e-01 8.42677662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86439141799997 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:355.53, Y:1.34, Z:0.84 [[ 9.99969595e-01 7.54640861e-03 -1.96484657e-03 3.55526163e+02] [-7.54632140e-03 9.99971525e-01 5.17955693e-05 1.33892583e+00] [ 1.96518149e-03 -3.69666308e-05 9.99998068e-01 8.42211675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92439141799997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:355.58, Y:1.34, Z:0.84 [[ 9.99937829e-01 1.09762554e-02 -1.96485066e-03 3.55583914e+02] [-1.09761752e-02 9.99939759e-01 5.16400410e-05 1.33940691e+00] [ 1.96529911e-03 -3.00702855e-05 9.99998068e-01 8.41534276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.984391418 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:355.64, Y:1.34, Z:0.84 [[ 9.99870862e-01 1.59498787e-02 -1.96486725e-03 3.55642717e+02] [-1.59498093e-02 9.99872792e-01 5.10008368e-05 1.34182226e+00] [ 1.96543076e-03 -1.96549927e-05 9.99998068e-01 8.42949050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.044391418 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:355.70, Y:1.34, Z:0.84 [[ 9.99781805e-01 2.07961898e-02 -1.96488139e-03 3.55701735e+02] [-2.07961309e-02 9.99783736e-01 5.04500400e-05 1.34368458e+00] [ 1.96550563e-03 -9.57710158e-06 9.99998068e-01 8.44963516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.104391418 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:355.76, Y:1.34, Z:0.85 [[ 9.99752141e-01 2.21764820e-02 -1.96488542e-03 3.55759438e+02] [-2.21764260e-02 9.99754072e-01 5.02925125e-05 1.34480588e+00] [ 1.96551751e-03 -6.70591092e-06 9.99998068e-01 8.45782654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.164391418 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:355.82, Y:1.34, Z:0.84 [[ 9.99774886e-01 2.11262219e-02 -1.96489138e-03 3.55817983e+02] [-2.11261643e-02 9.99776816e-01 5.00588247e-05 1.34473019e+00] [ 1.96551040e-03 -8.53693763e-06 9.99998068e-01 8.44930357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.224391418 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:355.88, Y:1.34, Z:0.84 [[ 9.99860482e-01 1.65878185e-02 -1.96489542e-03 3.55875800e+02] [-1.65877525e-02 9.99862413e-01 4.98994190e-05 1.34378614e+00] [ 1.96545280e-03 -1.72992582e-05 9.99998068e-01 8.42609046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.284391418 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:355.93, Y:1.34, Z:0.84 [[ 9.99904025e-01 1.37142097e-02 -1.96490038e-03 3.55934643e+02] [-1.37141386e-02 9.99905956e-01 4.97035060e-05 1.34299405e+00] [ 1.96539724e-03 -2.27518197e-05 9.99998068e-01 8.43469604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.99, Y:1.34, Z:0.84 [[ 9.99951542e-01 9.64642002e-03 -1.96490437e-03 3.55992321e+02] [-9.64634128e-03 9.99953472e-01 4.95452500e-05 1.34155837e+00] [ 1.96529088e-03 -3.05887110e-05 9.99998068e-01 8.43067447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.05, Y:1.34, Z:0.85 [[ 9.99984043e-01 5.29648151e-03 -1.96490925e-03 3.56051354e+02] [-5.29639476e-03 9.99985973e-01 4.93509079e-05 1.34045236e+00] [ 1.96514308e-03 -3.89431854e-05 9.99998068e-01 8.45562654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.11, Y:1.34, Z:0.85 [[ 9.99994997e-01 2.47909568e-03 -1.96491308e-03 3.56110342e+02] [-2.47900379e-03 9.99996926e-01 4.91979021e-05 1.33913913e+00] [ 1.96502901e-03 -4.43266290e-05 9.99998068e-01 8.46164448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.17, Y:1.34, Z:0.84 [[ 9.99997255e-01 1.27652739e-03 -1.96491699e-03 3.56168744e+02] [-1.27643349e-03 9.99999184e-01 4.90413488e-05 1.33739157e+00] [ 1.96497799e-03 -4.65331283e-05 9.99998068e-01 8.44968301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58439141799994 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:356.23, Y:1.34, Z:0.84 [[ 9.99998023e-01 3.05595650e-04 -1.96492086e-03 3.56228789e+02] [-3.05500183e-04 9.99999952e-01 4.88858874e-05 1.33599685e+00] [ 1.96493570e-03 -4.82855071e-05 9.99998068e-01 8.43914658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64439141799994 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:356.29, Y:1.33, Z:0.84 [[ 9.99997971e-01 4.43054407e-04 -1.96492278e-03 3.56288343e+02] [-4.42959357e-04 9.99999901e-01 4.88085111e-05 1.33497386e+00] [ 1.96494421e-03 -4.79380312e-05 9.99998068e-01 8.44472402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70439141799994 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:356.35, Y:1.33, Z:0.85 [[ 9.99997430e-01 1.13115674e-03 -1.96492473e-03 3.56348240e+02] [-1.13106318e-03 9.99999359e-01 4.87300270e-05 1.33288401e+00] [ 1.96497859e-03 -4.65074478e-05 9.99998068e-01 8.45718735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76439141799995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:356.41, Y:1.33, Z:0.85 [[ 9.99994661e-01 2.61109815e-03 -1.96492671e-03 3.56407165e+02] [-2.61100760e-03 9.99996590e-01 4.86500790e-05 1.33119712e+00] [ 1.96504704e-03 -4.35193807e-05 9.99998068e-01 8.46758285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.47, Y:1.33, Z:0.85 [[ 9.99985724e-01 4.96903022e-03 -1.96492961e-03 3.56465848e+02] [-4.96894444e-03 9.99987654e-01 4.85322991e-05 1.32952020e+00] [ 1.96514651e-03 -3.87679801e-05 9.99998068e-01 8.48806791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.52, Y:1.33, Z:0.85 [[ 9.99983963e-01 5.31158330e-03 -1.96494306e-03 3.56523368e+02] [-5.31149927e-03 9.99985893e-01 4.79814850e-05 1.32668444e+00] [ 1.96517020e-03 -3.75439219e-05 9.99998068e-01 8.48696988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.58, Y:1.32, Z:0.85 [[ 9.99993299e-01 3.08879071e-03 -1.96494776e-03 3.56581803e+02] [-3.08870277e-03 9.99995229e-01 4.77885967e-05 1.32451072e+00] [ 1.96508599e-03 -4.17191369e-05 9.99998068e-01 8.50944325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.00439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.64, Y:1.32, Z:0.85 [[ 9.99997930e-01 5.27709693e-04 -1.96495160e-03 3.56640578e+02] [-5.27617121e-04 9.99999860e-01 4.76298485e-05 1.32118183e+00] [ 1.96497646e-03 -4.65930078e-05 9.99998068e-01 8.50302501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.70, Y:1.32, Z:0.85 [[ 9.99989406e-01 -4.16263325e-03 -1.96495546e-03 3.56700035e+02] [ 4.16273455e-03 9.99991335e-01 4.74701324e-05 1.31733724e+00] [ 1.96474083e-03 -5.56492174e-05 9.99998068e-01 8.48207577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.76, Y:1.32, Z:0.85 [[ 9.99972737e-01 -7.11782892e-03 -1.96495641e-03 3.56760969e+02] [ 7.11793585e-03 9.99974666e-01 4.74308717e-05 1.31522665e+00] [ 1.96456902e-03 -6.14160123e-05 9.99998068e-01 8.47917017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.82, Y:1.31, Z:0.85 [[ 9.99974227e-01 -6.90533861e-03 -1.96495452e-03 3.56823157e+02] [ 6.90544528e-03 9.99976156e-01 4.75088500e-05 1.31416802e+00] [ 1.96457961e-03 -6.10765115e-05 9.99998068e-01 8.50225434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.88, Y:1.31, Z:0.85 [[ 9.99983849e-01 -5.33299202e-03 -1.96495072e-03 3.56884938e+02] [ 5.33309597e-03 9.99985778e-01 4.76656283e-05 1.31452976e+00] [ 1.96466857e-03 -5.81441292e-05 9.99998068e-01 8.51868687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.95, Y:1.32, Z:0.85 [[ 9.99998023e-01 -3.05633329e-04 -1.96494689e-03 3.56946275e+02] [ 3.05727889e-04 9.99999952e-01 4.78231810e-05 1.31725449e+00] [ 1.96493218e-03 -4.84238255e-05 9.99998068e-01 8.54122221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.01, Y:1.32, Z:0.86 [[ 9.99994125e-01 2.80855997e-03 -1.96494500e-03 3.57006288e+02] [-2.80847127e-03 9.99996055e-01 4.79006803e-05 1.31978388e+00] [ 1.96507178e-03 -4.23819073e-05 9.99998068e-01 8.55156940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.06, Y:1.32, Z:0.86 [[ 9.99984673e-01 5.17623365e-03 -1.96494692e-03 3.57064818e+02] [-5.17614967e-03 9.99986603e-01 4.78215634e-05 1.32262511e+00] [ 1.96516813e-03 -3.76499710e-05 9.99998068e-01 8.55333357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.484391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.12, Y:1.32, Z:0.86 [[ 9.99971444e-01 7.29728220e-03 -1.96494975e-03 3.57123216e+02] [-7.29720254e-03 9.99973374e-01 4.77050817e-05 1.32406961e+00] [ 1.96524555e-03 -3.33650832e-05 9.99998068e-01 8.57130116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.544391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.18, Y:1.33, Z:0.86 [[ 9.99947567e-01 1.00499517e-02 -1.96495366e-03 3.57180648e+02] [-1.00498777e-02 9.99949498e-01 4.75435139e-05 1.33047934e+00] [ 1.96533224e-03 -2.77934772e-05 9.99998068e-01 8.55178138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.604391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.24, Y:1.33, Z:0.86 [[ 9.99916776e-01 1.27507063e-02 -1.96495939e-03 3.57239728e+02] [-1.27506379e-02 9.99918706e-01 4.73054972e-05 1.33164700e+00] [ 1.96540283e-03 -2.22470745e-05 9.99998068e-01 8.60479712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.664391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.30, Y:1.33, Z:0.86 [[ 9.99957737e-01 8.98128115e-03 -1.96496304e-03 3.57298822e+02] [-8.98120583e-03 9.99959667e-01 4.71534090e-05 1.33387257e+00] [ 1.96530729e-03 -2.95036787e-05 9.99998068e-01 8.60765937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.724391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.36, Y:1.34, Z:0.86 [[ 9.99983820e-01 5.33846460e-03 -1.96496682e-03 3.57356173e+02] [-5.33838255e-03 9.99985750e-01 4.69954091e-05 1.33512857e+00] [ 1.96518970e-03 -3.65049041e-05 9.99998068e-01 8.59756548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.784391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.42, Y:1.34, Z:0.86 [[ 9.99990167e-01 3.97552042e-03 -1.96497144e-03 3.57415596e+02] [-3.97543613e-03 9.99992097e-01 4.68012637e-05 1.34167302e+00] [ 1.96514197e-03 -3.89891850e-05 9.99998068e-01 8.60828767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.47, Y:1.35, Z:0.86 [[ 9.99997068e-01 1.41546907e-03 -1.96497511e-03 3.57474556e+02] [-1.41538014e-03 9.99998997e-01 4.66466433e-05 1.34763583e+00] [ 1.96503917e-03 -4.38653198e-05 9.99998068e-01 8.62593695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.53, Y:1.35, Z:0.86 [[ 9.99996892e-01 -1.53448714e-03 -1.96497872e-03 3.57534664e+02] [ 1.53458146e-03 9.99998821e-01 4.64942591e-05 1.35026781e+00] [ 1.96490506e-03 -4.95095345e-05 9.99998068e-01 8.64111366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.60, Y:1.36, Z:0.86 [[ 9.99982481e-01 -5.58366678e-03 -1.96498055e-03 3.57595384e+02] [ 5.58376876e-03 9.99984410e-01 4.64166109e-05 1.35549861e+00] [ 1.96469074e-03 -5.73877947e-05 9.99998068e-01 8.64410771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.66, Y:1.36, Z:0.86 [[ 9.99968482e-01 -7.69240790e-03 -1.96497965e-03 3.57657984e+02] [ 7.69251403e-03 9.99970411e-01 4.64547622e-05 1.36046666e+00] [ 1.96456416e-03 -6.15689316e-05 9.99998068e-01 8.61935108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.72, Y:1.36, Z:0.86 [[ 9.99934868e-01 -1.12427506e-02 -1.96497591e-03 3.57721579e+02] [ 1.12428639e-02 9.99936796e-01 4.66125040e-05 1.35897102e+00] [ 1.96432766e-03 -6.87014248e-05 9.99998068e-01 8.61006572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.78, Y:1.36, Z:0.86 [[ 9.99917422e-01 -1.26998963e-02 -1.96496068e-03 3.57784271e+02] [ 1.27000136e-02 9.99919350e-01 4.72457781e-05 1.35859816e+00] [ 1.96420219e-03 -7.21969041e-05 9.99998068e-01 8.62739227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.85, Y:1.36, Z:0.86 [[ 9.99918347e-01 -1.26268588e-02 -1.96495690e-03 3.57846586e+02] [ 1.26269763e-02 9.99920275e-01 4.74025378e-05 1.35732876e+00] [ 1.96420170e-03 -7.22101315e-05 9.99998068e-01 8.62402911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.91, Y:1.35, Z:0.86 [[ 9.99936828e-01 -1.10670628e-02 -1.96495315e-03 3.57908976e+02] [ 1.10671776e-02 9.99938756e-01 4.75576428e-05 1.35455389e+00] [ 1.96430648e-03 -6.93011239e-05 9.99998068e-01 8.60874913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.97, Y:1.35, Z:0.86 [[ 9.99966127e-01 -7.99273712e-03 -1.96494944e-03 3.57971046e+02] [ 7.99284628e-03 9.99968056e-01 4.77105136e-05 1.35189610e+00] [ 1.96450533e-03 -6.34144362e-05 9.99998068e-01 8.60060626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.03, Y:1.34, Z:0.86 [[ 9.99997870e-01 6.32170706e-04 -1.96494569e-03 3.58033339e+02] [-6.32077875e-04 9.99999799e-01 4.78641571e-05 1.34439765e+00] [ 1.96497556e-03 -4.66220565e-05 9.99998068e-01 8.56576575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.09, Y:1.35, Z:0.86 [[ 9.99989919e-01 4.03734997e-03 -1.96494194e-03 3.58093141e+02] [-4.03726341e-03 9.99991849e-01 4.80178891e-05 1.34774478e+00] [ 1.96511978e-03 -4.00844169e-05 9.99998068e-01 8.57897198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.50439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.15, Y:1.35, Z:0.86 [[ 9.99954645e-01 9.31920590e-03 -1.96494286e-03 3.58151945e+02] [-9.31912960e-03 9.99956575e-01 4.79799536e-05 1.34553184e+00] [ 1.96530467e-03 -2.96662203e-05 9.99998068e-01 8.59409230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.21, Y:1.34, Z:0.86 [[ 9.99940415e-01 1.07380497e-02 -1.96495608e-03 3.58209965e+02] [-1.07379772e-02 9.99942345e-01 4.74324859e-05 1.34395093e+00] [ 1.96535212e-03 -2.63300060e-05 9.99998068e-01 8.59060607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.27, Y:1.34, Z:0.86 [[ 9.99871153e-01 1.59316031e-02 -1.96496068e-03 3.58267475e+02] [-1.59315410e-02 9.99873084e-01 4.72409441e-05 1.34160881e+00] [ 1.96546392e-03 -1.59300056e-05 9.99998068e-01 8.58806282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.32, Y:1.34, Z:0.86 [[ 9.99845638e-01 1.74596263e-02 -1.96497591e-03 3.58324963e+02] [-1.74595684e-02 9.99847569e-01 4.65988952e-05 1.34018473e+00] [ 1.96548998e-03 -1.22840708e-05 9.99998068e-01 8.57788373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.38, Y:1.34, Z:0.86 [[ 9.99830596e-01 1.83007963e-02 -1.96498054e-03 3.58383743e+02] [-1.83007404e-02 9.99832526e-01 4.64028600e-05 1.33579418e+00] [ 1.96550066e-03 -1.04344003e-05 9.99998068e-01 8.59425764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.44, Y:1.34, Z:0.86 [[ 9.99786176e-01 2.05849721e-02 -1.96498435e-03 3.58441328e+02] [-2.05849210e-02 9.99788107e-01 4.62407017e-05 1.33726399e+00] [ 1.96551985e-03 -5.78176661e-06 9.99998068e-01 8.58987435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.50, Y:1.33, Z:0.87 [[ 9.99803122e-01 1.97447646e-02 -1.96499105e-03 3.58500198e+02] [-1.97447124e-02 9.99805053e-01 4.59543470e-05 1.33051295e+00] [ 1.96551534e-03 -7.14711645e-06 9.99998068e-01 8.66959844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.56, Y:1.33, Z:0.86 [[ 9.99842995e-01 1.76103651e-02 -1.96499473e-03 3.58557859e+02] [-1.76103091e-02 9.99844925e-01 4.57965691e-05 1.33222521e+00] [ 1.96549650e-03 -1.11852143e-05 9.99998068e-01 8.58828631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.984391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.62, Y:1.32, Z:0.86 [[ 9.99931688e-01 1.15221134e-02 -1.96499920e-03 3.58617693e+02] [-1.15220460e-02 9.99933618e-01 4.56038755e-05 1.32381209e+00] [ 1.96539421e-03 -2.29599490e-05 9.99998068e-01 8.62071215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.044391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.68, Y:1.32, Z:0.86 [[ 9.99848174e-01 1.73138155e-02 -1.96500009e-03 3.58676836e+02] [-1.73137594e-02 9.99850105e-01 4.55655826e-05 1.31878698e+00] [ 1.96549446e-03 -1.15371258e-05 9.99998068e-01 8.62160571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.104391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.74, Y:1.31, Z:0.86 [[ 9.99900782e-01 1.39486449e-02 -1.96500276e-03 3.58735492e+02] [-1.39485825e-02 9.99902713e-01 4.54499705e-05 1.31431654e+00] [ 1.96544556e-03 -1.80364579e-05 9.99998068e-01 8.58003375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.164391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.79, Y:1.31, Z:0.87 [[ 9.99901518e-01 1.38958222e-02 -1.96500636e-03 3.58793614e+02] [-1.38957601e-02 9.99903448e-01 4.52937944e-05 1.31456721e+00] [ 1.96544603e-03 -1.79840768e-05 9.99998068e-01 8.68559789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.224391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.85, Y:1.31, Z:0.87 [[ 9.99823201e-01 1.87004258e-02 -1.96500986e-03 3.58852570e+02] [-1.87003732e-02 9.99825132e-01 4.51414078e-05 1.31120060e+00] [ 1.96551041e-03 -8.38700901e-06 9.99998068e-01 8.65075882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.284391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.91, Y:1.31, Z:0.87 [[ 9.99763396e-01 2.16631393e-02 -1.96501249e-03 3.58911408e+02] [-2.16630926e-02 9.99765327e-01 4.50268777e-05 1.31033977e+00] [ 1.96552677e-03 -2.44797667e-06 9.99998068e-01 8.67187384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.97, Y:1.31, Z:0.87 [[ 9.99720004e-01 2.35807536e-02 -1.96501597e-03 3.58970635e+02] [-2.35807109e-02 9.99721935e-01 4.48745436e-05 1.30797537e+00] [ 1.96552774e-03 1.47449456e-06 9.99998068e-01 8.70966387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.03, Y:1.31, Z:0.86 [[ 9.99750138e-01 2.22665622e-02 -1.96502205e-03 3.59029271e+02] [-2.22665175e-02 9.99752069e-01 4.46067509e-05 1.30659331e+00] [ 1.96552809e-03 -8.41407607e-07 9.99998068e-01 8.64960970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.09, Y:1.30, Z:0.87 [[ 9.99573464e-01 2.91380977e-02 -1.96502555e-03 3.59088408e+02] [-2.91380666e-02 9.99575395e-01 4.44519110e-05 1.30323389e+00] [ 1.96548643e-03 1.28240946e-05 9.99998068e-01 8.67593029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.15, Y:1.30, Z:0.86 [[ 9.99467306e-01 3.25767102e-02 -1.96503717e-03 3.59146357e+02] [-3.25766868e-02 9.99469238e-01 4.39319858e-05 1.30079529e+00] [ 1.96542536e-03 2.01058169e-05 9.99998068e-01 8.64834434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.21, Y:1.29, Z:0.87 [[ 9.99599805e-01 2.82199923e-02 -1.96504380e-03 3.59205286e+02] [-2.82199611e-02 9.99601737e-01 4.36336678e-05 1.29428756e+00] [ 1.96549253e-03 1.18372536e-05 9.99998068e-01 8.67074855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.26, Y:1.29, Z:0.87 [[ 9.99663754e-01 2.58557017e-02 -1.96504711e-03 3.59264196e+02] [-2.58556661e-02 9.99665685e-01 4.34838562e-05 1.28936639e+00] [ 1.96551447e-03 7.33836709e-06 9.99998068e-01 8.68946746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.32, Y:1.28, Z:0.87 [[ 9.99748992e-01 2.23179714e-02 -1.96505050e-03 3.59322334e+02] [-2.23179293e-02 9.99750923e-01 4.33301000e-05 1.28429229e+00] [ 1.96552809e-03 5.36634358e-07 9.99998068e-01 8.69421326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.38, Y:1.28, Z:0.87 [[ 9.99790455e-01 2.03760563e-02 -1.96505660e-03 3.59380611e+02] [-2.03760110e-02 9.99792387e-01 4.30516623e-05 1.27785228e+00] [ 1.96552585e-03 -3.00262601e-06 9.99998068e-01 8.68462854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.44, Y:1.27, Z:0.87 [[ 9.99794261e-01 2.01884566e-02 -1.96505990e-03 3.59439532e+02] [-2.01884112e-02 9.99796192e-01 4.29006662e-05 1.27342654e+00] [ 1.96552550e-03 -3.22040253e-06 9.99998068e-01 8.68356331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.50, Y:1.27, Z:0.87 [[ 9.99787442e-01 2.05233862e-02 -1.96506322e-03 3.59498583e+02] [-2.05233419e-02 9.99789373e-01 4.27478927e-05 1.26851940e+00] [ 1.96552666e-03 -2.40914202e-06 9.99998068e-01 8.69010869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.56, Y:1.26, Z:0.87 [[ 9.99745133e-01 2.24901753e-02 -1.96506655e-03 3.59556843e+02] [-2.24901351e-02 9.99747064e-01 4.25941182e-05 1.26157937e+00] [ 1.96552747e-03 1.61134985e-06 9.99998068e-01 8.70209602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.00439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.61, Y:1.26, Z:0.87 [[ 9.99659051e-01 2.60369165e-02 -1.96506983e-03 3.59614447e+02] [-2.60368834e-02 9.99660982e-01 4.24425391e-05 1.25634126e+00] [ 1.96550871e-03 8.73622560e-06 9.99998068e-01 8.71536742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06439141799996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:359.67, Y:1.25, Z:0.87 [[ 9.99578173e-01 2.89761024e-02 -1.96507472e-03 3.59672999e+02] [-2.89760754e-02 9.99580104e-01 4.22149275e-05 1.25251475e+00] [ 1.96547282e-03 1.47430331e-05 9.99998068e-01 8.71886160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.73, Y:1.25, Z:0.87 [[ 9.99452234e-01 3.30359006e-02 -1.96507792e-03 3.59731865e+02] [-3.30358817e-02 9.99454165e-01 4.20653985e-05 1.24693190e+00] [ 1.96539498e-03 2.28757252e-05 9.99998068e-01 8.71634083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18439141799996 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:359.79, Y:1.24, Z:0.87 [[ 9.99248547e-01 3.87102145e-02 -1.96508113e-03 3.59790193e+02] [-3.87102069e-02 9.99250478e-01 4.19150790e-05 1.24345355e+00] [ 1.96523080e-03 3.41851152e-05 9.99998068e-01 8.72829198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.85, Y:1.24, Z:0.88 [[ 9.99065346e-01 4.31806905e-02 -1.96508427e-03 3.59849359e+02] [-4.31806919e-02 9.99067278e-01 4.17673493e-05 1.24120089e+00] [ 1.96505493e-03 4.31253868e-05 9.99998068e-01 8.75944414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30439141799997 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:359.91, Y:1.24, Z:0.88 [[ 9.98862869e-01 4.76351434e-02 -1.96508754e-03 3.59907488e+02] [-4.76351537e-02 9.98864801e-01 4.16125045e-05 1.23785213e+00] [ 1.96483900e-03 5.20420615e-05 9.99998068e-01 8.76639533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.97, Y:1.24, Z:0.88 [[ 9.98691234e-01 5.11073186e-02 -1.96509155e-03 3.59965256e+02] [-5.11073359e-02 9.98693165e-01 4.14225394e-05 1.23545652e+00] [ 1.96464049e-03 5.90622668e-05 9.99998068e-01 8.77378375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42439141799997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:360.02, Y:1.23, Z:0.88 [[ 9.98691009e-01 5.11117111e-02 -1.96510405e-03 3.60022883e+02] [-5.11117296e-02 9.98692941e-01 4.08208172e-05 1.23383574e+00] [ 1.96462196e-03 5.96724837e-05 9.99998068e-01 8.77453934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.484391418 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:360.08, Y:1.23, Z:0.88 [[ 9.98766588e-01 4.96129119e-02 -1.96511627e-03 3.60081080e+02] [-4.96129287e-02 9.98768520e-01 4.02236170e-05 1.22901165e+00] [ 1.96469188e-03 5.73211687e-05 9.99998068e-01 8.77385573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.544391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.14, Y:1.22, Z:0.88 [[ 9.98827181e-01 4.83776896e-02 -1.96512813e-03 3.60138683e+02] [-4.83777052e-02 9.98829113e-01 3.96356423e-05 1.22467278e+00] [ 1.96474467e-03 5.54792325e-05 9.99998068e-01 8.78884933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.604391418 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:360.20, Y:1.22, Z:0.88 [[ 9.98915760e-01 4.65128254e-02 -1.96513175e-03 3.60197074e+02] [-4.65128377e-02 9.98917691e-01 3.94555177e-05 1.22191427e+00] [ 1.96484006e-03 5.19911156e-05 9.99998068e-01 8.79026985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.664391418 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:360.26, Y:1.22, Z:0.88 [[ 9.99075120e-01 4.29539661e-02 -1.96513459e-03 3.60255605e+02] [-4.29539719e-02 9.99077051e-01 3.93133585e-05 1.21830435e+00] [ 1.96500954e-03 4.51333376e-05 9.99998068e-01 8.80659555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.724391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.31, Y:1.21, Z:0.88 [[ 9.99220254e-01 3.94337674e-02 -1.96513764e-03 3.60313303e+02] [-3.94337667e-02 9.99222186e-01 3.91604924e-05 1.21354155e+00] [ 1.96515337e-03 3.83628219e-05 9.99998068e-01 8.79581293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.784391418 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:360.37, Y:1.21, Z:0.88 [[ 9.99290570e-01 3.76097686e-02 -1.96514213e-03 3.60370643e+02] [-3.76097648e-02 9.99292502e-01 3.89339004e-05 1.21045652e+00] [ 1.96521609e-03 3.50022536e-05 9.99998068e-01 8.81401950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84439141799993 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:360.43, Y:1.21, Z:0.88 [[ 9.99349590e-01 3.60074454e-02 -1.96514579e-03 3.60428093e+02] [-3.60074388e-02 9.99351521e-01 3.87482334e-05 1.20823848e+00] [ 1.96526666e-03 3.20368355e-05 9.99998068e-01 8.80835076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90439141799993 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:360.49, Y:1.20, Z:0.88 [[ 9.99415852e-01 3.41187981e-02 -1.96514936e-03 3.60487073e+02] [-3.41187882e-02 9.99417784e-01 3.85663237e-05 1.20438830e+00] [ 1.96532105e-03 2.85047194e-05 9.99998068e-01 8.82109246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96439141799993 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:360.54, Y:1.20, Z:0.88 [[ 9.99383265e-01 3.50603594e-02 -1.96515215e-03 3.60544901e+02] [-3.50603517e-02 9.99385196e-01 3.84236327e-05 1.20130905e+00] [ 1.96529111e-03 3.04989899e-05 9.99998068e-01 8.80207720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02439141799994 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:360.60, Y:1.20, Z:0.88 [[ 9.99309519e-01 3.71028778e-02 -1.96515557e-03 3.60603300e+02] [-3.71028743e-02 9.99311451e-01 3.82479531e-05 1.20018391e+00] [ 1.96522157e-03 3.46913765e-05 9.99998068e-01 8.83936878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08439141799994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:360.66, Y:1.20, Z:0.88 [[ 9.99301808e-01 3.73099760e-02 -1.96515870e-03 3.60661827e+02] [-3.73099733e-02 9.99303740e-01 3.80862713e-05 1.19800656e+00] [ 1.96521144e-03 3.52603388e-05 9.99998068e-01 8.83619810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14439141799994 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:360.72, Y:1.20, Z:0.88 [[ 9.99338205e-01 3.63220400e-02 -1.96516188e-03 3.60719799e+02] [-3.63220357e-02 9.99340136e-01 3.79214817e-05 1.19673707e+00] [ 1.96524253e-03 3.34822945e-05 9.99998068e-01 8.84408089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20439141799994 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:360.78, Y:1.20, Z:0.88 [[ 9.99440001e-01 3.34039435e-02 -1.96516576e-03 3.60778579e+02] [-3.34039338e-02 9.99441932e-01 3.77191646e-05 1.19766630e+00] [ 1.96532904e-03 2.79462253e-05 9.99998068e-01 8.84338096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26439141799995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:360.84, Y:1.20, Z:0.88 [[ 9.99533686e-01 3.04721014e-02 -1.96516880e-03 3.60836537e+02] [-3.04720864e-02 9.99535617e-01 3.75604169e-05 1.19930069e+00] [ 1.96540075e-03 2.23398915e-05 9.99998068e-01 8.84804730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32439141799995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:360.90, Y:1.20, Z:0.88 [[ 9.99559038e-01 2.96288367e-02 -1.96517356e-03 3.60895010e+02] [-2.96288206e-02 9.99560969e-01 3.73095075e-05 1.20081711e+00] [ 1.96541623e-03 2.09327195e-05 9.99998068e-01 8.83385322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.95, Y:1.20, Z:0.88 [[ 9.99489626e-01 3.18845818e-02 -1.96517842e-03 3.60951659e+02] [-3.18845706e-02 9.99491557e-01 3.70518644e-05 1.20031420e+00] [ 1.96536062e-03 2.56259159e-05 9.99998068e-01 8.84035531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.01, Y:1.20, Z:0.89 [[ 9.99529666e-01 3.06036850e-02 -1.96518393e-03 3.61010054e+02] [-3.06036719e-02 9.99531597e-01 3.67573420e-05 1.20190333e+00] [ 1.96538834e-03 2.34017903e-05 9.99998068e-01 8.85053659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.50439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.07, Y:1.20, Z:0.89 [[ 9.99589129e-01 2.85956495e-02 -1.96518808e-03 3.61068280e+02] [-2.85956329e-02 9.99591061e-01 3.65339996e-05 1.20424909e+00] [ 1.96542915e-03 1.96768082e-05 9.99998068e-01 8.85569275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.12, Y:1.21, Z:0.89 [[ 9.99627127e-01 2.72350093e-02 -1.96519216e-03 3.61124896e+02] [-2.72349905e-02 9.99629058e-01 3.63134308e-05 1.20929589e+00] [ 1.96545218e-03 1.72220993e-05 9.99998068e-01 8.86876092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62439141799996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:361.18, Y:1.21, Z:0.89 [[ 9.99633454e-01 2.70017809e-02 -1.96519680e-03 3.61183126e+02] [-2.70017622e-02 9.99635385e-01 3.60605295e-05 1.21248874e+00] [ 1.96545396e-03 1.70164649e-05 9.99998068e-01 8.87264158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.24, Y:1.22, Z:0.89 [[ 9.99642089e-01 2.66801647e-02 -1.96520119e-03 3.61241396e+02] [-2.66801459e-02 9.99644021e-01 3.58194163e-05 1.21791654e+00] [ 1.96545729e-03 1.66252583e-05 9.99998068e-01 8.86384551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.30, Y:1.22, Z:0.89 [[ 9.99672595e-01 2.55115741e-02 -1.96520558e-03 3.61297916e+02] [-2.55115534e-02 9.99674527e-01 3.55767864e-05 1.22137198e+00] [ 1.96547358e-03 1.45703088e-05 9.99998068e-01 8.86215809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80439141799997 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:361.36, Y:1.23, Z:0.89 [[ 9.99743084e-01 2.25810480e-02 -1.96521057e-03 3.61356008e+02] [-2.25810222e-02 9.99745016e-01 3.52990680e-05 1.22681540e+00] [ 1.96550656e-03 9.08646442e-06 9.99998068e-01 8.86899245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.41, Y:1.23, Z:0.89 [[ 9.99812490e-01 1.92645456e-02 -1.96521493e-03 3.61414038e+02] [-1.92645139e-02 9.99814421e-01 3.50547536e-05 1.23105888e+00] [ 1.96552554e-03 2.81072991e-06 9.99998068e-01 8.87744595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.47, Y:1.24, Z:0.89 [[ 9.99863023e-01 1.64338818e-02 -1.96521924e-03 3.61471252e+02] [-1.64338451e-02 9.99864955e-01 3.48117116e-05 1.23711352e+00] [ 1.96552593e-03 -2.51083469e-06 9.99998068e-01 8.87268624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.984391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.53, Y:1.24, Z:0.88 [[ 9.99880103e-01 1.53596173e-02 -1.96522413e-03 3.61530273e+02] [-1.53595791e-02 9.99882034e-01 3.45329988e-05 1.24296436e+00] [ 1.96552272e-03 -4.34384295e-06 9.99998068e-01 8.84978177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.044391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.59, Y:1.25, Z:0.89 [[ 9.99868172e-01 1.61175594e-02 -1.96522695e-03 3.61587068e+02] [-1.61175230e-02 9.99870104e-01 3.43718367e-05 1.24775983e+00] [ 1.96552567e-03 -2.69271493e-06 9.99998068e-01 8.85198219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.104391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.65, Y:1.26, Z:0.89 [[ 9.99818907e-01 1.89285654e-02 -1.96523176e-03 3.61645109e+02] [-1.89285350e-02 9.99820839e-01 3.40949693e-05 1.25678853e+00] [ 1.96552503e-03 3.11016299e-06 9.99998068e-01 8.85275690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.164391418 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:361.70, Y:1.27, Z:0.88 [[ 9.99747958e-01 2.23642243e-02 -1.96523584e-03 3.61703133e+02] [-2.23642009e-02 9.99749889e-01 3.38579255e-05 1.26573657e+00] [ 1.96550152e-03 1.01015373e-05 9.99998068e-01 8.84561458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.224391418 meters Centerline goodness : 0.999930 with order 1 Centerline is valid? [True, True] Translation: X:361.76, Y:1.27, Z:0.88 [[ 9.99682021e-01 2.51395029e-02 -1.96523994e-03 3.61759937e+02] [-2.51394853e-02 9.99683953e-01 3.36181625e-05 1.27225569e+00] [ 1.96546398e-03 1.57976481e-05 9.99998068e-01 8.84268466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.284391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.82, Y:1.28, Z:0.88 [[ 9.99572863e-01 2.91586994e-02 -1.96524460e-03 3.61818222e+02] [-2.91586902e-02 9.99574794e-01 3.33436643e-05 1.28210147e+00] [ 1.96538122e-03 2.39745363e-05 9.99998068e-01 8.84570010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.88, Y:1.29, Z:0.88 [[ 9.99535103e-01 3.04255626e-02 -1.96524857e-03 3.61876641e+02] [-3.04255563e-02 9.99537035e-01 3.31077907e-05 1.28785013e+00] [ 1.96534605e-03 2.67013821e-05 9.99998068e-01 8.83971080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.93, Y:1.29, Z:0.88 [[ 9.99525552e-01 3.07377356e-02 -1.96525248e-03 3.61934668e+02] [-3.07377304e-02 9.99527484e-01 3.28740599e-05 1.29295087e+00] [ 1.96533434e-03 2.75489380e-05 9.99998068e-01 8.83895513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.99, Y:1.30, Z:0.88 [[ 9.99531321e-01 3.05495646e-02 -1.96525643e-03 3.61993910e+02] [-3.05495594e-02 9.99533253e-01 3.26360297e-05 1.30066214e+00] [ 1.96533617e-03 2.74169844e-05 9.99998068e-01 8.83307604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.05, Y:1.30, Z:0.88 [[ 9.99722720e-01 2.34653118e-02 -1.96525905e-03 3.62051766e+02] [-2.34652933e-02 9.99724652e-01 3.24775193e-05 1.30412261e+00] [ 1.96548002e-03 1.36468661e-05 9.99998068e-01 8.84053306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.11, Y:1.30, Z:0.88 [[ 9.99885695e-01 1.49911634e-02 -1.96526225e-03 3.62109554e+02] [-1.49911289e-02 9.99887626e-01 3.22830516e-05 1.30321954e+00] [ 1.96552536e-03 -2.81786185e-06 9.99998068e-01 8.84782152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.17, Y:1.30, Z:0.88 [[ 9.99989779e-01 4.07186008e-03 -1.96526612e-03 3.62167881e+02] [-4.07180496e-03 9.99991710e-01 3.20457521e-05 1.30132107e+00] [ 1.96538031e-03 -2.40432443e-05 9.99998068e-01 8.81854147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.23, Y:1.30, Z:0.88 [[ 9.99994510e-01 2.66805073e-03 -1.96526868e-03 3.62226193e+02] [-2.66799321e-03 9.99996440e-01 3.18879702e-05 1.29762166e+00] [ 1.96534676e-03 -2.66444716e-05 9.99998068e-01 8.79509193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.29, Y:1.30, Z:0.88 [[ 9.99984990e-01 5.11450856e-03 -1.96527119e-03 3.62285351e+02] [-5.11445607e-03 9.99986921e-01 3.17324811e-05 1.29778185e+00] [ 1.96540778e-03 -2.16807117e-05 9.99998068e-01 8.81150074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.34, Y:1.30, Z:0.88 [[ 9.99951145e-01 9.68735318e-03 -1.96527977e-03 3.62343381e+02] [-9.68731058e-03 9.99953076e-01 3.11916379e-05 1.29732980e+00] [ 1.96548972e-03 -1.21518385e-05 9.99998068e-01 8.82807452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.40, Y:1.30, Z:0.88 [[ 9.99937795e-01 1.09792725e-02 -1.96528936e-03 3.62400786e+02] [-1.09792336e-02 9.99939726e-01 3.05756129e-05 1.29541309e+00] [ 1.96550660e-03 -8.99633992e-06 9.99998068e-01 8.83248330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.46, Y:1.29, Z:0.88 [[ 9.99950949e-01 9.70760334e-03 -1.96529251e-03 3.62458710e+02] [-9.70756240e-03 9.99952880e-01 3.03713748e-05 1.29364515e+00] [ 1.96549474e-03 -1.12916854e-05 9.99998068e-01 8.83314956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.00439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.52, Y:1.29, Z:0.88 [[ 9.99945776e-01 1.02265954e-02 -1.96529598e-03 3.62516725e+02] [-1.02265559e-02 9.99947707e-01 3.01456325e-05 1.29028263e+00] [ 1.96550149e-03 -1.00457888e-05 9.99998068e-01 8.81795665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.57, Y:1.29, Z:0.88 [[ 9.99969992e-01 7.49344589e-03 -1.96529970e-03 3.62574214e+02] [-7.49340160e-03 9.99971924e-01 2.99006516e-05 1.28926479e+00] [ 1.96546858e-03 -1.51729744e-05 9.99998068e-01 8.82213970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.63, Y:1.28, Z:0.88 [[ 9.99963160e-01 8.35556692e-03 -1.96530208e-03 3.62632330e+02] [-8.35552460e-03 9.99965092e-01 2.97433316e-05 1.28423224e+00] [ 1.96548200e-03 -1.33211060e-05 9.99998068e-01 8.79699837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.69, Y:1.28, Z:0.88 [[ 9.99968891e-01 7.63903021e-03 -1.96530498e-03 3.62691522e+02] [-7.63898689e-03 9.99970822e-01 2.95509852e-05 1.28251836e+00] [ 1.96547337e-03 -1.45371270e-05 9.99998068e-01 8.78809701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.75, Y:1.28, Z:0.88 [[ 9.99984488e-01 5.21158325e-03 -1.96530733e-03 3.62749596e+02] [-5.21153555e-03 9.99986419e-01 2.93935905e-05 1.28158151e+00] [ 1.96543383e-03 -1.91508656e-05 9.99998068e-01 8.80656635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.81, Y:1.28, Z:0.88 [[ 9.99991448e-01 3.63892820e-03 -1.96531020e-03 3.62808538e+02] [-3.63887784e-03 9.99993379e-01 2.92002872e-05 1.28397033e+00] [ 1.96540345e-03 -2.20485137e-05 9.99998068e-01 8.80725635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.87, Y:1.28, Z:0.88 [[ 9.99992104e-01 3.45397398e-03 -1.96531241e-03 3.62867500e+02] [-3.45392355e-03 9.99994035e-01 2.90510403e-05 1.28286377e+00] [ 1.96540103e-03 -2.22627720e-05 9.99998068e-01 8.80092584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.93, Y:1.28, Z:0.88 [[ 9.99986314e-01 4.84858189e-03 -1.96531463e-03 3.62925366e+02] [-4.84853445e-03 9.99988245e-01 2.89000410e-05 1.28207634e+00] [ 1.96543165e-03 -1.93707498e-05 9.99998068e-01 8.78570257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.484391418 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:362.98, Y:1.27, Z:0.88 [[ 9.99875889e-01 1.56314962e-02 -1.96531734e-03 3.62982788e+02] [-1.56314700e-02 9.99877821e-01 2.87144604e-05 1.27480048e+00] [ 1.96552607e-03 2.00990235e-06 9.99998068e-01 8.78655193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.544391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.04, Y:1.27, Z:0.88 [[ 9.99811737e-01 1.93036001e-02 -1.96532693e-03 3.63039681e+02] [-1.93035822e-02 9.99813668e-01 2.80420661e-05 1.27452423e+00] [ 1.96550204e-03 9.90106328e-06 9.99998068e-01 8.79036917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.604391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.10, Y:1.27, Z:0.88 [[ 9.99710237e-01 2.39912255e-02 -1.96533094e-03 3.63097800e+02] [-2.39912173e-02 9.99712169e-01 2.77580630e-05 1.27294016e+00] [ 1.96543121e-03 1.94006621e-05 9.99998068e-01 8.75792868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.664391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.16, Y:1.28, Z:0.88 [[ 9.99746856e-01 2.24134402e-02 -1.96533428e-03 3.63156812e+02] [-2.24134294e-02 9.99748787e-01 2.75198827e-05 1.28172473e+00] [ 1.96545738e-03 1.65369649e-05 9.99998068e-01 8.77778824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.724391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.22, Y:1.27, Z:0.87 [[ 9.99496062e-01 3.16821582e-02 -1.96533645e-03 3.63215223e+02] [-3.16821656e-02 9.99497994e-01 2.73637711e-05 1.27036338e+00] [ 1.96521679e-03 3.49161335e-05 9.99998068e-01 8.72221801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.784391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.27, Y:1.28, Z:0.87 [[ 9.99568363e-01 2.93125527e-02 -1.96534423e-03 3.63273708e+02] [-2.93125567e-02 9.99570294e-01 2.67930536e-05 1.27937996e+00] [ 1.96528509e-03 3.08277755e-05 9.99998068e-01 8.74803032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.33, Y:1.28, Z:0.88 [[ 9.99386640e-01 3.49640104e-02 -1.96534638e-03 3.63332069e+02] [-3.49640256e-02 9.99388571e-01 2.66348551e-05 1.27889832e+00] [ 1.96507597e-03 4.20979026e-05 9.99998068e-01 8.77494618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.39, Y:1.28, Z:0.88 [[ 9.99229194e-01 3.92065642e-02 -1.96534850e-03 3.63389173e+02] [-3.92065879e-02 9.99231126e-01 2.64773650e-05 1.27944043e+00] [ 1.96487548e-03 5.05976527e-05 9.99998068e-01 8.77659040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.45, Y:1.28, Z:0.88 [[ 9.99140395e-01 4.14078311e-02 -1.96535413e-03 3.63447437e+02] [-4.14078599e-02 9.99142326e-01 2.60528075e-05 1.27859166e+00] [ 1.96474729e-03 5.53506960e-05 9.99998068e-01 8.76851451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.51, Y:1.28, Z:0.88 [[ 9.99161362e-01 4.08987783e-02 -1.96536108e-03 3.63506597e+02] [-4.08988072e-02 9.99163293e-01 2.55175686e-05 1.27702085e+00] [ 1.96476028e-03 5.48847551e-05 9.99998068e-01 8.76777810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.56, Y:1.27, Z:0.87 [[ 9.99218775e-01 3.94712249e-02 -1.96536754e-03 3.63563713e+02] [-3.94712520e-02 9.99220706e-01 2.50099413e-05 1.27435325e+00] [ 1.96482311e-03 5.25851144e-05 9.99998068e-01 8.74722824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.62, Y:1.27, Z:0.87 [[ 9.99362789e-01 3.56392099e-02 -1.96537091e-03 3.63620152e+02] [-3.56392301e-02 9.99364721e-01 2.47419618e-05 1.27015880e+00] [ 1.96500413e-03 4.53181102e-05 9.99998068e-01 8.74166159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.68, Y:1.27, Z:0.87 [[ 9.99211313e-01 3.96596612e-02 -1.96537407e-03 3.63679357e+02] [-3.96596897e-02 9.99213245e-01 2.44881045e-05 1.26938635e+00] [ 1.96479899e-03 5.34773348e-05 9.99998068e-01 8.74580846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.74, Y:1.27, Z:0.87 [[ 9.99160663e-01 4.09158626e-02 -1.96537589e-03 3.63736666e+02] [-4.09158938e-02 9.99162594e-01 2.43411812e-05 1.26877708e+00] [ 1.96472602e-03 5.60943606e-05 9.99998068e-01 8.73910285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.80, Y:1.27, Z:0.88 [[ 9.99029810e-01 4.39951798e-02 -1.96537899e-03 3.63795921e+02] [-4.39952175e-02 9.99031741e-01 2.40886112e-05 1.26775433e+00] [ 1.96453578e-03 6.24020355e-05 9.99998068e-01 8.75655195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.85, Y:1.27, Z:0.88 [[ 9.98899855e-01 4.68531343e-02 -1.96538257e-03 3.63854113e+02] [-4.68531780e-02 9.98901787e-01 2.37924345e-05 1.26604781e+00] [ 1.96433891e-03 6.83181603e-05 9.99998068e-01 8.75705058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.91, Y:1.27, Z:0.88 [[ 9.98774846e-01 4.94463872e-02 -1.96538997e-03 3.63912312e+02] [-4.94464372e-02 9.98776777e-01 2.31652859e-05 1.26505164e+00] [ 1.96413129e-03 7.40446268e-05 9.99998068e-01 8.75541432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.50439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.97, Y:1.26, Z:0.88 [[ 9.98870165e-01 4.74818923e-02 -1.96539706e-03 3.63970585e+02] [-4.74819397e-02 9.98872096e-01 2.25470373e-05 1.26221821e+00] [ 1.96425086e-03 7.07993018e-05 9.99998068e-01 8.75329192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.03, Y:1.26, Z:0.87 [[ 9.99029776e-01 4.39959465e-02 -1.96540387e-03 3.64028888e+02] [-4.39959884e-02 9.99031707e-01 2.19370328e-05 1.25607907e+00] [ 1.96446592e-03 6.45541368e-05 9.99998068e-01 8.74655444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.09, Y:1.25, Z:0.87 [[ 9.99118537e-01 4.19319270e-02 -1.96540961e-03 3.64086642e+02] [-4.19319659e-02 9.99120468e-01 2.14102626e-05 1.25120542e+00] [ 1.96457874e-03 6.10220984e-05 9.99998068e-01 8.73703908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.14, Y:1.25, Z:0.87 [[ 9.99174744e-01 4.05705406e-02 -1.96541160e-03 3.64144143e+02] [-4.05705772e-02 9.99176675e-01 2.12254729e-05 1.24746892e+00] [ 1.96465456e-03 5.85299267e-05 9.99998068e-01 8.73837486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74439141799996 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:364.20, Y:1.24, Z:0.87 [[ 9.99138074e-01 4.14637843e-02 -1.96541770e-03 3.64201360e+02] [-4.14638238e-02 9.99140006e-01 2.06445080e-05 1.24102192e+00] [ 1.96458345e-03 6.08670194e-05 9.99998068e-01 8.72399407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.26, Y:1.24, Z:0.88 [[ 9.99095725e-01 4.24719925e-02 -1.96541993e-03 3.64260184e+02] [-4.24720344e-02 9.99097656e-01 2.04304368e-05 1.23588003e+00] [ 1.96451416e-03 6.30634207e-05 9.99998068e-01 8.75243389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.32, Y:1.23, Z:0.88 [[ 9.99113313e-01 4.20562228e-02 -1.96542152e-03 3.64318262e+02] [-4.20562642e-02 9.99115244e-01 2.02764925e-05 1.23152442e+00] [ 1.96453535e-03 6.23997730e-05 9.99998068e-01 8.75520691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.38, Y:1.22, Z:0.87 [[ 9.99138990e-01 4.14417240e-02 -1.96542761e-03 3.64376822e+02] [-4.14417654e-02 9.99140921e-01 1.96671425e-05 1.22434525e+00] [ 1.96455420e-03 6.18005812e-05 9.99998068e-01 8.74598883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.984391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.44, Y:1.22, Z:0.88 [[ 9.99128283e-01 4.16990592e-02 -1.96542911e-03 3.64435867e+02] [-4.16991014e-02 9.99130214e-01 1.95163557e-05 1.21894739e+00] [ 1.96453342e-03 6.24572849e-05 9.99998068e-01 8.76446750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.044391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.49, Y:1.22, Z:0.88 [[ 9.99101112e-01 4.23450815e-02 -1.96543064e-03 3.64494116e+02] [-4.23451252e-02 9.99103043e-01 1.93614667e-05 1.21531242e+00] [ 1.96448759e-03 6.38823436e-05 9.99998068e-01 8.76133501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.104391418 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:364.55, Y:1.21, Z:0.88 [[ 9.98870937e-01 4.74656492e-02 -1.96543252e-03 3.64552471e+02] [-4.74657032e-02 9.98872868e-01 1.91687307e-05 1.21307410e+00] [ 1.96412707e-03 7.41435486e-05 9.99998068e-01 8.75752983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.164391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.61, Y:1.21, Z:0.88 [[ 9.98655730e-01 5.17964200e-02 -1.96543399e-03 3.64610456e+02] [-5.17964827e-02 9.98657661e-01 1.90169855e-05 1.21360634e+00] [ 1.96378072e-03 8.28111459e-05 9.99998068e-01 8.77275151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.224391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.67, Y:1.21, Z:0.88 [[ 9.98770091e-01 4.95423224e-02 -1.96543965e-03 3.64666994e+02] [-4.95423819e-02 9.98772022e-01 1.84126717e-05 1.21242352e+00] [ 1.96393834e-03 7.89825359e-05 9.99998068e-01 8.77115438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.284391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.72, Y:1.21, Z:0.87 [[ 9.99231010e-01 3.91602672e-02 -1.96544204e-03 3.64724652e+02] [-3.91603072e-02 9.99232941e-01 1.81535793e-05 1.20697183e+00] [ 1.96464533e-03 5.88276948e-05 9.99998068e-01 8.74816176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.78, Y:1.20, Z:0.87 [[ 9.99718855e-01 2.36293964e-02 -1.96544370e-03 3.64783571e+02] [-2.36294067e-02 9.99720786e-01 1.79723323e-05 1.19991728e+00] [ 1.96531959e-03 2.84749890e-05 9.99998068e-01 8.73970660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40439141799993 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:364.84, Y:1.19, Z:0.87 [[ 9.99922902e-01 1.22607659e-02 -1.96544498e-03 3.64842015e+02] [-1.22607545e-02 9.99924834e-01 1.78306631e-05 1.19381279e+00] [ 1.96551587e-03 6.26855008e-06 9.99998068e-01 8.74947870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46439141799993 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:364.90, Y:1.19, Z:0.88 [[ 9.99994975e-01 -2.48747804e-03 -1.96544625e-03 3.64900327e+02] [ 2.48751761e-03 9.99996906e-01 1.76897839e-05 1.18533559e+00] [ 1.96539617e-03 -2.25787772e-05 9.99998068e-01 8.77675104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52439141799994 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:364.96, Y:1.18, Z:0.88 [[ 9.99928080e-01 -1.18310050e-02 -1.96544759e-03 3.64960885e+02] [ 1.18310624e-02 9.99930010e-01 1.75396557e-05 1.17845177e+00] [ 1.96510252e-03 -4.07917273e-05 9.99998068e-01 8.78324742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58439141799994 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:365.02, Y:1.17, Z:0.88 [[ 9.99904373e-01 -1.36887189e-02 -1.96544759e-03 3.65022680e+02] [ 1.36887798e-02 9.99906304e-01 1.75396557e-05 1.17425895e+00] [ 1.96502334e-03 -4.44425577e-05 9.99998068e-01 8.78169402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64439141799994 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:365.08, Y:1.17, Z:0.88 [[ 9.99920052e-01 -1.24910835e-02 -1.96544622e-03 3.65084488e+02] [ 1.24911424e-02 9.99921982e-01 1.76923382e-05 1.16990197e+00] [ 1.96507188e-03 -4.22415923e-05 9.99998068e-01 8.78841869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70439141799994 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:365.15, Y:1.17, Z:0.88 [[ 9.99942551e-01 -1.05371493e-02 -1.96544480e-03 3.65146548e+02] [ 1.05372047e-02 9.99944482e-01 1.78482782e-05 1.16776077e+00] [ 1.96514761e-03 -3.85575470e-05 9.99998068e-01 8.79411120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76439141799995 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:365.21, Y:1.16, Z:0.88 [[ 9.99983898e-01 -5.32358977e-03 -1.96544340e-03 3.65208471e+02] [ 5.32363543e-03 9.99985829e-01 1.80014331e-05 1.16410883e+00] [ 1.96531971e-03 -2.84644474e-05 9.99998068e-01 8.81339182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82439141799995 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:365.27, Y:1.16, Z:0.88 [[ 9.99996944e-01 1.49958580e-03 -1.96544199e-03 3.65268998e+02] [-1.49955302e-03 9.99998876e-01 1.81542029e-05 1.16040422e+00] [ 1.96546700e-03 -1.52068630e-05 9.99998068e-01 8.81977200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88439141799995 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:365.33, Y:1.16, Z:0.88 [[ 9.99977261e-01 6.45099644e-03 -1.96544083e-03 3.65329086e+02] [-6.45097298e-03 9.99979192e-01 1.82780489e-05 1.15691264e+00] [ 1.96551785e-03 -5.59862758e-06 9.99998068e-01 8.81601145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94439141799995 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:365.39, Y:1.15, Z:0.88 [[ 9.99953723e-01 9.41745242e-03 -1.96544151e-03 3.65387851e+02] [-9.41743483e-03 9.99955655e-01 1.82045881e-05 1.15302936e+00] [ 1.96552580e-03 3.05671766e-07 9.99998068e-01 8.81790072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.00439141799995 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:365.45, Y:1.15, Z:0.88 [[ 9.99897205e-01 1.42027246e-02 -1.96544286e-03 3.65445958e+02] [-1.42027165e-02 9.99899136e-01 1.80585094e-05 1.14898512e+00] [ 1.96550109e-03 9.85797468e-06 9.99998068e-01 8.81951634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06439141799996 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:365.50, Y:1.15, Z:0.88 [[ 9.99834163e-01 1.81048082e-02 -1.96544823e-03 3.65503804e+02] [-1.81048089e-02 9.99836094e-01 1.74531414e-05 1.14667823e+00] [ 1.96544207e-03 1.81338177e-05 9.99998068e-01 8.81440897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12439141799996 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:365.56, Y:1.14, Z:0.88 [[ 9.99788635e-01 2.04651527e-02 -1.96545020e-03 3.65561562e+02] [-2.04651584e-02 9.99790567e-01 1.72290203e-05 1.14345585e+00] [ 1.96539116e-03 2.29978709e-05 9.99998068e-01 8.81586534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18439141799996 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:365.62, Y:1.14, Z:0.88 [[ 9.99735964e-01 2.28941033e-02 -1.96545227e-03 3.65618411e+02] [-2.28941142e-02 9.99737895e-01 1.69894886e-05 1.14148277e+00] [ 1.96532607e-03 2.80122858e-05 9.99998068e-01 8.81775541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24439141799996 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:365.68, Y:1.14, Z:0.88 [[ 9.99669931e-01 2.56157302e-02 -1.96545460e-03 3.65676845e+02] [-2.56157468e-02 9.99671863e-01 1.67152501e-05 1.14093714e+00] [ 1.96523783e-03 3.36368544e-05 9.99998068e-01 8.83329805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30439141799997 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:365.73, Y:1.14, Z:0.88 [[ 9.99592365e-01 2.84822720e-02 -1.96545665e-03 3.65734568e+02] [-2.84822947e-02 9.99594297e-01 1.64702497e-05 1.13898569e+00] [ 1.96512837e-03 3.95171797e-05 9.99998068e-01 8.83050918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36439141799997 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:365.79, Y:1.14, Z:0.88 [[ 9.99599748e-01 2.82220061e-02 -1.96545868e-03 3.65792244e+02] [-2.82220288e-02 9.99601679e-01 1.62247390e-05 1.13623681e+00] [ 1.96513369e-03 3.92509864e-05 9.99998068e-01 8.81611370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42439141799997 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:365.85, Y:1.13, Z:0.88 [[ 9.99688778e-01 2.48693318e-02 -1.96546064e-03 3.65850154e+02] [-2.48693485e-02 9.99690710e-01 1.59835940e-05 1.13351449e+00] [ 1.96525024e-03 3.29011060e-05 9.99998068e-01 8.81660076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.484391418 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:365.91, Y:1.13, Z:0.88 [[ 9.99819579e-01 1.88930024e-02 -1.96546258e-03 3.65907539e+02] [-1.88930080e-02 9.99821511e-01 1.57409323e-05 1.12947250e+00] [ 1.96540916e-03 2.13954080e-05 9.99998068e-01 8.80736194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.544391418 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:365.96, Y:1.13, Z:0.88 [[ 9.99920955e-01 1.24185401e-02 -1.96546477e-03 3.65964845e+02] [-1.24185337e-02 9.99922887e-01 1.54628815e-05 1.12526006e+00] [ 1.96550523e-03 8.94653132e-06 9.99998068e-01 8.80552863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.604391418 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:366.02, Y:1.12, Z:0.88 [[ 9.99955489e-01 9.22803798e-03 -1.96546629e-03 3.66023556e+02] [-9.22802580e-03 9.99957421e-01 1.52677124e-05 1.12313209e+00] [ 1.96552349e-03 2.87034080e-06 9.99998068e-01 8.82167536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.664391418 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:366.08, Y:1.12, Z:0.88 [[ 9.99976003e-01 6.64306722e-03 -1.96546751e-03 3.66082570e+02] [-6.64305036e-03 9.99977935e-01 1.51090162e-05 1.12044985e+00] [ 1.96552451e-03 -2.05195399e-06 9.99998068e-01 8.82714261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.724391418 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:366.14, Y:1.12, Z:0.88 [[ 9.99979466e-01 6.09950461e-03 -1.96546875e-03 3.66140738e+02] [-6.09948701e-03 9.99981398e-01 1.49462860e-05 1.11887940e+00] [ 1.96552335e-03 -2.95762802e-06 9.99998068e-01 8.83104275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.784391418 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:366.20, Y:1.12, Z:0.88 [[ 9.99969810e-01 7.51775514e-03 -1.96547024e-03 3.66198362e+02] [-7.51774068e-03 9.99971741e-01 1.47465481e-05 1.11771110e+00] [ 1.96552556e-03 2.97926862e-08 9.99998068e-01 8.83908625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84439141799993 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:366.26, Y:1.12, Z:0.88 [[ 9.99940960e-01 1.06870406e-02 -1.96547167e-03 3.66256405e+02] [-1.06870326e-02 9.99942892e-01 1.45545612e-05 1.11655023e+00] [ 1.96551497e-03 6.45135797e-06 9.99998068e-01 8.84580135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90439141799993 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:366.31, Y:1.11, Z:0.88 [[ 9.99886048e-01 1.49675540e-02 -1.96547338e-03 3.66314725e+02] [-1.49675547e-02 9.99887980e-01 1.43198738e-05 1.11396459e+00] [ 1.96546754e-03 1.51000883e-05 9.99998068e-01 8.83876230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96439141799993 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:366.37, Y:1.11, Z:0.88 [[ 9.99878640e-01 1.54545430e-02 -1.96547504e-03 3.66372155e+02] [-1.54545452e-02 9.99880571e-01 1.40882472e-05 1.11031007e+00] [ 1.96545803e-03 1.62889853e-05 9.99998068e-01 8.84340809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02439141799994 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:366.43, Y:1.11, Z:0.89 [[ 9.99877908e-01 1.55017867e-02 -1.96547672e-03 3.66429728e+02] [-1.55017894e-02 9.99879840e-01 1.38493122e-05 1.10863022e+00] [ 1.96545524e-03 1.66207849e-05 9.99998068e-01 8.85423833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08439141799994 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:366.49, Y:1.10, Z:0.89 [[ 9.99877998e-01 1.54959879e-02 -1.96547840e-03 3.66487155e+02] [-1.54959911e-02 9.99879930e-01 1.36068838e-05 1.10329041e+00] [ 1.96545325e-03 1.68518119e-05 9.99998068e-01 8.85384547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14439141799994 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:366.54, Y:1.10, Z:0.89 [[ 9.99783272e-01 2.07255118e-02 -1.96547975e-03 3.66543699e+02] [-2.07255255e-02 9.99785203e-01 1.34084951e-05 1.09956637e+00] [ 1.96533547e-03 2.73300115e-05 9.99998068e-01 8.85681770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20439141799994 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:366.60, Y:1.10, Z:0.89 [[ 9.99686342e-01 2.49670779e-02 -1.96548213e-03 3.66601968e+02] [-2.49671005e-02 9.99688273e-01 1.30501437e-05 1.09797341e+00] [ 1.96519526e-03 3.60263395e-05 9.99998068e-01 8.86568931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26439141799995 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:366.66, Y:1.10, Z:0.89 [[ 9.99532457e-01 3.05123565e-02 -1.96548362e-03 3.66659713e+02] [-3.05123903e-02 9.99534389e-01 1.28210288e-05 1.09526530e+00] [ 1.96495967e-03 4.71565691e-05 9.99998068e-01 8.86109803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32439141799995 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:366.72, Y:1.09, Z:0.88 [[ 9.99451719e-01 3.30514382e-02 -1.96548507e-03 3.66717252e+02] [-3.30514773e-02 9.99453651e-01 1.25953910e-05 1.08997877e+00] [ 1.96482752e-03 5.23737001e-05 9.99998068e-01 8.84183822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38439141799995 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:366.78, Y:1.09, Z:0.88 [[ 9.99438898e-01 3.34369037e-02 -1.96548657e-03 3.66775501e+02] [-3.34369441e-02 9.99440829e-01 1.23569379e-05 1.08668665e+00] [ 1.96480070e-03 5.33698600e-05 9.99998068e-01 8.84138950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44439141799995 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:366.83, Y:1.08, Z:0.88 [[ 9.99463174e-01 3.27032267e-02 -1.96548807e-03 3.66833429e+02] [-3.27032660e-02 9.99465105e-01 1.21132420e-05 1.08407687e+00] [ 1.96483288e-03 5.21711400e-05 9.99998068e-01 8.84551297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.50439141799995 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:366.89, Y:1.08, Z:0.88 [[ 9.99527081e-01 3.06879537e-02 -1.96548954e-03 3.66891200e+02] [-3.06879897e-02 9.99529013e-01 1.18698116e-05 1.07981932e+00] [ 1.96492808e-03 4.84527245e-05 9.99998068e-01 8.84183498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56439141799996 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:366.95, Y:1.08, Z:0.88 [[ 9.99559984e-01 2.95968881e-02 -1.96549096e-03 3.66949422e+02] [-2.95969224e-02 9.99561915e-01 1.16299030e-05 1.07857140e+00] [ 1.96497412e-03 4.65476978e-05 9.99998068e-01 8.83746616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62439141799996 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:367.01, Y:1.08, Z:0.88 [[ 9.99634431e-01 2.69655389e-02 -1.96549240e-03 3.67007393e+02] [-2.69655687e-02 9.99636363e-01 1.13821453e-05 1.07539690e+00] [ 1.96508460e-03 4.16226358e-05 9.99998068e-01 8.82427418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68439141799996 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:367.06, Y:1.07, Z:0.88 [[ 9.99806342e-01 1.95810029e-02 -1.96549380e-03 3.67064479e+02] [-1.95810188e-02 9.99808273e-01 1.11349068e-05 1.07481114e+00] [ 1.96533499e-03 2.73536206e-05 9.99998068e-01 8.83308010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74439141799996 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:367.12, Y:1.07, Z:0.88 [[ 9.99925977e-01 1.20074212e-02 -1.96549576e-03 3.67123497e+02] [-1.20074232e-02 9.99927908e-01 1.07770112e-05 1.07463605e+00] [ 1.96548347e-03 1.28243259e-05 9.99998068e-01 8.84308111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80439141799997 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:367.18, Y:1.08, Z:0.88 [[ 9.99989480e-01 4.14442228e-03 -1.96549665e-03 3.67181643e+02] [-4.14440943e-03 9.99991412e-01 1.06110681e-05 1.07559571e+00] [ 1.96552375e-03 -2.46513363e-06 9.99998068e-01 8.84754201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86439141799997 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:367.24, Y:1.07, Z:0.88 [[ 9.99969242e-01 -7.59286658e-03 -1.96549782e-03 3.67240543e+02] [ 7.59290166e-03 9.99971173e-01 1.03905475e-05 1.07390720e+00] [ 1.96536227e-03 -2.53140596e-05 9.99998068e-01 8.82365985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92439141799997 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:367.30, Y:1.07, Z:0.88 [[ 9.99882768e-01 -1.51851092e-02 -1.96549845e-03 3.67302335e+02] [ 1.51851587e-02 9.99884699e-01 1.02704059e-05 1.07342635e+00] [ 1.96511587e-03 -4.01156077e-05 9.99998068e-01 8.82611518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.984391418 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:367.37, Y:1.07, Z:0.88 [[ 9.99669909e-01 -2.56165886e-02 -1.96549541e-03 3.67365307e+02] [ 2.56166594e-02 9.99671839e-01 1.08220207e-05 1.07383533e+00] [ 1.96457319e-03 -6.11678749e-05 9.99998068e-01 8.83104455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.044391418 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:367.43, Y:1.07, Z:0.88 [[ 9.99568895e-01 -2.92943685e-02 -1.96549177e-03 3.67428345e+02] [ 2.92944476e-02 9.99570826e-01 1.14469863e-05 1.07343251e+00] [ 1.96431290e-03 -6.90200472e-05 9.99998068e-01 8.81498991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.104391418 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:367.49, Y:1.07, Z:0.88 [[ 9.99484167e-01 -3.20552233e-02 -1.96549033e-03 3.67491008e+02] [ 3.20553082e-02 9.99486096e-01 1.16887220e-05 1.07403109e+00] [ 1.96410558e-03 -7.46870909e-05 9.99998068e-01 8.81687047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.164391418 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:367.55, Y:1.08, Z:0.88 [[ 9.99433071e-01 -3.36106236e-02 -1.96548883e-03 3.67554037e+02] [ 3.36107120e-02 9.99435000e-01 1.19367041e-05 1.07705704e+00] [ 1.96397713e-03 -7.79914157e-05 9.99998068e-01 8.84321105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.224391418 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:367.62, Y:1.08, Z:0.88 [[ 9.99482831e-01 -3.20968378e-02 -1.96548728e-03 3.67615644e+02] [ 3.20969237e-02 9.99484761e-01 1.21864127e-05 1.07790932e+00] [ 1.96408344e-03 -7.52662055e-05 9.99998068e-01 8.82541625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2843914179999 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:367.68, Y:1.08, Z:0.88 [[ 9.99507630e-01 -3.13150858e-02 -1.96548599e-03 3.67679112e+02] [ 3.13151706e-02 9.99509560e-01 1.23914872e-05 1.07952096e+00] [ 1.96413399e-03 -7.39349150e-05 9.99998068e-01 8.81790627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34439141799993 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:367.74, Y:1.08, Z:0.88 [[ 9.99507525e-01 -3.13184384e-02 -1.96548440e-03 3.67742618e+02] [ 3.13185237e-02 9.99509455e-01 1.26383996e-05 1.08221692e+00] [ 1.96412442e-03 -7.41882453e-05 9.99998068e-01 8.83096943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40439141799993 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:367.81, Y:1.08, Z:0.88 [[ 9.99441031e-01 -3.33730892e-02 -1.96548280e-03 3.67805913e+02] [ 3.33731790e-02 9.99442960e-01 1.28816910e-05 1.08246775e+00] [ 1.96395805e-03 -7.84689000e-05 9.99998068e-01 8.83385184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46439141799993 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:367.87, Y:1.08, Z:0.88 [[ 9.99344729e-01 -3.61420748e-02 -1.96548120e-03 3.67868565e+02] [ 3.61421704e-02 9.99346658e-01 1.31218070e-05 1.08254406e+00] [ 1.96372282e-03 -8.41499652e-05 9.99998068e-01 8.82763441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52439141799994 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:367.93, Y:1.08, Z:0.88 [[ 9.99137395e-01 -4.14801508e-02 -1.96547954e-03 3.67931697e+02] [ 4.14802572e-02 9.99139324e-01 1.33654820e-05 1.08261621e+00] [ 1.96323350e-03 -9.48825498e-05 9.99998068e-01 8.82522657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58439141799994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:367.99, Y:1.08, Z:0.88 [[ 9.98860502e-01 -4.76847500e-02 -1.96547786e-03 3.67994396e+02] [ 4.76848688e-02 9.98862430e-01 1.36090397e-05 1.08024556e+00] [ 1.96259304e-03 -1.07317086e-04 9.99998068e-01 8.81543328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64439141799994 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:368.06, Y:1.08, Z:0.89 [[ 9.98594775e-01 -5.29585896e-02 -1.96547609e-03 3.68056572e+02] [ 5.29587191e-02 9.98596702e-01 1.38602132e-05 1.08130030e+00] [ 1.96198392e-03 -1.17929832e-04 9.99998068e-01 8.86003731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70439141799994 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:368.12, Y:1.08, Z:0.89 [[ 9.98573423e-01 -5.33596798e-02 -1.96547311e-03 3.68119366e+02] [ 5.33598108e-02 9.98575350e-01 1.42700591e-05 1.08111192e+00] [ 1.96191155e-03 -1.19126975e-04 9.99998068e-01 8.85079541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76439141799995 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:368.18, Y:1.08, Z:0.88 [[ 9.98660621e-01 -5.17020458e-02 -1.96547125e-03 3.68181803e+02] [ 5.17021741e-02 9.98662548e-01 1.45215166e-05 1.07927259e+00] [ 1.96209174e-03 -1.16121204e-04 9.99998068e-01 8.81227453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82439141799995 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:368.25, Y:1.08, Z:0.88 [[ 9.98671778e-01 -5.14860771e-02 -1.96546654e-03 3.68245118e+02] [ 5.14862063e-02 9.98673706e-01 1.51330914e-05 1.07911783e+00] [ 1.96208061e-03 -1.16307407e-04 9.99998068e-01 8.80712419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88439141799995 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:368.31, Y:1.08, Z:0.88 [[ 9.98748151e-01 -4.99826749e-02 -1.96546466e-03 3.68308278e+02] [ 4.99828016e-02 9.98750079e-01 1.53740692e-05 1.07840887e+00] [ 1.96223955e-03 -1.13594253e-04 9.99998068e-01 8.80371984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94439141799995 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:368.37, Y:1.08, Z:0.88 [[ 9.98820676e-01 -4.85117924e-02 -1.96546271e-03 3.68371175e+02] [ 4.85119167e-02 9.98822604e-01 1.56190200e-05 1.07821714e+00] [ 1.96239088e-03 -1.10948964e-04 9.99998068e-01 8.79415483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.00439141799995 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:368.43, Y:1.08, Z:0.88 [[ 9.98816054e-01 -4.86068566e-02 -1.96546074e-03 3.68433342e+02] [ 4.86069816e-02 9.98817982e-01 1.58629273e-05 1.07915090e+00] [ 1.96236649e-03 -1.11379261e-04 9.99998068e-01 8.80742442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06439141799996 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:368.50, Y:1.08, Z:0.88 [[ 9.98912692e-01 -4.65786510e-02 -1.96545746e-03 3.68496426e+02] [ 4.65787729e-02 9.98914620e-01 1.62601151e-05 1.07740701e+00] [ 1.96256682e-03 -1.07791032e-04 9.99998068e-01 8.80800636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12439141799996 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:368.56, Y:1.07, Z:0.88 [[ 9.99008651e-01 -4.44730577e-02 -1.96545550e-03 3.68559858e+02] [ 4.44731759e-02 9.99010579e-01 1.64940725e-05 1.07340209e+00] [ 1.96277729e-03 -1.03887769e-04 9.99998068e-01 8.78709198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18439141799996 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:368.62, Y:1.07, Z:0.88 [[ 9.98946209e-01 -4.58541993e-02 -1.96545339e-03 3.68623243e+02] [ 4.58543208e-02 9.98948137e-01 1.67413766e-05 1.06956545e+00] [ 1.96261834e-03 -1.06848265e-04 9.99998068e-01 8.78237529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24439141799996 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:368.69, Y:1.07, Z:0.88 [[ 9.98945637e-01 -4.58666685e-02 -1.96545124e-03 3.68686660e+02] [ 4.58667905e-02 9.98947565e-01 1.69902755e-05 1.06675020e+00] [ 1.96260344e-03 -1.07121302e-04 9.99998068e-01 8.77307495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30439141799997 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:368.75, Y:1.06, Z:0.88 [[ 9.99000649e-01 -4.46524332e-02 -1.96544906e-03 3.68748712e+02] [ 4.46525533e-02 9.99002577e-01 1.72383739e-05 1.06405934e+00] [ 1.96271894e-03 -1.04983466e-04 9.99998068e-01 8.76675813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36439141799997 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:368.81, Y:1.06, Z:0.88 [[ 9.99065030e-01 -4.31880011e-02 -1.96544543e-03 3.68812067e+02] [ 4.31881192e-02 9.99066958e-01 1.76424211e-05 1.06089258e+00] [ 1.96284965e-03 -1.02509818e-04 9.99998068e-01 8.76416728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42439141799997 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:368.88, Y:1.06, Z:0.88 [[ 9.99130182e-01 -4.16535264e-02 -1.96544326e-03 3.68875486e+02] [ 4.16536419e-02 9.99132110e-01 1.78810477e-05 1.05765466e+00] [ 1.96299267e-03 -9.97333644e-05 9.99998068e-01 8.76700033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.484391418 meters Centerline goodness : 0.998886 with order 1 Centerline is valid? [True, True] Translation: X:368.94, Y:1.05, Z:0.87 [[ 9.99215721e-01 -3.95484455e-02 -1.96544106e-03 3.68938054e+02] [ 3.95485574e-02 9.99217650e-01 1.81195618e-05 1.05438758e+00] [ 1.96318680e-03 -9.58357098e-05 9.99998068e-01 8.74358875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.544391418 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:369.00, Y:1.05, Z:0.87 [[ 9.99285606e-01 -3.77414118e-02 -1.96543877e-03 3.69000630e+02] [ 3.77415208e-02 9.99287535e-01 1.83647465e-05 1.05221003e+00] [ 1.96334536e-03 -9.25302752e-05 9.99998068e-01 8.74316702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.604391418 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:369.06, Y:1.05, Z:0.87 [[ 9.99423561e-01 -3.38922366e-02 -1.96543648e-03 3.69064058e+02] [ 3.38923386e-02 9.99425489e-01 1.86067391e-05 1.04956231e+00] [ 1.96367669e-03 -8.52092522e-05 9.99998068e-01 8.73544462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.664391418 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:369.13, Y:1.05, Z:0.87 [[ 9.99530452e-01 -3.05779864e-02 -1.96543414e-03 3.69127246e+02] [ 3.05780825e-02 9.99532381e-01 1.88509113e-05 1.04775519e+00] [ 1.96393864e-03 -7.89412673e-05 9.99998068e-01 8.73856635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.724391418 meters Centerline goodness : 0.998743 with order 1 Centerline is valid? [True, True] Translation: X:369.19, Y:1.05, Z:0.87 [[ 9.99656190e-01 -2.61464822e-02 -1.96543176e-03 3.69189542e+02] [ 2.61465702e-02 9.99658120e-01 1.90954702e-05 1.04560369e+00] [ 1.96426054e-03 -7.04782046e-05 9.99998068e-01 8.74466820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7843914179999 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:369.25, Y:1.04, Z:0.87 [[ 9.99740179e-01 -2.27092874e-02 -1.96542979e-03 3.69251584e+02] [ 2.27093691e-02 9.99742109e-01 1.92963477e-05 1.04193211e+00] [ 1.96448472e-03 -6.39250047e-05 9.99998068e-01 8.72363596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84439141799993 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:369.31, Y:1.04, Z:0.87 [[ 9.99828039e-01 -1.84398628e-02 -1.96542824e-03 3.69314039e+02] [ 1.84399367e-02 9.99829970e-01 1.94534578e-05 1.03877596e+00] [ 1.96473534e-03 -5.56924848e-05 9.99998068e-01 8.71086444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90439141799993 meters Centerline goodness : 0.998745 with order 1 Centerline is valid? [True, True] Translation: X:369.38, Y:1.04, Z:0.87 [[ 9.99868780e-01 -1.60797963e-02 -1.96542630e-03 3.69375729e+02] [ 1.60798660e-02 9.99870710e-01 1.96472818e-05 1.03689139e+00] [ 1.96485627e-03 -5.12484952e-05 9.99998068e-01 8.71429415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96439141799993 meters Centerline goodness : 0.998773 with order 1 Centerline is valid? [True, True] Translation: X:369.44, Y:1.03, Z:0.87 [[ 9.99880282e-01 -1.53479318e-02 -1.96542467e-03 3.69437203e+02] [ 1.53480004e-02 9.99882212e-01 1.98086759e-05 1.03385254e+00] [ 1.96488915e-03 -4.99716431e-05 9.99998068e-01 8.71443913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02439141799994 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:369.50, Y:1.03, Z:0.87 [[ 9.99873808e-01 -1.57640424e-02 -1.96542199e-03 3.69499739e+02] [ 1.57641123e-02 9.99875738e-01 2.00715042e-05 1.02915831e+00] [ 1.96486135e-03 -5.10521043e-05 9.99998068e-01 8.70850801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08439141799994 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:369.56, Y:1.02, Z:0.87 [[ 9.99870477e-01 -1.59738961e-02 -1.96542031e-03 3.69562279e+02] [ 1.59739667e-02 9.99872408e-01 2.02345102e-05 1.02327999e+00] [ 1.96484631e-03 -5.16274479e-05 9.99998068e-01 8.70404262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14439141799994 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:369.62, Y:1.02, Z:0.87 [[ 9.99885994e-01 -1.49712077e-02 -1.96541863e-03 3.69624384e+02] [ 1.49712767e-02 9.99887924e-01 2.03963335e-05 1.01858217e+00] [ 1.96489300e-03 -4.98188344e-05 9.99998068e-01 8.69351450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20439141799994 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:369.69, Y:1.01, Z:0.87 [[ 9.99915891e-01 -1.28198379e-02 -1.96541697e-03 3.69686264e+02] [ 1.28199031e-02 9.99917821e-01 2.05553854e-05 1.01459302e+00] [ 1.96499194e-03 -4.57501115e-05 9.99998068e-01 8.69035667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26439141799995 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:369.75, Y:1.01, Z:0.87 [[ 9.99970170e-01 -7.46966610e-03 -1.96541529e-03 3.69748132e+02] [ 7.46972123e-03 9.99972101e-01 2.07146077e-05 1.01111805e+00] [ 1.96520573e-03 -3.53950942e-05 9.99998068e-01 8.69081545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32439141799995 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:369.81, Y:1.01, Z:0.87 [[ 9.99997399e-01 -1.15707798e-03 -1.96541336e-03 3.69808372e+02] [ 1.15712128e-03 9.99999330e-01 2.08963491e-05 1.00711869e+00] [ 1.96538786e-03 -2.31705164e-05 9.99998068e-01 8.69379060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38439141799995 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:369.87, Y:1.00, Z:0.87 [[ 9.99986681e-01 4.77224276e-03 -1.96541177e-03 3.69868764e+02] [-4.77221061e-03 9.99988613e-01 2.10445647e-05 1.00477600e+00] [ 1.96548982e-03 -1.16649255e-05 9.99998068e-01 8.68251551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44439141799995 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:369.93, Y:1.00, Z:0.87 [[ 9.99904026e-01 1.37140522e-02 -1.96541177e-03 3.69927036e+02] [-1.37140373e-02 9.99905958e-01 2.10445647e-05 1.00274979e+00] [ 1.96551555e-03 5.91118536e-06 9.99998068e-01 8.67964487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.50439141799995 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:369.99, Y:1.00, Z:0.87 [[ 9.99736177e-01 2.28847820e-02 -1.96541745e-03 3.69985226e+02] [-2.28847859e-02 9.99738109e-01 2.05000060e-05 1.00203847e+00] [ 1.96537186e-03 2.44835600e-05 9.99998068e-01 8.67895447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56439141799996 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:370.04, Y:1.00, Z:0.87 [[ 9.99574028e-01 2.91187147e-02 -1.96542395e-03 3.70043417e+02] [-2.91187319e-02 9.99575960e-01 1.98568072e-05 1.00073587e+00] [ 1.96516873e-03 3.73823044e-05 9.99998068e-01 8.67681421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62439141799996 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:370.10, Y:1.00, Z:0.87 [[ 9.99345876e-01 3.61103425e-02 -1.96542632e-03 3.70100591e+02] [-3.61103737e-02 9.99347808e-01 1.96196009e-05 9.99250104e-01] [ 1.96485295e-03 5.13655116e-05 9.99998068e-01 8.68432407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68439141799996 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:370.16, Y:1.00, Z:0.87 [[ 9.99067667e-01 4.31269505e-02 -1.96542919e-03 3.70158459e+02] [-4.31269958e-02 9.99069598e-01 1.93277587e-05 9.97303722e-01] [ 1.96443410e-03 6.54533176e-05 9.99998068e-01 8.66885035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74439141799996 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:370.22, Y:1.00, Z:0.87 [[ 9.98842646e-01 4.80573061e-02 -1.96543166e-03 3.70215387e+02] [-4.80573614e-02 9.98844577e-01 1.90726691e-05 9.95946443e-01] [ 1.96407734e-03 7.54028645e-05 9.99998068e-01 8.66519589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80439141799997 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:370.27, Y:0.99, Z:0.87 [[ 9.98609286e-01 5.26842629e-02 -1.96543578e-03 3.70274329e+02] [-5.26843280e-02 9.98611216e-01 1.86381838e-05 9.94881360e-01] [ 1.96368816e-03 8.49354001e-05 9.99998068e-01 8.67030014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86439141799997 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:370.33, Y:0.99, Z:0.87 [[ 9.98479988e-01 5.50804020e-02 -1.96543734e-03 3.70333515e+02] [-5.50804722e-02 9.98481918e-01 1.84720605e-05 9.94100445e-01] [ 1.96347110e-03 8.98132342e-05 9.99998068e-01 8.66959404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92439141799997 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:370.39, Y:0.99, Z:0.87 [[ 9.98442379e-01 5.57579784e-02 -1.96543887e-03 3.70390100e+02] [-5.57580501e-02 9.98444310e-01 1.83080358e-05 9.92562244e-01] [ 1.96340208e-03 9.13095203e-05 9.99998068e-01 8.66650296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.984391418 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:370.45, Y:0.99, Z:0.86 [[ 9.98523949e-01 5.42776219e-02 -1.96544145e-03 3.70447632e+02] [-5.42776913e-02 9.98525879e-01 1.80266905e-05 9.91973736e-01] [ 1.96352260e-03 8.86795423e-05 9.99998068e-01 8.64885993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.044391418 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:370.51, Y:0.99, Z:0.86 [[ 9.98626928e-01 5.23487953e-02 -1.96544372e-03 3.70506085e+02] [-5.23488615e-02 9.98628858e-01 1.77758723e-05 9.91816986e-01] [ 1.96367936e-03 8.51372763e-05 9.99998068e-01 8.63259265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.104391418 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:370.56, Y:0.99, Z:0.86 [[ 9.98773283e-01 4.94779343e-02 -1.96544522e-03 3.70564642e+02] [-4.94779953e-02 9.98775214e-01 1.76079342e-05 9.91910040e-01] [ 1.96390918e-03 7.96599552e-05 9.99998068e-01 8.62507930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.164391418 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:370.62, Y:0.99, Z:0.86 [[ 9.98903782e-01 4.67693484e-02 -1.96544673e-03 3.70623259e+02] [-4.67694045e-02 9.98905713e-01 1.74387003e-05 9.93464382e-01] [ 1.96411156e-03 7.45031892e-05 9.99998068e-01 8.62373030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.224391418 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:370.68, Y:1.00, Z:0.86 [[ 9.99034982e-01 4.38775793e-02 -1.96544825e-03 3.70682049e+02] [-4.38776302e-02 9.99036913e-01 1.72654779e-05 9.95041920e-01] [ 1.96431292e-03 6.89903949e-05 9.99998068e-01 8.59235087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2843914179999 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:370.74, Y:1.00, Z:0.86 [[ 9.99077789e-01 4.28918171e-02 -1.96544981e-03 3.70739601e+02] [-4.28918664e-02 9.99079720e-01 1.70855936e-05 9.95711163e-01] [ 1.96437388e-03 6.72319737e-05 9.99998068e-01 8.58433031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34439141799993 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:370.80, Y:1.00, Z:0.86 [[ 9.99087146e-01 4.26733124e-02 -1.96545170e-03 3.70798237e+02] [-4.26733617e-02 9.99089077e-01 1.68655971e-05 9.99852876e-01] [ 1.96438104e-03 6.70222300e-05 9.99998068e-01 8.59416834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40439141799993 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:370.86, Y:1.00, Z:0.86 [[ 9.98994026e-01 4.48003669e-02 -1.96545321e-03 3.70856707e+02] [-4.48004207e-02 9.98995957e-01 1.66872941e-05 1.00276800e+00] [ 1.96422741e-03 7.13826237e-05 9.99998068e-01 8.60184836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46439141799993 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:370.92, Y:1.01, Z:0.86 [[ 9.98792381e-01 4.90909068e-02 -1.96545542e-03 3.70915949e+02] [-4.90909694e-02 9.98794311e-01 1.64233090e-05 1.00820660e+00] [ 1.96389193e-03 8.00826359e-05 9.99998068e-01 8.58109780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52439141799994 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:370.97, Y:1.02, Z:0.86 [[ 9.98581144e-01 5.32149933e-02 -1.96545689e-03 3.70972465e+02] [-5.32150642e-02 9.98583075e-01 1.62452912e-05 1.01500996e+00] [ 1.96353648e-03 8.83696731e-05 9.99998068e-01 8.58975451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58439141799994 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:371.03, Y:1.02, Z:0.86 [[ 9.98431473e-01 5.59529356e-02 -1.96545912e-03 3.71031251e+02] [-5.59530123e-02 9.98433403e-01 1.59706338e-05 1.02065796e+00] [ 1.96327364e-03 9.40277751e-05 9.99998068e-01 8.56596879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64439141799994 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:371.09, Y:1.02, Z:0.86 [[ 9.98426741e-01 5.60373029e-02 -1.96546041e-03 3.71089014e+02] [-5.60373801e-02 9.98428671e-01 1.58109531e-05 1.02382961e+00] [ 1.96325803e-03 9.43531734e-05 9.99998068e-01 8.55899930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70439141799994 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:371.15, Y:1.03, Z:0.86 [[ 9.98568339e-01 5.34547324e-02 -1.96546228e-03 3.71147433e+02] [-5.34548051e-02 9.98570270e-01 1.55739943e-05 1.02830304e+00] [ 1.96348471e-03 8.95117058e-05 9.99998068e-01 8.55850405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76439141799995 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:371.21, Y:1.03, Z:0.85 [[ 9.98805611e-01 4.88209800e-02 -1.96546685e-03 3.71205360e+02] [-4.88210449e-02 9.98807542e-01 1.49747808e-05 1.03052179e+00] [ 1.96385420e-03 8.09992503e-05 9.99998068e-01 8.54802583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82439141799995 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:371.26, Y:1.03, Z:0.85 [[ 9.98969409e-01 4.53459730e-02 -1.96546907e-03 3.71264165e+02] [-4.53460317e-02 9.98971340e-01 1.46779661e-05 1.03255117e+00] [ 1.96411285e-03 7.44633836e-05 9.99998068e-01 8.54328446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88439141799995 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:371.32, Y:1.03, Z:0.85 [[ 9.99117769e-01 4.19502166e-02 -1.96547023e-03 3.71323297e+02] [-4.19502691e-02 9.99119700e-01 1.45202247e-05 1.03436484e+00] [ 1.96434915e-03 6.79445907e-05 9.99998068e-01 8.53998991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94439141799995 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:371.38, Y:1.04, Z:0.85 [[ 9.99327493e-01 3.66155569e-02 -1.96547140e-03 3.71380986e+02] [-3.66155994e-02 9.99329424e-01 1.43607906e-05 1.03638837e+00] [ 1.96467923e-03 5.76157805e-05 9.99998068e-01 8.54275941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.00439141799995 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:371.44, Y:1.04, Z:0.85 [[ 9.99458469e-01 3.28467056e-02 -1.96547310e-03 3.71439252e+02] [-3.28467413e-02 9.99460400e-01 1.41240816e-05 1.03821117e+00] [ 1.96487646e-03 5.04429534e-05 9.99998068e-01 8.54892975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06439141799996 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:371.50, Y:1.04, Z:0.85 [[ 9.99602152e-01 2.81367002e-02 -1.96547447e-03 3.71497613e+02] [-2.81367272e-02 9.99604084e-01 1.39304712e-05 1.04154757e+00] [ 1.96508826e-03 4.13770899e-05 9.99998068e-01 8.51828044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12439141799996 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:371.56, Y:1.05, Z:0.85 [[ 9.99685496e-01 2.50009079e-02 -1.96547560e-03 3.71555759e+02] [-2.50009292e-02 9.99687428e-01 1.37690357e-05 1.04574790e+00] [ 1.96520549e-03 3.53740110e-05 9.99998068e-01 8.51675201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18439141799996 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:371.61, Y:1.05, Z:0.85 [[ 9.99712695e-01 2.38885683e-02 -1.96547697e-03 3.71614962e+02] [-2.38885878e-02 9.99714627e-01 1.35708360e-05 1.04852294e+00] [ 1.96524026e-03 3.33855321e-05 9.99998068e-01 8.52026875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24439141799996 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:371.67, Y:1.05, Z:0.85 [[ 9.99788737e-01 2.04601851e-02 -1.96547802e-03 3.71674269e+02] [-2.04601982e-02 9.99790668e-01 1.34173465e-05 1.05370153e+00] [ 1.96534110e-03 2.67995579e-05 9.99998068e-01 8.51886496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30439141799997 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:371.73, Y:1.06, Z:0.85 [[ 9.99887119e-01 1.48958337e-02 -1.96547907e-03 3.71732368e+02] [-1.48958365e-02 9.99889051e-01 1.32608953e-05 1.05709052e+00] [ 1.96545854e-03 1.60180564e-05 9.99998068e-01 8.52451088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36439141799997 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:371.79, Y:1.06, Z:0.85 [[ 9.99957012e-01 9.06155324e-03 -1.96548054e-03 3.71791219e+02] [-9.06154512e-03 9.99958943e-01 1.30390183e-05 1.06033860e+00] [ 1.96551800e-03 4.77183286e-06 9.99998068e-01 8.49727564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42439141799997 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:371.85, Y:1.06, Z:0.85 [[ 9.99975058e-01 6.78380898e-03 -1.96548158e-03 3.71849640e+02] [-6.78379677e-03 9.99976990e-01 1.28812193e-05 1.06322951e+00] [ 1.96552374e-03 4.52529587e-07 9.99998068e-01 8.48777514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.484391418 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:371.91, Y:1.07, Z:0.85 [[ 9.99988539e-01 4.36558211e-03 -1.96548261e-03 3.71908959e+02] [-4.36556554e-03 9.99990471e-01 1.27222586e-05 1.06822068e+00] [ 1.96551942e-03 -4.14166964e-06 9.99998068e-01 8.48888024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.544391418 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:371.97, Y:1.07, Z:0.85 [[ 9.99990163e-01 3.97627193e-03 -1.96548363e-03 3.71967894e+02] [-3.97625492e-03 9.99992095e-01 1.25616561e-05 1.07234403e+00] [ 1.96551805e-03 -4.74626857e-06 9.99998068e-01 8.49039341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.604391418 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:372.03, Y:1.08, Z:0.85 [[ 9.99987130e-01 4.67731325e-03 -1.96548465e-03 3.72026207e+02] [-4.67729791e-03 9.99989061e-01 1.24012266e-05 1.07701781e+00] [ 1.96552115e-03 -3.20790982e-06 9.99998068e-01 8.48315035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.664391418 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:372.08, Y:1.08, Z:0.85 [[ 9.99975437e-01 6.72772659e-03 -1.96548587e-03 3.72083908e+02] [-6.72771560e-03 9.99977369e-01 1.22044484e-05 1.08015095e+00] [ 1.96552350e-03 1.01908127e-06 9.99998068e-01 8.48192548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.724391418 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:372.14, Y:1.08, Z:0.85 [[ 9.99945948e-01 1.02097297e-02 -1.96548728e-03 3.72142178e+02] [-1.02097259e-02 9.99947879e-01 1.19731334e-05 1.08496766e+00] [ 1.96550708e-03 8.09460020e-06 9.99998068e-01 8.46614506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7843914179999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:372.20, Y:1.09, Z:0.85 [[ 9.99925576e-01 1.20407390e-02 -1.96549087e-03 3.72200336e+02] [-1.20407399e-02 9.99927508e-01 1.13512903e-05 1.09054162e+00] [ 1.96548506e-03 1.23155188e-05 9.99998068e-01 8.46220894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.26, Y:1.09, Z:0.85 [[ 9.99908654e-01 1.33724151e-02 -1.96549218e-03 3.72259030e+02] [-1.33724191e-02 9.99910585e-01 1.11187223e-05 1.09254518e+00] [ 1.96546512e-03 1.51656785e-05 9.99998068e-01 8.45245794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90439141799993 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:372.32, Y:1.10, Z:0.84 [[ 9.99918018e-01 1.26528378e-02 -1.96549305e-03 3.72316752e+02] [-1.26528407e-02 9.99919950e-01 1.09630531e-05 1.09567686e+00] [ 1.96547443e-03 1.39069161e-05 9.99998068e-01 8.44914293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96439141799993 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:372.38, Y:1.10, Z:0.84 [[ 9.99953576e-01 9.43307947e-03 -1.96549414e-03 3.72375806e+02] [-9.43307653e-03 9.99955507e-01 1.07646382e-05 1.09888133e+00] [ 1.96550823e-03 7.77651819e-06 9.99998068e-01 8.43169991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02439141799994 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:372.43, Y:1.10, Z:0.84 [[ 9.99986844e-01 4.73808508e-03 -1.96549498e-03 3.72433476e+02] [-4.73807338e-03 9.99988775e-01 1.06096000e-05 1.10094440e+00] [ 1.96552318e-03 -1.29680098e-06 9.99998068e-01 8.43133098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08439141799994 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:372.49, Y:1.10, Z:0.84 [[ 9.99997466e-01 1.09781343e-03 -1.96549599e-03 3.72492496e+02] [-1.09779507e-03 9.99999397e-01 1.04182032e-05 1.10221677e+00] [ 1.96550624e-03 -8.26046497e-06 9.99998068e-01 8.40769240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14439141799994 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:372.55, Y:1.11, Z:0.84 [[ 9.99992485e-01 -3.34159223e-03 -1.96549683e-03 3.72551473e+02] [ 3.34161885e-03 9.99994417e-01 1.02576955e-05 1.10550333e+00] [ 1.96545158e-03 -1.68255597e-05 9.99998068e-01 8.39946367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20439141799994 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:372.61, Y:1.11, Z:0.84 [[ 9.99976512e-01 -6.56598582e-03 -1.96549744e-03 3.72613206e+02] [ 6.56601843e-03 9.99978443e-01 1.01393955e-05 1.10888920e+00] [ 1.96538849e-03 -2.30446498e-05 9.99998068e-01 8.38103707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26439141799995 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:372.67, Y:1.11, Z:0.84 [[ 9.99971420e-01 -7.30041183e-03 -1.96549703e-03 3.72674327e+02] [ 7.30044601e-03 9.99973351e-01 1.02180282e-05 1.11327827e+00] [ 1.96537006e-03 -2.45667411e-05 9.99998068e-01 8.38896242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32439141799995 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:372.74, Y:1.12, Z:0.84 [[ 9.99948626e-01 -9.94392187e-03 -1.96549564e-03 3.72736956e+02] [ 9.94396167e-03 9.99950558e-01 1.04781608e-05 1.11723887e+00] [ 1.96529427e-03 -3.00224359e-05 9.99998068e-01 8.37951812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.80, Y:1.12, Z:0.83 [[ 9.99912927e-01 -1.30489898e-02 -1.96549479e-03 3.72799736e+02] [ 1.30490359e-02 9.99914858e-01 1.06352219e-05 1.12337770e+00] [ 1.96518867e-03 -3.62821080e-05 9.99998068e-01 8.33768070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44439141799995 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:372.86, Y:1.13, Z:0.84 [[ 9.99871446e-01 -1.59131666e-02 -1.96549352e-03 3.72861114e+02] [ 1.59132187e-02 9.99873377e-01 1.08654413e-05 1.12650290e+00] [ 1.96507174e-03 -4.21413727e-05 9.99998068e-01 8.35972568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.50439141799995 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:372.92, Y:1.13, Z:0.84 [[ 9.99798850e-01 -1.99598928e-02 -1.96549222e-03 3.72924121e+02] [ 1.99599532e-02 9.99800780e-01 1.10957667e-05 1.13151187e+00] [ 1.96487919e-03 -5.03246675e-05 9.99998068e-01 8.35879695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.99, Y:1.13, Z:0.84 [[ 9.99732655e-01 -2.30381274e-02 -1.96549084e-03 3.72986171e+02] [ 2.30381942e-02 9.99734586e-01 1.13359977e-05 1.13350146e+00] [ 1.96470801e-03 -5.66143266e-05 9.99998068e-01 8.35668320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.05, Y:1.14, Z:0.83 [[ 9.99616160e-01 -2.76345778e-02 -1.96548968e-03 3.73048455e+02] [ 2.76346538e-02 9.99618090e-01 1.15329112e-05 1.13693068e+00] [ 1.96442033e-03 -6.58441112e-05 9.99998068e-01 8.34394027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.11, Y:1.14, Z:0.83 [[ 9.99515432e-01 -3.10650618e-02 -1.96548875e-03 3.73111461e+02] [ 3.10651448e-02 9.99517362e-01 1.16892559e-05 1.13899629e+00] [ 1.96417700e-03 -7.27417841e-05 9.99998068e-01 8.34009261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.17, Y:1.14, Z:0.83 [[ 9.99476300e-01 -3.22995740e-02 -1.96548734e-03 3.73173432e+02] [ 3.22996598e-02 9.99478230e-01 1.19221902e-05 1.14065576e+00] [ 1.96407672e-03 -7.54005189e-05 9.99998068e-01 8.31897599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.24, Y:1.14, Z:0.83 [[ 9.99502104e-01 -3.14909731e-02 -1.96548637e-03 3.73236016e+02] [ 3.14910576e-02 9.99504034e-01 1.20801959e-05 1.14071963e+00] [ 1.96413113e-03 -7.39694257e-05 9.99998068e-01 8.30822700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.30, Y:1.14, Z:0.83 [[ 9.99523768e-01 -3.07956969e-02 -1.96548490e-03 3.73298748e+02] [ 3.07957806e-02 9.99525697e-01 1.23140186e-05 1.14018715e+00] [ 1.96417345e-03 -7.28367960e-05 9.99998068e-01 8.30183745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.36, Y:1.14, Z:0.83 [[ 9.99512585e-01 -3.11565146e-02 -1.96548337e-03 3.73360323e+02] [ 3.11565994e-02 9.99514515e-01 1.25539074e-05 1.13942822e+00] [ 1.96413802e-03 -7.37855664e-05 9.99998068e-01 8.30561913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.984391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.42, Y:1.14, Z:0.83 [[ 9.99498302e-01 -3.16114043e-02 -1.96548209e-03 3.73422895e+02] [ 3.16114904e-02 9.99500232e-01 1.27506105e-05 1.13656319e+00] [ 1.96409674e-03 -7.48760319e-05 9.99998068e-01 8.29381076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.044391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.49, Y:1.13, Z:0.83 [[ 9.99513131e-01 -3.11390209e-02 -1.96548054e-03 3.73485497e+02] [ 3.11391066e-02 9.99515060e-01 1.29851431e-05 1.13449689e+00] [ 1.96412306e-03 -7.41821292e-05 9.99998068e-01 8.28930125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.104391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.55, Y:1.13, Z:0.83 [[ 9.99578311e-01 -2.89713197e-02 -1.96547893e-03 3.73548652e+02] [ 2.89714016e-02 9.99580241e-01 1.32245142e-05 1.13237450e+00] [ 1.96427077e-03 -7.01616171e-05 9.99998068e-01 8.28768562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.164391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.61, Y:1.13, Z:0.83 [[ 9.99702637e-01 -2.43058380e-02 -1.96547731e-03 3.73612071e+02] [ 2.43059114e-02 9.99704568e-01 1.34612040e-05 1.12924329e+00] [ 1.96456946e-03 -6.12299185e-05 9.99998068e-01 8.27725813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.224391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.68, Y:1.13, Z:0.83 [[ 9.99751541e-01 -2.22034454e-02 -1.96547565e-03 3.73675228e+02] [ 2.22035152e-02 9.99753471e-01 1.37002357e-05 1.12727160e+00] [ 1.96468691e-03 -5.73373002e-05 9.99998068e-01 8.28617140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2843914179999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.74, Y:1.12, Z:0.83 [[ 9.99848582e-01 -1.72901517e-02 -1.96547395e-03 3.73737993e+02] [ 1.72902125e-02 9.99850513e-01 1.39393483e-05 1.12331807e+00] [ 1.96493912e-03 -4.79206999e-05 9.99998068e-01 8.26930324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.80, Y:1.12, Z:0.83 [[ 9.99918779e-01 -1.25925472e-02 -1.96547223e-03 3.73799921e+02] [ 1.25925993e-02 9.99920710e-01 1.41777223e-05 1.11854349e+00] [ 1.96513785e-03 -3.89269751e-05 9.99998068e-01 8.27246287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40439141799993 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:373.86, Y:1.12, Z:0.83 [[ 9.99958723e-01 -8.87072603e-03 -1.96547109e-03 3.73861611e+02] [ 8.87077133e-03 9.99960654e-01 1.43341385e-05 1.11505343e+00] [ 1.96526660e-03 -3.17687914e-05 9.99998068e-01 8.27611044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46439141799993 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:373.92, Y:1.11, Z:0.83 [[ 9.99980591e-01 -5.91217385e-03 -1.96546993e-03 3.73924069e+02] [ 5.91221375e-03 9.99982523e-01 1.44914184e-05 1.11137198e+00] [ 1.96534990e-03 -2.61114155e-05 9.99998068e-01 8.25934489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52439141799994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:373.99, Y:1.11, Z:0.82 [[ 9.99996671e-01 -1.67205349e-03 -1.96546875e-03 3.73986080e+02] [ 1.67208551e-03 9.99998602e-01 1.46491063e-05 1.10607409e+00] [ 1.96544151e-03 -1.79354894e-05 9.99998068e-01 8.24089530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58439141799994 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:374.05, Y:1.11, Z:0.82 [[ 9.99995326e-01 2.34207816e-03 -1.96546759e-03 3.74046656e+02] [-2.34205358e-03 9.99997257e-01 1.48042707e-05 1.10541911e+00] [ 1.96549687e-03 -1.02009711e-05 9.99998068e-01 8.20965818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64439141799994 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:374.11, Y:1.10, Z:0.82 [[ 9.99975098e-01 6.77796859e-03 -1.96546759e-03 3.74105497e+02] [-6.77795258e-03 9.99977029e-01 1.48042707e-05 1.10044207e+00] [ 1.96552278e-03 -1.48205590e-06 9.99998068e-01 8.22788763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70439141799994 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:374.16, Y:1.10, Z:0.82 [[ 9.99948182e-01 9.98846029e-03 -1.96546850e-03 3.74163535e+02] [-9.98845072e-03 9.99950114e-01 1.46823502e-05 1.09690055e+00] [ 1.96551710e-03 4.95039585e-06 9.99998068e-01 8.21906120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76439141799995 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:374.22, Y:1.09, Z:0.82 [[ 9.99934054e-01 1.13147568e-02 -1.96547281e-03 3.74222403e+02] [-1.13147509e-02 9.99935986e-01 1.40805150e-05 1.09418080e+00] [ 1.96550631e-03 8.15924884e-06 9.99998068e-01 8.20564254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82439141799995 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:374.28, Y:1.09, Z:0.82 [[ 9.99953590e-01 9.43153699e-03 -1.96547391e-03 3.74281462e+02] [-9.43152784e-03 9.99955522e-01 1.39254064e-05 1.08969050e+00] [ 1.96551782e-03 4.61266178e-06 9.99998068e-01 8.20334604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88439141799995 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:374.34, Y:1.09, Z:0.82 [[ 9.99948905e-01 9.91586195e-03 -1.96547498e-03 3.74340650e+02] [-9.91585403e-03 9.99950837e-01 1.37728972e-05 1.08690946e+00] [ 1.96551492e-03 5.71716947e-06 9.99998068e-01 8.20449926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.94439141799995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:374.40, Y:1.08, Z:0.82 [[ 9.99938525e-01 1.09124772e-02 -1.96547604e-03 3.74398962e+02] [-1.09124715e-02 9.99940457e-01 1.36197069e-05 1.08479844e+00] [ 1.96550763e-03 7.82933163e-06 9.99998068e-01 8.19535646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.00439141799995 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:374.46, Y:1.08, Z:0.82 [[ 9.99926843e-01 1.19350644e-02 -1.96547712e-03 3.74457830e+02] [-1.19350610e-02 9.99928775e-01 1.34619650e-05 1.08394757e+00] [ 1.96549779e-03 9.99710922e-06 9.99998068e-01 8.19195599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.06439141799996 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:374.52, Y:1.08, Z:0.82 [[ 9.99927136e-01 1.19105229e-02 -1.96547817e-03 3.74516178e+02] [-1.19105197e-02 9.99929067e-01 1.33060786e-05 1.08311747e+00] [ 1.96549724e-03 1.01047575e-05 9.99998068e-01 8.18939459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.12439141799996 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:374.58, Y:1.08, Z:0.82 [[ 9.99939870e-01 1.07885664e-02 -1.96547920e-03 3.74575069e+02] [-1.07885614e-02 9.99941802e-01 1.31519704e-05 1.08273696e+00] [ 1.96550671e-03 8.05351352e-06 9.99998068e-01 8.18911128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18439141799996 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:374.63, Y:1.08, Z:0.82 [[ 9.99953296e-01 9.46271680e-03 -1.96548021e-03 3.74634343e+02] [-9.46270953e-03 9.99955227e-01 1.30002741e-05 1.08355001e+00] [ 1.96551523e-03 5.59910137e-06 9.99998068e-01 8.18666381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24439141799996 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:374.69, Y:1.08, Z:0.82 [[ 9.99961054e-01 8.60396670e-03 -1.96548119e-03 3.74693234e+02] [-8.60395806e-03 9.99962985e-01 1.28499240e-05 1.08442767e+00] [ 1.96551900e-03 4.06149424e-06 9.99998068e-01 8.16691513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30439141799997 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:374.75, Y:1.09, Z:0.82 [[ 9.99966618e-01 7.93093749e-03 -1.96548219e-03 3.74752468e+02] [-7.93092785e-03 9.99968550e-01 1.26956558e-05 1.08729903e+00] [ 1.96552106e-03 2.89286545e-06 9.99998068e-01 8.16822327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36439141799997 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:374.81, Y:1.09, Z:0.82 [[ 9.99972820e-01 7.10605428e-03 -1.96548315e-03 3.74811086e+02] [-7.10604335e-03 9.99974752e-01 1.25441137e-05 1.08888352e+00] [ 1.96552267e-03 1.42303575e-06 9.99998068e-01 8.16834590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42439141799997 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:374.87, Y:1.09, Z:0.82 [[ 9.99978784e-01 6.21039591e-03 -1.96548416e-03 3.74869709e+02] [-6.21038357e-03 9.99980715e-01 1.23839340e-05 1.09135138e+00] [ 1.96552317e-03 -1.77260718e-07 9.99998068e-01 8.17307165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.484391418 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:374.93, Y:1.09, Z:0.82 [[ 9.99971828e-01 7.24433415e-03 -1.96548514e-03 3.74928595e+02] [-7.24432411e-03 9.99973759e-01 1.22261347e-05 1.09445576e+00] [ 1.96552214e-03 2.01282115e-06 9.99998068e-01 8.16657184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.544391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.99, Y:1.10, Z:0.82 [[ 9.99963777e-01 8.28137659e-03 -1.96548612e-03 3.74986515e+02] [-8.28136887e-03 9.99965709e-01 1.20666231e-05 1.09872397e+00] [ 1.96551865e-03 4.21072957e-06 9.99998068e-01 8.17416888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.604391418 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:375.05, Y:1.10, Z:0.82 [[ 9.99944562e-01 1.03445438e-02 -1.96548733e-03 3.75045018e+02] [-1.03445404e-02 9.99946494e-01 1.18672161e-05 1.10160178e+00] [ 1.96550492e-03 8.46550489e-06 9.99998068e-01 8.18082578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.664391418 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:375.10, Y:1.10, Z:0.82 [[ 9.99934829e-01 1.12461196e-02 -1.96548823e-03 3.75102979e+02] [-1.12461183e-02 9.99936760e-01 1.17150873e-05 1.10298501e+00] [ 1.96549569e-03 1.03897894e-05 9.99998068e-01 8.18482078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.724391418 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:375.16, Y:1.11, Z:0.82 [[ 9.99920436e-01 1.24602769e-02 -1.96548933e-03 3.75161279e+02] [-1.24602783e-02 9.99922368e-01 1.15283093e-05 1.10700011e+00] [ 1.96548039e-03 1.29631520e-05 9.99998068e-01 8.18935711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7843914179999 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:375.22, Y:1.11, Z:0.82 [[ 9.99919838e-01 1.25081729e-02 -1.96549063e-03 3.75219498e+02] [-1.25081748e-02 9.99921770e-01 1.13023161e-05 1.11102581e+00] [ 1.96547824e-03 1.32832904e-05 9.99998068e-01 8.19047673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84439141799993 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:375.28, Y:1.11, Z:0.82 [[ 9.99934597e-01 1.12667026e-02 -1.96549191e-03 3.75277602e+02] [-1.12667026e-02 9.99936529e-01 1.10755563e-05 1.11467835e+00] [ 1.96549194e-03 1.10697809e-05 9.99998068e-01 8.17852085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.34, Y:1.12, Z:0.82 [[ 9.99953042e-01 9.48945922e-03 -1.96549318e-03 3.75335856e+02] [-9.48945623e-03 9.99954974e-01 1.08451780e-05 1.11610085e+00] [ 1.96550760e-03 7.80679280e-06 9.99998068e-01 8.17547413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.39, Y:1.12, Z:0.82 [[ 9.99975104e-01 6.77696418e-03 -1.96549440e-03 3.75394970e+02] [-6.77695640e-03 9.99977036e-01 1.06182904e-05 1.11812232e+00] [ 1.96552123e-03 2.70204388e-06 9.99998068e-01 8.18172109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.45, Y:1.12, Z:0.82 [[ 9.99986470e-01 4.81635001e-03 -1.96549523e-03 3.75453847e+02] [-4.81633875e-03 9.99988401e-01 1.04630182e-05 1.12070802e+00] [ 1.96552283e-03 -9.96385801e-07 9.99998068e-01 8.19003141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.51, Y:1.12, Z:0.82 [[ 9.99992784e-01 3.25091252e-03 -1.96549605e-03 3.75513062e+02] [-3.25089854e-03 9.99994716e-01 1.03076013e-05 1.12200408e+00] [ 1.96551917e-03 -3.91789866e-06 9.99998068e-01 8.18567003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.57, Y:1.12, Z:0.82 [[ 9.99998031e-01 2.75142145e-04 -1.96549685e-03 3.75571281e+02] [-2.75122723e-04 9.99999962e-01 1.01521843e-05 1.12345850e+00] [ 1.96549957e-03 -9.61141141e-06 9.99998068e-01 8.17215843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.63, Y:1.13, Z:0.82 [[ 9.99994591e-01 -2.63725357e-03 -1.96549782e-03 3.75631269e+02] [ 2.63727824e-03 9.99996522e-01 9.96133415e-06 1.12516006e+00] [ 1.96546471e-03 -1.51448449e-05 9.99998068e-01 8.16614737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.69, Y:1.12, Z:0.82 [[ 9.99978873e-01 -6.19607019e-03 -1.96549821e-03 3.75691953e+02] [ 6.19610158e-03 9.99980804e-01 9.88314819e-06 1.12410485e+00] [ 1.96539924e-03 -2.20613659e-05 9.99998068e-01 8.16810024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.75, Y:1.12, Z:0.82 [[ 9.99962358e-01 -8.45104646e-03 -1.96549802e-03 3.75754324e+02] [ 8.45108228e-03 9.99964289e-01 9.92153734e-06 1.12239789e+00] [ 1.96534398e-03 -2.65317493e-05 9.99998068e-01 8.15883167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.82, Y:1.12, Z:0.82 [[ 9.99965935e-01 -8.01659599e-03 -1.96549723e-03 3.75816773e+02] [ 8.01663127e-03 9.99967866e-01 1.00748364e-05 1.12161267e+00] [ 1.96535331e-03 -2.58311598e-05 9.99998068e-01 8.16132552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.44439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.88, Y:1.12, Z:0.82 [[ 9.99966637e-01 -7.92854028e-03 -1.96549644e-03 3.75878572e+02] [ 7.92857570e-03 9.99968568e-01 1.02275409e-05 1.12077319e+00] [ 1.96535357e-03 -2.58107869e-05 9.99998068e-01 8.17107348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.50439141799995 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:375.94, Y:1.12, Z:0.82 [[ 9.99952071e-01 -9.59129832e-03 -1.96549560e-03 3.75940183e+02] [ 9.59133726e-03 9.99954002e-01 1.03847492e-05 1.11939875e+00] [ 1.96530559e-03 -2.92359827e-05 9.99998068e-01 8.16898344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.56439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.00, Y:1.12, Z:0.82 [[ 9.99908478e-01 -1.33855660e-02 -1.96549498e-03 3.76002695e+02] [ 1.33856125e-02 9.99910409e-01 1.05007692e-05 1.11602043e+00] [ 1.96517833e-03 -3.68091624e-05 9.99998068e-01 8.15187085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.62439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.06, Y:1.11, Z:0.81 [[ 9.99880979e-01 -1.53024261e-02 -1.96549414e-03 3.76064884e+02] [ 1.53024766e-02 9.99882910e-01 1.06570953e-05 1.11305258e+00] [ 1.96510092e-03 -4.07327550e-05 9.99998068e-01 8.14335693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68439141799996 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:376.13, Y:1.11, Z:0.81 [[ 9.99884646e-01 -1.50609319e-02 -1.96549328e-03 3.76127961e+02] [ 1.50609823e-02 9.99886577e-01 1.08127310e-05 1.11104475e+00] [ 1.96510750e-03 -4.04137432e-05 9.99998068e-01 8.13442107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.19, Y:1.11, Z:0.82 [[ 9.99896709e-01 -1.42375922e-02 -1.96549195e-03 3.76190025e+02] [ 1.42376414e-02 9.99898640e-01 1.10488399e-05 1.10974603e+00] [ 1.96513542e-03 -3.90316683e-05 9.99998068e-01 8.16460853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.25, Y:1.11, Z:0.82 [[ 9.99948890e-01 -9.91740555e-03 -1.96549106e-03 3.76252061e+02] [ 9.91744672e-03 9.99950821e-01 1.12047647e-05 1.10875074e+00] [ 1.96528328e-03 -3.06968449e-05 9.99998068e-01 8.16709162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.31, Y:1.11, Z:0.82 [[ 9.99989332e-01 -4.18010977e-03 -1.96549015e-03 3.76314728e+02] [ 4.18014018e-03 9.99991263e-01 1.13628451e-05 1.10709410e+00] [ 1.96542548e-03 -1.95787483e-05 9.99998068e-01 8.15082897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92439141799997 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:376.38, Y:1.11, Z:0.81 [[ 9.99997077e-01 1.40838975e-03 -1.96548924e-03 3.76376229e+02] [-1.40836983e-03 9.99999008e-01 1.15183896e-05 1.10653910e+00] [ 1.96550351e-03 -8.75022019e-06 9.99998068e-01 8.13603708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.984391418 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.44, Y:1.11, Z:0.81 [[ 9.99914075e-01 1.29607137e-02 -1.96548879e-03 3.76435818e+02] [-1.29607159e-02 9.99916006e-01 1.15944558e-05 1.10715582e+00] [ 1.96547397e-03 1.38806823e-05 9.99998068e-01 8.13673323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.044391418 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:376.49, Y:1.11, Z:0.81 [[ 9.99693179e-01 2.46918004e-02 -1.96548924e-03 3.76494012e+02] [-2.46918255e-02 9.99695110e-01 1.15170126e-05 1.10766646e+00] [ 1.96517436e-03 3.70180384e-05 9.99998068e-01 8.13770109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.104391418 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:376.55, Y:1.11, Z:0.81 [[ 9.99516432e-01 3.10328724e-02 -1.96549269e-03 3.76552330e+02] [-3.10329110e-02 9.99518363e-01 1.08961070e-05 1.10686720e+00] [ 1.96488417e-03 5.01041215e-05 9.99998068e-01 8.13706419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.164391418 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:376.61, Y:1.10, Z:0.81 [[ 9.99319439e-01 3.68347077e-02 -1.96549394e-03 3.76611435e+02] [-3.68347579e-02 9.99321370e-01 1.06653843e-05 1.10437273e+00] [ 1.96455295e-03 6.17403675e-05 9.99998068e-01 8.12752999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.224391418 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:376.67, Y:1.10, Z:0.81 [[ 9.99292904e-01 3.75476993e-02 -1.96549475e-03 3.76669927e+02] [-3.75477511e-02 9.99294835e-01 1.05131688e-05 1.10169907e+00] [ 1.96450350e-03 6.32941729e-05 9.99998068e-01 8.11297166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2843914179999 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:376.73, Y:1.10, Z:0.81 [[ 9.99345849e-01 3.61110810e-02 -1.96549557e-03 3.76727953e+02] [-3.61111304e-02 9.99347780e-01 1.03588996e-05 1.09935270e+00] [ 1.96458770e-03 6.06241433e-05 9.99998068e-01 8.09911570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34439141799993 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:376.79, Y:1.10, Z:0.81 [[ 9.99497435e-01 3.16388065e-02 -1.96549675e-03 3.76785877e+02] [-3.16388478e-02 9.99499366e-01 1.01299132e-05 1.09585013e+00] [ 1.96483325e-03 5.20612300e-05 9.99998068e-01 8.10485284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40439141799993 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:376.84, Y:1.09, Z:0.81 [[ 9.99694320e-01 2.46455592e-02 -1.96549791e-03 3.76844417e+02] [-2.46455874e-02 9.99696251e-01 9.89964050e-06 1.09258427e+00] [ 1.96514487e-03 3.85442360e-05 9.99998068e-01 8.11009091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46439141799993 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:376.90, Y:1.09, Z:0.81 [[ 9.99851038e-01 1.71475751e-02 -1.96549869e-03 3.76901087e+02] [-1.71475891e-02 9.99852969e-01 9.74141176e-06 1.08857032e+00] [ 1.96537674e-03 2.39636032e-05 9.99998068e-01 8.10164872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52439141799994 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:376.96, Y:1.09, Z:0.81 [[ 9.99924649e-01 1.21174432e-02 -1.96550044e-03 3.76958707e+02] [-1.21174482e-02 9.99926581e-01 9.37386138e-06 1.08698345e+00] [ 1.96546972e-03 1.44436947e-05 9.99998068e-01 8.09746649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58439141799994 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:377.02, Y:1.09, Z:0.81 [[ 9.99948394e-01 9.96724210e-03 -1.96550152e-03 3.77017022e+02] [-9.96724338e-03 9.99950326e-01 9.14220589e-06 1.08637454e+00] [ 1.96549501e-03 1.04488979e-05 9.99998068e-01 8.09939261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64439141799994 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:377.08, Y:1.09, Z:0.81 [[ 9.99986424e-01 4.82582254e-03 -1.96550222e-03 3.77075548e+02] [-4.82581420e-03 9.99988356e-01 8.98839730e-06 1.08617570e+00] [ 1.96552271e-03 4.96873256e-07 9.99998068e-01 8.10477180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70439141799994 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:377.13, Y:1.09, Z:0.81 [[ 9.99997942e-01 -5.02598403e-04 -1.96550292e-03 3.77133988e+02] [ 5.02616737e-04 9.99999874e-01 8.83419887e-06 1.08664127e+00] [ 1.96549823e-03 -9.82207536e-06 9.99998068e-01 8.09547628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76439141799995 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:377.19, Y:1.09, Z:0.81 [[ 9.99977711e-01 -6.38077170e-03 -1.96550359e-03 3.77193343e+02] [ 6.38080109e-03 9.99979642e-01 8.68199943e-06 1.08805792e+00] [ 1.96540818e-03 -2.12232934e-05 9.99998068e-01 8.07132499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82439141799995 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:377.26, Y:1.09, Z:0.81 [[ 9.99944406e-01 -1.03596143e-02 -1.96550392e-03 3.77255408e+02] [ 1.03596512e-02 9.99946337e-01 8.60612763e-06 1.09041363e+00] [ 1.96530929e-03 -2.89675843e-05 9.99998068e-01 8.05757771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88439141799995 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:377.32, Y:1.09, Z:0.81 [[ 9.99934667e-01 -1.12604822e-02 -1.96550135e-03 3.77317571e+02] [ 1.12605220e-02 9.99936598e-01 9.15704021e-06 1.09349953e+00] [ 1.96527363e-03 -3.12890132e-05 9.99998068e-01 8.06705052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.94439141799995 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:377.38, Y:1.10, Z:0.81 [[ 9.99921018e-01 -1.24135201e-02 -1.96550059e-03 3.77378655e+02] [ 1.24135624e-02 9.99922949e-01 9.31733763e-06 1.09878441e+00] [ 1.96523349e-03 -3.37154661e-05 9.99998068e-01 8.08456160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.00439141799995 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:377.44, Y:1.10, Z:0.81 [[ 9.99906238e-01 -1.35518197e-02 -1.96550003e-03 3.77440460e+02] [ 1.35518644e-02 9.99908169e-01 9.43548917e-06 1.10106577e+00] [ 1.96519167e-03 -3.60707944e-05 9.99998068e-01 8.07543126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.06439141799996 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:377.50, Y:1.10, Z:0.81 [[ 9.99912323e-01 -1.30951353e-02 -1.96549926e-03 3.77503006e+02] [ 1.30951795e-02 9.99914254e-01 9.59245797e-06 1.10009098e+00] [ 1.96520511e-03 -3.53301826e-05 9.99998068e-01 8.06512544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.12439141799996 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:377.57, Y:1.10, Z:0.81 [[ 9.99914105e-01 -1.29583755e-02 -1.96549846e-03 3.77565041e+02] [ 1.29584197e-02 9.99916036e-01 9.75325615e-06 1.09826764e+00] [ 1.96520705e-03 -3.52221724e-05 9.99998068e-01 8.07061405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18439141799996 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:377.63, Y:1.10, Z:0.81 [[ 9.99878405e-01 -1.54696816e-02 -1.96549765e-03 3.77626411e+02] [ 1.54697309e-02 9.99880337e-01 9.91432612e-06 1.09550830e+00] [ 1.96510908e-03 -4.03188404e-05 9.99998068e-01 8.07486947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24439141799996 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:377.69, Y:1.09, Z:0.81 [[ 9.99801819e-01 -1.98106165e-02 -1.96549704e-03 3.77689473e+02] [ 1.98106745e-02 9.99803749e-01 1.00331494e-05 1.09173110e+00] [ 1.96491255e-03 -4.89689832e-05 9.99998068e-01 8.05210177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30439141799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.75, Y:1.09, Z:0.80 [[ 9.99761002e-01 -2.17732983e-02 -1.96549581e-03 3.77752949e+02] [ 2.17733606e-02 9.99762932e-01 1.02696998e-05 1.08984109e+00] [ 1.96480625e-03 -5.30626943e-05 9.99998068e-01 8.04255414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36439141799997 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:377.82, Y:1.09, Z:0.80 [[ 9.99711220e-01 -2.39502169e-02 -1.96549456e-03 3.77816122e+02] [ 2.39502838e-02 9.99713151e-01 1.05026801e-05 1.08707977e+00] [ 1.96467922e-03 -5.75737997e-05 9.99998068e-01 8.04863572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42439141799997 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:377.88, Y:1.08, Z:0.81 [[ 9.99684422e-01 -2.50438183e-02 -1.96549327e-03 3.77879419e+02] [ 2.50438878e-02 9.99686353e-01 1.07387891e-05 1.08411680e+00] [ 1.96460786e-03 -5.99589931e-05 9.99998068e-01 8.05832270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.484391418 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:377.94, Y:1.08, Z:0.81 [[ 9.99654633e-01 -2.62059349e-02 -1.96549195e-03 3.77942912e+02] [ 2.62060071e-02 9.99656564e-01 1.09766861e-05 1.08187740e+00] [ 1.96452927e-03 -6.24805909e-05 9.99998068e-01 8.05654073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.544391418 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:378.01, Y:1.08, Z:0.80 [[ 9.99575536e-01 -2.90668918e-02 -1.96549059e-03 3.78005911e+02] [ 2.90669699e-02 9.99577466e-01 1.12142482e-05 1.07739049e+00] [ 1.96433414e-03 -6.83403441e-05 9.99998068e-01 8.03528020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.604391418 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:378.07, Y:1.07, Z:0.80 [[ 9.99489209e-01 -3.18976194e-02 -1.96548922e-03 3.78069389e+02] [ 3.18977035e-02 9.99491139e-01 1.14487819e-05 1.07215761e+00] [ 1.96412387e-03 -7.41375264e-05 9.99998068e-01 8.01860664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.664391418 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:378.13, Y:1.07, Z:0.80 [[ 9.99437475e-01 -3.34794121e-02 -1.96548784e-03 3.78132417e+02] [ 3.34794997e-02 9.99439404e-01 1.16813034e-05 1.06939660e+00] [ 1.96399491e-03 -7.74782820e-05 9.99998068e-01 8.03278001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.724391418 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:378.20, Y:1.07, Z:0.80 [[ 9.99384917e-01 -3.50131911e-02 -1.96548641e-03 3.78195630e+02] [ 3.50132822e-02 9.99386847e-01 1.19176320e-05 1.06588776e+00] [ 1.96386399e-03 -8.07284319e-05 9.99998068e-01 8.04536598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7843914179999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:378.26, Y:1.06, Z:0.80 [[ 9.99387382e-01 -3.49427653e-02 -1.96548490e-03 3.78257598e+02] [ 3.49428567e-02 9.99389312e-01 1.21608069e-05 1.06152172e+00] [ 1.96385967e-03 -8.08330143e-05 9.99998068e-01 8.04357354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84439141799993 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:378.32, Y:1.06, Z:0.80 [[ 9.99395872e-01 -3.46990980e-02 -1.96548365e-03 3.78320611e+02] [ 3.46991893e-02 9.99397802e-01 1.23602548e-05 1.05776275e+00] [ 1.96387115e-03 -8.05534768e-05 9.99998068e-01 8.04334903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90439141799993 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:378.38, Y:1.06, Z:0.80 [[ 9.99417386e-01 -3.40738200e-02 -1.96548215e-03 3.78384128e+02] [ 3.40739106e-02 9.99419316e-01 1.25950051e-05 1.05530138e+00] [ 1.96391166e-03 -7.95593299e-05 9.99998068e-01 8.03833862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96439141799993 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:378.45, Y:1.05, Z:0.80 [[ 9.99436333e-01 -3.35134670e-02 -1.96548062e-03 3.78447248e+02] [ 3.35135569e-02 9.99438263e-01 1.28289352e-05 1.05122414e+00] [ 1.96394659e-03 -7.86919505e-05 9.99998068e-01 8.03154414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02439141799994 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:378.51, Y:1.05, Z:0.80 [[ 9.99446799e-01 -3.31998836e-02 -1.96547904e-03 3.78509430e+02] [ 3.31999734e-02 9.99448729e-01 1.30658778e-05 1.04900785e+00] [ 1.96396175e-03 -7.83125017e-05 9.99998068e-01 8.02457359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08439141799994 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:378.57, Y:1.05, Z:0.80 [[ 9.99448622e-01 -3.31449779e-02 -1.96547773e-03 3.78572716e+02] [ 3.31450680e-02 9.99450551e-01 1.32602035e-05 1.04547409e+00] [ 1.96395829e-03 -7.83987851e-05 9.99998068e-01 8.00658737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14439141799994 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:378.64, Y:1.04, Z:0.80 [[ 9.99465947e-01 -3.26183784e-02 -1.96547614e-03 3.78635608e+02] [ 3.26184679e-02 9.99467876e-01 1.34923740e-05 1.04271205e+00] [ 1.96399016e-03 -7.75959886e-05 9.99998068e-01 7.99931329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20439141799994 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:378.70, Y:1.04, Z:0.80 [[ 9.99461765e-01 -3.27462584e-02 -1.96547446e-03 3.78698737e+02] [ 3.27463486e-02 9.99463694e-01 1.37320028e-05 1.04008557e+00] [ 1.96397070e-03 -7.80867237e-05 9.99998068e-01 7.99927501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26439141799995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:378.76, Y:1.04, Z:0.80 [[ 9.99471391e-01 -3.24511188e-02 -1.96547278e-03 3.78762025e+02] [ 3.24512090e-02 9.99473321e-01 1.39686921e-05 1.03866037e+00] [ 1.96398431e-03 -7.77432761e-05 9.99998068e-01 7.99207282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32439141799995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:378.82, Y:1.04, Z:0.80 [[ 9.99483675e-01 -3.20705586e-02 -1.96547110e-03 3.78824581e+02] [ 3.20706485e-02 9.99485604e-01 1.42020217e-05 1.03691273e+00] [ 1.96400460e-03 -7.72286214e-05 9.99998068e-01 7.98206125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38439141799995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:378.89, Y:1.04, Z:0.80 [[ 9.99569083e-01 -2.92879825e-02 -1.96546940e-03 3.78887820e+02] [ 2.92880675e-02 9.99571012e-01 1.44335247e-05 1.03580824e+00] [ 1.96420351e-03 -7.19921053e-05 9.99998068e-01 7.98737408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.44439141799995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:378.95, Y:1.04, Z:0.80 [[ 9.99688116e-01 -2.48959475e-02 -1.96546765e-03 3.78951061e+02] [ 2.48960244e-02 9.99690046e-01 1.46670993e-05 1.03691718e+00] [ 1.96449330e-03 -6.35948555e-05 9.99998068e-01 7.99235772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.50439141799995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:379.01, Y:1.04, Z:0.80 [[ 9.99731416e-01 -2.30918231e-02 -1.96546583e-03 3.79013490e+02] [ 2.30918970e-02 9.99733346e-01 1.49073272e-05 1.03689682e+00] [ 1.96459750e-03 -6.02896580e-05 9.99998068e-01 7.99734650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.56439141799996 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:379.08, Y:1.04, Z:0.80 [[ 9.99806686e-01 -1.95634136e-02 -1.96546432e-03 3.79076283e+02] [ 1.95634811e-02 9.99808617e-01 1.51041201e-05 1.03757193e+00] [ 1.96479267e-03 -5.35525243e-05 9.99998068e-01 8.00300592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.62439141799996 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:379.14, Y:1.04, Z:0.80 [[ 9.99911149e-01 -1.31845286e-02 -1.96546245e-03 3.79138904e+02] [ 1.31845843e-02 9.99913079e-01 1.53436341e-05 1.03919095e+00] [ 1.96508931e-03 -4.12560761e-05 9.99998068e-01 8.00423391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68439141799996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:379.20, Y:1.04, Z:0.80 [[ 9.99985744e-01 -4.96476291e-03 -1.96546120e-03 3.79200507e+02] [ 4.96480297e-03 9.99987675e-01 1.55014149e-05 1.04116544e+00] [ 1.96536002e-03 -2.52593216e-05 9.99998068e-01 7.97685662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74439141799996 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:379.26, Y:1.04, Z:0.80 [[ 9.99997832e-01 6.87281563e-04 -1.96545995e-03 3.79262337e+02] [-6.87252114e-04 9.99999764e-01 1.56586204e-05 1.04341331e+00] [ 1.96547025e-03 -1.43078199e-05 9.99998068e-01 7.99286276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80439141799997 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:379.32, Y:1.04, Z:0.80 [[ 9.99974357e-01 6.88644457e-03 -1.96545930e-03 3.79321194e+02] [-6.88642693e-03 9.99976288e-01 1.57394757e-05 1.04456088e+00] [ 1.96552109e-03 -2.20408020e-06 9.99998068e-01 7.99419931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86439141799997 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:379.38, Y:1.05, Z:0.80 [[ 9.99891123e-01 1.46246031e-02 -1.96546022e-03 3.79379310e+02] [-1.46246006e-02 9.99893055e-01 1.56246312e-05 1.04726156e+00] [ 1.96547852e-03 1.31211406e-05 9.99998068e-01 8.00247548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92439141799997 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:379.44, Y:1.05, Z:0.80 [[ 9.99776568e-01 2.10463837e-02 -1.96546508e-03 3.79437628e+02] [-2.10463949e-02 9.99778500e-01 1.49867679e-05 1.04831054e+00] [ 1.96534515e-03 2.63825350e-05 9.99998068e-01 8.00586313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.984391418 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:379.50, Y:1.05, Z:0.80 [[ 9.99670643e-01 2.55879414e-02 -1.96546977e-03 3.79496063e+02] [-2.55879627e-02 9.99672574e-01 1.43443740e-05 1.04770693e+00] [ 1.96519327e-03 3.59527175e-05 9.99998068e-01 7.99661898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.044391418 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:379.55, Y:1.05, Z:0.80 [[ 9.99639510e-01 2.67766276e-02 -1.96547146e-03 3.79553394e+02] [-2.67766516e-02 9.99641441e-01 1.41084737e-05 1.04773596e+00] [ 1.96514450e-03 3.85253568e-05 9.99998068e-01 7.99974307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.104391418 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:379.61, Y:1.05, Z:0.80 [[ 9.99607316e-01 2.79526518e-02 -1.96547336e-03 3.79611151e+02] [-2.79526786e-02 9.99609247e-01 1.38384713e-05 1.04736165e+00] [ 1.96509217e-03 4.11072081e-05 9.99998068e-01 7.99834836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.164391418 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:379.67, Y:1.05, Z:0.80 [[ 9.99619092e-01 2.75283159e-02 -1.96547494e-03 3.79669480e+02] [-2.75283423e-02 9.99621023e-01 1.36108133e-05 1.04710004e+00] [ 1.96510475e-03 4.05006381e-05 9.99998068e-01 7.98777817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.224391418 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:379.73, Y:1.05, Z:0.80 [[ 9.99668060e-01 2.56886373e-02 -1.96547653e-03 3.79726215e+02] [-2.56886606e-02 9.99669992e-01 1.33767014e-05 1.04732159e+00] [ 1.96517154e-03 3.71181985e-05 9.99998068e-01 7.97676361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2843914179999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:379.78, Y:1.05, Z:0.80 [[ 9.99741123e-01 2.26677033e-02 -1.96547832e-03 3.79783581e+02] [-2.26677213e-02 9.99743054e-01 1.31083079e-05 1.04841963e+00] [ 1.96527044e-03 3.14480004e-05 9.99998068e-01 7.99498259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.84, Y:1.05, Z:0.80 [[ 9.99836031e-01 1.80013379e-02 -1.96548063e-03 3.79842251e+02] [-1.80013476e-02 9.99837963e-01 1.27533966e-05 1.04784074e+00] [ 1.96539172e-03 2.26299944e-05 9.99998068e-01 7.99338167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40439141799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.90, Y:1.05, Z:0.80 [[ 9.99906830e-01 1.35080451e-02 -1.96548161e-03 3.79899980e+02] [-1.35080464e-02 9.99908762e-01 1.26008172e-05 1.04836271e+00] [ 1.96547249e-03 1.39501735e-05 9.99998068e-01 7.98641100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46439141799993 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:379.96, Y:1.05, Z:0.80 [[ 9.99967444e-01 7.82613567e-03 -1.96548307e-03 3.79959141e+02] [-7.82612648e-03 9.99969375e-01 1.23674125e-05 1.04957416e+00] [ 1.96551967e-03 3.01510930e-06 9.99998068e-01 7.97315577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52439141799994 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:380.02, Y:1.05, Z:0.80 [[ 9.99978382e-01 6.27480016e-03 -1.96548404e-03 3.80017658e+02] [-6.27478827e-03 9.99980313e-01 1.22122308e-05 1.05081695e+00] [ 1.96552197e-03 1.21029366e-07 9.99998068e-01 7.96674770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.08, Y:1.05, Z:0.80 [[ 9.99966423e-01 7.95547210e-03 -1.96548500e-03 3.80076611e+02] [-7.95546377e-03 9.99968355e-01 1.20548219e-05 1.05310957e+00] [ 1.96551871e-03 3.58192761e-06 9.99998068e-01 7.97093406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64439141799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.13, Y:1.06, Z:0.80 [[ 9.99914240e-01 1.29479265e-02 -1.96548595e-03 3.80134790e+02] [-1.29479281e-02 9.99916172e-01 1.18992433e-05 1.05852709e+00] [ 1.96547525e-03 1.35507479e-05 9.99998068e-01 7.96757527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70439141799994 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:380.19, Y:1.06, Z:0.79 [[ 9.99794944e-01 2.01545896e-02 -1.96548948e-03 3.80193021e+02] [-2.01546063e-02 9.99796875e-01 1.12844129e-05 1.06476252e+00] [ 1.96531767e-03 2.83315676e-05 9.99998068e-01 7.94852590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76439141799995 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:380.25, Y:1.07, Z:0.79 [[ 9.99749169e-01 2.23100114e-02 -1.96549054e-03 3.80251051e+02] [-2.23100327e-02 9.99751100e-01 1.10962689e-05 1.06561356e+00] [ 1.96524888e-03 3.27566725e-05 9.99998068e-01 7.94979206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82439141799995 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:380.31, Y:1.07, Z:0.80 [[ 9.99759237e-01 2.18541551e-02 -1.96549176e-03 3.80310228e+02] [-2.18541759e-02 9.99761169e-01 1.08748147e-05 1.06573593e+00] [ 1.96526000e-03 3.20820063e-05 9.99998068e-01 7.96421283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.37, Y:1.07, Z:0.80 [[ 9.99771065e-01 2.13062154e-02 -1.96549259e-03 3.80368756e+02] [-2.13062354e-02 9.99772996e-01 1.07232885e-05 1.06531774e+00] [ 1.96527489e-03 3.11564144e-05 9.99998068e-01 7.95458585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.94439141799995 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:380.43, Y:1.06, Z:0.79 [[ 9.99733606e-01 2.29968141e-02 -1.96549343e-03 3.80428010e+02] [-2.29968378e-02 9.99735538e-01 1.05673833e-05 1.06438064e+00] [ 1.96521664e-03 3.46355652e-05 9.99998068e-01 7.93351343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.00439141799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.49, Y:1.06, Z:0.79 [[ 9.99471039e-01 3.24619767e-02 -1.96549425e-03 3.80486340e+02] [-3.24620189e-02 9.99472970e-01 1.04127221e-05 1.06303048e+00] [ 1.96479639e-03 5.33966973e-05 9.99998068e-01 7.92515737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.06439141799996 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:380.55, Y:1.06, Z:0.80 [[ 9.98967783e-01 4.53817790e-02 -1.96549737e-03 3.80545374e+02] [-4.53818474e-02 9.98969713e-01 9.78518889e-06 1.06337724e+00] [ 1.96391641e-03 7.94228134e-05 9.99998068e-01 7.95323708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.12439141799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.60, Y:1.06, Z:0.80 [[ 9.98615960e-01 5.25575984e-02 -1.96549996e-03 3.80602767e+02] [-5.25576818e-02 9.98617890e-01 9.23435827e-06 1.06245763e+00] [ 1.96326876e-03 9.40805438e-05 9.99998068e-01 7.95833855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18439141799996 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:380.66, Y:1.06, Z:0.79 [[ 9.98242834e-01 5.92231503e-02 -1.96550275e-03 3.80661592e+02] [-5.92232479e-02 9.98244763e-01 8.59666374e-06 1.06081067e+00] [ 1.96256195e-03 1.07821898e-04 9.99998068e-01 7.93004753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3270.56 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%| | 0/12608 [00:00